VDA5050-EN-V1.1: AGV与中央控制系统通信接口标准

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VDA 5050 – VERSION 1.1, JUNE 2020 INTERFACE FOR THE COMMUNICATION BETWEEN AUTOMATED GUIDED VEHICLES

(AGV) AND A MASTER CONTROL 8

5 Process and content of communication

As shown in the information flow to the operation of AGV, there are at least the following actors (see Figure

• The operator provides basic information,

• the master control organizes and manages the operation and

• the AGV carries out the orders

Figure 2 describes the communication content during the operational phase. During implementation or

modification, the AGV and master control are manually configured

Figure 2 Structure of the Information Flow

During the implementation phase, the DTS consisting of the master control and the AGV is set up. The

necessary framework conditions are defined by the operator and the required information is either entered

manually by him or stored in the master control by importing from other systems. Essentially, this concerns

the following content:

• Definition of driving routes: Using CAD import, driving rates can be taken over in the master

control. Alternatively, driving courses can also be implemented manually in the master control by

the operator. Driving courses can be one-way streets, driving courses for certain vehicle groups

(based on the size ratios) etc.

• Route network configuration: Within the driving course, stations for loading and unloading, battery

charging stations, peripheral environments (gates, elevators, barriers), waiting positions, buffer

stations etc. are defined.

• Vehicle configuration: The physical properties of an AGV (size, available load carrier mounts, etc.)

Are stored by the operator.

The configuration of the DTS described above is not part of this document. However, it forms the basis for

enabling order control and driving course assignment through the master control based on this

information and the transport requirements to be completed. The resulting orders for an AGV are then

VDA 5050 – VERSION 1.1, JUNE 2020 INTERFACE FOR THE COMMUNICATION BETWEEN AUTOMATED GUIDED VEHICLES

(AGV) AND A MASTER CONTROL 9

transferred to the vehicle via an MQTT message broker. This then continuously reports its status to the

master control in parallel with the execution of the job. This is also done using the MQTT message broker.

Functions of the master control are:

• Assignment of orders to the AGV

• Route calculation and guidance of the AGV (taking into account the limitations of the individual

physical properties of each AGV, e.g. size, manoeuvrability, etc.)

• Detection and resolution of blockages "deadlocks")

• Energy management: Load orders can interrupt transfer orders

• Traffic control: Buffer routes and waiting positions

• (temporary) changes in the environment, such as freeing certain areas or changing the maximum

speed

• Communication with peripheral systems such as doors, gates, elevators, etc.

• Detection and resolution of communication errors

Functions of the AGV are:

• Localization

• Navigation along associated routes (guided or autonomous)

• Continuous transmission of vehicle status

In addition, the integrator must take into account the following when configuring the overall system

(incomplete list):

• Map configuration: The coordinate systems of the master control and the AGV must be

coordinated

• Pivot point: The use of different points of the AGV or points of charge as a pivot point leads to

different envelopes of the vehicle. The reference point may vary depending on the situation, e.g.

it may be different for AGV carrying a load and for AGV that do not carry a load.

6 Protocol specification

The following section describes the details of the communication protocol. The protocol specifies the

communication between the master control and the AGVs. Communication between the AGV and

peripheral equipment, e. g. between the AGV and a gate, is excluded.

The different messages are presented in tables describing the contents of the fields of the JSON that is

sent as an order, state, etc.

In addition, JSON schemas are available for validation in a public Git repository

(https://github.com/MaximilianRies/vd-m-a-5050). The branch to this document version is 5.00. The JSON

schemes are the "some point of truth" and are considered a universal data set with the claim to correctness

that can be relied upon as a developer of the interface

6.1 Symbols of tables and meaning of formatting

The table contains the name of the identifier, its unit, its data type, and a description, if any.

Identification

Description [ENG]

standard

Variable is an elementary data type

bold

Variable is a non-elementary data type (e g. JSON-object or array) and defined separately

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