Diseño e implementación de una red M2M integrando el robot RV2SDB y el Robotino Plus, que incorpore un sistema de posicionamiento mediante procesamiento de imágenes.

Abstract

The objective of this degree work is to design a network of communications M2M (machine to machine) under the GSM communication protocol in which the robots RV2SDB and Robotino plus have been involved. The network communicates a control panel located on the side of a work table, with a PLC connected to the load in bay of the Robotino, this process is done through text messages, as well as being a type of unidirectional communication, from the board to the Robotino, the text messages are sent as long as the inductive sensors located on the ramps incorporated to the work table give a sensing order. The Robotino is in charge of the transport of the pallets from the warehouses to the entrance of the RV2SDB robot and from the exit of the RV2SDB robot to the exit of the system, framing these ramps that act as entrances, warehouses and exits. There are ribbonscolored in red, green and black that are used for the Robotino to execute the positioning algorithm through image processing, the RV2SDB robot takes care of filling the pallets with pieces, executing a programmed and repetitive route, additionally an HMI is always monitoring the occurrences on the PLC of the work table, meanwhile the web server of the Robotino monitors the occurrences on the PLC installed in it, finally to give mobility to the ramps of entry and exit of the RV2SDB robot, a block of valves was used, which, when activated, center the position of the pallet. In conclusion, the design, programming and execution of the M2M system in the industrial automation laboratory was optimal and it is recommended to verify the availability of text messages for the correct network communicationand total operation.