110 lines
3.9 KiB
Markdown
110 lines
3.9 KiB
Markdown
# VDMA LIF Standard / Chuẩn VDMA LIF
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## 📋 Overview / Tổng quan
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VDMA LIF (Layout Interchange Format) là chuẩn quốc tế để mô tả factory layout cho AGV/AMR systems.
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## 🎯 Conceptual Model / Mô hình Khái niệm
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```mermaid
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graph LR
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Map[Map<br/>Factory Layout<br/>Coordinate system] --> Stations[Stations<br/>Physical locations<br/>pickup, dropoff, charging]
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Map --> Edges[Edges<br/>Navigation paths<br/>Connections between stations]
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Map --> Zones[Zones<br/>Special areas<br/>Restricted, slow-speed]
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Map --> VTypes[VehicleTypes<br/>Robot specifications<br/>Dimensions, envelopes]
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Stations --> INodes[InteractionNodes<br/>Approach points<br/>Position + deviation]
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INodes --> Actions[Actions<br/>Robot behaviors<br/>pick, drop, charge, wait]
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Edges -.->|references| Stations
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style Map fill:#ffe6e6
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style Stations fill:#e6f3ff
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style INodes fill:#e6ffe6
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style Edges fill:#fff0e6
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style Actions fill:#f0e6ff
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style Zones fill:#ffe6f0
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style VTypes fill:#f0ffe6
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```
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## 📐 Object Hierarchy / Phân cấp Đối tượng
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```mermaid
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graph TD
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LIF[VDMA LIF Document]
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LIF --> Meta[MetaInformation<br/>Project ID, Creator, Timestamp]
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LIF --> Layout[Layout Properties<br/>layoutId, layoutName<br/>layoutVersion, layoutDescription<br/>layoutLevel]
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LIF --> CoordRef[Coordinate Reference Point<br/>Origin x, y]
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LIF --> VTypes[VehicleTypes Array]
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LIF --> Stations[Stations Array]
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LIF --> Edges[Edges Array]
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LIF --> Zones[Zones Array]
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VTypes --> VType[VehicleType<br/>vehicleTypeId, description<br/>vehicleGeometry<br/>envelopes2d]
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Stations --> Station[Station<br/>stationId, stationType<br/>stationPosition]
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Station --> INodes[InteractionNodes Array]
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INodes --> INode[InteractionNode<br/>interactionNodeId<br/>nodePosition<br/>vehicleTypeIds]
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INode --> Actions[Actions Array]
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Actions --> Action[Action<br/>actionType, blockingType<br/>actionParameters]
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Edges --> Edge[Edge<br/>edgeId, startStationId, endStationId<br/>trajectory, maxSpeed<br/>bidirectional, vehicleTypeIds]
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Zones --> Zone[Zone<br/>zoneId, zoneType<br/>polygon geometry]
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style LIF fill:#ffe6e6
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style Layout fill:#e6f3ff
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style Station fill:#e6ffe6
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style INode fill:#fff0e6
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style Action fill:#f0e6ff
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style Edge fill:#ffe6f0
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style Zone fill:#f0ffe6
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```
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## 🔑 Core Concepts / Khái niệm Cốt lõi
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**Map / Layout**:
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- Top-level container cho tất cả map elements
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- Defines coordinate system (origin, resolution)
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- Properties: layoutId, name, version, level (floor number)
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**Station** (Physical location):
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- Represents a physical point trong factory
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- Properties: stationId, stationType, stationPosition (x, y, theta)
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- Contains one hoặc nhiều InteractionNodes
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**InteractionNode** (Approach point):
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- Specific position nơi robot interacts với station
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- Multiple nodes per station cho different vehicle types
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- Properties: interactionNodeId, position, allowedDeviations
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- Contains Actions to execute
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**Action** (Robot behavior):
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- Defines what robot does tại InteractionNode
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- Properties: actionType, blockingType, actionParameters
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- Blocking types: HARD, SOFT, NONE
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**Edge** (Navigation path):
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- Connection between two stations
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- Properties: edgeId, startStationId, endStationId, trajectory
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- bidirectional: true/false
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**Zone** (Special area):
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- 2D polygon area với special properties
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- Zone types: safetyZone, restrictedZone, speedLimitZone
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**VehicleType** (Robot specification):
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- Defines robot dimensions và capabilities
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- Referenced by vehicleTypeIds trong stations, nodes, edges
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## 🔗 Related Documents / Tài liệu Liên quan
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- [MapEditor Overview](README.md) - Tổng quan MapEditor
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- [Database Design](Database_Design.md) - Cấu trúc database cho VDMA LIF
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- [Import/Export](ImportExport.md) - Import/Export VDMA LIF JSON
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---
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**Last Updated**: 2025-11-13
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