Overview Of The Architecture Of The Ams - Bosch rexroth ActiveShuttle System Manual

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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.

Overview of the architecture of the AMS

AMS is composed of a set of microservices in charge of different aspects of the platform. They make use of a
set of well-known technologies for data persistence, service discovery, and message queues. AMS is
delivered in the form of Docker-Containers.
The microservices communicate between themselves using the AMQP protocol. The ActiveShuttles are
connected to the AMS via the VMS microservice, using a set of TCP connections.
The end user uses a web application hosted in the HMI service to access the platform. This Web Application
uses normal http-requests as well as web socket connections.
1 Overview of the architecture of the AMS
Energy Management
An ActiveShuttle that currently has no job will always go to the closest free Parking Position or Charging
Station. An ActiveShuttle waiting for a Job in a Parking Position will try to (virtually) find an available Charging
Station every twenty minutes. When a Charging Station becomes available, the Robot will move to this
Charging Station. If the battery level of a parked ActiveShuttle drops below 10% it will actively try to free a
Charging Station by requesting the ActiveShuttle with the highest battery level (min. 50%) in a Charging
Station to vacate it. Since the ActiveShuttle vacating the Charging Station needs a free Parking Position to
move to, the autonomous energy management will only work as long as the sum of Charging Stations and
Parking Positions is greater than the number of ActiveShuttles. However, an ActiveShuttle is only relocated if
its battery level is above 50% otherwise ActiveShuttles would start relocating each other in a ring like fashion,
wasting battery.
RA91390962 AB-V1.3.3, en
ILS, ActiveShuttle | Preface