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Automated Guided Vehicle: VEX

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by

Kelsey Mitchell

on 28 May 2014

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Transcript of Automated Guided Vehicle: VEX

Mitchell &Co.
Honors Principles of Engineering
28 May 2014

VEX PROBLEM
Like many AGVs of the world, our task as a team was to create an Automated Guided Vehicle which upon the press of a button, started the motors triggering the vehicle to move forward a specified distance. Then once the distance or allotted amount of time was reached, the motors wold rotate clockwise, allowing the vehicle to travel backwards.

The entire program runs on the single button press at the start of the program.
CORTEX DIAGRAM
WHAT IS AN AGV?
VEX SOLUTION
Our team decided to make an AGV with 4 wheels, 2 Motors, gear trains, a bump switch, encoder and flashlight, in order to make an efficient and safe mechanism.
AUTOMATED GUIDED VEHICLE
HOW IT WORKS
WHY THE SOLUTION?
It is important in the real world to create solutions that both solve the problem and are cost-efficient. In manufacturing facilities or warehouses, Automated Guided Vehicles are used commonly in order to transport materials. However, if a vehicle uses four wheels, the programmer must make sure the a program is cohesive between each of the four wheels. Furthermore, it was important to our team that we utilized various VEX materials in order to familiarize ourselves with a myriad of programming codes.
FINAL MECHANISM
PSEUDOCODE
while(1==1)
Until bumpSwitch, Begin 1
startMotor(rightMotor, speed)
startMotor(leftMotor, speed)
untilEncoderCounts(degrees)
stopMotor(rightMotor)
stopMotor(leftMotor)
wait(seconds)
IF condition ELSE
IF (MotorValue[rightMotor]<value)(MotorsValue[leftMotor]<value)
turnFlashlightOn(flashlight1)
turnFlashlightOn(flashlight2)
ELSE turnFlashlightOff(flashlight1)
turnFlashlightOff(flashlight2)
startMotor(rightMotor, -127)
startMotor(leftMotor, -127)
untilEncoderCounts(degrees)
stopMotor(rightMotor)(leftMotor)
StopAllTask
An automated guided vehicle or automatic guided vehicle, is a mobile robot that follows lines, markers and wires of the floor. More often than not, they are used in industrial settings to transport materials around a manufacturing facility or warehouse.
INTIAL MECHANISM SKETCH
TOP VIEW

PSEUDOCODE
Encoder Grid
Wheel Circumference: 5pi
Distance Requested: 6 feet
Int. of Rotation: Distance/Circumference
Int. Degrees= Int. of Rotation * 360 degrees

Task Emergency Stop
If (SensorValue[sonar]<value)
stopMotor(rightMotor)(leftMotor)
wait(seconds)
resumeTask
*/
FINAL CODE
ISOMETRIC VIEW
FINAL MECHANISM
Within the program upon the press of the bump switch, the wheels will rotate forward at full speed for a specified distance. Then once that distance is reached, the flashlights turn on indicating, that the vehicle is moving backwards. Once the vehicle travels backwards for the specified distance, the program is complete.
However, the task emergency stop allows our team to implement the use of ultrasonic consolidators in order to sense the proximity of obstacles. When an object is detected to be less than 10 inches away, the entire program will stop, ensuring the safety of the entire mechanism. Otherwise, the program functions as originally indicated.
INSPIRED BY THE FOLLOWING PHOTO
Full transcript