A Seminar Report

on

Mobile Robot System

By

Mr. Tejal Sudhakar Kolte

Roll No: 1079

Exam Seat No: 1079

ME Mechatronics, Sem - II
(2017 Course) Guide
Prof. A. P. Kaldate

Department of Mechanical Engineering

Sinhgad College of Engineering

Pune 411 041

[2023-24]
 Sinhgad Technical Education Society’s

Sinhgad College of Engineering, Pune

C E R T I FI CAT E

This is to certify that Mr. Tejal Sudhakar Kolte ( Exam Seat No: 1079) has
successfully completed the Seminar work entitled “Mobile Robot System” under
my supervision in the partial fulfillment , by Savitribai Phule Pune University for
the academic year 2023-24.

Date:

Place: Pune

Prof. A. P. Kaldate Dr. A. P. Pandhare

Guide Head, Mech. Engg.

Dr. S. D. Lokhande

Examiner Principal
 Abstract

In this report understand and analysis study of thermoelectric cooling systems are
described. Thermoelectric (TE) cooling technology has many advantages over the
conventional vapor-compression cooling systems. These include: they are more
compacted devices with less maintenance necessities, have lower levels of vibration
and noise, and have a more precise control over the temperature. These advantages
have encouraged the development of new applications in the market. It is likely to
use TE modules for cooling the indoor air and hence compete with conventional air-
conditioning systems. These systems can include both cooling and heating of the
conditioned space. In order to improve the performance of the TE cooling systems,
the hot side of the TE should be directly connected to efficient heat exchangers for
dissipation of the excessive heat. Finally, TE cooling systems can be supplied
directly by photovoltaic to produce the required power to run these cooling systems.
 ACKNOWLEDGEMENT

It is my great pleasure to acknowledge sense of gratitude to all, who have made it possible for
us to complete this seminar with success. It gives me great pleasure to express my deep
gratitude to my seminar guide Prof.A.P.Kaldate for his support and help from time to time
during seminar work.

It is my pleasure to acknowledge sense of gratitude to Dr.A.P.Pandhare our Head of

Department and Principal Dr. S. D. Lokhande for their great support and encouragement in
seminar work.

Finally yet importantly I would like to thank all Staff Members and all our colleagues for
their valuable suggestions and support.
 List Of Figures

Figure No. Title Page No.

FIGURE 1.1 LAYOUT OF HYBRID ELECTRIC VEHICLE 2

FIGURE 1.2 COMPONENTS OF HYBRID VEHICLE 2

FIGURE 2 DETAILS ABOUT WORLD ENERGY CONSUMPTION 2

FIGURE 3.1 CONFIGURATION OF SERIES HEV 8

FIGURE 3.2 CONFIGURATION OF PARALLEL HEV 9

FIGURE 3.3 CONFIGURATION OF SERIES-PARALLEL HEV 2

FIGURE 4 HYBRIDIZATION OF FULL HEV 2

 NOMENCLATURE

HEV: Hybrid Electric Vehicle

BMS: Battery Management System:

EV: Electric Vehicle

BEV: BatteryElectric Vehicle

ICE: Internal Combustion Engine

GHG: Green House Gas

PHEV: Plug In Hybrid Electric Vehicle

EM: Electric Motor

ESS: Energy Storage System

 Recent Developments in Battery Technology

1 INTRODUCTION

Mobile robot systems represent a fascinating intersection of hardware, software, and artificial
intelligence, revolutionizing industries from manufacturing to healthcare and beyond. These
systems, often equipped with sensors, actuators, and sophisticated algorithms, possess the ability
to navigate and interact with their environment autonomously or semi-autonomously.
At their core, mobile robots are designed to move and perform tasks in various environments,
ranging from structured factory floors to unstructured outdoor terrains. Their versatility makes
them invaluable across a spectrum of applications, including:
1. Industrial Automation: Mobile robots streamline manufacturing processes by executing
repetitive tasks such as material handling, assembly, and inspection with precision and
efficiency.
2. Logistics and Warehousing: In bustling warehouses and distribution centers, mobile
robots navigate through aisles, picking and transporting goods, optimizing inventory
management and order fulfilment.
3. Service and Healthcare: From assisting with patient care in hospitals to delivering goods
in retail environments, mobile robots enhance service efficiency while minimizing human
intervention.
4. Agriculture: In the agricultural sector, mobile robots aid in tasks such as crop monitoring,
harvesting, and pesticide application, contributing to increased productivity and sustainability.
5. Search and Rescue: Equipped with advanced sensors, mobile robots can navigate disaster
zones, searching for survivors and assessing structural integrity in environments too
hazardous for humans.

The design of a mobile robot system typically involves several key components:
 Sensors: These range from simple proximity sensors to sophisticated lidar, radar, and cameras,
enabling perception of the robot's surroundings.
 Actuators: Motors, wheels, and manipulators provide mobility and the ability to interact with
objects in the environment.
 Control Systems: Central to the operation of mobile robots, control systems integrate sensor
data with algorithms for navigation, path planning, and decision-making.

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 Recent Developments in Battery Technology

 Communication: Mobile robots often rely on wireless communication protocols to transmit

data, receive commands, and coordinate with other robots or central control systems.
 Power Management: Efficient power systems are crucial for sustaining the operation of
mobile robots, often incorporating batteries or charging stations for prolonged autonomy.

Advancements in mobile robot technology continue to push the boundaries of what these systems
can achieve. From the development of agile and nimble robots capable of traversing complex
terrains to the integration of machine learning and computer vision for enhanced perception and
cognition, the future of mobile robot systems holds immense promise for transforming industries
and improving quality of life.

 Mobile Robot System in Industrial Automation :

1. Material Handling: Mobile robots are deployed to transport raw materials, components, and
finished products within factories. They can efficiently move items between workstations,
storage areas, and assembly lines, reducing the need for manual labor and optimizing
workflow.
2. Assembly Assistance: In manufacturing processes, mobile robots assist in assembling
products by transporting parts to assembly stations or by performing specific tasks such as
fastening, welding, or soldering. Their precision and repeatability ensure consistent quality in
production.
3. Inventory Management: Mobile robots equipped with barcode scanners or RFID readers
navigate through warehouses, scanning and tracking inventory levels in real-time. They help
streamline inventory management processes, minimize stockouts, and reduce the risk of
overstocking.
4. Quality Control: Mobile robots with vision systems inspect products for defects, anomalies,
or inconsistencies during the manufacturing process. By identifying and rejecting faulty items
early in the production cycle, they help maintain product quality and reduce waste.
5. Machine Tending: Mobile robots are employed to load and unload materials from machines
such as CNC mills, lathes, or 3D printers. They optimize machine utilization by keeping them
running continuously without the need for human intervention.
 Working Principle of Mobile Robot Systems in Industrial Automation:

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1. Navigation: Mobile robots navigate within industrial environments using various techniques
such as odometry, dead reckoning, laser-based SLAM (Simultaneous Localization and
Mapping), or vision-based localization. These methods allow robots to create maps of their
surroundings, localize themselves within these maps, and plan optimal paths to navigate from
one point to another.
2. Sensing and Perception: Mobile robots are equipped with sensors such as lidar, cameras,
ultrasonic sensors, or proximity sensors to perceive their surroundings. These sensors provide
information about obstacles, landmarks, or other objects in the environment, enabling the
robot to make informed navigation decisions and avoid collisions.
3. Path Planning: Based on the information gathered from sensors and the robot's current
localization, path planning algorithms determine the most efficient route for the robot to reach
its destination while avoiding obstacles and adhering to safety constraints. These algorithms
consider factors such as distance, speed, dynamic obstacles, and workspace constraints to
generate smooth and collision-free trajectories.
4. Task Execution: Once a path is planned, the mobile robot executes its tasks, which may
include material transport, assembly, inspection, or other operations. Actuators such as motors
and manipulators are used to perform these tasks, while feedback control systems ensure
precise and accurate execution.
5. Communication and Integration: Mobile robot systems often communicate with other
machines, robots, or control systems within the industrial environment. This communication
enables coordination of activities, sharing of information, and integration into larger
automated systems for enhanced efficiency and productivity.

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 Mobile Robot Systems in Logistics and Warehousing:

1. Goods Transportation: Mobile robots are employed to transport goods within

warehouses and distribution centers, moving items from receiving areas to storage
locations or from storage to picking stations. They can navigate through narrow
aisles and crowded spaces efficiently, optimizing the flow of materials.

2. Order Picking: Mobile robots assist in order picking processes by autonomously

retrieving items from storage shelves and delivering them to packing stations. They
follow predefined routes or dynamically optimized paths to fulfill orders accurately
and quickly, reducing order processing times and labor costs.

3. Inventory Management: Mobile robots equipped with inventory tracking systems

navigate through warehouses to perform cycle counts, inventory audits, and stock
replenishment tasks. They update inventory records in real-time, ensuring accurate
stock levels and minimizing the risk of stockouts or overstocking.

4. Dock Operations: Mobile robots facilitate dock operations by transporting goods

between trucks and warehouse storage areas. They can load and unload pallets or
containers, optimizing the use of dock space and expediting the loading/unloading
process.

5. Warehouse Optimization: Mobile robots contribute to warehouse optimization by

dynamically reorganizing storage layouts based on demand patterns, seasonal
fluctuations, or operational changes. They can autonomously rearrange shelves or
relocate inventory to optimize storage space utilization and minimize travel
distances.

 Working Principle of Mobile Robot Systems in Logistics and

Warehousing:

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Recent Developments in Battery Technology

1. Localization and Mapping: Mobile robots use localization and mapping techniques
to navigate within warehouse environments. These techniques include SLAM
(Simultaneous Localization and Mapping), which allows robots to build maps of their
surroundings while simultaneously estimating their own position within these maps.

2. Obstacle Avoidance: Mobile robots employ obstacle avoidance algorithms to

navigate safely through dynamic environments populated with obstacles such as
shelves, equipment, or other moving objects. These algorithms use sensor data to
detect obstacles and plan alternative paths to avoid collisions.

3. Path Planning: Based on their current location, destination, and obstacle information,
mobile robots generate optimal paths to navigate from one point to another. Path
planning algorithms take into account factors such as distance, travel time, obstacle
clearance, and operational constraints to compute collision-free trajectories.

4. Collaborative Operations: In warehouses with multiple mobile robots operating

simultaneously, coordination and collaboration are essential to prevent conflicts and
optimize overall efficiency. Mobile robots communicate with each other and with
central control systems to coordinate their movements, share information, and
synchronize tasks such as order picking or inventory management.

5. Integration with Warehouse Management Systems (WMS): Mobile robot systems

are integrated with WMS to receive task assignments, exchange data about inventory
status, and report task completion. This integration enables seamless coordination
between mobile robots and other warehouse operations, ensuring efficient and
accurate fulfillment of orders.

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References

1. Riffat S, Qiu G. Comparative investigation of thermoelectric air-conditioners

versus vapour compression and absorption air-conditioners
2. E. Altenkirch, PhysikalischeZeitschrift 10, 560–580 (1909);
PhysikalischeZeitschrift 12, 920 (1911)
3. A. Eucken and G. Kuhn Z. Phys. Chem. 134 p193 (1928)

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