Robots PullBuddy - ResgreenGroup/Botway-Documentation GitHub Wiki
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Summary
PullBuddy is an Automated Guided Vehicle or AGV. AGV's follow a magnetic tape or optical tape line and scan Tags as they travel. Tags for PullBuddy are RFID tags that it physically scans while traveling. PullBuddy gets commands from BotWay whenever a new tag is scanned. Commands can control PullBuddy's laser pattern, speed, pin and run actions like Holds, Jump Routes and Charging. Regarding tag placement for optimal PullBuddy operation; RFID tags should be placed so that the left edge of the tag is 2" to the right of the centerline of travel for straightaways. This should lead to successful tag reads regardless of which tape side the robot is following.
Using PullBuddy
PullBuddy 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. PullBuddy requires active Wi-Fi or LoRa signals along the entirety of its routes in order to function. Losing connection to BotWay will cause PullBuddy 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 PullBuddy successfully connects to the Wi-Fi and then to BotWay, a robot tile will appear on the left side of BotWay's dashboard.
PullBuddy 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 PullBuddy and select "set route," then fill in the field for route number from the dropdown menu and select either "OK" or "OK and go." PullBuddy 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. PullBuddy can be made to move in reverse, but it does not possess a safety laser in the rear nor does it steer particularly well. Reversing with PullBuddy is usually discouraged.
If PullBuddy needs to be moved manually, enable manual mode by selecting the "Manual Jog" tab on the HMI, then disable the brake by touching the "Brake Enabled" 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 driven forward, driven backwards, or have its drive wheel turned. The forward button can be toggled and then the operator can press and hold a button to turn while the robot is in motion; the robot does not need to be stopped to turn the drive wheel.
With the purchase of an RGGI solution, a desktop RFID writing device will be included to write tags, but the rfid readers on PullBuddy 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.
Safety Features
PullBuddy features a 16 pattern programmable laser for detecting obstacles on the track. Each laser pattern has 3 zones, Warning 1, Warning 2, and Safety Stop. When the Warning 1 zone is triggered PullBuddy will automatically slow to dramatically but not stop. When Warning 2 zone is activated PullBuddy will decelerate to a controlled stop. When the Safety Stop zone is tripped PullBuddy will come to an E-Stop.
PullBuddy 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.
PullBuddy 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 PullBuddy will stop running and alert users to the disconnect. This prevents PullBuddy from running past a Stop even when the network goes down.
Simple Setup
Command programming for Route/Tag combinations is done within BotWay and can be edited on the fly. A new PullBuddy will need to be configured for the WiFi network and pointed to the MQTT Host Address. After that it will run right out of the box. Additional setup is required if the default laser patterns need to be changed to accommodate conditions for the user's specific application. Laser programming is done via the laser's own companion application.
Adaptable and Modular Cart Attachment
PullBuddy can pickup and drop off Carts and Load Handling Frames with its retractable pin mechanism. With a towing capacity of 2000 lbs. at a rate of up to 200 Feet Per Minute. Custom carts can be manufactured to fit PullBuddy following our LHF/Cart Specification Guide. This guide explains the sizing and spacing of components for an LHF or Cart to properly connect with PullBuddy.
Additionally, RGGI can manufacture Custom IIOT Carts that can be controlled via BotWay like our Scissor Lift. Custom carts can have weight sensors, alignment detection, scissor lifts, part counting or other custom sensors and actuators. All carts have a custom battery solution and wireless communication to make Tethering with traditional wire harnesses directly to a Robot obsolete. Carts can freely attach and detach from PullBuddy on Command while still having sensor input and control through BotWay.