"openTCS5.9英文版用户指南：开发者版本5.9.0，系统要求和介绍"

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The openTCS User's Guide, Version 5.9.0, is a comprehensive manual created by the openTCS developers to provide users with detailed information on the software. The manual begins with an introduction that outlines the purpose of the software, which is to facilitate the operation of automated guided vehicles (AGVs) within a warehouse or manufacturing environment. The manual goes on to outline the system requirements for running openTCS, including hardware and software specifications. Users are advised on the recommended setup to ensure optimal performance of the software. The guide provides step-by-step instructions on installing and configuring openTCS, as well as troubleshooting tips for common issues that may arise. Once the software is up and running, the manual delves into the various features and functionalities of openTCS. Users are guided through the process of creating and managing transport orders, defining vehicles and paths, and monitoring the status of AGVs in real-time. The manual also explains how to customize the interface and reports to suit the specific needs of the user's operation. In addition to the technical aspects of using openTCS, the manual also covers best practices for optimizing AGV traffic flow, minimizing delays, and maximizing efficiency. Users are encouraged to leverage the software's advanced features, such as dynamic path planning and automatic order dispatching, to streamline their operations and improve overall productivity. Overall, the openTCS User's Guide is a valuable resource for anyone looking to implement AGV technology in their facility. By following the guidelines outlined in the manual, users can successfully deploy and manage a fleet of AGVs with ease and confidence. Whether you are a beginner or an experienced user, this manual will equip you with the knowledge and tools needed to make the most of openTCS and enhance your operational efficiency.

mode, vehicles are ordered (and thus move) from one point to another in the model. A point carries

the following attributes:

• A type, which is one of these three:

◦ Halt position: Indicates a position at which a vehicle may halt temporarily while processing

an order, e.g. for executing an operation. The vehicle is expected to report in when it arrives

at such a position. It may not remain here for longer than necessary, though. Halt position is

the default type for points when modelling with the model editor client.

◦ Reporting position: Indicates a position at which a vehicle is expected to report in only.

Vehicles will not be ordered to a reporting position, and halting or even parking at such a

position is not allowed. Therefore a route that only consists of reporting points will be

unroutable because the vehicle is not able to halt at any position.

◦ Park position: Indicates a position at which a vehicle may halt for longer periods of time

when it is not processing orders. The vehicle is also expected to report in when it arrives at

such a position.

• A position, i.e. the point’s coordinates in the plant’s coordinate system.

• A vehicle orientation angle, which expresses the vehicle’s assumed/expected orientation while it

occupies the point.



In openTCS, an angle of 0 degrees is at the 3 o’clock position, and a positive value

indicates a counter-clockwise rotation.

2.2.1.1. Layout coordinates vs model coordinates

A point has two sets of coordinates: layout coordinates and model coordinates. The layout

coordinates are merely intended for the graphical presentation in the model editor and operations

desk clients, while the model coordinates are data that a vehicle driver could potentially use or

send to the vehicle it communicates with (e.g. if the vehicle needs the exact coordinates of a

destination point for navigation). Both coordinate sets are not tied to each other per se, i.e. they

may differ. This is to allow coordinates that the system works with internally to be different from

the presentation; for example, you may want to provide a distorted view on the driving course

simply because some paths in your plant are very long and you mainly want to view all

points/locations closely together. Dragging points and therefore changing their position in the

graphical presentation only affects the corresponding layout coordinates.

To synchronize the layout coordinates with the model coordinates or the other way around you

have two options:

•

Select [ Actions › Copy model values to layout ] or [ Actions › Copy layout values to model ]

to synchronize them globally.

•

Select a single layout element, right click it and select [ Context menu › Copy model values to

layout ] or [ Context menu › Copy layout values to model ] to synchronize them only for the

selected element.

2.2.2. Path

Paths are connections between points that are navigable for vehicles. A path’s main attributes, next

to its source and destination point, are:

• Its length, which may be a relevant information for a vehicle in plant operation mode.

Depending on the router configuration, it may also be used for computing routing costs/finding

an optimal route to a destination point.

• A maximum velocity and maximum reverse velocity, which may be a relevant information for a

vehicle in plant operation mode. Depending on the router configuration, it may also be used for

computing routing costs/finding an optimal route to a destination point.

• A locked flag, which, when set, tells the router that the path may not be used when computing

routes for vehicles.

• A sequence of peripheral operations describing operations that are to be perfomed by peripheral

devices (in their given order) when a vehicle traverses the path.

2.2.2.1. Peripheral operation

A peripheral operation’s attributes are:

• A reference to the location representing the peripheral device by which the operation is to be

performed — see Location.

• The actual operation to be performed by the peripheral device.

• An execution trigger defining the moment at which the operation is to be performed. The

supported values are:

◦ BEFORE_MOVEMENT: The execution of the operation should be triggered before a vehicle

traverses the path.

◦ AFTER_MOVEMENT: The execution of the operation should be triggered after a vehicle has

traversed the path.

• A completion required flag, which, when set, requires the operation to be completed to allow a

vehicle to continue driving. This flag works in combination with the execution trigger. With the

BEFORE_MOVEMENT execution trigger and the completion required flag set to true, a vehicle has to

wait at the path’s source point until the operation is completed. With the AFTER_MOVEMENT

execution trigger and the completion required flag set to true, a vehicle has to wait at the path’s

destination point until the operation is completed.

2.2.3. Location

Locations are markers for points at which vehicles may execute special operations (load or unload

cargo, charge their battery etc.). A location’s attributes are:

• Its type, basically defining which operations are allowed at the location — see Location type.

• A set of links to points that the location can be reached from. To be of any use for vehicles in the

plant model, a location needs to be linked to at least one point.

• A locked flag, which, when set, tells the dispatcher that transport orders requiring an operation

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