机器人开源调度系统OpenTcs6-架构运行分析

已于 2024-07-19 15:50:03 修改
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分类专栏： opentcs调度 文章标签： 机器人 opentcs 调度系统
于 2024-07-19 14:48:08 首次发布
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本文链接：https://blog.csdn.net/hai411741962/article/details/140548269
版权

系统启动

启动 Kernel：加载核心应用，初始化系统配置和状态。
启动 Plant Overview：加载图形用户界面，初始化模型和用户界面。
模型导入和配置

在 Plant Overview 中导入或创建工厂布局模型。
配置路径、位置和车辆信息。
车辆连接

通过 Vehicle Adapters 连接 AGV 控制器。
配置和注册 AGV，包括通讯参数和物理特性。
任务创建和分配

通过 Order Management 客户端或 RESTful API 创建运输任务。
Kernel 根据调度算法将任务分配给合适的 AGV。
任务执行和监控

AGV 接收并执行任务，根据路径规划行驶到指定位置。
系统实时监控 AGV 状态和任务进度，通过 GUI 或监控工具展示。

±--------------------------+
| Client Apps |
| (Order Management, etc.) |
±-----------±-------------+
|
|
±-----------v--------------+
| Plant Overview |
| (GUI, Model Editor, etc.)|
±-----------±-------------+
|
|
±-----------v--------------+
| Kernel |
| (Core Control, Storage, |
| Kernel Extensions) |
±-----------±-------------+
|
|
±-----------v--------------+
| Vehicle Drivers |
| (Vehicle Adapters, Comm. |
| Layer) |
±-----------±-------------+
|
|
±-----------v--------------+
| AGV Controllers |
±--------------------------+

如果要二开就要先熟悉模型里有哪些
在这里插入图片描述
我们先导入demo,然后通过api 接口查看元素

在这里插入图片描述

api 地址

https://petstore.swagger.io/?url=https://raw.githubusercontent.com/openTCS/opentcs/v6.0.0/openTCS-Documentation/src/docs/service-web-api-v1/openapi.yaml

浏览器访问

http://localhost:55200/v1/plantModel

返回结果：

{
  "name" : "Demo-01",
  "points" : [ {
    "name" : "Point-0001",
    "position" : {
      "x" : 31000,
      "y" : 11000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : 31000,
        "y" : 11000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0002",
    "position" : {
      "x" : 25000,
      "y" : 9000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "PARK_POSITION",
    "layout" : {
      "position" : {
        "x" : 25000,
        "y" : 9000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ {
      "name" : "tcs:parkingPositionPriority",
      "value" : "4"
    } ]
  }, {
    "name" : "Point-0003",
    "position" : {
      "x" : 31000,
      "y" : 5000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : 31000,
        "y" : 5000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0004",
    "position" : {
      "x" : 25000,
      "y" : 3000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "PARK_POSITION",
    "layout" : {
      "position" : {
        "x" : 25000,
        "y" : 3000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ {
      "name" : "tcs:parkingPositionPriority",
      "value" : "3"
    } ]
  }, {
    "name" : "Point-0005",
    "position" : {
      "x" : 31000,
      "y" : -1000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : 31000,
        "y" : -1000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0006",
    "position" : {
      "x" : 25000,
      "y" : -3000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "PARK_POSITION",
    "layout" : {
      "position" : {
        "x" : 25000,
        "y" : -3000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ {
      "name" : "tcs:parkingPositionPriority",
      "value" : "2"
    } ]
  }, {
    "name" : "Point-0007",
    "position" : {
      "x" : 31000,
      "y" : -7000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : 31000,
        "y" : -7000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0008",
    "position" : {
      "x" : 22000,
      "y" : 1000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : 22000,
        "y" : 1000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0009",
    "position" : {
      "x" : 22000,
      "y" : -5000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : 22000,
        "y" : -5000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0010",
    "position" : {
      "x" : 25000,
      "y" : -9000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "PARK_POSITION",
    "layout" : {
      "position" : {
        "x" : 25000,
        "y" : -9000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ {
      "name" : "tcs:parkingPositionPriority",
      "value" : "1"
    } ]
  }, {
    "name" : "Point-0011",
    "position" : {
      "x" : 22000,
      "y" : -11000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : 22000,
        "y" : -11000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0013",
    "position" : {
      "x" : 18000,
      "y" : -15000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : 18000,
        "y" : -15000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0014",
    "position" : {
      "x" : 22000,
      "y" : 7000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : 22000,
        "y" : 7000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0015",
    "position" : {
      "x" : 7850,
      "y" : -11000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : 7850,
        "y" : -11000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0016",
    "position" : {
      "x" : -2000,
      "y" : -11000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : -2000,
        "y" : -11000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0017",
    "position" : {
      "x" : -12000,
      "y" : -15000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : -12000,
        "y" : -15000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0018",
    "position" : {
      "x" : 8000,
      "y" : -15000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : 8000,
        "y" : -15000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0019",
    "position" : {
      "x" : -2000,
      "y" : -15000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : -2000,
        "y" : -15000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0020",
    "position" : {
      "x" : -20000,
      "y" : -12000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : -20000,
        "y" : -12000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0021",
    "position" : {
      "x" : -24000,
      "y" : -8000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : -24000,
        "y" : -8000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0022",
    "position" : {
      "x" : -12000,
      "y" : -11000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : -12000,
        "y" : -11000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0023",
    "position" : {
      "x" : -24000,
      "y" : -4000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : -24000,
        "y" : -4000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0024",
    "position" : {
      "x" : -24000,
      "y" : 1000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : -24000,
        "y" : 1000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0025",
    "position" : {
      "x" : -24000,
      "y" : 6000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : -24000,
        "y" : 6000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0026",
    "position" : {
      "x" : -24000,
      "y" : 11000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : -24000,
        "y" : 11000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0027",
    "position" : {
      "x" : -20000,
      "y" : 15000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "PARK_POSITION",
    "layout" : {
      "position" : {
        "x" : -20000,
        "y" : 15000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ {
      "name" : "tcs:parkingPositionPriority",
      "value" : "4"
    } ]
  }, {
    "name" : "Point-0028",
    "position" : {
      "x" : -8000,
      "y" : 11000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : -8000,
        "y" : 11000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0029",
    "position" : {
      "x" : -2000,
      "y" : 11000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : -2000,
        "y" : 11000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0030",
    "position" : {
      "x" : -20000,
      "y" : 11000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : -20000,
        "y" : 11000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0032",
    "position" : {
      "x" : -13000,
      "y" : 11000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : -13000,
        "y" : 11000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0033",
    "position" : {
      "x" : 24000,
      "y" : 15000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : 24000,
        "y" : 15000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0034",
    "position" : {
      "x" : 16000,
      "y" : 11000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : 16000,
        "y" : 11000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0035",
    "position" : {
      "x" : 3000,
      "y" : 11000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : 3000,
        "y" : 11000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0036",
    "position" : {
      "x" : 9000,
      "y" : 11000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : 9000,
        "y" : 11000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0037",
    "position" : {
      "x" : -8000,
      "y" : 7000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : -8000,
        "y" : 7000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0038",
    "position" : {
      "x" : -2000,
      "y" : 7000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : -2000,
        "y" : 7000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0039",
    "position" : {
      "x" : -13000,
      "y" : 9000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
      "position" : {
        "x" : -13000,
        "y" : 9000
      },
      "labelOffset" : {
        "x" : -10,
        "y" : -20
      },
      "layerId" : 0
    },
    "vehicleEnvelopes" : [ ],
    "properties" : [ ]
  }, {
    "name" : "Point-0040",
    "position" : {
      "x" : -8000,
      "y" : 9000,
      "z" : 0
    },
    "vehicleOrientationAngle" : "NaN",
    "type" : "HALT_POSITION",
    "layout" : {
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  } ],
  "visualLayout" : {
    "name" : "VLayout-01",
    "scaleX" : 50.0,
    "scaleY" : 50.0,
    "layers" : [ {
      "id" : 0,
      "ordinal" : 0,
      "visible" : true,
      "name" : "Default layer",
      "groupId" : 0
    } ],
    "layerGroups" : [ {
      "id" : 0,
      "name" : "Default layer group",
      "visible" : true
    } ],
    "properties" : [ ]
  },
  "properties" : [ {
    "name" : "tcs:modelFileLastModified",
    "value" : "2024-02-07T08:32:44Z"
  } ]
}

整个 模型的原素
在这里插入图片描述
我们有个第一个数据对象-模型

name: “Demo-01” （模型名称）
points: Array[59] （点的数组，包含59个点）
paths: Array[75] （路径的数组，包含75条路径）
locationTypes: Array[4] （位置类型数组，包含4种位置类型）
locations: Array[16] （位置数组，包含16个位置）
blocks: Array[4] （块数组，包含4个块）
vehicles: Array[4] （车辆数组，包含4辆车）
visualLayout: Object {…} （视觉布局对象）
properties: Array[1] （属性数组，包含1个属性）

基础数据机构
在这里插入图片描述

这些信息通常用于定义 OpenTCS 系统中的工厂布局、路径规划、车辆配置等。

先去熟悉下这个结构内容，下一步想怎么结构化这些数据，然后通过自己的系统将这些数据传递给控制中心

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