具身智能应用场景：从实验室到产业化

class HomeServiceRobot:
    def __init__(self):
        self.navigation = NavigationSystem()
        self.manipulation = ManipulationSystem()
        self.dialogue = DialogueSystem()
        self.task_manager = TaskManager()

    def handle_request(self, request):
        """处理用户请求"""
        # 语音理解
        intent = self.dialogue.understand(request)

        # 任务规划
        plan = self.task_manager.plan(intent)

        # 执行任务
        for step in plan:
            if step.type == 'navigate':
                self.navigation.go_to(step.target)
            elif step.type == 'manipulate':
                self.manipulation.execute(step.action, step.object)
            elif step.type == 'communicate':
                self.dialogue.speak(step.message)

        return self.task_manager.get_result()

    def clean_table(self):
        """清理餐桌"""
        # 1. 导航到餐桌
        self.navigation.go_to('dining_table')

        # 2. 视觉识别物品
        items = self.vision.detect_objects()

        # 3. 分类处理
        for item in items:
            if item.type == 'dish':
                # 放到洗碗机
                self.manipulation.pick_and_place(item, 'dishwasher')
            elif item.type == 'trash':
                # 扔到垃圾桶
                self.manipulation.pick_and_place(item, 'trash_bin')
            elif item.type == 'food':
                # 放到冰箱
                self.manipulation.pick_and_place(item, 'refrigerator')

        # 4. 擦拭桌面
        self.manipulation.wipe_surface('dining_table')

class HotelServiceRobot:
    def __init__(self):
        self.elevator = ElevatorInterface()
        self.door = DoorOpener()
        self.tray = TraySystem()

    def deliver_room_service(self, room_number, items):
        """客房送餐"""
        # 1. 取餐
        self.navigation.go_to('kitchen')
        self.tray.load(items)

        # 2. 导航到客房
        self.navigation.go_to(f'room_{room_number}')

        # 3. 乘坐电梯
        if self.navigation.needs_elevator():
            self.elevator.call()
            self.elevator.enter()
            self.elevator.select_floor(room_number // 100)
            self.elevator.exit()

        # 4. 到达客房
        self.navigation.arrive_at_room(room_number)

        # 5. 通知客人
        self.dialogue.speak('您的客房服务已送达，请开门取餐')

        # 6. 等待开门
        self.door.wait_for_open()

        # 7. 递送物品
        self.tray.present()

        # 8. 等待客人取餐
        self.tray.wait_for_removal()

        # 9. 返回
        self.navigation.go_to('charging_station')

class RestaurantRobot:
    def __init__(self):
        self.order_system = OrderSystem()
        self.carrying = CarryingSystem()
        self.multi_robot = MultiRobotCoordination()

    def serve_tables(self, orders):
        """服务多桌客人"""
        # 1. 接单
        for order in orders:
            self.order_system.add_order(order)

        # 2. 取餐
        for order in orders:
            self.navigation.go_to('kitchen')
            self.carrying.load(order.items)

            # 3. 送餐
            self.navigation.go_to(order.table_number)

            # 4. 上菜
            for item in order.items:
                self.carrying.place_on_table(item, item.position)

            # 5. 通知客人
            self.dialogue.speak(f'这是您点的{item.name}，请慢用')

        # 6. 返回厨房
        self.navigation.go_to('kitchen')

    def coordinate_multiple_robots(self, orders):
        """多机器人协作"""
        # 任务分配
        assignments = self.multi_robot.assign_tasks(orders)

        # 并行执行
        for robot, tasks in assignments.items():
            robot.execute_tasks(tasks)

        # 避碰协调
        self.multi_robot.collision_avoidance()

class AutonomousPerception:
    def __init__(self):
        self.lidar = LidarSensor()
        self.camera = CameraArray()
        self.radar = RadarSensor()
        self.gps = GPSSensor()
        self.imu = IMUSensor()

    def perceive(self):
        """多传感器感知"""
        # 激光雷达
        lidar_points = self.lidar.scan()

        # 摄像头
        images = self.camera.capture_all()

        # 毫米波雷达
        radar_targets = self.radar.detect()

        # 定位
        position = self.gps.get_position()
        orientation = self.imu.get_orientation()

        # 传感器融合
        fused = self.fuse_sensors(
            lidar_points, images, radar_targets,
            position, orientation
        )

        # 目标检测
        objects = self.detect_objects(fused)

        # 语义分割
        semantic_map = self.semantic_segmentation(images)

        # 可行驶区域
        drivable_area = self.detect_drivable_area(semantic_map)

        return {
            'objects': objects,
            'semantic_map': semantic_map,
            'drivable_area': drivable_area,
            'position': position,
            'orientation': orientation
        }

    def detect_objects(self, sensor_data):
        """检测周围物体"""
        objects = []

        # 3D 目标检测
        detections_3d = self.detector_3d.detect(sensor_data['lidar'])

        for det in detections_3d:
            obj = {
                'type': det.class_name,
                'position': det.position,
                'size': det.size,
                'velocity': det.velocity,
                'confidence': det.confidence,
                'tracking_id': self.tracker.track(det)
            }
            objects.append(obj)

        return objects

class AutonomousPlanner:
    def __init__(self):
        self.route_planner = RoutePlanner()
        self.behavior_planner = BehaviorPlanner()
        self.trajectory_planner = TrajectoryPlanner()

    def plan(self, perception, goal):
        """规划行驶路径"""
        # 1. 全局路径规划
        global_route = self.route_planner.plan(
            perception['position'],
            goal
        )

        # 2. 行为决策
        behavior = self.behavior_planner.decide(
            perception['objects'],
            perception['drivable_area'],
            global_route
        )

        # 3. 轨迹规划
        trajectory = self.trajectory_planner.plan(
            behavior,
            perception['objects'],
            perception['drivable_area']
        )

        return trajectory

    def decide_behavior(self, objects, drivable_area, route):
        """行为决策"""
        # 分析交通场景
        scene = self.analyze_scene(objects, drivable_area)

        # 决策逻辑
        if scene['traffic_light'] == 'red':
            return {'action': 'stop'}
        elif scene['has_pedestrian_crossing']:
            return {'action': 'yield'}
        elif scene['has_obstacle']:
            return {'action': 'avoid', 'direction': scene['safe_direction']}
        elif scene['can_change_lane']:
            return {'action': 'change_lane', 'target_lane': scene['target_lane']}
        else:
            return {'action': 'follow', 'speed': scene['safe_speed']}

class AutonomousController:
    def __init__(self):
        self.steering_controller = SteeringController()
        self.speed_controller = SpeedController()
        self.brake_controller = BrakeController()

    def execute(self, trajectory, current_state):
        """执行控制"""
        # 路径跟踪
        steering_angle = self.steering_controller.compute(
            trajectory, current_state
        )

        # 速度控制
        target_speed = trajectory.speed
        throttle = self.speed_controller.compute(
            target_speed, current_state['speed']
        )

        # 制动控制
        brake = self.brake_controller.compute(
            trajectory, current_state
        )

        # 安全检查
        if self.emergency_stop_needed(current_state):
            brake = 1.0
            throttle = 0.0

        return {
            'steering': steering_angle,
            'throttle': throttle,
            'brake': brake
        }

    def emergency_stop_needed(self, state):
        """紧急停止判断"""
        # 检测前方障碍物
        if state['obstacle_distance'] < 5.0:
            return True

        # 检测碰撞风险
        if state['collision_risk'] > 0.8:
            return True

        # 检测系统故障
        if state['system_fault']:
            return True

        return False

class FlexibleAssembly:
    def __init__(self):
        self.robot = AssemblyRobot()
        self.vision = VisionSystem()
        self.force_control = ForceControlSystem()
        self.task_planner = TaskPlanner()

    def assemble_product(self, product_spec):
        """柔性装配"""
        # 1. 读取装配指令
        assembly_steps = self.task_planner.parse(product_spec)

        # 2. 执行装配
        for step in assembly_steps:
            # 视觉定位零件
            part_pose = self.vision.locate_part(step.part_id)

            # 抓取零件
            self.robot.pick_part(part_pose)

            # 力控装配
            self.assemble_with_force_control(
                step.target_pose,
                step.insertion_direction,
                step.force_threshold
            )

            # 质量检查
            if not self.quality_check(step):
                raise AssemblyError(f"装配质量不合格: {step}")

    def assemble_with_force_control(self, target_pose, direction, force_threshold):
        """力控装配"""
        # 阻抗控制模式
        self.robot.set_impedance_mode(
            stiffness=[1000, 1000, 1000, 100, 100, 100],
            damping=[100, 100, 100, 10, 10, 10]
        )

        # 搜索策略
        search_patterns = [
            'spiral',      # 螺旋搜索
            'linear',      # 线性搜索
            'random'       # 随机搜索
        ]

        # 执行装配
        while not self.is_assembled():
            # 读取力/力矩
            force, torque = self.force_control.read()

            # 检测接触
            if self.detect_contact(force):
                # 插入策略
                self.insert_with_compliance(
                    target_pose, direction, force_threshold
                )
            else:
                # 搜索孔位
                self.search_hole(search_patterns)

    def insert_with_compliance(self, target, direction, force_threshold):
        """柔顺插入"""
        # 保持恒定插入力
        desired_force = 10.0  # N

        while not self.is_inserted():
            # 力误差
            actual_force = self.force_control.read_force()
            force_error = desired_force - actual_force

            # 位置修正
            position_correction = force_error * 0.001  # mm/N

            # 更新目标位置
            new_target = target + direction * position_correction

            # 执行运动
            self.robot.move_to(new_target)

            # 检查力是否过大
            if abs(actual_force) > force_threshold:
                self.robot.stop()
                raise ForceExceededError()

class QualityInspection:
    def __init__(self):
        self.vision = HighResVision()
        self.measurement = MeasurementSystem()
        self.defect_detector = DefectDetector()

    def inspect_product(self, product):
        """质量检测"""
        results = {
            'visual_inspection': None,
            'dimensional_inspection': None,
            'surface_inspection': None,
            'functional_test': None
        }

        # 1. 视觉检测
        results['visual_inspection'] = self.visual_inspect(product)

        # 2. 尺寸检测
        results['dimensional_inspection'] = self.dimensional_inspect(product)

        # 3. 表面检测
        results['surface_inspection'] = self.surface_inspect(product)

        # 4. 功能测试
        results['functional_test'] = self.functional_test(product)

        # 综合判定
        overall_result = self.judge_quality(results)

        return overall_result

    def visual_inspect(self, product):
        """视觉检测"""
        # 多角度拍照
        images = self.vision.capture_multi_angle(product)

        # 缺陷检测
        defects = []
        for image in images:
            detected = self.defect_detector.detect(image)
            defects.extend(detected)

        # 分类缺陷
        classified_defects = self.classify_defects(defects)

        return {
            'defects': classified_defects,
            'passed': len(classified_defects) == 0
        }

    def surface_inspect(self, product):
        """表面检测"""
        # 结构光扫描
        point_cloud = self.vision.structured_light_scan(product)

        # 表面重建
        surface_mesh = self.reconstruct_surface(point_cloud)

        # 缺陷检测
        defects = self.detect_surface_defects(surface_mesh)

        # 粗糙度测量
        roughness = self.measure_roughness(surface_mesh)

        return {
            'defects': defects,
            'roughness': roughness,
            'passed': len(defects) == 0 and roughness < 0.1
        }

class HumanRobotCollaboration:
    def __init__(self):
        self.robot = Cobot()
        self.safety = SafetySystem()
        self.intent_recognizer = IntentRecognizer()
        self.gesture_recognizer = GestureRecognizer()

    def collaborate_with_human(self, task):
        """与人类协作"""
        # 1. 任务理解
        human_intent = self.understand_human_intent()

        # 2. 任务分配
        human_tasks, robot_tasks = self.allocate_tasks(
            task, human_intent
        )

        # 3. 并行执行
        while not task.completed:
            # 检测人类动作
            human_action = self.detect_human_action()

            # 调整机器人行为
            robot_action = self.adapt_to_human(human_action)

            # 安全监控
            if self.safety.check_collision_risk():
                self.robot.stop()
                self.safety.alert()

            # 执行动作
            self.robot.execute(robot_action)

    def understand_human_intent(self):
        """理解人类意图"""
        # 手势识别
        gesture = self.gesture_recognizer.recognize()

        # 语音理解
        speech = self.speech_recognizer.recognize()

        # 视线追踪
        gaze = self.gaze_tracker.track()

        # 融合多模态信息
        intent = self.intent_recognizer.fuse(
            gesture, speech, gaze
        )

        return intent

    def allocate_tasks(self, task, human_intent):
        """任务分配"""
        # 评估任务复杂度
        complexity = self.assess_complexity(task)

        # 评估人类能力
        human_capability = self.assess_human_capability(human_intent)

        # 分配策略
        if complexity['requires_dexterity']:
            # 灵巧任务给人类
            human_tasks = task.dexterous_parts
            robot_tasks = task.repetitive_parts
        elif complexity['requires_strength']:
            # 重体力给机器人
            human_tasks = task.cognitive_parts
            robot_tasks = task.physical_parts
        else:
            # 平衡分配
            human_tasks, robot_tasks = self.balance_allocation(task)

        return human_tasks, robot_tasks

class SurgicalRobot:
    def __init__(self):
        self.master = MasterController()
        self.slave = SlaveRobot()
        self.vision = StereoVision()
        self.force_feedback = ForceFeedbackSystem()

    def perform_surgery(self, surgical_plan):
        """执行手术"""
        # 1. 术前准备
        self.prepare_surgery(surgical_plan)

        # 2. 手术执行
        for step in surgical_plan.steps:
            # 主从控制
            master_command = self.master.get_command()

            # 运动缩放
            scaled_command = self.scale_motion(
                master_command,
                surgical_plan.motion_scale
            )

            # 力反馈
            force = self.force_feedback.get_force()
            self.master.apply_force_feedback(force)

            # 执行动作
            self.slave.execute(scaled_command)

            # 视觉监控
            surgical_view = self.vision.get_view()
            self.display_surgical_view(surgical_view)

    def prepare_surgery(self, plan):
        """术前准备"""
        # 患者定位
        self.position_patient(plan.patient_position)

        # 机器人校准
        self.calibrate_robot(plan.calibration_points)

        # 器械准备
        self.load_instruments(plan.required_instruments)

        # 安全检查
        self.safety_check()

    def scale_motion(self, command, scale_factor):
        """运动缩放"""
        # 精细操作缩放
        scaled = {
            'position': command['position'] * scale_factor,
            'orientation': command['orientation'],
            'gripper': command['gripper']
        }
        return scaled

class RehabilitationRobot:
    def __init__(self):
        self.exoskeleton = Exoskeleton()
        self.emg_sensor = EMGSensor()
        self.motion_tracker = MotionTracker()
        self.therapy_planner = TherapyPlanner()

    def assist_rehabilitation(self, patient, therapy_plan):
        """辅助康复训练"""
        # 1. 评估患者状态
        patient_state = self.assess_patient(patient)

        # 2. 制定训练计划
        exercises = self.therapy_planner.plan(
            patient_state, therapy_plan
        )

        # 3. 执行训练
        for exercise in exercises:
            # 肌电信号监测
            emg_signals = self.emg_sensor.read()

            # 运动意图识别
            intent = self识别_intent(emg_signals)

            # 辅助力计算
            assist_force = self.compute_assist_force(
                intent, exercise, patient_state
            )

            # 执行辅助
            self.exoskeleton.apply_force(assist_force)

            # 运动监测
            motion_data = self.motion_tracker.track()

            # 实时调整
            self.adjust_assistance(motion_data, emg_signals)

    def assess_patient(self, patient):
        """评估患者状态"""
        assessment = {
            'range_of_motion': self.measure_rom(patient),
            'muscle_strength': self.measure_strength(patient),
            'motor_function': self.assess_motor_function(patient),
            'pain_level': patient.pain_level
        }
        return assessment

    def compute_assist_force(self, intent, exercise, patient_state):
        """计算辅助力"""
        # 基于阻抗控制
        desired_trajectory = exercise.trajectory
        actual_position = self.exoskeleton.get_position()

        # 位置误差
        position_error = desired_trajectory - actual_position

        # 患者能力
        capability = patient_state['muscle_strength']

        # 自适应阻抗
        stiffness = self.adapt_stiffness(capability)
        damping = self.adapt_damping(capability)

        # 辅助力
        assist_force = (
            stiffness * position_error +
            damping * (0 - self.exoskeleton.get_velocity())
        )

        # 渐进式辅助（随康复进展减少辅助）
        assist_level = self.compute_assist_level(patient_state)
        assist_force *= assist_level

        return assist_force

class NursingRobot:
    def __init__(self):
        self.vital_sign_monitor = VitalSignMonitor()
        self.medication_dispenser = MedicationDispenser()
        self.fall_detector = FallDetector()
        self.caregiver_interface = CaregiverInterface()

    def monitor_patient(self, patient):
        """监测患者状态"""
        while True:
            # 生命体征监测
            vitals = self.vital_sign_monitor.read(patient)

            # 异常检测
            if self.detect_abnormality(vitals):
                self.alert_caregiver(vitals)

            # 跌倒检测
            if self.fall_detector.detect():
                self.handle_fall(patient)

            # 用药提醒
            if self.is_medication_time(patient):
                self.dispense_medication(patient)

            # 情绪监测
            emotion = self.detect_emotion(patient)
            if emotion == 'distress':
                self.provide_comfort(patient)

    def handle_fall(self, patient):
        """处理跌倒"""
        # 1. 检测确认
        if not self.fall_detector.confirm():
            return

        # 2. 评估伤情
        injury = self.assess_injury(patient)

        # 3. 呼叫帮助
        self.caregiver_interface.emergency_alert(
            '跌倒', injury, patient.location
        )

        # 4. 提供初步护理
        if injury['severity'] == 'mild':
            self.assist_patient_up(patient)
        else:
            self保持_patient_comfortable(patient)

    def dispense_medication(self, patient):
        """分发药物"""
        # 1. 获取用药信息
        medication = patient.medication_schedule.current()

        # 2. 准备药物
        self.medication_dispenser.prepare(medication)

        # 3. 语音提醒
        self.speak(f'{patient.name}，该吃药了')

        # 4. 递送药物
        self.medication_dispenser.dispense()

        # 5. 确认服药
        if self.confirm_medication_taken():
            self.record_medication(patient, medication)
        else:
            self.alert_caregiver('未确认服药')

class SearchRescueRobot:
    def __init__(self):
        self.thermal_camera = ThermalCamera()
        self.gas_detector = GasDetector()
        self.communication = EmergencyCommunication()
        self.mapping = SLAMSystem()

    def search_survivors(self, disaster_zone):
        """搜索幸存者"""
        # 1. 环境评估
        environment = self.assess_environment(disaster_zone)

        # 2. 搜索规划
        search_plan = self.plan_search(environment)

        # 3. 执行搜索
        survivors = []
        for area in search_plan.areas:
            # 热成像搜索
            thermal_detections = self.thermal_camera.scan(area)

            # 声音搜索
            audio_detections = self.listen_for_cries(area)

            # 气体检测（呼吸）
            co2_levels = self.gas_detector.measure_co2(area)

            # 融合检测结果
            detections = self.fuse_detections(
                thermal_detections,
                audio_detections,
                co2_levels
            )

            # 验证幸存者
            for detection in detections:
                if self.verify_survivor(detection):
                    survivors.append(detection)

        # 4. 报告结果
        self.report_survivors(survivors)

        return survivors

    def assess_environment(self, zone):
        """评估环境"""
        assessment = {
            'structural_stability': self.check_stability(zone),
            'hazardous_materials': self.detect_hazards(zone),
            'accessibility': self.assess_access(zone),
            'temperature': self.measure_temperature(zone)
        }
        return assessment

class InspectionRobot:
    def __init__(self):
        self.ndt_sensor = NDTSensor()  # 无损检测
        self.corrosion_detector = CorrosionDetector()
        self.vibration_analyzer = VibrationAnalyzer()
        self.report_generator = ReportGenerator()

    def inspect_equipment(self, equipment):
        """设备巡检"""
        inspection_results = {
            'visual': None,
            'ndt': None,
            'corrosion': None,
            'vibration': None
        }

        # 1. 视觉检查
        inspection_results['visual'] = self.visual_inspect(equipment)

        # 2. 无损检测
        inspection_results['ndt'] = self.ndt_inspect(equipment)

        # 3. 腐蚀检测
        inspection_results['corrosion'] = self.corrosion_inspect(equipment)

        # 4. 振动分析
        inspection_results['vibration'] = self.vibration_inspect(equipment)

        # 5. 综合评估
        overall_health = self.assess_health(inspection_results)

        # 6. 生成报告
        report = self.report_generator.generate(
            equipment, inspection_results, overall_health
        )

        return report

    def ndt_inspect(self, equipment):
        """无损检测"""
        # 超声波检测
        ultrasonic = self.ndt_sensor.ultrasonic_scan(equipment)

        # 涡流检测
        eddy_current = self.ndt_sensor.eddy_current_scan(equipment)

        # 射线检测
        radiographic = self.ndt_sensor.radiographic_scan(equipment)

        # 缺陷识别
        defects = self.identify_defects(
            ultrasonic, eddy_current, radiographic
        )

        return {
            'ultrasonic': ultrasonic,
            'eddy_current': eddy_current,
            'radiographic': radiographic,
            'defects': defects
        }

class CostOptimizer:
    def __init__(self):
        self.material_cost = MaterialCost()
        self.manufacturing_cost = ManufacturingCost()
        self.maintenance_cost = MaintenanceCost()

    def optimize_design(self, requirements):
        """优化设计以降低成本"""
        # 材料选择优化
        materials = self.select_materials(requirements)

        # 结构优化
        structure = self.optimize_structure(materials)

        # 制造工艺优化
        manufacturing = self.optimize_manufacturing(structure)

        # 总成本计算
        total_cost = self.calculate_total_cost(
            materials, structure, manufacturing
        )

        return {
            'materials': materials,
            'structure': structure,
            'manufacturing': manufacturing,
            'total_cost': total_cost
        }

    def select_materials(self, requirements):
        """材料选择"""
        # 考虑因素：强度、重量、成本、耐用性
        candidates = self.material_cost.query(requirements)

        # 多目标优化
        best_materials = self.multi_objective_optimization(
            candidates,
            objectives=['cost', 'weight', 'strength'],
            weights=[0.4, 0.3, 0.3]
        )

        return best_materials

class SafetyCertification:
    def __init__(self):
        self.standards = SafetyStandards()
        self.testing = SafetyTesting()
        self.documentation = SafetyDocumentation()

    def certify_robot(self, robot):
        """机器人安全认证"""
        # 1. 标准符合性检查
        compliance = self.check_compliance(robot)

        # 2. 安全测试
        test_results = self.conduct_tests(robot)

        # 3. 风险评估
        risk_assessment = self.assess_risks(robot)

        # 4. 安全文档
        documentation = self.generate_documentation(
            compliance, test_results, risk_assessment
        )

        # 5. 认证决定
        certification = self.make_certification_decision(
            compliance, test_results, risk_assessment
        )

        return certification

    def conduct_tests(self, robot):
        """安全测试"""
        tests = {
            'collision_detection': self.test_collision_detection(robot),
            'emergency_stop': self.test_emergency_stop(robot),
            'force_limiting': self.test_force_limiting(robot),
            'redundancy': self.test_redundancy(robot),
            'fail_safe': self.test_fail_safe(robot)
        }
        return tests