更新机器人节点判断处理

imcs-admin-boot/imcs-business-biz/src/main/java/com/github/zuihou/business/DemoLine/DemoLineConstant.java

@@ -110,6 +110,17 @@ public interface DemoLineConstant {
     //3-柔性生产区
     String NODE_RESOURCE_RXSC_XBK = "Rxianbianku";
 
+
+    //三个线边库
+    //舱体线边库
+    String NODE_RESOURCE_CT_XBK = "CTxianbianku";
+
+    //框体线边库
+    String NODE_RESOURCE_KT_XBK = "KTxianbianku";
+
+    //保障中心线边库
+    String NODE_RESOURCE_BZZX_XBK = "BZZXxianbianku";
+
     //节点编号
     String DEMOLINE_OP01_01 ="DEMOLINE_OP01_01";
     String DEMOLINE_OP01_02 ="DEMOLINE_OP01_02";

imcs-admin-boot/imcs-business-biz/src/main/java/com/github/zuihou/business/productionResourceCenter/service/impl/OtherNodeServiceImpl.java

@@ -76,7 +76,7 @@ public class OtherNodeServiceImpl implements NodeOperationService {
             }
         }
         //初始化默认设定(后期动态获取)
-        xbkArr = dataMap.get("bizType")!=null? new String[]{dataMap.get("bizType").toString()}: new String[]{DemoLineConstant.NODE_RESOURCE_ZLZX_XBK};
+        xbkArr = dataMap.get("bizType")!=null? new String[]{dataMap.get("bizType").toString()}: new String[]{DemoLineConstant.NODE_RESOURCE_ZNSCDY_XBK};
         xbkList = productionresourcePositionService.getFreeProductionresourcePositionByNos(xbkArr);
     }
 
@@ -88,14 +88,14 @@ public class OtherNodeServiceImpl implements NodeOperationService {
         boolean bool = true;
         Storge storge = null;
         //List<ModuleInstruction> instructions = dataMap.get("instructions") == null ? Lists.newArrayList() : (List<ModuleInstruction>)dataMap.get("instructions");
+        //当前设备状态判断
+        if(!taskNodeService.getRunStatus(taskNode.getResourceId())){
+            map.put("result", false);
+            map.put("msg", DictionaryKey.NodeException.RUNNING_FALSE);
+            return map;
+        }
         switch(moduleName){
             case "WMS":
-                //当前设备状态判断
-                if(!runStatus(taskNode.getResourceId())){
-                    map.put("result", false);
-                    map.put("msg", DictionaryKey.NodeException.RUNNING_FALSE);
-                    return map;
-                }
                 if ("WMS_OUT".equals(command)) {
                     ProductionresourcePosition productionresourcePosition = this.logical(jbwList, false);
                     bool =  productionresourcePosition!=null ? true : false;

imcs-admin-boot/imcs-business-biz/src/main/java/com/github/zuihou/business/productionResourceCenter/service/impl/RobotNodeServiceImpl.java

@@ -3,6 +3,7 @@ package com.github.zuihou.business.productionResourceCenter.service.impl;
 
 import cn.hutool.core.collection.CollectionUtil;
 import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.github.zuihou.business.DemoLine.DemoCacheKey;
 import com.github.zuihou.business.DemoLine.DemoLineConstant;
 import com.github.zuihou.business.edgeLibrary.entity.Storge;
@@ -19,7 +20,15 @@ import com.github.zuihou.business.productionResourceCenter.service.NodeOperation
 import com.github.zuihou.business.productionResourceCenter.service.ProductionresourcePositionService;
 import com.github.zuihou.business.util.MsgUtil;
 import com.github.zuihou.common.constant.BizConstant;
+import com.github.zuihou.common.constant.DictionaryKey;
+import com.github.zuihou.common.util.StringUtil;
 import com.github.zuihou.database.mybatis.conditions.Wraps;
+import com.github.zuihou.database.mybatis.conditions.query.LbqWrapper;
+import com.github.zuihou.tenant.entity.Module;
+import com.github.zuihou.tenant.entity.Productionresource;
+import com.github.zuihou.tenant.service.ModuleService;
+import com.github.zuihou.tenant.service.ProductionresourceService;
+import com.google.common.collect.Maps;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
@@ -29,6 +38,7 @@ import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 import java.util.concurrent.TimeUnit;
+import java.util.stream.Collectors;
 
 import static java.util.stream.Collectors.groupingBy;
 
@@ -59,6 +69,14 @@ public class RobotNodeServiceImpl implements NodeOperationService {
     @Autowired
     private WorkpieceService workpieceService;
 
+    @Autowired
+    private ProductionresourceService productionresourceService;
+
+    @Autowired
+    private ModuleService moduleService;
+
+    private Map<String, Object> map = Maps.newHashMap();
+
     private String ZK_ip_zlzx = "192.168.170.61";
 
     //智能单元
@@ -69,80 +87,161 @@ public class RobotNodeServiceImpl implements NodeOperationService {
 
     private String[] sxlzIdArr,jqrarr,jbwarr = null;
 
+    private String[] deviceArr, jbwArr;
+
+    private String[] xbkArr;
+
+    private List<ProductionresourcePosition> deviceList;
+
+    private List<ProductionresourcePosition> xbkList;
+
     @Override
     public void initResource(TaskNode taskNode, TTask task, Map dataMap) {
         //productionresourcePosition = getResourcePosition(taskNode);
-        this.sxlzIdArr = new String[] {DemoLineConstant.JQR1};
-
+        //this.sxlzIdArr = new String[] {DemoLineConstant.JQR1};
+        String moduleName = dataMap.get("moduleName") == null ? "" : dataMap.get("moduleName").toString();
+        String robotType = dataMap.get("robotType") == null ? "" : dataMap.get("robotType").toString();
+        if(StringUtil.isNotEmpty(moduleName) && StringUtil.isNotEmpty(robotType)) {
+            //List<Module> modules = moduleService.list(new QueryWrapper<Module>().like("name", moduleName));
+            Productionresource productionresource = productionresourceService.getOne(new QueryWrapper<Productionresource>().eq("name", robotType));
+            if(productionresource!=null){
+                deviceArr = new String[] {productionresource.getId().toString()};
+                deviceList = productionresourcePositionService.getFreeProductionresourcePositionByIds(deviceArr);
+            }
+        }
+        xbkArr = dataMap.get("robotType")!=null? new String[]{
+                    DictionaryKey.YJ_ZONE_XBK.get(dataMap.get("robotType").toString())
+                }: new String[]{DemoLineConstant.NODE_RESOURCE_ZLZX_XBK};
+        xbkList = productionresourcePositionService.getFreeProductionresourcePositionByNos(xbkArr);
     }
 
     @Override
     public Map checkCondition(TaskNode taskNode, TTask task, Map<String, Object> dataMap) {
-        //业务类型
-        String bizType = dataMap.get("bizType") == null ? "" : dataMap.get("bizType").toString();
         //具体的搬运类型
         String carryType = dataMap.get("carryType") == null ? "" : dataMap.get("carryType").toString();
-
         String robotType = dataMap.get("robotType") == null ? "" : dataMap.get("robotType").toString();
 
         Map<String, Object> map = new HashMap<>();
         map.put("taskNode", taskNode);
         map.put("task", task);
-        map.put("bizType", bizType);
-
 
         ResourceAutoCode resourceAutoCode = taskNode.getAutoNode();
-        String functionName = resourceAutoCode.getCommand();
-        String moduleName = dataMap.get("moduleName") == null ? "" : dataMap.get("moduleName").toString();
+        //String moduleName = dataMap.get("moduleName") == null ? "" : dataMap.get("moduleName").toString();
+        if(!taskNodeService.getRunStatus(taskNode.getResourceId())){
+            map.put("result", false);
+            map.put("msg", DictionaryKey.NodeException.RUNNING_FALSE);
+            return map;
+        }
+        String functionName = DictionaryKey.ROBOT_ACTION.get(resourceAutoCode.getCommand());
+        //设备条件判断
+        ProductionresourcePosition productionresourcePosition = this.logical(deviceList, true);
+        boolean bool =  productionresourcePosition!=null ? true : false;
+        if(!bool){
+            map.put("result", false);
+            return map;
+        }
+        //开始库位
+        Storge startStore = workpieceService.getWorkPieceStock(taskNode.getId(), false);
+        //目的库位
+        Storge jqrStorge = storgeService.getById(deviceList.get(0).getStorgeId());
+
+        //目标地址判断
+
+        switch(robotType){
+            case "质量中心机器人":
+                //操作质量中心边库 具有取、移动、放三种指令
+                  //取放上下料站
+                  //取放三坐标
+
+                break;
+            case "柔性线机器人":
+                //操作柔性线边库 具有取、移动、放三种指令
+                 //取放加工设备
+                String count = dataMap.get(taskNode.getId().toString() + "count") == null ? "0" : dataMap.get(taskNode.getId().toString() + "count").toString();
+                map = this.commandHandle(map, startStore, jqrStorge, functionName, count);
+                break;
+            case "智能单元机器人":
+                //操作智能单元线边库 具有取、移动、放三种指令
+                //取放加工设备
+                map = this.commandHandle(map, startStore, jqrStorge, functionName);
+                break;
+            case "舱体线机器人":
+                //操作舱体线边库 具有取、移动、放三种指令
+                //取放加工设备
+
+                break;
+            case "伺服舵机":
+                //操作三个线边库 只具有取、放两种动作
 
 
-        if ("拿".equals(moduleName)) {
-            map.put("zkIp", ZK_ip_zndy);
-            map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
-            //判断机器人是否为空
-            String jrqarr[] = {resourceAutoCode.getResourceId().toString()};
-            List<ProductionresourcePosition> jqrList = productionresourcePositionService.getFreeProductionresourcePositionByIds(jrqarr);
+                break;
+            case "框体线机器人":
+                //操作框体线边库 具有取、移动、放三种指令
+                //取放加工设备
+
+                break;
+        }
+        return map;
+    }
+
+    @Override
+    public Map operation(JSONObject jsonObject, JSONObject bizJsonObject, Map<String, Object> map) {
+        return map;
+    }
+
+    @Override
+    public boolean confirmStatus(TaskNode taskNode) {
+        return false;
+    }
+
+    public ProductionresourcePosition getResourcePosition(TaskNode taskNode) {
+        List<ProductionresourcePosition> resourcePositionList = productionresourcePositionMapper.selectList(Wraps.<ProductionresourcePosition>lbQ().eq(ProductionresourcePosition::getResourceId, taskNode.getResourceId()));
+        ProductionresourcePosition productionresourcePosition = null;
+        if (resourcePositionList != null && resourcePositionList.size() > 0) {
+            productionresourcePosition = resourcePositionList.get(0);
+        }
+        return productionresourcePosition;
+    }
 
+    //机器人功能操作
+    private Map<String, Object>  commandHandle(Map<String, Object> dataMap, Storge startStore, Storge jqrStorge, String... params){
+        TaskNode taskNode = (TaskNode) dataMap.get("taskNode");
+        TTask task = (TTask) dataMap.get("task");
+        if ("取".equals(params[0])) {
+            dataMap.put("zkIp", ZK_ip_zndy);
+            dataMap.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
             TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
-//                //判断目标
-//                String sum50[] = {DemoLineConstant.DEMOLINE_SUM50_ZNDY};
-//                List<ProductionresourcePosition> sum50List = productionresourcePositionService.getFreeProductionresourcePositionByNos(sum50);
-//                List<ProductionresourcePosition> xbkList = new ArrayList<>();
-//
-//                TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
-            if (CollectionUtil.isNotEmpty(jqrList)) {
-                Storge startStore = workpieceService.getWorkPieceStock(taskNode.getId(), false);
-                map.put("fromStorge", startStore);
-                map.put("Data", startStore);
+            //if (CollectionUtil.isNotEmpty(jqrList)) {
+            dataMap.put("fromStorge", startStore);
+            dataMap.put("Data", startStore);
                 //出入库类型
-                map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
+            dataMap.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
                 //目的地为机器人手臂
-                Storge jqrStorge = storgeService.getById(jqrList.get(0).getStorgeId());
-                map.put("toStorge", jqrStorge);
+            dataMap.put("toStorge", jqrStorge);
                 //锁定机器人
                 jqrStorge.setCompleteBatchNo(task.getCompleteBatchNo());
                 storgeService.lockStorge(jqrStorge, nextTaskNode.getId());
-            }
+            //}
             //
-            map.put("result", (CollectionUtil.isNotEmpty(jqrList)));
-        } else if ("拿1".equals(moduleName)) {
-            int count = dataMap.get(taskNode.getId().toString() + "count") == null ? 0 : Integer.parseInt(dataMap.get(taskNode.getId().toString() + "count").toString());
+            map.put("result", true);
+        }
+        else if (params[1]!= null) {
+            //int count = dataMap.get(taskNode.getId().toString() + "count") == null ? 0 : Integer.parseInt(dataMap.get(taskNode.getId().toString() + "count").toString());
+             int count = Integer.parseInt(params[1]);
             //执行到第几步
-            map.put(taskNode.getId().toString() + "count", count);
-            map.put(DemoLineConstant.DEMOLINE_RXJQR_FLAG, "1");
-            map.put("zkIp", ZK_ip_rxx);
+            dataMap.put(taskNode.getId().toString() + "count", count);
+            dataMap.put(DemoLineConstant.DEMOLINE_RXJQR_FLAG, "1");
+            dataMap.put("zkIp", ZK_ip_rxx);
 
             if (count == 0) {//第一步的时候锁定资源
                 //判断机器人是否为空
-                String jrqarr[] = {resourceAutoCode.getResourceId().toString()};
-                List<ProductionresourcePosition> jqrList = productionresourcePositionService.getFreeProductionresourcePositionByNos(jrqarr);
-                Map<String, List<ProductionresourcePosition>> jqrMap = jqrList.stream().collect(groupingBy(ProductionresourcePosition::getPointId));
+                Map<String, List<ProductionresourcePosition>> jqrMap = deviceList.stream().collect(groupingBy(ProductionresourcePosition::getPointId));
 
                 TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode, 1);
                 //机器人手抓没被锁定，并且有空闲未知
-                if (CollectionUtil.isNotEmpty(jqrList) && jqrList.size() > 1 && jqrMap.containsKey(DemoLineConstant.DEMOLINE_RJQR_ZS)) {
+                if (CollectionUtil.isNotEmpty(deviceList) && deviceList.size() > 1 && jqrMap.containsKey(DemoLineConstant.DEMOLINE_RJQR_ZS)) {
 
-                    Storge jqrStorge = storgeService.getById(jqrMap.get(DemoLineConstant.DEMOLINE_RJQR_ZS).get(0).getStorgeId());
+                    jqrStorge = storgeService.getById(jqrMap.get(DemoLineConstant.DEMOLINE_RJQR_ZS).get(0).getStorgeId());
                     jqrStorge.setCompleteBatchNo(task.getCompleteBatchNo());
                     storgeService.lockStorge(jqrStorge, nextTaskNode.getId());
 //                                //去掉抓手
@@ -153,7 +252,6 @@ public class RobotNodeServiceImpl implements NodeOperationService {
                     hcwStorge.setCompleteBatchNo(task.getCompleteBatchNo());
                     storgeService.lockStorge(hcwStorge, nextTaskNode.getId());
 
-
                     //抓手缓存
                     msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + nextTaskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
                     msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
@@ -162,38 +260,39 @@ public class RobotNodeServiceImpl implements NodeOperationService {
                     msgUtil.redis_set(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_RJQR_HCW + taskNode.getId(), hcwStorge, 1, TimeUnit.DAYS);
 
                     //满足条件--机器人空闲，设备或线边库有一个空闲
-                    Storge startStore = workpieceService.getWorkPieceStock(taskNode.getId(), false);
-                    map.put("Data", startStore);
-                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "moveMaterial");
+                    startStore = workpieceService.getWorkPieceStock(taskNode.getId(), false);
+                    dataMap.put("Data", startStore);
+                    dataMap.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "moveMaterial");
                 }
-                map.put("result", (CollectionUtil.isNotEmpty(jqrList)) && jqrMap.containsKey(DemoLineConstant.DEMOLINE_RJQR_ZS));
+                dataMap.put("result", (CollectionUtil.isNotEmpty(deviceList)) && jqrMap.containsKey(DemoLineConstant.DEMOLINE_RJQR_ZS));
             } else if (count == 1) {
-                Storge jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId());
-                map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
+                jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId());
+                dataMap.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
                 Storge currentStore = workpieceService.getWorkPieceStock(taskNode.getId(), false);
-                map.put("fromStorge", currentStore);
-                map.put("Data", currentStore);
+                dataMap.put("fromStorge", currentStore);
+                dataMap.put("Data", currentStore);
                 //出入库类型
-                map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
+                dataMap.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
                 //目的地为机器人手臂
                 map.put("toStorge", jqrStorge);
-                map.put("result", true);
+                dataMap.put("result", true);
             } else if (count == 2) {
                 Storge currentStore = workpieceService.getWorkPieceStock(taskNode.getId(), false);
-                map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "putMaterial");
-                map.put("fromStorge", currentStore);
+                dataMap.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "putMaterial");
+                dataMap.put("fromStorge", currentStore);
                 //出入库类型
-                map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
+                dataMap.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
                 //目的地为机器人手臂
                 Storge hcwStorge = (Storge) msgUtil.redis_get(DemoCacheKey.DEMOLINE_CAMP + "_" + DemoLineConstant.DEMOLINE_RJQR_HCW + taskNode.getId());
-                map.put("Data", hcwStorge);
-                map.put("toStorge", hcwStorge);
-                map.put("result", true);
+                dataMap.put("Data", hcwStorge);
+                dataMap.put("toStorge", hcwStorge);
+                dataMap.put("result", true);
             }
 
-        } else if ("放".equals(moduleName)) {
+        }
+        else if ("放".equals(params[0])) {
             //判断目标位置是否空闲
-            String target[] = {resourceAutoCode.getTargetId().toString()};
+            String target[] = {taskNode.getAutoNode().getTargetId().toString()};
             List<ProductionresourcePosition> targetList = productionresourcePositionService.getFreeProductionresourcePositionByNos(target);
             List<ProductionresourcePosition> xbkList = new ArrayList<>();
 
@@ -202,7 +301,6 @@ public class RobotNodeServiceImpl implements NodeOperationService {
                 //锁定加工设备库位
                 targetStorge.setCompleteBatchNo(task.getCompleteBatchNo());
                 storgeService.lockStorge(targetStorge, taskNode.getId());
-
             } else {//设备忙碌，放置到线边库
                 //TODO，哪里的线边库
                 String znscdyXBKarr[] = {DemoLineConstant.NODE_RESOURCE_ZNSCDY_XBK};
@@ -257,7 +355,7 @@ public class RobotNodeServiceImpl implements NodeOperationService {
             return map;
 
 
-        //质量中心机器人
+            //质量中心机器人
 //        if(DemoLineConstant.JQR1.equals(robotType)){
 //            //机器人放子盘夹具到上下料站(从子盘到机械手)。可能进行换手操作
 //            if (DemoLineConstant.DEMOLINE_OP01_03.equals(taskNode.getNodeNo())) {
@@ -1553,22 +1651,36 @@ public class RobotNodeServiceImpl implements NodeOperationService {
         return map;
     }
 
-    @Override
-    public Map operation(JSONObject jsonObject, JSONObject bizJsonObject, Map<String, Object> map) {
-        return map;
-    }
+    /**
+     *  设备动态逻辑判断处理
+     *
+     * @param deviceList
+     * @param useXbk
+     * @return
+     */
+    private ProductionresourcePosition logical(List<ProductionresourcePosition> deviceList, boolean useXbk){
+        //设备不存在
+        if(deviceList == null || deviceList.size() == 0){
+            map.put("msg", DictionaryKey.NodeException.NO_RESOURCE);
+            return null;
+        }
+        deviceList = deviceList.stream().filter(position->position.getStatus()=="1" && position.getLockStatus()=="1").collect(Collectors.toList());
+        //设备被锁定
+        if(deviceList.size() == 0) {
+            if(useXbk){
+                if(xbkList.size() == 0){
+                    map.put("msg", DictionaryKey.NodeException.RESOURCE_LOCK);
+                    return null;
+                }
+                map.put("useXbk", true);
+                return xbkList.get(0);
+            }
+            map.put("msg", DictionaryKey.NodeException.RESOURCE_LOCK);
+            return null;
+        }
+        //设备托盘、夹具条件不满足  待定
 
-    @Override
-    public boolean confirmStatus(TaskNode taskNode) {
-        return false;
+        return deviceList.get(0);
     }
 
-    public ProductionresourcePosition getResourcePosition(TaskNode taskNode) {
-        List<ProductionresourcePosition> resourcePositionList = productionresourcePositionMapper.selectList(Wraps.<ProductionresourcePosition>lbQ().eq(ProductionresourcePosition::getResourceId, taskNode.getResourceId()));
-        ProductionresourcePosition productionresourcePosition = null;
-        if (resourcePositionList != null && resourcePositionList.size() > 0) {
-            productionresourcePosition = resourcePositionList.get(0);
-        }
-        return productionresourcePosition;
-    }
 }

imcs-admin-boot/imcs-common/src/main/java/com/github/zuihou/common/constant/DictionaryKey.java

@@ -4,6 +4,7 @@ import java.util.Arrays;
 import java.util.HashMap;
 import java.util.Map;
 
+
 /**
  * 全局参数表（c_common_parameter）的key
  *
@@ -20,6 +21,8 @@ public interface DictionaryKey {
     String INTERFACETYPE_AGV = "03";
     //WMS相关接口
     String INTERFACETYPE_WMS = "04";
+    //采集数据接口
+    String INTERFACETYPE_COLLECT = "05";
 
     //节点枚举异常
     enum NodeException {
@@ -113,9 +116,12 @@ public interface DictionaryKey {
     //设备关联线边库
     Map<String, String> YJ_ZONE_XBK = new HashMap<String, String>(){
         {
-            put("1", "舱体线边库");
-            put("2", "框体线边库");
-            put("3", "保障中心线边库");
+            put("舱体线机器人", "CTxianbianku");
+            put("框体线机器人", "KTxianbianku");
+            put("伺服舵机", "BZZXxianbianku");
+            put("质量中心机器人", "Qxianbianku");
+            put("智能单元机器人", "Zxianbianku");
+            put("柔性线机器人","Rxianbianku");
         }
     };