机器人开源调度系统OpenTcs6-架构运行分析

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：
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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" : 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: [ ]}, {"name" : "Point-0052 --- Point-0044","srcPointName" : "Point-0052","destPointName" : "Point-0044","length" : 8443,"maxVelocity" : 1000,"maxReverseVelocity" : 0,"peripheralOperations" : [ ],"locked" : false,"layout" : {"connectionType" : "DIRECT","controlPoints" : [ ],"layerId" : 0},"vehicleEnvelopes" : [ ],"properties" : [ ]}, {"name" : "Point-0053 --- Point-0045","srcPointName" : "Point-0053","destPointName" : "Point-0045","length" : 6922,"maxVelocity" : 1000,"maxReverseVelocity" : 0,"peripheralOperations" : [ ],"locked" : false,"layout" : {"connectionType" : "BEZIER","controlPoints" : [ {"x" : 209,"y" : 130}, {"x" : 209,"y" : 130} ],"layerId" : 0},"vehicleEnvelopes" : [ ],"properties" : [ ]}, {"name" : "Point-0054 --- Point-0048","srcPointName" : "Point-0054","destPointName" : "Point-0048","length" : 3752,"maxVelocity" : 1000,"maxReverseVelocity" : 0,"peripheralOperations" : [ ],"locked" : false,"layout" : {"connectionType" : "DIRECT","controlPoints" : [ ],"layerId" : 0},"vehicleEnvelopes" : [ ],"properties" : [ ]}, {"name" : "Point-0055 --- Point-0046","srcPointName" : "Point-0055","destPointName" : "Point-0046","length" : 8443,"maxVelocity" : 1000,"maxReverseVelocity" : 0,"peripheralOperations" : [ ],"locked" : false,"layout" : {"connectionType" : "DIRECT","controlPoints" : [ ],"layerId" : 0},"vehicleEnvelopes" : [ ],"properties" : [ ]}, {"name" : "Point-0056 --- Point-0023","srcPointName" : "Point-0056","destPointName" : "Point-0023","length" : 6882,"maxVelocity" : 1000,"maxReverseVelocity" : 0,"peripheralOperations" : [ ],"locked" : false,"layout" : {"connectionType" : "BEZIER","controlPoints" : [ {"x" : -467,"y" : 150}, {"x" : -467,"y" : 150} ],"layerId" : 0},"vehicleEnvelopes" : [ ],"properties" : [ ]}, {"name" : "Point-0057 --- Point-0058","srcPointName" : "Point-0057","destPointName" : "Point-0058","length" : 10000,"maxVelocity" : 1000,"maxReverseVelocity" : 0,"peripheralOperations" : [ {"operation" : "Open","locationName" : "Fire door 01","executionTrigger" : "AFTER_ALLOCATION","completionRequired" : true}, {"operation" : "Close","locationName" : "Fire door 01","executionTrigger" : "AFTER_MOVEMENT","completionRequired" : false} ],"locked" : false,"layout" : {"connectionType" : "DIRECT","controlPoints" : [ ],"layerId" : 0},"vehicleEnvelopes" : [ ],"properties" : [ ]}, {"name" : "Point-0058 --- Point-0059","srcPointName" : "Point-0058","destPointName" : "Point-0059","length" : 10000,"maxVelocity" : 1000,"maxReverseVelocity" : 0,"peripheralOperations" : [ ],"locked" : false,"layout" : {"connectionType" : "DIRECT","controlPoints" : [ ],"layerId" : 0},"vehicleEnvelopes" : [ ],"properties" : [ ]}, {"name" : "Point-0059 --- Point-0060","srcPointName" : "Point-0059","destPointName" : "Point-0060","length" : 8000,"maxVelocity" : 1000,"maxReverseVelocity" : 0,"peripheralOperations" : [ ],"locked" : false,"layout" : {"connectionType" : "DIRECT","controlPoints" : [ ],"layerId" : 0},"vehicleEnvelopes" : [ ],"properties" : [ ]}, {"name" : "Point-0060 --- Point-0061","srcPointName" : "Point-0060","destPointName" : "Point-0061","length" : 7211,"maxVelocity" : 1000,"maxReverseVelocity" : 0,"peripheralOperations" : [ ],"locked" : false,"layout" : {"connectionType" : "BEZIER","controlPoints" : [ {"x" : -470,"y" : 410}, {"x" : -470,"y" : 370} ],"layerId" : 0},"vehicleEnvelopes" : [ ],"properties" : [ ]}, {"name" : "Point-0061 --- Point-0021","srcPointName" : "Point-0061","destPointName" : "Point-0021","length" : 8000,"maxVelocity" : 1000,"maxReverseVelocity" : 0,"peripheralOperations" : [ ],"locked" : false,"layout" : {"connectionType" : "DIRECT","controlPoints" : [ ],"layerId" : 0},"vehicleEnvelopes" : [ ],"properties" : [ ]} ],"locationTypes" : [ {"name" : "Fire door","allowedOperations" : [ ],"allowedPeripheralOperations" : [ "Close", "Open" ],"layout" : {"locationRepresentation" : "NONE"},"properties" : [ {"name" : "tcs:defaultLocationTypeSymbol","value" : "NONE"} ]}, {"name" : "Recharge station","allowedOperations" : [ "CHARGE", "NOP" ],"allowedPeripheralOperations" : [ ],"layout" : {"locationRepresentation" : "RECHARGE_GENERIC"},"properties" : [ {"name" : "tcs:defaultLocationSymbol","value" : "RECHARGE_GENERIC"}, {"name" : "tcs:defaultLocationTypeSymbol","value" : "RECHARGE_GENERIC"} ]}, {"name" : "Transfer station","allowedOperations" : [ "Load cargo", "NOP", "Unload cargo" ],"allowedPeripheralOperations" : [ ],"layout" : {"locationRepresentation" : "LOAD_TRANSFER_GENERIC"},"properties" : [ {"name" : "tcs:defaultLocationSymbol","value" : "LOAD_TRANSFER_GENERIC"}, {"name" : "tcs:defaultLocationTypeSymbol","value" : "LOAD_TRANSFER_GENERIC"} ]}, {"name" : "Working station","allowedOperations" : [ "Cut", "Drill", "NOP" ],"allowedPeripheralOperations" : [ ],"layout" : {"locationRepresentation" : "WORKING_GENERIC"},"properties" : [ {"name" : "tcs:defaultLocationSymbol","value" : "WORKING_GENERIC"}, {"name" : "tcs:defaultLocationTypeSymbol","value" : "WORKING_GENERIC"} ]} ],"locations" : [ {"name" : "Fire door 01","typeName" : "Fire door","position" : {"x" : 3500,"y" : -21000,"z" : 0},"links" : [ ],"locked" : false,"layout" : {"position" : {"x" : 3500,"y" : -21000},"labelOffset" : {"x" : -10,"y" : -20},"locationRepresentation" : "DEFAULT","layerId" : 0},"properties" : [ {"name" : "tcs:defaultLocationSymbol","value" : "DEFAULT"}, {"name" : "tcs:loopbackPeripheral","value" : "Value unknown"} ]}, {"name" : "Goods in north 01","typeName" : "Transfer station","position" : {"x" : -28000,"y" : 11000,"z" : 0},"links" : [ {"pointName" : "Point-0026","allowedOperations" : [ ]} ],"locked" : false,"layout" : {"position" : {"x" : -28000,"y" : 11000},"labelOffset" : {"x" : -10,"y" : -20},"locationRepresentation" : "DEFAULT","layerId" : 0},"properties" : [ {"name" : "tcs:defaultLocationSymbol","value" : "DEFAULT"} ]}, {"name" : "Goods in north 02","typeName" : "Transfer station","position" : {"x" : -28000,"y" : 6000,"z" : 0},"links" : [ {"pointName" : "Point-0025","allowedOperations" : [ ]} ],"locked" : false,"layout" : {"position" : {"x" : -28000,"y" : 6000},"labelOffset" : {"x" : -10,"y" : -20},"locationRepresentation" : "DEFAULT","layerId" : 0},"properties" : [ {"name" : "tcs:defaultLocationSymbol","value" : "DEFAULT"} ]}, {"name" : "Goods in south 01","typeName" : "Transfer station","position" : {"x" : -2000,"y" : -18000,"z" : 0},"links" : [ {"pointName" : "Point-0019","allowedOperations" : [ ]} ],"locked" : false,"layout" : {"position" : {"x" : -2000,"y" : -18000},"labelOffset" : {"x" : -10,"y" : -20},"locationRepresentation" : "DEFAULT","layerId" : 0},"properties" : [ {"name" : "tcs:defaultLocationSymbol","value" : "DEFAULT"} ]}, {"name" : "Goods in south 02","typeName" : "Transfer station","position" : {"x" : -12000,"y" : -24000,"z" : 0},"links" : [ {"pointName" : "Point-0059","allowedOperations" : [ ]} ],"locked" : false,"layout" : {"position" : {"x" : -12000,"y" : -24000},"labelOffset" : {"x" : -10,"y" : -20},"locationRepresentation" : "DEFAULT","layerId" : 0},"properties" : [ {"name" : "tcs:defaultLocationSymbol","value" : "DEFAULT"} ]}, {"name" : "Goods out 01","typeName" : "Transfer station","position" : {"x" : -20000,"y" : -15000,"z" : 0},"links" : [ {"pointName" : "Point-0020","allowedOperations" : [ ]} ],"locked" : false,"layout" : {"position" : {"x" : -20000,"y" : -15000},"labelOffset" : {"x" : -10,"y" : -20},"locationRepresentation" : "DEFAULT","layerId" : 0},"properties" : [ {"name" : "tcs:defaultLocationSymbol","value" : "DEFAULT"} ]}, {"name" : "Goods out 02","typeName" : "Transfer station","position" : {"x" : -28000,"y" : -8000,"z" : 0},"links" : [ {"pointName" : "Point-0021","allowedOperations" : [ ]} ],"locked" : false,"layout" : {"position" : {"x" : -28000,"y" : -8000},"labelOffset" : {"x" : -10,"y" : -20},"locationRepresentation" : "DEFAULT","layerId" : 0},"properties" : [ {"name" : "tcs:defaultLocationSymbol","value" : "DEFAULT"} ]}, {"name" : "Recharge 01","typeName" : "Recharge station","position" : {"x" : 27750,"y" : 6750,"z" : 0},"links" : [ {"pointName" : "Point-0002","allowedOperations" : [ ]} ],"locked" : false,"layout" : {"position" : {"x" : 27750,"y" : 6250},"labelOffset" : {"x" : -10,"y" : -20},"locationRepresentation" : "DEFAULT","layerId" : 0},"properties" : [ {"name" : "tcs:defaultLocationSymbol","value" : "DEFAULT"} ]}, {"name" : "Recharge 02","typeName" : "Recharge station","position" : {"x" : 27750,"y" : 750,"z" : 0},"links" : [ {"pointName" : "Point-0004","allowedOperations" : [ ]} ],"locked" : false,"layout" : {"position" : {"x" : 27750,"y" : 250},"labelOffset" : {"x" : -10,"y" : -20},"locationRepresentation" : "DEFAULT","layerId" : 0},"properties" : [ {"name" : "tcs:defaultLocationSymbol","value" : "DEFAULT"} ]}, {"name" : "Recharge 03","typeName" : "Recharge station","position" : {"x" : 27750,"y" : -5250,"z" : 0},"links" : [ {"pointName" : "Point-0006","allowedOperations" : [ ]} ],"locked" : false,"layout" : {"position" : {"x" : 27750,"y" : -5750},"labelOffset" : {"x" : -10,"y" : -20},"locationRepresentation" : "DEFAULT","layerId" : 0},"properties" : [ {"name" : "tcs:defaultLocationSymbol","value" : "DEFAULT"} ]}, {"name" : "Recharge 04","typeName" : "Recharge station","position" : {"x" : 27750,"y" : -11250,"z" : 0},"links" : [ {"pointName" : "Point-0010","allowedOperations" : [ ]} ],"locked" : false,"layout" : {"position" : {"x" : 27750,"y" : -11750},"labelOffset" : {"x" : -10,"y" : -20},"locationRepresentation" : "DEFAULT","layerId" : 0},"properties" : [ {"name" : "tcs:defaultLocationSymbol","value" : "DEFAULT"} ]}, {"name" : "Storage 01","typeName" : "Transfer station","position" : {"x" : -8000,"y" : 14000,"z" : 0},"links" : [ {"pointName" : "Point-0028","allowedOperations" : [ ]} ],"locked" : false,"layout" : {"position" : {"x" : -8000,"y" : 14000},"labelOffset" : {"x" : -10,"y" : -20},"locationRepresentation" : "DEFAULT","layerId" : 0},"properties" : [ {"name" : "tcs:defaultLocationSymbol","value" : "DEFAULT"} ]}, {"name" : "Storage 02","typeName" : "Transfer station","position" : {"x" : -2000,"y" : 14000,"z" : 0},"links" : [ {"pointName" : "Point-0029","allowedOperations" : [ ]} ],"locked" : false,"layout" : {"position" : {"x" : -2000,"y" : 14000},"labelOffset" : {"x" : -10,"y" : -20},"locationRepresentation" : "DEFAULT","layerId" : 0},"properties" : [ {"name" : "tcs:defaultLocationSymbol","value" : "DEFAULT"} ]}, {"name" : "Working station 01","typeName" : "Working station","position" : {"x" : -11000,"y" : -3000,"z" : 0},"links" : [ {"pointName" : "Point-0054","allowedOperations" : [ ]} ],"locked" : false,"layout" : {"position" : {"x" : -11000,"y" : -3000},"labelOffset" : {"x" : -10,"y" : -20},"locationRepresentation" : "DEFAULT","layerId" : 0},"properties" : [ {"name" : "tcs:defaultLocationSymbol","value" : "DEFAULT"} ]}, {"name" : "Working station 02","typeName" : "Working station","position" : {"x" : 15000,"y" : 1000,"z" : 0},"links" : [ {"pointName" : "Point-0047","allowedOperations" : [ ]} ],"locked" : false,"layout" : {"position" : {"x" : 15000,"y" : 1000},"labelOffset" : {"x" : -10,"y" : -20},"locationRepresentation" : "DEFAULT","layerId" : 0},"properties" : [ {"name" : "tcs:defaultLocationSymbol","value" : "DEFAULT"} ]}, {"name" : "Working station 03","typeName" : "Working station","position" : {"x" : 15000,"y" : -3000,"z" : 0},"links" : [ {"pointName" : "Point-0053","allowedOperations" : [ ]} ],"locked" : false,"layout" : {"position" : {"x" : 15000,"y" : -3000},"labelOffset" : {"x" : -10,"y" : -20},"locationRepresentation" : "DEFAULT","layerId" : 0},"properties" : [ {"name" : "tcs:defaultLocationSymbol","value" : "DEFAULT"} ]} ],"blocks" : [ {"name" : "Block-0001","type" : "SINGLE_VEHICLE_ONLY","layout" : {"color" : "#FF0000"},"memberNames" : [ "Point-0016 --- Point-0017", "Point-0019 --- Point-0022" ],"properties" : [ ]}, {"name" : "Block-0002","type" : "SINGLE_VEHICLE_ONLY","layout" : {"color" : "#0000FF"},"memberNames" : [ "Point-0037 --- Point-0028", "Point-0039 --- Point-0040" ],"properties" : [ ]}, {"name" : "Block-0003","type" : "SINGLE_VEHICLE_ONLY","layout" : {"color" : "#00CC00"},"memberNames" : [ "Point-0052 --- Point-0044", "Point-0049 --- Point-0038" ],"properties" : [ ]}, {"name" : "Block-0004","type" : "SINGLE_VEHICLE_ONLY","layout" : {"color" : "#0099FF"},"memberNames" : [ "Point-0045 --- Point-0055", "Point-0045 --- Point-0016", "Point-0015 --- Point-0050" ],"properties" : [ ]} ],"vehicles" : [ {"name" : "Vehicle-01","length" : 1000,"energyLevelCritical" : 30,"energyLevelGood" : 90,"energyLevelFullyRecharged" : 95,"energyLevelSufficientlyRecharged" : 45,"maxVelocity" : 1000,"maxReverseVelocity" : 1000,"layout" : {"routeColor" : "#FF0000"},"properties" : [ {"name" : "loopback:loadOperation","value" : "Load cargo"}, {"name" : "loopback:unloadOperation","value" : "Unload cargo"}, {"name" : "tcs:preferredAdapterClass","value" : "org.opentcs.virtualvehicle.LoopbackCommunicationAdapterFactory"} ]}, {"name" : "Vehicle-02","length" : 1000,"energyLevelCritical" : 30,"energyLevelGood" : 90,"energyLevelFullyRecharged" : 95,"energyLevelSufficientlyRecharged" : 45,"maxVelocity" : 1000,"maxReverseVelocity" : 1000,"layout" : {"routeColor" : "#33FF00"},"properties" : [ {"name" : "loopback:loadOperation","value" : "Load cargo"}, {"name" : "loopback:unloadOperation","value" : "Unload cargo"}, {"name" : "tcs:preferredAdapterClass","value" : "org.opentcs.virtualvehicle.LoopbackCommunicationAdapterFactory"} ]}, {"name" : "Vehicle-03","length" : 1000,"energyLevelCritical" : 30,"energyLevelGood" : 90,"energyLevelFullyRecharged" : 95,"energyLevelSufficientlyRecharged" : 45,"maxVelocity" : 1000,"maxReverseVelocity" : 1000,"layout" : {"routeColor" : "#00FFFF"},"properties" : [ {"name" : "loopback:loadOperation","value" : "Load cargo"}, {"name" : "loopback:unloadOperation","value" : "Unload cargo"}, {"name" : "tcs:preferredAdapterClass","value" : "org.opentcs.virtualvehicle.LoopbackCommunicationAdapterFactory"} ]}, {"name" : "Vehicle-04","length" : 1000,"energyLevelCritical" : 30,"energyLevelGood" : 90,"energyLevelFullyRecharged" : 95,"energyLevelSufficientlyRecharged" : 45,"maxVelocity" : 1000,"maxReverseVelocity" : 1000,"layout" : {"routeColor" : "#FF33FF"},"properties" : [ {"name" : "loopback:loadOperation","value" : "Load cargo"}, {"name" : "loopback:unloadOperation","value" : "Unload cargo"}, {"name" : "tcs:preferredAdapterClass","value" : "org.opentcs.virtualvehicle.LoopbackCommunicationAdapterFactory"} ]} ],"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