云端控制平台与物流自动导引车通用接口指南

目次 II目次..................................................................................................................................................................II前言................................................................................................................................................................IV1范围..................................................................................................................................................................12规范性引用文件..............................................................................................................................................13术语和定义、缩略语......................................................................................................................................13.1术语和定义.......................................................................................................................................13.2略缩语...............................................................................................................................................14通信架构和要求..............................................................................................................................................24.1通讯架构...........................................................................................................................................24.2通讯安全要求....................................................................................................................................24.3传输质量要求....................................................................................................................................25地图..................................................................................................................................................................35.1坐标系定义.......................................................................................................................................35.2地图切换...........................................................................................................................................35.3导航切换...........................................................................................................................................46任务及流程......................................................................................................................................................46.1云端控制平台基础............................................................................................................................46.2AGV状态迁移流程...........................................................................................................................86.3自主空间申请..................................................................................................................................107消息格式要求................................................................................................................................................127.1协议基础.........................................................................................................................................127.2通信通道建立..................................................................................................................................157.3AGV注册.........................................................................................................................................167.4AGV基础参数查询.........................................................................................................................167.5AGV基础参数配置.........................................................................................................................177.6AGV运动控制.................................................................................................................................187.7AGV充电控制.................................................................................................................................217.8AGV导航切换.................................................................................................................................21 7.9地图切换.........................................................................................................................................227.10设备自主调整空间申请................................................................................................................227.11状态上报.......................................................................................................................................247.12AGV运维数据上报.......................................................................................................................258总结................................................................................................................................................................27附录A.....................................................................................................................................................