In the scene, there are planning points, routes, storage locations, storage areas, regions, and blocks.
Workstations and routes form the topology graph in the scene. Dispatch is the process of planning routes in the topology graph using the A* algorithm. Workstations can be standard points (LM points), AP points, charging points (CP points), or map-switching points (SM points). Routes can be divided into one-way and two-way roads.
Storage locations are based on workstations with additional action parameters, indicating what action the robot should perform at this point. Action parameters are stored as key-value pairs. For example, load and unload actions can be stored in storage locations. A workstation can be bound to multiple storage locations. A storage location can only be bound to one workstation.
The following image shows the binding of four storage locations PDA12-01, PDA12-02, PDA12-03, and PDA12-04 to the AP199 workstation. Each storage location defines two actions: Load and Unload.

Storage areas are collections of storage locations.
Blocks (Regions) are rectangular areas that represent a space. Blocks, points, and routes can form graphic groups. Graphic groups can be configured as Mutex groups, MAPF groups, and AvoidObsRegion groups.
A region usually represents a floor map. Even if different robots are in different regions with the same coordinates, they will not collide. Different regions can be interconnected by SM points. That is, only SM points have the same name between different regions, and other points cannot have the same name. SM points usually represent actual elevator positions.
The following two schematic diagrams show the map switching between two regions through SM28, an elevator point.