“agv” Modelling Using Object Oriented Techniques through Uml Language in Fmc

. Object-oriented modelling provides a new point of view to focus a flexible manufacturing system using organized models similar to the Flexible Manufacturing Cell (FMC) presented in this paper which composed by Flexible Manufacture Modules (FMMs) and an automated guided vehicle (AGV). The implemented FMC working with revolution specimens, with predetermined measures length, are composed mainly by the following FMMs: CNC, micrometer, robot, storage system and a mobile robot that works as an AGV. The AGV, as central part in this paper, is also composed by ultrasonic, infrared and tactile sensors, which, through properly implemented and organized algorithms permit an optimum navigation. The mobile robot navigation is based mainly by a Vision System which consists in the CCD camera recognition of lines and landmarks properly arranged in the FMC. The supervision and material handling are the main function of AGV inside of the FMC. In order to the mobile robot acquire a similar behaviour of a Material-Handling System should develop operation characteristics similar to it (capacity, load, discharge, point of load, point of discharge, busy time, etc.), behaviours that relates navigation functions (recognition by vision and sensors, selection of velocities, times, etc) and AGV functions (position, direction, turns, etc). These models can be used to achieve an effective organization and control of the AGV as part of the FMC and to reach the objectives that emphasize the word flexibility in the field of the manufacture.