BQP/docs/MapEditor/VDMA_LIF_Standard.md

VDMA LIF Standard / Chuẩn VDMA LIF

📋 Overview / Tổng quan

VDMA LIF (Layout Interchange Format) là chuẩn quốc tế để mô tả factory layout cho AGV/AMR systems.

🎯 Conceptual Model / Mô hình Khái niệm

graph LR
    Map[Map<br/>Factory Layout<br/>Coordinate system] --> Stations[Stations<br/>Physical locations<br/>pickup, dropoff, charging]
    Map --> Edges[Edges<br/>Navigation paths<br/>Connections between stations]
    Map --> Zones[Zones<br/>Special areas<br/>Restricted, slow-speed]
    Map --> VTypes[VehicleTypes<br/>Robot specifications<br/>Dimensions, envelopes]

    Stations --> INodes[InteractionNodes<br/>Approach points<br/>Position + deviation]
    INodes --> Actions[Actions<br/>Robot behaviors<br/>pick, drop, charge, wait]

    Edges -.->|references| Stations

    style Map fill:#ffe6e6
    style Stations fill:#e6f3ff
    style INodes fill:#e6ffe6
    style Edges fill:#fff0e6
    style Actions fill:#f0e6ff
    style Zones fill:#ffe6f0
    style VTypes fill:#f0ffe6

📐 Object Hierarchy / Phân cấp Đối tượng

graph TD
    LIF[VDMA LIF Document]
    LIF --> Meta[MetaInformation<br/>Project ID, Creator, Timestamp]
    LIF --> Layout[Layout Properties<br/>layoutId, layoutName<br/>layoutVersion, layoutDescription<br/>layoutLevel]
    LIF --> CoordRef[Coordinate Reference Point<br/>Origin x, y]
    LIF --> VTypes[VehicleTypes Array]
    LIF --> Stations[Stations Array]
    LIF --> Edges[Edges Array]
    LIF --> Zones[Zones Array]

    VTypes --> VType[VehicleType<br/>vehicleTypeId, description<br/>vehicleGeometry<br/>envelopes2d]

    Stations --> Station[Station<br/>stationId, stationType<br/>stationPosition]
    Station --> INodes[InteractionNodes Array]
    INodes --> INode[InteractionNode<br/>interactionNodeId<br/>nodePosition<br/>vehicleTypeIds]
    INode --> Actions[Actions Array]
    Actions --> Action[Action<br/>actionType, blockingType<br/>actionParameters]

    Edges --> Edge[Edge<br/>edgeId, startStationId, endStationId<br/>trajectory, maxSpeed<br/>bidirectional, vehicleTypeIds]

    Zones --> Zone[Zone<br/>zoneId, zoneType<br/>polygon geometry]

    style LIF fill:#ffe6e6
    style Layout fill:#e6f3ff
    style Station fill:#e6ffe6
    style INode fill:#fff0e6
    style Action fill:#f0e6ff
    style Edge fill:#ffe6f0
    style Zone fill:#f0ffe6

🔑 Core Concepts / Khái niệm Cốt lõi

Map / Layout:

• Top-level container cho tất cả map elements
• Defines coordinate system (origin, resolution)
• Properties: layoutId, name, version, level (floor number)

Station (Physical location):

• Represents a physical point trong factory
• Properties: stationId, stationType, stationPosition (x, y, theta)
• Contains one hoặc nhiều InteractionNodes

InteractionNode (Approach point):

• Specific position nơi robot interacts với station
• Multiple nodes per station cho different vehicle types
• Properties: interactionNodeId, position, allowedDeviations
• Contains Actions to execute

Action (Robot behavior):

• Defines what robot does tại InteractionNode
• Properties: actionType, blockingType, actionParameters
• Blocking types: HARD, SOFT, NONE

Edge (Navigation path):

• Connection between two stations
• Properties: edgeId, startStationId, endStationId, trajectory
• bidirectional: true/false

Zone (Special area):

• 2D polygon area với special properties
• Zone types: safetyZone, restrictedZone, speedLimitZone

VehicleType (Robot specification):

• Defines robot dimensions và capabilities
• Referenced by vehicleTypeIds trong stations, nodes, edges

🔗 Related Documents / Tài liệu Liên quan

• MapEditor Overview - Tổng quan MapEditor
• Database Design - Cấu trúc database cho VDMA LIF
• Import/Export - Import/Export VDMA LIF JSON

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Last Updated: 2025-11-13