问题 #1811
已关闭问题 #1815: 双车机械管制
任务中无路径规划
0%
描述
3号车在执行任务中无路径规划 挡住取货货一号车 停顿
文件
由 曹 浩 更新于 3 个月 之前
2025-09-19 15:35:06.338 [robot-action-3] INFO com.zcnest.rcs.robot.RobotActionControl - robot 3 waitTime 234, move away for pickTask offset
2025-09-19 15:35:06.338 [robot-action-3] INFO com.zcnest.rcs.robot.RobotActionControl - robot3 取货任务即将完成接受避让任务 null
2025-09-19 15:35:06.338 [robot-action-3] INFO com.zcnest.rcs.robot.RobotActionControl - robot 3 因等待 234 超过等待时限, 自行执行离开任务, 当前EndQrcode: PickQrcode [shelf=11940,type=6, degree=0.0, pickQrcode=11941]
2025-09-19 15:35:06.338 [robot-action-3] INFO com.zcnest.rcs.robot.RobotActionControl - robot 3 尝试避让 robot null 开始生成动作
2025-09-19 15:35:06.344 [robot-action-3] INFO com.zcnest.rcs.robot.away.MoveAwayControl - get path for rotationShelfQrcode: 11941, with fromQrcodeId: 11940 toQrcodeId: 11941
2025-09-19 15:35:06.380 [robot-action-3] INFO com.zcnest.rcs.robot.away.PathAwayControl - robot 3 need to get point 6677, but now locked by robot 1
2025-09-19 15:35:06.380 [robot-action-3] INFO com.zcnest.rcs.robot.away.AwayPolicyControl - toRobot 1 当前有动作正在执行，不避让 fromRobot 3。
2025-09-19 15:35:06.380 [robot-action-3] INFO com.zcnest.rcs.robot.away.PathAwayControl - robot 3 need to get point 6677, but now locked by robot 1
2025-09-19 15:35:06.380 [robot-action-3] INFO com.zcnest.rcs.robot.away.AwayPolicyControl - toRobot 1 当前有动作正在执行，不避让 fromRobot 3。
2025-09-19 15:35:06.380 [robot-action-3] INFO com.zcnest.rcs.robot.away.PathAwayControl - robot 3 need to get point 6677, but now locked by robot 1
2025-09-19 15:35:06.380 [robot-action-3] INFO com.zcnest.rcs.robot.away.AwayPolicyControl - toRobot 1 当前有动作正在执行，不避让 fromRobot 3。
2025-09-19 15:35:06.380 [robot-action-3] INFO com.zcnest.rcs.robot.RobotActionControl - robot 3 避让 robot null 生成动作失败