Final Project Journal

I was went to supply chain compaines.The word repated to my ears many times the competetion in supply chain at the coming years will be for who have ability to deliver for cousomer at 24 hours.

but with huge ware hause and load of work people get tired from carry many things, not that only but may be cary heavy things it is hurts them.

So I was heard about Amazon robots to handle orders inside warehouse. 

I was thing Oh. It will be good idea if I start by apply it at Egypt due the volume of market services more than 100+million people I think this will be essential for mediam capmanies not only large or huge one.   

My AGV v1 will work with orders from mobile using bluetooth sensor, also It will use ultrasonic sensor to avoid obsticales if it apper out of blue.

First, I had a look at different AGVs online to get an idea on how they usually look like. The different enclosure designs were very interesting but due to the limitations of the project and after multiple trials to find a balance between being feasible to produce and ergonomic to use and my abilities at art design, I decided to make it as simple as possible. After creating the circuit with all its components, I started carefully placing it in enclosure.

Then, I started searching for and downloading stl or step files of circuit's components to add them in my file. This step would guide me further in the process when adjusting the design and adding different connections like brackets, tabs and slots. I adjusted the placement of the components in the enclosure's interior to replicate what the project's circuit would look like.  

I start design steps by measure the dimentions of the components and draw it as scratch on paper (some thing like the one in the perposal).

After that I start by decide the base dimentions, I open rectangles throw the base to help me at fix wires and also handle if any dimentions was not accurate at the I download.

Then Am go the next step the front face, before I finish this one I was need to find out the height of the wires. Also depend on that I will design my brackets.

After that I am go forward to design Sides of the AGV you just need the diameter of wheels you will use.

Additional information I was make wheels inside the body because I wouldn't it stuck at anything.

then I go to back side It is like the front but just with open for ultrasonic sensor and charger.

Additional information you will find more holes at the front side this because I think for feature I will do it soon which is I will add IR sensors to add line following to save the computional power of image recognation. 

• I used fusion 360 to make this design.

• I download Components from Grabcad.

• I use RDworks for DXF laser cutting.

• I use Cura for brackets 3D printing.

My electronic circuit constits of the following components: 

• BreadBoard to hold the wires in place 

• Arduino Uno to operate the program

• Power Supply (chargeable batteries with input/output adapters) of output 7.4 volts.

• LM317 Regulator to convert 7.4v to 5v

• L298N motor driver to control DC Motor direction and speed

• DC Motor with gearbox

• Ultrasonic sensor to detect obsticales 

• Jumper wires for connections 

• Bluetooth module to get signals form mobile phone.

Software programs:

• Iam use Thinker cad as simulation software

• Arduino  IDE to program Arduino Uno board

Input Components:

• Bluetooth module

• Ultrasonic sensor

Action Components:

• L298N motor driver

• DC motors

Connection:

power supply come from Li-thium battery at two paths one for feed motor drivers they are on parallel  to feed motors and the other one enter LM37 to turn to 5v and feed Arduino Uno and Ultrasonic sensors and bluetooth module they are also on parallel.

  Work System:

Bluetooth Module will take orders from mobile phone then send it to Arduino.Arduino will see the order and choose depend on the code the movement wanted. But what if there apper out of blue in front of AGV the Ultrasonic sensor will make it get back if there is no thing behinde him will enough space. 

My power source was Li-thium Battery 7.4 V.

I was want to use 12v battery but I ask instructors And they I advice me with 7.4 Battery, I discover then from instructors Bluetooth need more current at his start about .5mA

The move function:

This fun. compare the char input from user and see which movement he is needed if '1' I prgram it as move forward

'2' backward,etc...

--------------------------------------------------

Readultrasonicdistance:

this fun. take pins of trig and echo as arguments, We need it because it manage the ultrasonic reads time then we multiply output of it with factor to give us distance as cm

--------------------------------------------------

incomingdata ---> this is char var. to store the char come from mobile                throught bluetooth module

#define IN1 2 ---> I define here IN1 name for pin 2 to use it through       program to make my program more readable

etc. for other INs

 int frontdistance ---> this var. to store the front distance we calc. from     ultrasensor also Backdistance like that.

 at Void setup ---> 

I use Serial.begin to can use serial mentor and see on it distance or debug the code, 9600 mean the rate

also I define pin modes

at void loop --->

at first we get the front and back distasnce

we use while(serial.avilable() == 0 ) to wait until user send the data not get any noise.

then I store it inside incomingdata var. we int. before and print it just to check my program and can debug it 

then the if loop to check if the user enter one of valied modes

if it is to forward or backward, the program will check the distance first to AGV safe from crushes, if there is some thing comming from front it will go back if there is space , or it will stop if there no space, versa vice at the backward mode.

1. The first problem I was faced before how to make two functions work parallel.

I was search and ask AI the results I get is Arduino only have one core so you can't do that.

but I ask Abdallrahman and Ahmed sami and them tell me about millis() function.

2. It is hard at first to imagine all movements at first but I ask Ahmed and he helped me.

3. I couldn't find some parts at crabcad I ask frieda after shearch many times she send them to me.

1. Reconsider the power source and invest in make it Charge wireless, increase also the capacity of battery.

2. Make it work by computer vision

3. Link it with SAP and company data to automate the warehouse.