JZTclaw（玑之龙虾）双层架构技术实现方案

1. 概述

1.1 项目背景

JZTclaw（玑之龙虾）是一套面向柔性制造的机器人控制系统，采用双层解耦架构，让客户技术人员无需编程即可自主维护工艺逻辑。

支持的机器人类型

1.2 核心指标（修正后）

2. 整体技术架构

2.1 双层架构图

2.2 架构优势

3. 与传统模式对比（修正后）

4. 工艺设计层（L1-L2合并）

4.1 功能模块

4.2 技术栈

4.3 RESTful API

# Skill模板管理
GET /api/v1/skills
  summary: 获取工艺模板列表
  parameters:
    - name: category
      in: query
      schema: { type: string, enum: [optical, assembly, cnc] }

POST /api/v1/skills
  summary: 创建工艺模板
  requestBody:
    content:
      application/json:
        schema:
          type: object
          required: [name, category, nodes, edges]

# 状态树管理
GET /api/v1/state-trees
POST /api/v1/state-trees
PUT /api/v1/state-trees/{treeId}

# 程序包管理
POST /api/v1/state-trees/{treeId}/export
POST /api/v1/packages/import

# 变更同步
GET /api/v1/sync/pending
POST /api/v1/sync/{syncId}/apply
POST /api/v1/sync/{syncId}/reject

5. 现场执行层（L3-L4合并）

5.1 功能模块

5.2 技术栈

5.3 gRPC 接口

service FieldExecutionService {
  rpc ImportPackage(ImportRequest) returns (ImportResponse);
  rpc GetPackageInfo(PackageInfoRequest) returns (PackageInfo);
  rpc StartExecution(StartRequest) returns (stream ExecutionResponse);
  rpc StopExecution(StopRequest) returns (StopResponse);
  rpc PauseExecution(PauseRequest) returns (PauseResponse);
  rpc UpdateParam(UpdateParamRequest) returns (UpdateParamResponse);
  rpc CreateSyncPackage(CreateSyncRequest) returns (CreateSyncResponse);
  rpc UploadSyncPackage(UploadSyncRequest) returns (UploadSyncResponse);
}

enum ExecutionMode {
  NORMAL = 0;
  STEP_BY_STEP = 1;
  SIMULATION = 2;
}

enum ExecutionStatus {
  PENDING = 0;
  RUNNING = 1;
  PAUSED = 2;
  COMPLETED = 3;
  FAILED = 4;
  STOPPED = 5;
}

6. 元动作模型集成

6.1 模型架构

6.2 GraspNet集成

# graspnet_service.py
import rospy
from graspnet_msgs.srv import GraspPrediction, GraspPredictionRequest

class GraspNetService:
    def __init__(self):
        self.grasp_client = rospy.ServiceProxy('/graspnet/predict', GraspPrediction)
        
    def predict_grasp(self, pointcloud_msg, object_type=None):
        req = GraspPredictionRequest()
        req.pointcloud = pointcloud_msg
        req.object_type = object_type or ""
        
        try:
            resp = self.grasp_client(req, timeout=5.0)
            if resp.success:
                return {
                    'pose': resp.grasp_pose,
                    'width': resp.grasp_width,
                    'score': resp.score,
                    'approach_vector': resp.approach_vector
                }
        except rospy.ServiceException as e:
            rospy.logerr(f"GraspNet服务调用失败: {e}")
            return None

6.3 WAM力控装配集成

# wam_service.py
import rospy
from wam_msgs.msg import WAMCartesianCommand, WAMState

class WAMService:
    def __init__(self):
        self.cmd_pub = rospy.Publisher('/wam/cartesian_cmd', WAMCartesianCommand, queue_size=10)
        self.state_sub = rospy.Subscriber('/wam/state', WAMState, self.state_callback)
        
    def execute_force_assembly(self, target_pose, force_threshold=10.0, 
                                torque_threshold=2.0, velocity=0.01):
        cmd = WAMCartesianCommand()
        cmd.pose = target_pose
        cmd.velocity = velocity
        cmd.force_control = True
        cmd.force_threshold = force_threshold
        cmd.torque_threshold = torque_threshold
        
        self.cmd_pub.publish(cmd)
        return self.wait_for_completion(timeout=30.0)

6.4 模型部署策略

7. 程序包格式规范

7.1 程序包结构

{
  "version": "2.0.0",
  "package_format": "jzt-claw-v2",
  "package_id": "pkg_20250401_001",
  "package_name": "光模块测试工艺_v1.2",
  
  "skill_info": {
    "id": "optical-test-001",
    "name": "光模块测试",
    "category": "optical"
  },
  
  "state_tree": {
    "nodes": [
      {
        "id": "node_001",
        "type": "start",
        "position": { "x": 100, "y": 100 }
      },
      {
        "id": "node_002",
        "type": "graspnet_pick",
        "params": {
          "model_version": "graspnet-v2.1",
          "confidence_threshold": 0.8
        }
      }
    ],
    "edges": [...]
  },
  
  "meta_actions": [...],
  "hardware_config": {...},
  "checksum": "sha256:..."
}

7.2 传输方式

8. 反向同步机制

8.1 同步流程

8.2 同步包格式

{
  "sync_version": "1.0.0",
  "sync_id": "sync_20250401_001",
  "source_package_id": "pkg_20250401_001",
  "created_at": "2025-04-01T14:30:00Z",
  "created_by": "现场工程师B",
  "reason": "吸取位置偏移调整，提升抓取成功率",
  
  "changes": [
    {
      "change_id": "chg_001",
      "node_id": "node_002",
      "node_type": "graspnet_pick",
      "param_name": "approach_height",
      "old_value": "50",
      "new_value": "55",
      "reason": "避免碰撞"
    }
  ],
  
  "validation": {
    "tested_on_device": "robot_arm_001",
    "test_count": 50,
    "success_rate": "98%"
  }
}

8.3 冲突处理策略

9. 数据模型设计

-- 程序包管理
CREATE TABLE packages (
    id UUID PRIMARY KEY DEFAULT gen_random_uuid(),
    package_id VARCHAR(100) UNIQUE NOT NULL,
    name VARCHAR(200) NOT NULL,
    version VARCHAR(20) NOT NULL,
    skill_id VARCHAR(100) NOT NULL,
    state_tree JSONB NOT NULL,
    meta_actions JSONB,
    hardware_config JSONB,
    checksum VARCHAR(100) NOT NULL,
    created_at TIMESTAMP WITH TIME ZONE DEFAULT NOW(),
    updated_at TIMESTAMP WITH TIME ZONE DEFAULT NOW()
);

-- 参数变更记录
CREATE TABLE param_changes (
    id UUID PRIMARY KEY,
    package_id UUID REFERENCES packages(id),
    node_id VARCHAR(100) NOT NULL,
    param_name VARCHAR(100) NOT NULL,
    old_value TEXT,
    new_value TEXT NOT NULL,
    reason TEXT,
    sync_status VARCHAR(20) DEFAULT 'pending',
    changed_at TIMESTAMP WITH TIME ZONE DEFAULT NOW()
);

-- 同步包
CREATE TABLE sync_packages (
    id UUID PRIMARY KEY,
    sync_id VARCHAR(100) UNIQUE NOT NULL,
    source_package_id UUID REFERENCES packages(id),
    changes JSONB NOT NULL,
    status VARCHAR(20) DEFAULT 'pending',
    created_at TIMESTAMP WITH TIME ZONE DEFAULT NOW()
);

-- 执行记录
CREATE TABLE execution_logs (
    id UUID PRIMARY KEY,
    instance_id UUID REFERENCES package_instances(id),
    execution_id VARCHAR(100) NOT NULL,
    status VARCHAR(20) NOT NULL,
    started_at TIMESTAMP WITH TIME ZONE,
    completed_at TIMESTAMP WITH TIME ZONE,
    cycle_time INTEGER,
    success_count INTEGER DEFAULT 0,
    fail_count INTEGER DEFAULT 0
);

-- 索引
CREATE INDEX idx_packages_skill_id ON packages(skill_id);
CREATE INDEX idx_param_changes_package ON param_changes(package_id);
CREATE INDEX idx_sync_packages_status ON sync_packages(status);

10. 部署架构

10.1 工艺设计层部署

# docker-compose.design.yml
version: '3.8'

services:
  design-frontend:
    image: jzt/claw-design-frontend:latest
    ports: ["80:80"]
    volumes:
      - package-storage:/data/packages

  design-backend:
    image: jzt/claw-design-backend:latest
    ports: ["3000:3000"]
    environment:
      - NODE_ENV=production
      - DB_HOST=postgres

  postgres:
    image: postgres:15-alpine
    volumes:
      - postgres-data:/var/lib/postgresql/data

10.2 现场执行层部署

# docker-compose.field.yml
version: '3.8'

services:
  field-execution:
    image: jzt/claw-field-execution:latest
    ports:
      - "50051:50051"  # gRPC
      - "8080:8080"    # HTTP
    privileged: true

  model-inference:
    image: jzt/claw-model-inference:latest
    ports: ["50052:50052"]
    runtime: nvidia  # GPU支持

11. 开发规范

11.1 代码规范

11.2 实施路线图