云端控制平台与物流自动导引车通用接口指南

I II 目 次 目 次 .................................................................................................................................................................. II 前 言 ................................................................................................................................................................ IV 1 范围 .................................................................................................................................................................. 1 2 规范性引用文件 .............................................................................................................................................. 1 3 术语和定义、缩略语 ...................................................................................................................................... 1 3.1 术语和定义 ....................................................................................................................................... 1 3.2 略缩语 ............................................................................................................................................... 1 4 通信架构和要求 .............................................................................................................................................. 2 4.1 通讯架构 ........................................................................................................................................... 2 4.2 通讯安全要求.................................................................................................................................... 2 4.3 传输质量要求.................................................................................................................................... 2 5 地图 .................................................................................................................................................................. 3 5.1 坐标系定义 ....................................................................................................................................... 3 5.2 地图切换 ........................................................................................................................................... 3 5.3 导航切换 ........................................................................................................................................... 4 6 任务及流程 ...................................................................................................................................................... 4 6.1 云端控制平台基础............................................................................................................................ 4 6.2 AGV状态迁移流程 ........................................................................................................................... 8 6.3 自主空间申请.................................................................................................................................. 10 7 消息格式要求 ................................................................................................................................................ 12 7.1 协议基础 ......................................................................................................................................... 12 7.2 通信通道建立.................................................................................................................................. 15 7.3 AGV注册 ......................................................................................................................................... 16 7.4 AGV基础参数查询 ......................................................................................................................... 16 7.5 AGV基础参数配置 ......................................................................................................................... 17 7.6 AGV运动控制 ................................................................................................................................. 18 7.7 AGV充电控制 ................................................................................................................................. 21 7.8 AGV导航切换 ................................................................................................................................. 21 III 7.9 地图切换 ......................................................................................................................................... 22 7.10 设备自主调整空间申请 ................................................................................................................ 22 7.11 状态上报 ....................................................................................................................................... 24 7.12 AGV运维数据上报 ....................................................................................................................... 25 8 总结 ................................................................................................................................................................ 27 附录A .....