Arthur Ria
178 lines
9.7 KiB
Markdown
178 lines
9.7 KiB
Markdown
---
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title: "AGV — Automated Guided Vehicles"
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type: module
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sources:
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- areas/agvs/index.md
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- areas/agvs/agv.md
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- areas/agvs/monitoring/monitoring.md
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- areas/agvs/monitoring/agv_tasks.md
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- areas/agvs/monitoring/status_messages.md
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- areas/agvs/monitoring/cancel_order.md
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- areas/agvs/monitoring/terminate_order.md
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- areas/agvs/monitoring/export_messages.md
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- areas/agvs/monitoring/import_messages.md
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- areas/agvs/manage_errors/manage_errors.md
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- areas/agvs/manage_errors/communication_errors.md
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- areas/agvs/manage_errors/configuration_errors.md
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- areas/agvs/manage_errors/execution_errors.md
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- areas/agvs/manage_errors/extraction_error.md
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- areas/agvs/manage_errors/putaway_error.md
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- areas/agvs/manage_errors/locktype.md
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- areas/agvs/manage_errors/trf_movements.md
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- areas/agvs/configuration/initial_configuration.md
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- areas/agvs/notificationevents.md
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- areas/agvs/views/agv_stations_view.md
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- areas/agvs/views/agv_tasks_view.md
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- areas/agvs/views/agv_export_view.md
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- areas/agvs/views/agv_import_view.md
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- areas/agvs/views/agv_status_view.md
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related:
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- modules/pallet-shuttle.md
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- concepts/task.md
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- concepts/location.md
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- concepts/container.md
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- concepts/stations.md
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last_compiled: "2026-04-10"
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---
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# AGV — Automated Guided Vehicles
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## Overview
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An Automated Guided Vehicle (AGV) is a warehouse transport machine similar to a forklift truck that moves automatically along pre-planned paths. AGVs integrate with Easy WMS to execute container transport tasks autonomously, eliminating the need for human operators on repetitive movement routes.
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AGVs are created and configured in EasyS or EasyAssistant as station-type elements, assigned to an AGV equipment group. Easy WMS communicates with the AGV system through a database-table-based messaging interface, sending transport orders and receiving execution confirmations. AGVs dramatically improve throughput in automatic warehouses by handling putaway, replenishment, shipping preparation, and cross-location transfers continuously.
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The AGV module also supports [Pallet Shuttle](pallet-shuttle.md) movements — AGVs can transport pallet shuttle carts between compact rack channels, eliminating the need for manual forklift intervention.
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## Key capabilities
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- Autonomous container movements: floor → inbound conveyor (PIE), conveyor → storage, storage → stage/dock, storage → storage, AGV → storage
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- Pallet shuttle transport: move PS carts between compact rack channels (with electromagnet attachment)
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- Task prioritization: urgent orders are assigned first; priority can be modified before AGV assignment
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- RFT fallback: when AGVs are unavailable, operators can execute AGV tasks manually via radio frequency terminal
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- Order cancellation and relocation: if an order is canceled mid-execution, Easy WMS searches for a valid putaway location for any loaded container
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- Full message exchange monitoring: export (WMS→AGV) and import (AGV→WMS) message queues are visible and auditable
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## Architecture
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### Communication protocol
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Easy WMS and the AGV system exchange messages via **database tables** (not REST or direct API calls). The standard execution flow for a transport order:
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| Phase | Direction | Meaning |
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|-------|-----------|---------|
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| WMS sends order | WMS → AGV | Transport order request created |
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| `00` | AGV → WMS | Order accepted |
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| `03` | AGV → WMS | Vehicle assigned |
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| `04` | AGV → WMS | Load permission request (if `Can Pick` = false) |
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| WMS sends load auth | WMS → AGV | Load authorization with AGV assignment |
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| `06` | AGV → WMS | Load confirmed |
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| `08` | AGV → WMS | Unload permission request (if `Can Drop` = false) |
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| WMS sends unload auth | WMS → AGV | Unload authorization |
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| `10` | AGV → WMS | Unload confirmed — order complete |
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| `255` | AGV → WMS | Order canceled by AGV |
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### AGV station attributes
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| Field | Description |
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|-------|-------------|
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| Code | Unique AGV station identifier |
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| Control status | Current status: available, breakdown, loading, etc. |
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| Number | Unique per station type per warehouse |
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| Brand / Model | AGV hardware identification |
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### AGV task attributes (key fields)
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| Field | Description |
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|-------|-------------|
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| Task number | WMS-generated unique order number |
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| Load type | `0` = Container, `1` = Pallet Shuttle |
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| Load location / Unload location | WMS station code or location |
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| Can pick / Can drop | Whether AGV system must request load/unload permission from WMS |
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| Load aisle / Unload aisle | Mandatory in FIFO compact racks; optional in LIFO |
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| Priority | Execution priority — most urgent tasks dispatched first |
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| Previous task | Chained task dependency |
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## Configuration
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### Initial setup (minimum required)
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1. Configure warehouse layout in EasyS or EasyAssistant:
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- Create a warehouse station linked to an **AGV equipment group**
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- Add at least one AGV in the group
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- Configure **routes** from the AGV station to all allowed movement locations
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2. Valid location types for AGV movements: conventional rack, compact (single/multi), dynamic, pushback, cantilever, stage, dock, PIE (inbound conveyor), ET (deposit/loading conveyor)
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3. Locations that allow AGV movements must have a **manual loading aisle** configured
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4. Optionally enable/disable the `Allow loading` and `Allow unloading` flags per location — when disabled, the AGV system requests permission from WMS before proceeding
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### Lock type for AGV errors
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A dedicated **location lock type** with the **"For AGV"** flag must be created to manage extraction/putaway errors on non-conventional or non-APS storage locations. Only one such lock type can exist per warehouse. Configure from: **Masters > Lock types > Location lock types** via `Mark for AGV` / `Unmark for AGV` actions.
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## Operations
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### Monitoring (PC — AGVs menu)
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| View | Purpose |
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|------|---------|
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| AGV Stations | List of registered AGVs with control status |
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| AGV Tasks | All transport orders with status, priority, load/unload locations |
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| Export Messages | Messages sent by WMS to AGV system (order creation, update, cancel, auth) |
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| Import Messages | Messages received from AGV system (phases 00/03/04/06/08/10/255) |
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| Status Messages | AGV status updates: Ready (green), Failure (red), Waiting (gray), Low battery (yellow), Charging (blue) |
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### Task lifecycle management
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- **Cancel task**: available in Tasks view (Warehouse menu). Two scenarios: (1) AGV not yet loaded → order removed from queue and AGV system notified; (2) AGV has container loaded → WMS searches for valid putaway location using configured strategies; if none found, user notified for manual action
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- **Finish task manually**: available when AGV is blocked (e.g., physical obstacle). User confirms the unload location manually.
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### RFT fallback (AGV Movements menu on RFT)
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When AGVs are unavailable, operators use the "AGV Movements" option on RFT. Tasks can be filtered by zone. Order selection follows picking process: confirm container at load location, confirm unload location. Issue types during RFT execution:
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- **Loading issues**: Container not found (→ Lost & Found), Mark for review (→ creates count for location)
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- **Unloading issues**: Mark for review (→ count created, enter alternate unload location), Mark as full (blocks location), Other location (change unload destination)
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## Errors & troubleshooting
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### Error categories
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| Category | Description |
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|----------|-------------|
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| Configuration errors | Incorrect load/unload station, duplicate order ID, invalid operation type, unload station modification after phase 03, priority modification after assignment |
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| Execution errors | Extraction error (no container at pickup), putaway error (destination occupied), container mismatch, no valid relocation found |
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| Communication errors | Failures sending order (2500), priority update (2501), cancellation (2502), destination change (2503) |
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### Extraction error behavior
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- **Conventional rack / APS locations**: Task canceled; location marked with "Mark for review" lock type
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- **Other storage locations**: Task canceled; location marked with "For AGV" lock type
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- **Non-storage locations (stage/dock)**: Task NOT canceled; AGV held pending manual action; user notified
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### Putaway error behavior
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- **Conventional rack / APS locations**: WMS searches for a relocation; location marked with "Mark for review" lock type
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- **Other storage locations**: WMS searches for relocation; location marked with "For AGV" lock type
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- **Non-storage locations**: AGV held pending manual action; user notified
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### All notification events subscribe under the **AGV** notification group. Severity: Error for all. Subscribable by: SuperAdmin, Administrators, Managers.
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| Code | Error |
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|------|-------|
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| 1001 | Incorrect load station |
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| 1002 | Incorrect unload station |
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| 1003 | Duplicate transport order |
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| 1004 | Invalid operation type |
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| 1010 | Unload station modification error (phase 03+) |
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| 1011 | Priority modification error (after assignment) |
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| 1012 | Inactive transport order |
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| 1013 | Null task number |
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| 1014 | Inconsistent AGV movement (e.g., unload when not loaded) |
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| 2003 | Extraction error at non-storage location |
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| 2004 | Putaway error at non-storage location |
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| 2005 | Manual cancellation from AGV interface |
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| 2500–2503 | Communication errors (order/priority/cancel/destination) |
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## Related
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- [[pallet-shuttle]] — AGVs transport PS carts between compact rack channels; battery management automated via AGV
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- [[task]] — AGV orders appear as tasks in the warehouse task system
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- [[location]] — Location types compatible with AGV movements; lock types configuration
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- [[container]] — Containers are the primary payload of AGV transport orders
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- [[stations]] — AGV stations (type code: AGV), routes, fleet manager integration
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- [[warehouse-designer]] — AGV equipment groups configured in Warehouse Designer / EasyS
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