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feat: 新增AGV批量物料转运功能

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添加AGV工作站设备驱动、注册表定义、批量转运编译器和消息定义。
包含跨工作站批量转运协议、AGV路径规划、容量分批等功能。

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
This commit is contained in:
Junhan Chang
2026-03-25 13:10:56 +08:00
parent 9de473374f
commit ed80d786c1
11 changed files with 938 additions and 24 deletions
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48
unilabos/test/experiments/workshop.json
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@@ -577,17 +577,38 @@
{
"id": "AGV",
"name": "AGV",
"children": ["zhixing_agv", "zhixing_ur_arm"],
"children": ["zhixing_agv", "zhixing_ur_arm", "agv_platform"],
"parent": null,
"type": "device",
"class": "workstation",
"class": "agv_transport_station",
"position": {
"x": 698.1111111111111,
"y": 478,
"z": 0
},
"config": {
"protocol_type": ["AGVTransferProtocol"]
"protocol_type": ["AGVTransferProtocol", "BatchTransferProtocol"],
"device_roles": {
"navigator": "zhixing_agv",
"arm": "zhixing_ur_arm"
},
"route_table": {
"AiChemEcoHiWo->Revvity": {
"nav_command": "{\"target\": \"LM14\"}",
"arm_pick": "{\"task_name\": \"camera/250111_biaozhi.urp\"}",
"arm_place": "{\"task_name\": \"camera/250111_put_board.urp\"}"
},
"Revvity->HPLC": {
"nav_command": "{\"target\": \"LM13\"}",
"arm_pick": "{\"task_name\": \"camera/250111_lfp.urp\"}",
"arm_place": "{\"task_name\": \"camera/250111_hplc.urp\"}"
},
"HPLC->Revvity": {
"nav_command": "{\"target\": \"LM13\"}",
"arm_pick": "{\"task_name\": \"camera/250111_hplc.urp\"}",
"arm_place": "{\"task_name\": \"camera/250111_lfp.urp\"}"
}
}
},
"data": {
}
@@ -627,6 +648,27 @@
},
"data": {
}
},
{
"id": "agv_platform",
"name": "agv_platform",
"children": [],
"parent": "AGV",
"type": "warehouse",
"class": "",
"position": {
"x": 698.1111111111111,
"y": 478,
"z": 0
},
"config": {
"name": "agv_platform",
"num_items_x": 2,
"num_items_y": 1,
"num_items_z": 1
},
"data": {
}
}
],
"links": [