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Swam Core +SMR - Coggle Diagram
Swam Core
+SMR
(一) Mapping/Config
[5] SMR速度設定(預設值與相關影響,情境)
[6] SMR foorprint 設定(預設值與相關影響)
[7] SMR safety zone define(default)
[4] SC fleet manegement 設定
[1] 基礎網路設定(WIFI/5G...)
[9]sys High Availability 設定
[8] SMR online/offline設定(Set initial pose)
[2] SC License 啟動(金鑰)
[3] SMR Mapping建圖(掃圖) creat map /upload
(三)Docking
[3-4]Charging docking
[3-3]V-mark docking(offset)
[3-2]Rack Docking
[3-5]Overview error handing
[3-5-2]Docking with artifact
[3-5-1]Based checking
[3-1]Position Docking
(四)Task Management
[4-3]Estimator
[4-1]Flow Manager
[4-1-2]Add artifact to SC
[4-1-1]Condition flow
[4-1-3]Auto function
[4-4]Scheduler
[4-5]Auto Charging
[4-2]Node Manager(Resourcer)
(五)Maintenace
[5-4] High Availability使用
[5-1] Monitoring
[5-1-3]Troubleshooting Mechanism
[5-1-1]Battery and Charging Station log
[5-1-2]Event Log
[5-2] SW upgrade
[5-2-2] Offline Update
flm_init.sh
config tool
UI upgrade
install.sh
[5-2-1] OTA(Online)
[5-3] Maintain user data
reset to default
configration
[5-5] SAAS
(二)Traffic Managemnet
[1] Cell 設定
[2] Route 設定 (EDGE/Vertex 設定(graph))
[3]Zone 設定
Behaviors
[4]一台SMR
[4-2] Moving Stance Define(窄巷道/Docking特定方向)
[4-3] Config zone(safety)設定
[4-1] Rerouting (繞障/避障)
[4-4] Route planning
[4-4-2] Route planning with Cell
[4-4-1] Multi Function Zone(Config/ Baypass)
[5]多台SMR
[5-1] Traffice control
[5-1-1] Route planning with footprint
[5-2]Deadlock avoidence
[5-2-2] Rerouting（Replan）
[5-2-1] Recognition
[5-2-3] Driving away(可控制的障礙物)
(六)Artifact(Wrapper SDK)
[6-1]Wrapper設定
Wrapper Configuration
(Live info/Configuration /Wrapper data/Picture)
Protocol mapping table
Service
Operation logic
[6-2] Artifact SDK(TM手臂/上模組)
Embedded Artifact
External Artifact