Mechanical and Electrical System Design Improvement: The processors and cards that are used for the control of the whole system, location finding, mapping, route planning and berthing algorithms, as well as the information coming from the sensors associated with them, were selected. Sensitivity tests of the information coming from the sensors were done with the processor and interface designs. The security related sensors and equipment such as cameras and emergency buttons were added. To fulfill the EMC tests, the cabling of the electronics systems and the design of components have been revised.
Autonomous Drive and Docking improvement: The system has been transferred from ROS to ROS2. Python and C ++ software languages were used for software designs. Interfaces were developed to provide information from sensors and engines with ROS2 and software languages in the activity. For the system created over the web, a system that is in constant communication with a linux-based server was designed.
Warehouse Management Systems Integration and Multi-Robot Communication Improvement: Integration with the warehouse management system, SAP, which is used by many companies in the sector, was provided. In this integration, information such as the location of the products on the map and the barcode information sizes was included. Orders are prepared by integrating between the WMS system and our cloud systems in the lists containing the orders. The communication problem of multi-robots is met through MQTT, a central network protocol. This protocol, which is deemed suitable to provide real-time robot-to-robot communication with low system requirements and high performance, is foreseen to work only on the local network side.
Industrial prototypes and pre-series: The final prototype has been produced and the functional testing has been completed to check the required quality and target costs before the pre-series production. All mechanical and body fixing components are industrially produced and assembled. To assure the quality after “frozen” the final design, the prototype produced was tested in real working conditions in Vestel’s warehouse. To obtain CE certification, EMC tests, PL calculations and stopping time measurements have been done. Hence, ORCA model has obtained an AT document.
