AMR Control and Automation
This module allows “Lean Low Cost Automation” by using pipe-and-joint constructions and applying karakuri kaizen techniques to limit operator interventions for replenishments of the machines. The module contains a quick docking mechanism at the machines (minimizing necessary positioning accuracy) and a V-marker construct to allow precise positioning with the AMR MIR to a roller conveyor. The module contains the mapping and localisation software for three different brands of AGVs and AMRs. Each of them transport a different kind of product. Transport of pallets with the AGV MABO, (empty or full) cardboard boxes with the AMR MIR and bulk components with the AGV WEWO featuring a dedicated product carrier as the top module.
The AGV WEWO is controlled via Navitec Systems software. Navithor Tools, Navithor Monitor are used to map the area and to define the routes with their parameters and the different pick/drop positions. Navithor Server and Navithor Client are used to define orders for the AGV. A separate webAPI application allows to communicate with the MES. The AMR MIR uses a webbased GUI to do the mapping and controlling the AMR. The webserver runs on the MIR controlling platform. The AGV MABO uses an inhouse developed webbased GUI to map and control the AGV. Development is done in Python. The WEWO and MABO software run on a centralized laptop.
Inputs and outputs
Input: For the AGV WEWO: 2 pick positions in the Prepzone, 6 bunker positions at the assembly machines to drop components and the routes to follow from pick to drop. For the AMR MIR: 3 pick positions, 3 drop positions and the position of the charging station. For the AGV MABO: 6 pick positions at the warehouse, 6 drop positions in the Prepzone and a charging position and the routes to follow. Output: The mobile robots calculate and execute the defined routes when executing an order or a mission and send status and position information to the MES, which is polling the robots via REST API.
Formats and standards
Both AGV WEWO and AMR MIR have a REST API to exchange data and commands via JSON objects. AGV MABO uses TCP/IP.