Robots BigBuddy - ResgreenGroup/Botway-Documentation GitHub Wiki
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Summary
BigBuddy is a larger and more capable version of PullBuddy. It is an Autonomous guided vehicle that follows magnetic tape just like PullBuddy. However, BigBuddy can pull more weight and drive in both forward and reverse. BigBuddy has a programmable safety laser with 16 configurations on both the front and rear of the vehicle. BigBuddies are guided by commands received from BotWay whenever the robot reads an RFID tag. Regarding proper tag placement for optimal BigBuddy operation; RFID tags should be placed with the left edge of the tag 3" to the right of the centerline of the path of travel for straightaways. This applies to both forward and reverse direction of travel.
Using BigBuddy
BigBuddy runs on 24V DC electric current using two 12V batteries in series. RGGI uses VMaxTank AGM/Lead batteries(XTR31-135) or LiFePO4 batteries(LFP127-12100), but any 12-volt battery that fits in a McMaster-Carr 12V Battery tray(7731K5) will work: from their website, "for Size 4, 27, 29H, 29NF, 31, 53, 60, 77 Batteries." The dimensions of the batteries used in RGGI robots are 375 x 220 x 276 mm. BigBuddy requires active Wi-Fi or LoRa signals along the entirety of its routes in order to function. Losing connection to BotWay will cause BigBuddy to trip an error and stop. When the robot is first turned on, it will need to be signed into the Wi-Fi just like any other wireless device. Navigate the HMI to the wireless setup screen and input the wireless gateway information. When the BigBuddy successfully connects to the Wi-Fi and then to BotWay, a robot tile will appear on the left side of BotWay's dashboard.
BigBuddy is now able to receive commands from BotWay. However, It must be on a route in order to receive the right set of commands. BotWay can use the same tag to give out different commands as long as the routes are different: a tag could tell a robot to turn right if it is on route 1 or turn left if it is on route 2. Click here for instructions on how to make a route. Once the route is created, right-click on the robot tile for BigBuddy and select "set route," then fill in the field for route number from the dropdown menu and select either "OK" or "OK and go." BigBuddy can now travel around the route. The robot tile can be used to start the robot, stop the robot, change route, open robot information, or disconnect the robot.
If BigBuddy needs to be moved manually, enable manual mode by selecting the "Manual Jog" tab on the HMI, then disable the brake by touching the "Release Brake" button. Now, the four directional buttons on the manual jog screen are usable. The forward button is a toggle and the other three are press-and-hold type buttons. The robot can be turned in place, driven forward, or driven backwards. All of these actions are mutually exclusive.
With the purchase of an RGGI solution, a desktop RFID writing device will be included to write tags, but the rfid readers on BigBuddy can be used as a substitute in a pinch. Place a tag in front of the reader, then navigate to the RFID reader screen on the HMI. Write a name for the tag and then press the "write" button.
The safety lasers on the robot are programmed within their own companion application. Download the application onto a laptop or desktop, then connect the robot to a computer with the appropriate USB cable. Create the safety zones in the companion app, then transfer them to the robot. The robot can be commanded to change which configuration to use at each tag.
BigBuddy Features
Safety Features
BigBuddy possesses the same safety features that a PullBuddy does. It a 16 pattern programmable laser for detecting obstacles on the track both in front and in the back. Each laser pattern has 3 zones, Warning 1, Warning 2, Safety Stop. When the Warning 1 zone is active BigBuddy will dramatically slow down but not stop. When Warning 2 zone is active BigBuddy will decelerate to a controlled stop. When the Safety Stop zone is active BigBuddy will come to an E-Stop.
BigBuddy will come to a stop when it can no longer see any magnetic tape and will not resume until given a "go" command from BotWay, except for the case where BotWay commands the BigBuddy to "find tape;" with this command, the robot is instructed to turn on a dime about its center until it sees another segment of magnetic tape. Furthermore, When BigBuddy reads a tag not on its current route, it will come to a stop.
BigBuddy also requires Commands to be sent from BotWay after each Tag Read. If BotWay is NOT running or if the Wireless Network is NOT working BigBuddy will stop running and alert users to the disconnect. This prevents BigBuddy from running past a Stop even when the network goes down.