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Bosch rexroth ActiveShuttle System Manual

Bosch rexroth ActiveShuttle System Manual

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System Manual
ActiveShuttle
RA91390962 AB-V1.3.3, en

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Summary of Contents for Bosch rexroth ActiveShuttle

  • Page 1 System Manual ActiveShuttle RA91390962 AB-V1.3.3, en...
  • Page 2 © All rights reserved by Bosch Rexroth AG, including for the registration of industrial property rights. This document may not be reproduced or distributed to third parties without our consent. The cover depicts a sample configuration.

  • Page 3: Table Of Contents

    Table of Contents | ILS, ActiveShuttle | 3 Table of Contents Preface About ActiveShuttle System 1.1.1 About ActiveShuttle 1.0 1.1.2 About ActiveShuttle Management System (AMS) 1.1.3 Basic Principles About this document 1.2.1 Notes on the manual 1.2.2 Scope 1.2.3 Required and supplementary documentation 1.2.4 Glossary 1.2.5 Presentation 1.2.6 Structure of safety information...

  • Page 4: Sectors

    ILS, ActiveShuttle | Table of Contents Certificates 3.4.1 Intersystem communication certificates 3.4.2 Intersystem communication certificates – AMS certificate ACL Clearance Remote Access for Software FOSS 3.7.1 Disclosure document 3.7.2 Source code bundle Server deployment Readiness checklist AMS server commissioning Environment variables Server monitoring configuration 4.4.1 Docker Swarm-based configuration 4.4.2 Docker Compose-based configuration...

  • Page 5: Laser Mapping

    Table of Contents | ILS, ActiveShuttle | 5 First connection to AMS Preparing supermarkets and Charging Stations Mapping 6.5.1 Laser mapping 6.5.2 Navigation mapping Use case optimization Waypoint Reservation Mechanisms External Interface IoT Device REST-API 8.2.1 Request format 8.2.2 Response format 8.2.3 REST-API structure 8.2.4 Workflow (example) Web socket API...
  • Page 6 ILS, ActiveShuttle | Table of Contents 9.5.6 ActiveShuttles are blocking each other (deadlock) 9.5.7 ActiveShuttle seems to avoid invisible obstacles 9.5.8 ActiveShuttle stops in the supermarket and flashes red 9.5.9 ActiveShuttle stops when moving with a dolly and flashes red 9.5.10 AMS does not behave correctly after an update 9.5.11 Battery shuts down right after booting 9.5.12 Booting an ActiveShuttle in the Charging Station...

  • Page 7: Preface

    Preface | ILS, ActiveShuttle | 7 1 Preface 1.1 About ActiveShuttle System The ActiveShuttle - automates and standardizes the internal flow of materials and goods, - implements different transport concepts, from cyclical to consumption based material supply systems. To ensure the best user experience, the system contains the following components: •...

  • Page 8: Overview Of The Architecture Of The Ams

    ILS, ActiveShuttle | Preface Notice • It is not possible to actively direct an ActiveShuttle to drive to a Waypoint on the map. • As long as the fleet consists of multiple ActiveShuttles, it is not possible to assign a Job to a specific ActiveShuttle.

  • Page 9: About This Document

    Preface | ILS, ActiveShuttle | 9 Notice The sum of Parking Positions and Charging Stations must be higher than the number of ActiveShuttles. ◊ For information on how to define a battery threshold for every ActiveShuttle see 'Edit robots'-section. If its battery level falls below this threshold, the AMS will not assign a Job and the ActiveShuttle will try to recharge.

  • Page 10: Presentation

    ILS, ActiveShuttle | Preface Abbreviation / Specification Term Contains basic information about execution steps, like loading and unloading cargo Job Template Template for the standard transport job containing a Source and a Sink. This job Template can be defined, configured, and named to ease multiple execution of this Source-Sink transport job.
  • Page 11 Preface | ILS, ActiveShuttle | 11 1.1.1.1. Explanation All explanations are written in continuous text. Topics and information that are not continuous but laid out one after another must be listed. 1.1.1.2. Listing • First level listing ◦ Second level listing Third level listing 1.1.1.3.

  • Page 12: Structure Of Safety Information

    ILS, ActiveShuttle | Preface Inline Code   inside a continuous text or listing are emphasized. InlineCodes(); 1.2.6 Structure of safety information Hazard classification The hazards that may occur at the machine are classified as follows: • Danger • Warning • Caution •...
  • Page 13 Preface | ILS, ActiveShuttle | 13 Notice This warning indicates a hazard with a low risk. Non-compliance with the safety instructions and regulations will result in property damage.  NOTICE Type and source of hazard Consequence of the hazard • Information on how to prevent the hazard RA91390962 AB-V1.3.3, en...

  • Page 14: Safety Instructions

    Any use other than that described in the section "Intended use" is considered improper and is not permitted. Bosch Rexroth AG shall not be liable for any damage resulting from improper use. The user alone shall bear any risks associated with improper use. The following foreseeable misuses also constitute improper use: •...
  • Page 15 Safety Instructions | ILS, ActiveShuttle | 15  → Observe the transport instructions on the packaging.  → Inspect the product for obvious transport damage.  → Use adequate protection when routing cables and lines in order to prevent mechanical damage and to ensure that no one can trip over them.
  • Page 16  → Do not use lithium-ion batteries with a defective connection cable or defective contacts.  → To charge the lithium-ion battery in the ActiveShuttle, use only the Charging Station supplied by Bosch Rexroth or the charger supplied by Bosch Rexroth.  → Only use lithium-ion batteries and accessories in perfect condition.
  • Page 17 Safety Instructions | ILS, ActiveShuttle | 17 NOTICE Handling damaged lithium-ion batteries Damaged lithium-ion batteries may cause the following hazards: • Leakage of toxic substances and toxic combustion products in case of fire. • Leakage of corrosive liquid, possibly causing skin irritations and chemical burns. •...

  • Page 18: Qualification Of The Operating Personnel

    ILS, ActiveShuttle | Safety Instructions CAUTION Risk of injury due to incorrect positioning of the Charging Station A Charging Station positioned in walkways and corridors constitutes a risk of tripping.  → Do not position the Charging Station in walkways and corridors. CAUTION Risk of injury due to improper installation of the Charging Station!  →...

  • Page 19: Required Competence For Commissioning

    ActiveShuttle Management System (AMS) and is likely written into some data logs. Bosch Rexroth does not control which data is stored in the costumer's User Management. Basically all data entered in the User Management can be considered personal data.
  • Page 20 ILS, ActiveShuttle | Safety Instructions mongoexport --collection=messagepreferences --db=ams --out=messagepreferences.json 3. Access rights: As any mongoDB collection, the access rights depend on the user accessing the database, ensure that only the user configured in AMS has rights to this collection. RA91390962 AB-V1.3.3, en...

  • Page 21: Requirements

    UDP/TCP connections on port 123 between the ActiveShuttles and NTP servers. • In case of problems with the AMS, Bosch Rexroth employees must access the Docker logs or access the container’s terminal. A way to provide remote access (via ssh for example) is therefore needed, at least during the initial learning period.

  • Page 22: Client

    ILS, ActiveShuttle | Requirements Notice Keep in mind the permissions needed for such support. 3.2 Client 3.2.1 Necessary hardware • Memory: 4 GB or more • CPU: min. Intel Core i5 3rd generation or equivalent ARM processor. • Graphics card: HD-capable, e.g. ATI Radeon 7850 or NVIDIA Geforce GTX 760 3.2.2 Operating system/browser Since the AMS user interface runs as a web application, any modern operating system capable of running the following browsers can be used:...

  • Page 23: Intersystem Communication Certificates

    Requirements | ILS, ActiveShuttle | 23 • For the authentication between the different components (ActiveShuttle, VMS, FMS) in total 3 key pairs along with their signed CA certificate are required. • The encryption between these components works using a Diffie Hellman key file. •...

  • Page 24: Certificate File Names

    For internal use each customer can install and operate a public key infrastructure (PKI) on their own volition. • For internal use (Bosch Intranet) the Robert Bosch Trustcenter provides the necessary certificates for the Bosch Group. • The Robert Bosch Trustcenter does not provide certificates for external use (Public Internet) or customer.

  • Page 25: Intersystem Communication Certificates - Ams Certificate

    Requirements | ILS, ActiveShuttle | 25 Notice! New certificates, keys, revocation lists, Diffie-Hellman keys must be saved and stored inside this directory. Certificate Notes The RCU certificates are kept in the directory /var/activeshuttle/Certificates The VMS certificates are kept in a container external Path, by default ./vms/vms- cert and must to be mounted into the container at /usr/local/cert.

  • Page 26: File Names Of The Ams Certificate

    ILS, ActiveShuttle | Requirements Name Certificate Name Key file Root certificate(s) "ca.crt" Notice! Must include all necessary root and intermediate certificates. Certificates for "tls.crt" "tls.key" enabling Keycloak communication 6 File names of the AMS certificate In case TLS for the Keycloak User Management is enabled as well, Keycloak needs to be provided and configured with the certificates.

  • Page 27: Acl Clearance

    Requirements | ILS, ActiveShuttle | 27 X509v3 Extended Key Usage: TLS Web Server Authentication ◊ Example certificate, see Appendix. Signature algorithm The signature algorithm must be SHA256 with RSA encryption. Key length The key length of the keys must be at least 2048 bit. 3.5 ACL Clearance The ActiveShuttle constantly communicates to the AMS.

  • Page 28: Remote Access For Software

    3.6 Remote Access for Software The ActiveShuttle system undergoes continuous development and receives update and bugfix releases on a regular basis. Bosch Rexroth can offer support in performing the updates to the AMS using a remote access to the server (see Section AMS updates for details).

  • Page 29: Remote Access For Software

    (changing) password • The customer • Either direct must be provided to does not need (transparent) Bosch Rexroth. their own internet accounts. connection of • No special the AMS server clearance of is required or ports for...

  • Page 30: Foss

    FOSS components which are under these licenses in ActiveShuttle are delivered unmodified. The source code bundle is delivered along with the product delivery, packed and provided as a download package from Bosch server, similar to the application itself. RA91390962 AB-V1.3.3, en...

  • Page 31: Server Deployment

    Server deployment | ILS, ActiveShuttle | 31 4 Server deployment  NOTICE Lack of compatibility Stop of deployment due to incompatible infrastructure. • It is strongly recommended to read this section carefully and discuss it with the internal IT team in advance to identify any issues that might prevent the deployment of the AMS.

  • Page 32: Ams Server Commissioning

    ILS, ActiveShuttle | Server deployment Download all files 4. Specifications for the server OS: Linux Check current requirements for infrastructure in chapter ◊Requirements The following software must to be installed in advance: • Docker • docker-compose • MongoDB ?? IP address & DNS name must be available 5.
  • Page 33 Server deployment | ILS, ActiveShuttle | 33 Images/notes Course of action Install server → Copy the AMS folder to the IPC. • The .tar.gz file contains the Docker images • The configuration_files.zip file contains certain files needed to load as volumes in Docker- Containers.

  • Page 34: Environment Variables

    ILS, ActiveShuttle | Server deployment Images/notes Course of action Each AMS microservice needs several common Start AMS docker-compose file environment variables (for example, to retrieve the ETCD server). →  Open project folder and start AMS docker-compose file. The attached docker-compose.yml file (found in the configuration_files.zip file) describes the list of all AMS microservices and the environment variables they require.
  • Page 35 Server deployment | ILS, ActiveShuttle | 35 Images/notes Course of action Keycloak configuration AMS has a role-based system, which allows for the creation of users with different rights. → In order to configure these roles (groups), declare the Keycloak realm and configuration. Create an admin user by using the Keycloak executable.
  • Page 36 ILS, ActiveShuttle | Server deployment Images/notes Course of action Log in to the Keycloak console and set up a valid redirect URL Keycloak must know the IP address (or associated URL) of the as well as the port. hmisrv → Click on Clients. →...
  • Page 37 Server deployment | ILS, ActiveShuttle | 37 Images/notes Course of action Set up URL → Activate all switches accordingly. → Save settings. RA91390962 AB-V1.3.3, en...
  • Page 38 ILS, ActiveShuttle | Server deployment Images/notes Course of action Add User → Click on Users button in the Sidebar. The Users window opens. → Click on Add User in the header. The user creation wizard opens. → Enter a user name and user information. Notice! The user name may only include lower-case letters.
  • Page 39 Server deployment | ILS, ActiveShuttle | 39 Images/notes Course of action Copy the secret token to the keycloak-json file → Click on the Clients button in the Sidebar. The window of the Client ID Hmisrv opens. → Switch to the Credentials tab. →...

  • Page 40: Environment Variables

    ILS, ActiveShuttle | Server deployment Images/notes Course of action Extra: E-mail notification server configuration EMAIL_FROM='"Active Shuttle Notification" <active.shuttle@mycompany.com>', Prerequisites: SMTP_HOST='smtp.mycompany.com', SMTP_PORT=25 → Save e-mails for every user in Keycloak: → All users registered in Keycloak must have an e-mail address if they are going to enable      ...
  • Page 41 <<first eth0 or wlan0 IP>> CRYPTO_DIR crypto REMOTE_URL MY_IP:WEB_PORT_INSECURE MUS_MAP_UPDATE_TIME 3000 maps MUS_MAP_RESOLUTION 10.000001 maps FORCE_MAP_PULL false maps MUS_MAP_LOGIN admin maps MUS_MAP_PASSWORD bosch!1886 maps EMAIL_FROM "Active Shuttle (DC)" <active.sh mess uttle@bosch.com> enge rsrv SMTP_HOST rb-smtp-int.bosch.com mess enge rsrv SMTP_PORT mess enge rsrv SERVICE_EMAIL Active_Shuttle.System@boschr...
  • Page 42 ILS, ActiveShuttle | Server deployment Name Default value Servi Comment MONGO_AUTHDB admin MONGO_REPLICASET_NA false If given a name, then the MONGO_REPLICASET_HOSTS uri replaces the port and host env vars MEMCACHE_HOST 127.0.0.1 MEMCACHE_PORT 11211 GRAFANA_PROTOCOL http nogg ersrv, hmis GRAFANA_HOST localhost nogg ersrv, hmis...
  • Page 43 Server deployment | ILS, ActiveShuttle | 43 Name Default value Servi Comment MAPSRV_WEB_UI_PORT_ 8089 maps SECURE PGM_WORKER_PARALLE maps MAPSRV_UPLOAD_ROUT 8097 maps E_PORT_INSECURE MAPSRV_UPLOAD_ROUT 8098 maps E_PORT_SECURE MAPSRV_UPLOAD_TIMEO 30000 maps MAPSRV_UPLOAD_HASH sha256 maps _ALGORITHM TELEGRAM_NOTIFICATIO mess N_BOT_TOKEN enge rsrv NOGGER_PORT_INSECU 8543 nogg ersrv NOGGER_PORT_SECURE...

  • Page 44: Server Monitoring Configuration

    ILS, ActiveShuttle | Server deployment Name Default value Servi Comment INFLUX_CLUSTER_HOST false nogg If a URL is given, the host and port env ersrv vars are ignored FORCE_CACHE false Set to true if there are problems with outdated data displayed in the UI. TIME_ZONE notifi Use ICANN tzdata format to indicate the...

  • Page 45: Node Exporter Configuration

    2. Replace the Node ID in the command. docker run --volume=/etc/hostname:/etc/ Nodename --publish=25100:9100   -- detach=true --restart=unless-stopped -- name=Node-exporter --privileged=true -e Node_ID=rax0uicu3ratwn1ockb1lyahv rb- dtr.de.bosch.com/activesuite/Node- exporter:swarmprom-0.16.0 -- collector.textfile.directory=/etc/Node- exporter/ 3. Execute the Docker command in the server terminal. 10 Node exporter configuration...

  • Page 46: Prometheus Configuration

    ILS, ActiveShuttle | Server deployment 1. Copy the folder alertmanager and its content from the sample configuration folder to the deployment folder. 2. Make sure that the folder has read permissions for other users: sudo chmod -R 777 alertmanager. 3. Change the deployment path in the $ nano docker-compose.yml docker- file.
  • Page 47 Server deployment | ILS, ActiveShuttle | 47 5. Add the Node exporter targets under the Job Name $ nano prometheus.yml called within the file [...] server-Node-exporter static_configs: prometheus.yml          - targets: ['Node-exporter:9100', Notice! xyz:9100, abc:9100] // where xyz and abc are two different servers The targets are cAdvisor instances running on every [...] server (physical or virtual).

  • Page 48: Docker Compose-Based Configuration

    ILS, ActiveShuttle | Server deployment Prometheus2teams 1. Copy the folder msteams and its content from the sample configuration folder to the deployment folder. 2. Make sure that the folder has read permissions for other users:  sudo chmod -R 777 msteams. 3. Create a notification channel. ◊...

  • Page 49: Prometheus Configuration

    Server deployment | ILS, ActiveShuttle | 49 3. Change the deployment path in the $ nano docker-compose.yml docker- file. [...] compose.yml alertmanager: The content of this folder is volume-mounted [...]      within the alert manager Docker-Container. volumes:      - /path-within-server/          alertmanager/alertmanager.yml:/ alertmanager/alertmanager.yml [...]...
  • Page 50 ILS, ActiveShuttle | Server deployment 8. Create a folder called ams-instance within the   prometheus/server/ path 9. Copy the content of the sample configuration to the folder ams-instance-compose. 10. Open the ams.rules file from the directory prometheus/server/ams-instance/ 11. Edit container_label_com_docker_compose_ based on the deployment configuration.

  • Page 51: Launching The Application

    Server deployment | ILS, ActiveShuttle | 51 5. Copy the webhook URL created in step 3 to the compose file for prometheus-msteams section.   Server alerts service under the environment variable - TEAMS_INCOMING_WEBHOOK_URL 6. Repeat steps 2, 3, and 4 for the as well. ams-alerts 17 Prometheus2teams 4.4.3 Launching the application...
  • Page 52 ILS, ActiveShuttle | Server deployment Overview REST-API WebSocket interface SOAP-XML to REST bridge Description → Read and modify the → Send TOs to the AMS → Communicate with SAP static configuration data of and monitor the live-status the system (e.g. Nodes or of the system (robots, Job Templates).

  • Page 53: Rest-Api V1

    Server deployment | ILS, ActiveShuttle | 53 REST-API WebSocket interface SOAP-XML to REST bridge Real-time robot • (Push) status 18 Overview 4.5.1 REST-API v1 AMS provides access to several objects of the system via REST. This web service allows the communication with external systems in order to acquire and send information to the AMS.
  • Page 54 ILS, ActiveShuttle | Server deployment Images/notes Course of action Create new Sector → Open the AMS in the browser. → Click on Create new Sector (top right corner). → Specify a name and click on Save. The new Sector appears in the tab bar. 2.
  • Page 55 # - the existing entry. all processes will run as the user vms (UID=86023 & Then change the following parameters:  GID=128975361) vms1-home: image: rb-dtr.de.bosch.com/ • hostname: vms2  (will be used by Docker as activesuite/vms:AS-1.3.2 DNS-address) hostname: vms2 # this ◦...
  • Page 56 ILS, ActiveShuttle | Server deployment Images/notes Course of action EXTERNALADDRESS=vms1-home # external address which will written to the ETCD so that other services can find us under this address (defaults to the hostname if not set) ports: - 11021-11034:11001-11014 # communication channels for registration, scheduling, traffic control, navigation...
  • Page 57 (UID=86023 & GID=128975361) vms$I$-$VMS_ID$: image: rb-dtr.de.bosch.com/activesuite/vms:$VMSTAG$ hostname: vms$I$-$VMS_ID$ # this is the name which will show up in the syslogs as host (e.g. in Kibana) networks: - fms # network which connects to the FMS services - ldap # network which connects to...

  • Page 58: User Interface

    ILS, ActiveShuttle | User interface 5 User interface 5 Main Screen Positio Definition Description Header Contains the following functions: • Predfined Sectors • Notifications • Documentation • Settings Sidebar Contains the following functions: • Path Editor • Robots • Job Library •...

  • Page 59: Sectors

    User interface | ILS, ActiveShuttle | 59 Positio Definition Description Sectors Predefined Sectors → Create and define new Sectors with the + New Sector button further right in the header. Notification Overview of all notification messages Documentation and report tool →...
  • Page 60 ILS, ActiveShuttle | User interface Images/notes Course of action A Sector can be created and immediately use an available map. → Click on the Create empty button to start from scratch without using available maps. → Enter a display name for the new Sector. This is the name that will be displayed in the AMS for the Sector.

  • Page 61: Notifications

    User interface | ILS, ActiveShuttle | 61 Images/notes Course of action → Right-click on the Sector name. → Either edit, use, or delete the selected Sector. → Click on Info to view the Sector info. → Click on the Sector name. The UI changes to display the selected area.
  • Page 62 ILS, ActiveShuttle | User interface Pos. Definition Description Select notifications The Notification Sidebar is normally hidden. → Click on the notification icon to activate it. The Notification Sidebar will then appear on the right side of the screen. Notification Sidebar The Notification Sidebar shows all currently- active error messages and unresolved isssues.

  • Page 63: Support

    → Click on Instructions to download the System Manual in pdf format. The AMS will fetch the System Manual in the same language currently used in the AMS. Report tool (Bosch-internal use only) The report tool generates logs of an ActiveShuttle or the Vehicle Management System (VMS) and sends said log to a shared folder for future analysis.

  • Page 64: Settings

    ILS, ActiveShuttle | User interface Images/notes Course of action Generate Report → Briefly describe the problem in the description section. → Open the Dropdown Menu and select either robot or VMS. → Confirm your entry and selection with by clicking on Generate.
  • Page 65 User interface | ILS, ActiveShuttle | 65 Role Rights Viewer Lowest permission level. A viewer is able to view most of the UI but unable to edit anything or execute Jobs. User Next higher permission level. Unlike the viewer, the user has the ability to execute Job Templates that have already been created.
  • Page 66 ILS, ActiveShuttle | User interface Images/notes Course of action → Click on User Management. New Keycloak window opens. → Log in to keycloak with admin credentials. After successful log-in, the Keycloak landing page opens. → First select a realm. → Select Users (1) under Tab Manager. A list of users appears.
  • Page 67 User interface | ILS, ActiveShuttle | 67 Images/notes Course of action → To add permissions click Groups (1) → Select a suitable permission title from the list (2) → Click Join (3). 26 User Management Statistics The option Statistics provides aggregated information about performed Jobs, failed Jobs, created Jobs or canceled Jobs within a given period.

  • Page 68: Activeshuttle Statistics

    ILS, ActiveShuttle | User interface Images/notes Course of action The statistics available can be divided into the following categories: • Created Jobs • Finished Jobs • Successful Jobs • Manual Jobs • Failed Jobs • Cancelled Jobs → Manually configure the time period for which statistics are to be displayed for by entering different dates.
  • Page 69 User interface | ILS, ActiveShuttle | 69 Images/notes Course of action Grafana dashboards are time-based, which means that several graphs depend on the time range shown in the upper right corner. → Open the drop-down menu and switch to the desired relative time range.

  • Page 70: Fleet Statistics

    ILS, ActiveShuttle | User interface Description Battery level Daily report of the battery level that day Current battery health Live battery health indicator (0 bad, 100 good) Battery health Daily report of the battery for the robot Battery load cycles Time the battery has been recharged since it was installed 29 ActiveShuttle statistics Job history:...

  • Page 71: General Settings Dialog

    User interface | ILS, ActiveShuttle | 71 Description Total hours in service Total hours in service of the whole fleet Hour in service Daily report of average hours that the fleet was working on that day Current battery level Levels of battery of the fleet divided by percentiles Average Battery level Daily report of the average battery level that day for the fleet Average Battery Health...

  • Page 72: Toggle Debug

    ILS, ActiveShuttle | User interface Notice This dialog is available for users with the permission role "developer" Toggle Debug 9 Toggle Debug → Click on Toggle Debug to activate debug mode. Notice Activation of the debug mode requiresvthe permission level dev. The debug is required in certain situations for advanced analysis of the fleets state.

  • Page 73: User Settings

    User interface | ILS, ActiveShuttle | 73 10 Language → Click on Language. All available languages appear below. → Click on desired language to switch to it live. User Settings This option defines the e-mail notification. RA91390962 AB-V1.3.3, en...
  • Page 74 ILS, ActiveShuttle | User interface Images/notes Course of action → Click on User Settings.  Settings window opens. → Toggle the buttons under Selected notifications to select the types of notification to be sent by e-mail. → Define the frequency of e-mail notification by selecting the option Send after.

  • Page 75: Sidebar

    User interface | ILS, ActiveShuttle | 75 About and OSS The About dialog provides information about: • AMS versions • supported browser types • All open source software used. 11 About and OSS → Click on About. About dialog appears. →...
  • Page 76 ILS, ActiveShuttle | User interface Definition Detail view Description Overview of → Click on overview button. all points  The Path Elements Overview is displayed as a list. → Click on Flag (1) to focus the map on the selected Waypoint. →...
  • Page 77 User interface | ILS, ActiveShuttle | 77 Definition Detail view Description Add a Pickup → Place Pickup point on the map. point on the Path Elements Overview is filtered for all set Pickup points. → Edit and fill out all parameters just like in the Waypoint editing mask above.
  • Page 78 ILS, ActiveShuttle | User interface Definition Detail view Description Add a region → Place region on the map. on the map Path Elements Overview is filtered for all set regions. → Edit and fill out all parameters just like in the Pickup point editing mask above.
  • Page 79 User interface | ILS, ActiveShuttle | 79 Definition Detail view Description Add an IoT → Place IoT Device on the map. Device on the Path Elements Overview is filtered for all set IoT Devices. Notice An IoT Device is a digital button that triggers certain pre defined Job Templates when actuated by external interfaces.
  • Page 80 ILS, ActiveShuttle | User interface Definition Detail view Description Supermarket Notice! creation mode When creating a supermarket, every Waypoint added has a maximum capacity and a current load. When a Source is empty or a Sink is full, the system uses the next Waypoint in the supermarket.
  • Page 81 User interface | ILS, ActiveShuttle | 81 Definition Detail view Description Edit Path Path Elements Overview is filtered for all Paths. width → Edit and fill out all parameters just like in the Pickup point editing mask above. The following additional parameters can be edited: →...

  • Page 82: Robots

    ILS, ActiveShuttle | User interface Definition Detail view Description Switch to Allows to configure, scale and rotate blueprints multilayer editing mode → Use the mouse to manually move the map in map view. → Press R to rotate the map manually. → Press S to scale the map manually. Path Elements Overview is filtered for all maps.

  • Page 83: Job Template

    User interface | ILS, ActiveShuttle | 83 Status Detail View Description Editing mode Click on Edit while in operational mode. The following parameters can be edited: → Enter name (1). Chosen name does not apply to pre-configured robot name. → Toggle Job availability (2). Determines whether the robot will get Jobs assigned to it or not.

  • Page 84: Jobs

    ILS, ActiveShuttle | User interface Images/notes Course of action Create Job Template → Click on +New Template (1). New Template dialog opens up in the Job Library. The Job Template is automatically set to draft mode. → Enter Job Name (2). →...
  • Page 85 User interface | ILS, ActiveShuttle | 85 Images/notes Course of action The overview lists all running Jobs that where executed from the Job Library. The icons next to the individual Jobs show their current status: (1) Job successfully executed (2) Job in progress (3) Job scheduled with high priority (4) Job scheduled with medium priority (5) Job scheduled with low priority...
  • Page 86 ILS, ActiveShuttle | User interface Images/notes Course of action → Open the detail view of a running Job in the list. • Indication of Job progress (1). • Name of robot executing the Job (2). • Assigned Prioritization (3). • Current task (4) →...

  • Page 87: Map

    User interface | ILS, ActiveShuttle | 87 Images/notes Course of action  In case a Job needs user attention to finish it, a button appears in the lower right corner of the Running Jobs list. → Click this button.  Three possibilities become available. →...

  • Page 88: Layers In Sector

    ILS, ActiveShuttle | User interface Designation Description List of layers in sector Lists all set up layers available in a given Sector. Add new layer → Click on +New Layer to add new layers to the Sector. Already set up layers appear in the layer list.
  • Page 89 User interface | ILS, ActiveShuttle | 89 Detail view Description Map is saved. Layer is activated (8). 38 Layers in Sector Add new layer Load Maps It is possible to load maps already saved in the AMS or from the connected robots or to record a map. Step Detail view Description...
  • Page 90 ILS, ActiveShuttle | User interface Step Detail view Description → Enter display name for the new map (3). → Click on Load map (4). The dialog window closes (5). 39 Mapping Use server map Step Detail view Description → Click on +New Layer.  ...

  • Page 91: Use Server Map

    User interface | ILS, ActiveShuttle | 91 Step Detail view Description → If necessary, change the default name (3). → If the map possesses options like size, configure them. → Click on Load map (4). The map is processed and appears in the Layers in Sector area.
  • Page 92 ILS, ActiveShuttle | User interface Step Detail view Description The file name is displayed (2). → Click on Continue (3). The dialog window goes on to the next step. → Configure DPI setting (4). → Configure P/M setting (5). → Set map scale (6). →...
  • Page 93 User interface | ILS, ActiveShuttle | 93 Step Detail view Description → Click on + Record Map (1). A dialog window opens. → Select Robot from List (2). → Click on Continue (3).  The dialog window goes on to the next step. →...

  • Page 94: Map View

    ILS, ActiveShuttle | User interface Step Detail view Description → Wait for the robot to finish mapping. Notice! Do not close the window during the recording process. → Click Stop recording (7) after the robot has finished mapping.   The recording process is finished.  ...
  • Page 95 User interface | ILS, ActiveShuttle | 95 Icon Def. Images Course of action Waypoint Place Waypoints → Click on the Waypoint icon in the Waypoint Toolbar. → Drag the Waypoint icon onto a specific location on the map. The dragged Waypoint is greyed out. →...
  • Page 96 ILS, ActiveShuttle | User interface Icon Def. Images Course of action Edit Waypoints → Left-click on a Waypoint placed on the map. A rotating crosshair appears around the Waypoint to signal that edit mode is active. → Left-click and drag the Waypoint to drop it on a new location on the map.
  • Page 97 User interface | ILS, ActiveShuttle | 97 Icon Def. Images Course of action Paths Uni vs Bilateral Paths A route for robots to follow on the map is established by connecting different Waypoints. Waypoints are connected by Paths. There are two kinds of Paths: •...
  • Page 98 ILS, ActiveShuttle | User interface Icon Def. Images Course of action Bilateral Path → Select the Bilateral Path Tool on the Waypoint Toolbar. → Create a Path according to description above. Corridors Corridors  Corridors are the area within which the robot is allowed to move.
  • Page 99 User interface | ILS, ActiveShuttle | 99 Icon Def. Images Course of action Add polygon and/or speed limit → Click on the selected Corridor in the Path Editor. → Open the detail view. → Open the drop-down menu and select polygon (1).
  • Page 100 ILS, ActiveShuttle | User interface Icon Def. Images Course of action Zones Place and adjust zone The zones are square areas which can have two different purposes: • Limiting the speed in that area • Demarcating a special area. → Select the Zone Tool on the Waypoint Toolbar.
  • Page 101 User interface | ILS, ActiveShuttle | 101 Icon Def. Images Course of action Forbidden area The Robot limit option enables only one robot at the time inside the zone. → Click on the selected zone in the Path Editor. → Open the detail view. →...
  • Page 102 ILS, ActiveShuttle | User interface Icon Def. Images Course of action Layers Edit layers It is possible to edit the layers in order to resize them or rotate them. → Select the Layer Tool on the Waypoint Toolbar. A green notification appears at the bottom of the screen, indicating that the Edit Mode is active (1).
  • Page 103 User interface | ILS, ActiveShuttle | 103 Map control 15 Map Control Designation Description Zoom in → Zoom in and out. Notice! Zoom out The wheel button in the mouse can also be used to zoom. Center view → Zoom and center the map to the selected coordinate.

  • Page 104: Layer Menu

    ILS, ActiveShuttle | User interface Designation Description Switch to Selection Mode → Switch to Selection Mode. → Click on an element to view and edit it. Layers → Open Layer Menu. ◊ For further information see Chapter Layer Menu. 44 Map control Layer Menu Detail view Description...
  • Page 105 User interface | ILS, ActiveShuttle | 105 Detail view Description Layers configuration In the detailed view, it can be configured which layers are to be displayed in the UI and an opacity can be set for each layer to show them superimposed over each other.
  • Page 106 ILS, ActiveShuttle | User interface Detail view Description Heatmap and roads In addition to the laser maps provided by the robots, the Map View offers a two kinds of Heatmaps: • Wi-Fi Heatmap • Movement Heatmap Notice! The Wi-Fi Heatmap is disabled by default. Open the detailed view of Heatmap and roads in the Layer Menu.
  • Page 107 User interface | ILS, ActiveShuttle | 107 Detail view Description Movement Heatmap After activation the map shows the areas where the fleet of robots travelled more often that particular day: • Blue or no color signifies the robots did not go to that area that day •...

  • Page 108: Logistic Commissioning

    ILS, ActiveShuttle | Logistic commissioning 6 Logistic commissioning 6.1 Scope of delivery WARNING Suspended loads may fall Falling objects can result in severe injury (or even death). • Only use the lift aid included in the scope of delivery to lift the ActiveShuttle. •...

  • Page 109: Wi-Fi Integration

    Logistic commissioning | ILS, ActiveShuttle | 6.2 WI-FI integration After unboxing the ActiveShuttle, it must first be integrated into the WI-FI. Notice Wi-Fi settings are individual to every customer and require basic network administration knowledge. → Contact the IT partner in case of issues. Images/notes Course of action →...

  • Page 110: First Connection To Ams

    ILS, ActiveShuttle | Logistic commissioning → To check the connectivity, use the ping command:      On a laptop/PC in the same network, open the a terminal and enter: 'ping <ip-adress-of-your- shuttle>'. If the command is successful, the ActiveShuttle is registered in the Wi-Fi network.  6.3 First connection to AMS Once the ActiveShuttle is connected to the Wi-Fi network (and the AMS has been setup successfully) the ActiveShuttle can be linked to the AMS.
  • Page 111 Logistic commissioning | ILS, ActiveShuttle | Images/notes Course of action 4. Enter VMS port offset Can be found in the docker-compose.yml file, in the vms-section).  5. Enter the address of the map server. 6. Enter map server port offset  Can be found in the docker-compose.yml file, in the vms-section). ...

  • Page 112: Preparing Supermarkets And Charging Stations

    ILS, ActiveShuttle | Logistic commissioning Images/notes Course of action Connection problems → If it does not appear, restart the ActiveShuttle completely (on/off-switch). → If it still does not appear in the AMS after the restart, and the AMS is running fine, double check the specified port offsets for VMS and map server (steps 5 and 7).
  • Page 113 Supported supermarket tracks Distance S G3 SW 41 (Bloksma) 86 mm FIFO Monorail 40 mm 5S (Orgatex) 86 mm 86 mm FIFO station (Bosch Rexroth, Orgatex) 164 mm 48 Preparing supermarket → Attach the guide lines considering the following: RA91390962 AB-V1.3.3, en...
  • Page 114 ILS, ActiveShuttle | Logistic commissioning 16 Preparing supermarket A: Dollies B: Blue guide line C: Supermarket S: Minimum distance between the guide line and the supermarket track. When attaching the guide lines and tracks, take heed of the following requirements: •...

  • Page 115: Preparing Charging Station

    Logistic commissioning | ILS, ActiveShuttle | • The blue guide line and the surrounding areas must be kept free of dirt. • The distances shown in the drawing must be observed in order for the ActiveShuttle to function correctly. • The supermarket tracks must be fixed to the floor (e.g.
  • Page 116 ILS, ActiveShuttle | Logistic commissioning 17 Preparing Charging Station A: Charging Station 1.0 B: Blue guide line C: Wall/obstacle RA91390962 AB-V1.3.3, en...

  • Page 117: Mounting The Charging Station

    Logistic commissioning | ILS, ActiveShuttle | 18 Mounting the Charging Station Remove both lateral housing parts. RA91390962 AB-V1.3.3, en...

  • Page 118: Mapping

    ILS, ActiveShuttle | Logistic commissioning Set the dimension D with the leveling feet and align the Charging Station horizontally. Screw the Charging Station to the base. Mount the lateral housing parts. Notice In some cases, the ActiveShuttle can't find the line of the Charging Station after self-localization. This can be solved with either making the blue line longer or changing the position of the Charging Station in the AMS closer to the actual Charging Station.
  • Page 119 Logistic commissioning | ILS, ActiveShuttle | Step Detail View Description The ActiveShuttle is outside the Charging Station. Start the ActiveShuttle and wait until it is booted (N). The light will turn blue when booted. → When booted, press the activation button (O). The ActiveShuttle will start rotating, this can take a minute.
  • Page 120 ILS, ActiveShuttle | Logistic commissioning Step Detail View Description → Open the Jobs tab in the Sidebar. → Select Layer Settings. → Click on + New Layer. → Click on + Record Map. A dialog opens. → Select the robot from the list (5). →...
  • Page 121 Logistic commissioning | ILS, ActiveShuttle | Step Detail View Description → If necessary or desired, select a starting Waypoint (8). → Click on Start recording (9).  The Job is listed in the Running Jobs list in the Sidebar. Do not close the pop-up window during the whole mapping process! →...

  • Page 122: Navigation Mapping

    ILS, ActiveShuttle | Logistic commissioning Step Detail View Description → Click on Stop recording to complete the mapping Job. The ActiveShuttle processes the collected data and uploads it to the server. Notice! This may take a while, depending on the size of the map.

  • Page 123: Preparing Supermarket

    Logistic commissioning | ILS, ActiveShuttle | • Charging Stations and supermarkets are set up according to Chapter Preparing supermarkets and Charging Stations. Detail view Description Prepare Teaching → Turn on the ActiveShuttle (1) again. → Press the Activation button (3). The ActiveShuttle starts rotating and will lokalize itself.
  • Page 124 ILS, ActiveShuttle | Logistic commissioning Detail view Description Teach Point of Interest → Drive the ActiveShuttle to every teaching point (blue line). → Make sure its rotation axis is situated exactly on the blue line, as shown in the picture. Notice!  Depending on the type of Waypoint that you are teaching, the ActiveShuttle needs to be placed...
  • Page 125 Logistic commissioning | ILS, ActiveShuttle | Detail view Description • Charging Stations • Parking Stations • Pick up Points • Drop off Points. → Once the navigation network is set up, turn off the ActiveShuttle (1). → Save map (3). →...
  • Page 126 ILS, ActiveShuttle | Logistic commissioning Detail view Description Add Waypoints → Click on the Waypoint icon in the Waypoint Toolbar. → Drag the Waypoint icon onto a specific location on the map. The dragged Waypoint is greyed out. → Click again to drop the Waypoint. The next Waypoint is automatically selected.
  • Page 127 Logistic commissioning | ILS, ActiveShuttle | Detail view Description Define the first Job Template ◊ For further information see Chapter Path Editor. Execute Job → Execute Job. ◊ For further information see Chapter Path Editor. Notice It is recommended to follow the ActiveShuttle during the first few Jobs to understand the driving mode of the ActiveShuttle, but also to improve...

  • Page 128: Use Case Optimization

    ILS, ActiveShuttle | Use case optimization 7 Use case optimization To ensure a smooth flow and to avoid accidents, the ActiveShuttle follows specific traffic regulations. These get more and more important as the ActiveShuttle fleet grows. 19 Use case optimization There are different possibilities available for the user to regulate the resulting traffic of ActiveShuttles driving around executing Jobs.
  • Page 129 Use case optimization | ILS, ActiveShuttle | Corridor, like the rest of the Corridors in this example, however, offers the ActiveShuttle the possibility to leave its Path and move around obstacles. It will always stay inside the specified Corridor, though.  Speed limit zone: Only allows for a maximum speed, set by the user via Path Editor.
  • Page 130 ILS, ActiveShuttle | Use case optimization Detail View Description The ActiveShuttle starts from the Charging Station. Shortly after departure there is an obstacle located on the way to Source1 (red circle). The ActiveShuttle is designed to detect obstacles in its path with its built-in front laser scanner.
  • Page 131 Use case optimization | ILS, ActiveShuttle | Detail View Description → Maximize the possibility for the ActiveShuttle to pass an obstacle in its way by widening the corridors wherever the situation allows it. To avoid collisions it is recommended to: •...
  • Page 132 ILS, ActiveShuttle | Use case optimization Detail View Description After passing the speed zone the ActiveShuttle will reach Source1, pick up the waiting dolly and continue with its payload to Sink1. It has to pass the Robot limit zone, which only allows one robot at the same time inside the area.
  • Page 133 Use case optimization | ILS, ActiveShuttle | Detail View Description Reservation of Waypoints: As the ActiveShuttle moves across the map, it is important to understand that it always reserves at least the next two Waypoints in advance. If a Waypoint is reserved by one ActiveShuttle, no other ActiveShuttle can access it.

  • Page 134: Sinks And Sources

    ILS, ActiveShuttle | Use case optimization 20 Charging Stations Sinks/Sources 21 Sinks and Sources Crossroads RA91390962 AB-V1.3.3, en...

  • Page 135: Waypoint Reservation Mechanisms

    Use case optimization | ILS, ActiveShuttle | 22 Crossroads Supermarket  23 Supermarket 7.1 Waypoint Reservation Mechanisms An ActiveShuttle has to reserve a waypoint at the AMS before it is allowed to approach it. This prevents physical contact and physical blockages of the vehicles in almost all situations. However, it can still happen in very rare cases that ActiveShuttle block each other physically or a logical deadlock occurs when vehicles try to reserve the same nodes at the same time.
  • Page 136 ILS, ActiveShuttle | Use case optimization Intermediate waypoints will be added to the navigation graph when it is being saved. They are not visible in the AMS and will only be added on edges which are longer than 3m. However, they will still be considered for the waypoint reservation mechanisms. ...
  • Page 137 Use case optimization | ILS, ActiveShuttle | Example Situation Notes Driving on a straight path with adjacent path • if adjacent waypoints are inside of the reservation area they will be added to the current reservation list Driving on a straight path with upcoming close points •...

  • Page 138: Dimension Of Reservation Areas

    ILS, ActiveShuttle | Use case optimization Example Situation Notes Driving towards a crossing • if a waypoint has two or more outgoing edges it is considered as a crossing ◦ a bigger circle will be used as reservation area ◦ regardless of angles from outgoing edges...

  • Page 139: External Interface

    External Interface | ILS, ActiveShuttle | 139 8 External Interface 8.1 IoT Device ActiveShuttle Management System (AMS) allows the possibility of triggering specific Jobs using IoT Devices. The IoT Devices can be created and configured in the "Path Editor" section under User interface → Sidebar. Prerequisite We assume that the network configurations of the IoT Devices are already completed.

  • Page 140: Request Format

    ILS, ActiveShuttle | External Interface 25 REST-API v1 - General Settings 8.2.1 Request format The AMS web service receives requests from the REST-API v1 under the path, along with the /api/v1 action and always including the API-Key in the parameter. apikey Request format using curl: curl –d...

  • Page 141: Rest-Api Structure

    External Interface | ILS, ActiveShuttle | 141 { "resultCode": "SUCCESS", "resultObj": null, "message": "Successfully removed 589a09543b640200005a781e" Notice The result code is the property that indicates if the request was successful or not. 8.2.3 REST-API structure The REST-API uses the JSON format to receive and transfer information about the following system objects: •...

  • Page 142: Workflow (Example)

    ILS, ActiveShuttle | External Interface 1.1.1.3. Modify REST-API triggers the CHANGE event for the selected object, i.e. it changes its attributes. The modify endpoint receives the same object as the create action, with the difference that the property ‘_id’ inside the JSON object is mandatory in order to look for the object to modify. The request is as follows: curl -d '{"apikey":<API-KEY>,"type":<OBJECT-TYPE>,<JSON OBJECT>}'...
  • Page 143 External Interface | ILS, ActiveShuttle | 143 The request is as follows: curl -d '{"apikey":"TESTKEY2345","type":"ROBOTACTION","id":"ALL"}'\ -H 'content- type:application/json' https://127.0.0.1:8443/api/v1/acquire The response is as follows (partial extension): { "resultCode": "SUCCESS", "resultObj": [ { "_id": "1", "actionType": "ACTION_UNLOAD", "description": "ACTION_UNLOAD", "image": "sink-icon", "template": { "properties": [ { "required": true, "type": "WAYPOINT", "name": "location"...

  • Page 144: Rest-Api V1 - Source And Sink Connected

    ILS, ActiveShuttle | External Interface curl -k -d '{"apikey":"TESTKEY2345","type":"NODE","sectorReference":"111111111111111111111111"," _occupado":[],"_neighbours":[],"_capabilities": [{"_action":"1"}],"depth":"1","coordinates":{"pose":0.0,"xyz":{"z":0.0,"y”:2.0,"x": 2.0}},"description":"REST-API sink","name":"mySinkNode"}' 'content- type:application/json' https:// 127.0.0.1:8443/api/v1/create The response is similar to the Source response. Notice! Afterwards, the Sink will be referred to with the ID "5d6e7f78a6c3f908bb34234e". 1.1.1.2. Path creation Notice! To create a path between the previously created Nodes, it is necessary to create a VESTIBULE object, setting the Source and Sink IDs as origins and indicating the start and end of the Path.

  • Page 145: Web Socket Api

    External Interface | ILS, ActiveShuttle | 145 → Create a Job as follows: curl -k -d '{"apikey":"TESTKEY2345","type":"JOB","name":"Job REST- API","description":"","jobType":"SIMPLE","sectorReference":"111111111111111111111111" ,"operation":{"params":{"designatedDroid": {"value":"","type":"DROID"}},"finished":false,"deleted":false,"canceled":false,"start ed":false,"status":{"name":"JOB_NEW","title":"NEW","rank":0},"actions": [{"type":"ACTION","_id":"4","params":{"location": {"type":"WAYPOINT","value":"5d6e7d5ba6c3f908bb34234d"}}}, {"type":"ACTION","_id":"1","params":{"location": {"type":"WAYPOINT","value":"5d6e7f78a6c3f908bb34234e"}}}],"type":"EXECUTION","name":" operation RESt-API"}}' 'content-type:application/json' https://127.0.0.1:8443/api/ v1/create The response is as follows (partial extension): { "resultCode": "SUCCESS", "resultObj": { "name": "Job REST-API", "description": "", "_createdByUser": "", "_createdByClient": "", "jobType": "SIMPLE", "deleted": false,...

  • Page 146: Open Connection And Authentication

    ILS, ActiveShuttle | External Interface 8.3.1 Open connection and authentication The endpoint for web socket communications is under the ‘/ies’ path. Every client that connects must send an "AUTHORIZE" message with the API-Key configured for the server to be able to send and receive data. The schemas for sending the query and result are as follows: { "authorize": { "id": "#/ies/authorize", "name": "AUTHORIZE", "description": "Authorization message that needs to be send to initiate...
  • Page 147 External Interface | ILS, ActiveShuttle | 147 {  "jobAddResult": { "id": "#/ies/jobAddResult", "type": "object", "properties": { "id": { "type": "string", "description": "ID of the job in AMS. 0 if request failed." }, "externalId": { "type": "string", "description": "ID of the job in external System (e.g.
  • Page 148 ILS, ActiveShuttle | External Interface { "jobReorderResult": { "id": "#/ies/jobReorderResult", "type": "object", "properties": { "errorCode": { "type": "integer", "description": "> 0 for fail", "min": 0 }, "errorText": { "type": "string" } } } } Query job Query Job allows to retrieve missed job events from a desired point in time. →...

  • Page 149: Receive Messages

    External Interface | ILS, ActiveShuttle | 149 { "droidQuery": { "id": "#/ies/droidQuery", "name": "DROID_QUERY", "description": "Request meta information about a droid", "type": "object", "properties": { "droidId": { "type": "string", "description": "ID of the droid, as published in the DROID_UPDATE event" } }, "required": [ "droidId"...
  • Page 150 ILS, ActiveShuttle | External Interface Job status → Emit a 'JOB_STATUS' message as follows: { "jobStatus": { "id": "#/ies/jobStatus", "name": "JOB_STATUS", "type": "object", "properties": { "id": { "type": "string", "description": "ID of the job in AMS" "externalId": { "type": "string", "description": "ID of the job in external System (e.g.

  • Page 151: Service

    Service | ILS, ActiveShuttle | 151 9 Service 9.1 Software maintenance Rexroth provides updates for ActiveShuttles and the AMS as part of the product warranty and applicable service contracts. 9.1.1 Server operation & maintenance The operation and maintenance of the server where AMS runs is the responsibility of the customer. It includes, among other things: •...
  • Page 152 ILS, ActiveShuttle | Service MongoDB As found in the official documentation: tool and  tool are part of the MongoDB tools package. Consult the installation mongodump mongorestore guide for your platform for instructions on how to install the tools package as part of your MongoDB installation.
  • Page 153 Service | ILS, ActiveShuttle | 153 $ influxd restore -metadir /var/lib/influxdb/meta <path-to-backup> Once the metastore has been restored, we can now recover the backed up data. In the real-world example above, we backed up the database to /tmp/backup, so that is what we will be restoring and empera-some where we will be restoring it from.

  • Page 154: Maintenance By The Customer

    → Use security measures (user permissions, firewall, logs, etc.). → Back up and restore the server data. 9.1.3 Maintenance by the provider Bosch Rexroth AG in its role as the ActiveShuttle provider is responsible for the following maintenance measures: Software The provider is responsible for releasing updated product software onboard (AGV software) as well as offboard (AMS server) to ensure safety, security, and legal compliance.
  • Page 155 Service | ILS, ActiveShuttle | 155 • Maps saved in VMS service (localization maps) Notice • When performing data migration to another server or database, the AMS services must be stopped. This prevents the addition of new data to the old database during the backup. •...
  • Page 156 ILS, ActiveShuttle | Service $ influxd restore -database empera-some -datadir /var/lib/influxdb/data <path-to- backup> InfluxDB running in Docker: → Mount a volume where the data must be saved. ◊ Docker-compose example, see Appendix. volumes: - ./path/in/server:/var/lib/influxdb The data can be copied somewhere else.  A new Docker-Container with the same volume can be mounted without needing the commands above.

  • Page 157: Updates

    The data can be copied somewhere else. A new Docker-Container with the same volume can be mounted without needing the commands above. 9.2 Updates Bosch Rexroth AG provides updates for ActiveShuttle and AMS as part of the product warranty and applicable service contracts. RA91390962 AB-V1.3.3, en...

  • Page 158: Installation Of Server Updates

    ILS, ActiveShuttle | Service 9.2.1 Installation of server updates Like any software, AMS runs on servers that need to be updated regularly for performance and security reasons. Since AMS is distribution-agnostic and does not have control over the OS o which is running, the user is in charge of deciding which patches are to be installed and when a server is to be updated.
  • Page 159 Service | ILS, ActiveShuttle | 159 5. Download from the MyRexroth Portal and ActiveShuttle-Management-System-<version>.tar.gz. upload it to the server. 6. Unzip the downloaded archive from the previous step. Do not extract the tarball gunzip ActiveShuttle-Management-System-<version>.tar.gz.     The extracted tarball is:  ...
  • Page 160 ILS, ActiveShuttle | Service Notice $databaseName must be the name of your database, as configured in the docker‑compose.yml. → Exit the shell inside the MongoDB container: exit → Copy the database dump to the local file system: docker cp $mongoContainerName:/ams-p.dump ./ams-p.dump with $mongoContainerName as the name or the ID of the Mongo docker container of the P‑Instance...

  • Page 161: Reset

    Service | ILS, ActiveShuttle | 161 exit 9.3 Reset A reset is needed to synchronize the system with the actual situation in the plant floor (e.g. after failed recovery from a backup). This includes a "cleanup" in the plant floor ("floor") and on the AMS server side ("AMS").

  • Page 162: Troubleshooting

    Do not start amqp/etcd and services at the same time. Bash docker-compose restart mapsrv nodesrv fleetsrv dispatcher noggersrv docker-compose restart hmisrv 9.4 Troubleshooting In case of difficulties with the product please contact Bosch Rexroth AG 24/7 hotline: Phone:                 +49 711 40049810 E-mail:                 Support.robotics@boschrexroth.de  Required information for quick help: •...

  • Page 163: Remote Diagnosis And Troubleshooting

    Bosch Rexroth, exchange devices and advanced maintenance training courses). 9.4.1 Remote diagnosis and troubleshooting Bosch Rexroth AG provides on-call service for remote diagnosis and troubleshooting. 9.5 Solutions to common problems Find below solutions to common problems. If the given actions do not solve your problem, please contact Bosch Rexroth Service.

  • Page 164: Activeshuttle Moves Out Of The Defined Corridor

    ILS, ActiveShuttle | Service • The ActiveShuttle stops at some point and does not move on. The AMS shows the message “Out of Corridor". 1.2. Solution → Push the robot to the last location before the ActiveShuttle stopped until it starts moving again. The FMS visualizes the planned Path of the ActiveShuttle (select the ActiveShuttle →...

  • Page 165: Activeshuttles Are Blocking Each Other (Deadlock)

    Service | ILS, ActiveShuttle | 165 9.5.6 ActiveShuttles are blocking each other (deadlock) 1.1. Problem ActiveShuttles are blocking each other (deadlock) 1.2. Solution → Use the hand controller to move one of the ActiveShuttles. The other ActiveShuttle moves on. 9.5.7 ActiveShuttle seems to avoid invisible obstacles Problem The ActiveShuttle seems to drive around "invisible obstacles".

  • Page 166: Activeshuttle Stops In The Supermarket And Flashes Red

    ILS, ActiveShuttle | Service Notice Clean the laser scanner with suitable wipes on a regular basis. 9.5.8 ActiveShuttle stops in the supermarket and flashes red 1.1. Problem The ActiveShuttle stops in a supermarket and flashes red. 1.2. Solution Notice F the dolly being carried by the ActiveShuttle is too heavy, this may cause the motor of the ActiveShuttle to exceed its current limit and the ActiveShuttle stops.

  • Page 167: Battery Shuts Down Right After Booting

    Service | ILS, ActiveShuttle | 167 Start the AMS. Save the navigation map. Start the ActiveShuttles. 9.5.11 Battery shuts down right after booting 1.1. Problem The battery boots up and shuts down again immediately. The ActiveShuttle does not start. 1.2. Solution →...

  • Page 168: Dollys Are Being Unloaded Too Early

    ILS, ActiveShuttle | Service → Remove the dolly. → Unplug the hand controller. → Press the “activation key”. The robot receives a new Job. → If not, restart the ActiveShuttle. 9.5.15 Dollys are being unloaded too early 1.1. Problem The ActiveShuttle unloads the dolly too early in the supermarket. 1.2.

  • Page 169: Manually Moving The Lift Does Not Work

    → Make sure the ActiveShuttle is not in a Charging Station. → Restart the ActiveShuttle. Notice If the ActiveShuttle does not move, contact the Service department of Bosch Rexroth AG. 9.5.19 The ActiveShuttle is charging and does not accept new Jobs 1.1. Problem The ActiveShuttle is charging and does not accept new Jobs.

  • Page 170: The Indicators Emit Light In A Divergent Color

    Put the battery back in. Start the robot. Notice If the problem persists, contact the Service department of Bosch Rexroth AG. 9.5.22 The robot position in the AMS is wrong 1.1. Problem The robot position in the AMS is wrong.

  • Page 171: Faq And Best Practices

    Service | ILS, ActiveShuttle | 171 9.6 FAQ and Best Practices 9.6.1 FAQ 1.1. Network availability Q: What happens to an ActiveShuttle that loses its network connection for a short time? Can it still localize itself? Will it resume a started Job when the network comes back up?  A: The ActiveShuttle will still be able to localize itself since the map is stored locally (it will not get map updates from the server though).
  • Page 172 ILS, ActiveShuttle | Service 1.2. MongoDB Q: How do the services that write their data into the Mongo DB behave if the Mongo DB is (temporarily) not available?  A: We try to reconnect to Mongo for 10 s. After 10 s the service terminates (Mongo is required) and then automatically restarts.
  • Page 173 Service | ILS, ActiveShuttle | 173 The designated mechanism is Docker Swarm, which abstracts the involved VMS in a common infrastructure for the services. An upstream load balancer should route UI requests to the correct host. Internal swarm requests between services are automatically routed through the swarm.  Q: Why is clustering of RabbitMQ as a highly critical component not proposed?  ...
  • Page 174 ILS, ActiveShuttle | Service Side note: For the SSL certificates required for the AMS it is also advantageous if all servers respectively a load balancer are reachable under a single server address (DNS name and/or IP address). Otherwise, cluster operations will require several SAN entries in the certificates.  ActiveShuttle correctly use the round robin method and are therefore able to communicate with the correct Nodes without a load balancer thanks to Docker routing-mesh. ...

  • Page 175: Appendix

    Appendix | ILS, ActiveShuttle | 175 10 Appendix 10.1 Examples for robot communication ports 21 ports for robot communication, for example: 11001-11014, 21638-21644 for VMS. Make sure to allow communication as shown in the following example: Port TCP Server TCP Client 11001 Robot 11002...

  • Page 176: Example Communication Certificate

    Netscape Comment: Easy-RSA Generated Server Certificate X509v3 Subject Key Identifier: 61:49:2D:98:61:DF:2E:EA:00:10:2E:26:99:A5:B2:DB:54:1C:2D:18 X509v3 Authority Key Identifier: keyid:9C:5A:32:44:7A:5F:99:9F:18:14:D0:36:42:6D:9B:F5:6A: 2D:92:9A DirName:/C=DE/ST=BW/L=Stuttgart/O=Bosch Rexroth/OU=DC-AT/CN=Bosch Rexroth CA/name=EasyRSA/emailAddress=mail@domain.tld serial:8A:34:F8:6B:61:F 9:E9:A5 X509v3 Extended Key Usage: TLS Web Server Authentication, TLS Web Client Authentication X509v3 Key Usage: Digital Signature, Key...

  • Page 177: Example Communication Certificate - Ams

    Netscape Comment: Easy-RSA Generated Server Certificate X509v3 Subject Key Identifier: 61:49:2D:98:61:DF:2E:EA:00:10:2E:26:99:A5:B2:DB:54:1C:2D:18 X509v3 Authority Key Identifier: keyid:9C:5A:32:44:7A:5F:99:9F:18:14:D0:36:42:6D:9B:F5:6A: 2D:92:9A DirName:/C=DE/ST=BW/L=Stuttgart/O=Bosch Rexroth/OU=DC-AT/CN=Bosch Rexroth CA/name=EasyRSA/emailAddress=mail@domain.tld serial:8A:34:F8:6B:61:F 9:E9:A5 X509v3 Extended Key Usage: TLS Web Server Authentication, TLS Web Client Authentication X509v3 Key Usage: Digital Signature, Key...

  • Page 178: Appendix A. Rest-Api Json Schematas

    ILS, ActiveShuttle | Appendix 10.4 APPENDIX A. REST-API JSON Schematas 10.4.1 ROBOTACTION schema { "id": "#/fms/robotaction", "name": "The Robotaction Schema", "required": [ "actionType", "description", "image", "template", "rotatable", "type" ], "properties": { "_id": { "type": "string" }, "actionType": { "type": "string", "description": "The type of action", "examples": [ "ACTION_UNLOAD",...

  • Page 179: Vestibule Schema

    Appendix | ILS, ActiveShuttle | 179 10.4.3 VESTIBULE Schema { "id": "#/fms/vestibule", "type": "object", "description": "The vestibule schema", "required": [ "type", "name", "description", "origins", "sectorReference", "fixtures" ], "properties": { "type": { "type": "string", "enum": [ "VESTIBULE" ] }, "name": { "type": "string"...

  • Page 180: Ledgerentry Schema

    ILS, ActiveShuttle | Appendix 10.4.5 LEDGERENTRY Schema { "id": "#/fms/ledgerentry", "type": "object", "description": "Ledgerentry, an ongoing or planned job assigned to a robot", "required": [ "path", "pathPos", "distance", "status", "timestamp", "taskPos", "progress", "type", "order", "_id", "taskList", "__key", "params", "name", "job_id", "op_id", "sectorReference", "ledgerid"...

  • Page 181: Fleetstate Schema

    Appendix | ILS, ActiveShuttle | 181 10.4.6 FLEETSTATE Schema { "id": "#/fms/fleetstate", "type": "object", "description": "Fleetstate, current state of a robot", "properties": { "_id": { "type": "string" }, "address": { "type": "object", "properties": { "ipv4": { "type": "string" }, "ipv6": { "type": "string"...
  • Page 182 Table of figures: 1 Overview of the architecture of the AMS ........................0 2 Example disclosure document ............................0 3 Content of disclosure document............................ 0 4 URL content..................................0 5 Main Screen ..................................0 6 Screen header ................................. 0 7 Notifications ..................................0 8 General settings dialog ..............................
  • Page 183 5 Manual exchange of certificates............................. 0 6 File names of the AMS certificate ........................... 0 7 Remote Access for Software............................0 8 AMS Server Commissioning............................0 9 Environment variables..............................0 10 Node exporter configuration............................0 11 cAdvisor configuration..............................0 12 Alert Manager configuration............................0 13 Prometheus configuration .............................
  • Page 184 43 Waypoint Toolbar................................95 44 Map control ................................. 103 45 Layer Menu .................................. 104 46 WI-FI integration................................109 47 First connection to AMS .............................. 110 48 Preparing supermarket............................... 113 49 Laser mapping................................119 50 Navigation mapping ..............................123 51 Use case optimization..............................129 RA91390962 AB-V1.3.3, en...

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