1. 1Mentoring Program 08.13.2014
MAUS – AGV
Antonio E. Arróyave Treviño
Manufacturing
Tutor: Omar Gonzalez

2.  Design, develop and implementation of an automated guided
vehicle for material transportation.
 Coil movement from fabrication area to K5 Kit area and from
fabrication to shipping.
OBJECTIVE
2 Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 2015

3. DESCRIPTION
3
An automated guided vehicle capable of the
material transportation.
Consisting:
 Trolley
 Sensors (Path)
 Control Interface
 CAS
 RF Interface
Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 2015

4. STRUCTURE
4
We considered several factors in the design of
the structure:
 Availability
 Functionality
 Ergonomics
 Resistance
 Aesthetics
Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 2015

5. First Concept
Bare concept for settling dimensions.
Second Iteration
Two redesigns later, more compact, low
profile concept.
Fourth Iteration
Four redesigns later, curved
surfaces, operation panel added.
Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 20155
STRUCTURE (EVOLUTION)

6. FINAL
ASSEMBLY
 Easy operation
access
 Best hitch
position
 Wide space
Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 20156
75 cm

7. SENSORS (PATH)
7
Several sensor options for a track following
system were considered:
 NFC Tags
 GPS
 Line Follower
Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 2015

8. Vastly used in AGVs for autonomous
movement.
 Easy to implement
 Low cost
 Reliable and simple
Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 20158
LINE FOLLOWER

9. LINE
FOLLOWER
 Explanation
Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 20159
10

10. This system should be safe and robust
 Fast response
 Suitable for the application and
environment
Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 201510
CAS (COLLISION AVOIDANCE SYSTEM)

11. This sensor are the LV-MaxSonar-EZ2
 Small in size
 Low cost
 Maximum range ~6 m
 Good response time
 Susceptible to noise
Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 201511
ULTRASONIC SENSORS (FIRST ATTEMPT)

12. OMRON OS32C
 Up to 15 meters of sensing range
 270° detection angle
 2 warning zones and a safety zone
 Small size
 Fast response
Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 201512
SAFETY LASER SCANNER (PROPOSAL)

13. Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 201513
SAFETY LASER SCANNER (PROPOSAL)
FYI:
The new tube bender from Pedrazzoli has an
OS32C on it.

14. Based on an nRF24L01+PA+LNA 2.4GHz RF
module
 Long distance transmission
 Inexpensive
Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 201514
RF INTERFACE

15. This will be held by:
 3x Arduino Mega 2560
‒ Line Following, Motor Drivers
‒ CAS
‒ RF Interface
 2x Motor Drivers i70
 Relay Module
 Signal conditioners & regulators
 Buttons & light indicators
Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 201515
CONTROL INTERFACE

16. Several tests were made with the motor
drives.
The purpose was:
• Understand the coding and way to
program it
• Limitations
• Behavior
Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 201516
TESTING (DRIVERS)

17. Several test were made with ultrasonic
sensors.
The purpose was:
• Response to noise
• Limitations
Things discovered:
 Susceptible to noise and crosstalk
Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 201517
TESTING (ULTRASONIC SENSORS)

18. This small prototype was made with the
purpose to understand the behavior of the US
sensors and start to debug some program
thoughts.
Two important things discovered:
 Moment of inertia is crucial
 Turning
Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 201518
TESTING (PROTOTYPE)

19. Several tests were made with the motors in
order to find their current consumption.
At the same time some test were made with
the batteries, so we can find how long they
can last.
Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 201519
TESTING (MOTORS & BATTERIES)

20. Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 201520
CONSTRUCTION (PROGRESS)

21. Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 201521
CONSTRUCTION (PROGRESS)

22. Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 201522
CONSTRUCTION (PROGRESS)

23. Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 201523
CONSTRUCTION (PROGRESS)

24. Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 201524
CONSTRUCTION (PROGRESS)

25. Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 201525
ROUTING (PROGRESS)

26. Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 201526
CONSTRUCTION (PROGRESS)
 Structure – Complete
 Painting
 Cable routing – Complete
 Microcontrollers, Drivers, Module, Buttons,
Light Indicators, Emergency Stop,
Batteries, Regulators and Signal
Conditioners – Connected
 Turret installation – In progress
 Sensors – In progress
 RF interface – In progress

27. Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 201527
COMPANY BENEFITS
 Distancia por vuelta: 117.1 mts
 Distancia recorrida al dia: 2342 mts
 Distancia recorrida al año: 585500 mts
585.5 km
Coil - Área de Kiteo
Encargado: Alejandro Castillo
Ida Vuelta
Tiempo (min): 1.084 1.04
Pistas: 20
Tiempo Total x Dia
(min): 42.48
Tiempo Total al Año
(hr): 178 20 dias
CONFIDENTIAL

28. While making this project I have learned and
improve several skills.
 CAD design (improvement)
 Electronic design (improvement)
 Electric connections (improvement)
 Electric Motors (improvement)
 Manufacturing
 Mechanics
 Sensors Integration
 Programming (improvement)
 SAP
Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 201528
PERSONAL LEARNING

29. Manufacturing | SCYLLA - AGV | KNA Monterrey | October 9, 201529
ROAD MAP
Phase 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52
Concept and Technology selection IE, PPP
1 Sensors and parts quotation IE, SAP, XLS
Structure Design Others
2 CAD Construction SolidWorks
3 Structure Review/Redesign Others
4 Construction (Main Body) Others
Sensors Integration Others
5 Program Development Arduino
6 Car Assembly (Electronics) Others
7 Testing Others
8 Improvement Others
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SCYLLA - AGV
Plant
KNA Monterrey /
August September Oktober
Datum
2015
November Dezember
Status
des AP erfüllt
des AP erfüllt
Erledigungsgrad
des AP erfüllt
des AP erfüllt
des AP erfüllt
Mai
Bestellung auslösen
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