| Abstract [eng] |
In this master thesis I designed robot prototype for automated warehouse and developed it‘s task management software. The aim was to create a robot that would be able to move in a closed warehouse without human intervention, following the line drawn on the ground and reaching the required point of the target, guided by the line-based markers. Also, the software had to be able to manage the external pickup device, scan the shelves, and react to the sensor data in real time. The robot's prototype from the amateur components was designed during the work. It was used for real-time mission software testing. The control of the robot's mechanical part was realized by using Arduino microcontroller in C ++ programming, while the main mission management system was programmed in the Node.js execution environment and installed on the RaspberryPi computer. As one of the most important factors for the further development of the project is the accuracy of the movement, during the experimental work I experimented with different robot settings to clarify the technical and software capabilities to improve accuracy. The automatic scanning algorithm was also optimized for calculating warehouse shelf sizes and positions from the data received. |
