Krabot 技术落地方案

flowchart TD classDef decision fill:#fff5e6,stroke:#ff9d00,stroke-width:2px,rx:10,ry:10 classDef logic fill:#e6f7ff,stroke:#1890ff,stroke-width:2px,rx:10,ry:10 classDef action fill:#f6ffed,stroke:#52c41a,stroke-width:2px,rx:10,ry:10 classDef connect fill:#fff2e8,stroke:#fa541c,stroke-width:2px,rx:10,ry:10 classDef position fill:#f9f0ff,stroke:#722ed1,stroke-width:2px,rx:10,ry:10 classDef init fill:#f0f5ff,stroke:#2f54eb,stroke-width:2px,rx:10,ry:10 classDef transport fill:#fffbe6,stroke:#faad14,stroke-width:2px,rx:10,ry:10 decision{机器人判断是否需要机械臂} logicA[逻辑A] logicB[逻辑B] clean[机器人清理地面] find[机器人发现并抓取目标物] return[机器人回站] connect1[机器人与机械臂硬连接] position1[机器人与机械臂到位检测] init1[机器人与机械臂初始化] disconnect1[机器人+机械臂与基站断连] track[机器人+机械臂寻迹] confirm[确定待抓取目标物] plan[运动轨迹规划] transport[机器人+机械臂转运目标物至目标点] complete[机械臂完成整周期任务] connect2[机械臂与基站硬连接] disconnect2[机器人与机械臂断连] position2[机械臂与基站到位检测] connect3[机械臂与基站硬连接] disconnect3[机器人与机械臂断连] position3[机器人+机械臂与基站到位检测] init2[机械臂初始化] return2[主机+机械臂回站] grab[机械夹爪抓取目标物] moveTo[机器人+机械臂运动至目标物] release[机械夹爪释放目标物] decision -- No --> logicA decision -- Yes --> logicB logicA --> clean clean --> find find --> logicB logicB --> return return --> connect1 connect1 --> position1 position1 --> init1 init1 --> disconnect1 disconnect1 --> track track --> confirm confirm --> plan plan --> transport decision --> complete complete --> connect2 connect2 --> disconnect2 disconnect2 --> position2 position2 --> connect3 connect3 --> disconnect3 disconnect3 --> position3 position3 --> init2 init2 --> return2 return2 --> grab grab --> moveTo moveTo --> release release --> transport class decision decision class logicA,logicB logic class clean,find,track,confirm,grab,moveTo,release action class connect1,connect2,connect3,disconnect1,disconnect2,disconnect3 connect class position1,position2,position3 position class init1,init2,plan init class return,return2,transport,complete transport