feat(task): 支持多机器人角色分配的任务执行功能

- 在任务启动接口中增加 AimaTaskStartVO 和 InspectionTaskStartVO 参数支持 - 实现多机器人角色分配机制，支持运行时动态分配机器人和设备资源 - 添加 FlowRuntimeAssignmentResolver 组件处理节点执行目标解析 - 更新任务执行引擎以支持多机器人并发控制和资源锁定 - 修改数据库约束将机器人设备关联改为唯一索引防止重复绑定 - 增强流程定义验证器确保运行时分配配置的完整性 - 扩展任务上下文管理支持多机器人 ID 和锁键跟踪 - 优化试运行和项目任务执行流程集成新的资源分配逻辑
feat(agv): 添加AGV固定距离平移功能
2026-08-11 16:54:01 +08:00 · 2026-08-11 15:16:15 +08:00
37 changed files with 3878 additions and 187 deletions
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/aima/AimaTaskInstanceController.java
+++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/aima/AimaTaskInstanceController.java
@ -14,6 +14,7 @@ import com.cmvr.common.enums.BusinessType;
 import com.cmvr.aima.domain.AimaTaskInstance;
 import com.cmvr.aima.domain.dto.AimaTaskInstanceQuery;
 import com.cmvr.aima.domain.vo.AimaTaskInstanceVo;
+import com.cmvr.aima.domain.vo.AimaTaskStartVO;
 import com.cmvr.aima.service.IAimaTaskInstanceService;
 import com.cmvr.common.utils.poi.ExcelUtil;
 import com.cmvr.common.core.page.TableDataInfo;
@ -82,8 +83,9 @@ public class AimaTaskInstanceController extends BaseController {
    @PreAuthorize("@ss.hasPermi('aima:taskinstance:edit')")
    @Log(title = "任务执行实例", businessType = BusinessType.UPDATE)
    @PutMapping("/start/{id}")
-    public AjaxResult start(@PathVariable("id") String id) {
-        return toAjax(aimaTaskInstanceService.startInstance(id));
+    public AjaxResult start(@PathVariable("id") String id,
+                            @RequestBody(required = false) AimaTaskStartVO startVO) {
+        return toAjax(aimaTaskInstanceService.startInstance(id, startVO));
    }

    /**
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionTaskInstanceController.java
+++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionTaskInstanceController.java
@ -21,6 +21,7 @@ import com.cmvr.common.core.controller.BaseController;
 import com.cmvr.common.core.domain.AjaxResult;
 import com.cmvr.common.enums.BusinessType;
 import com.cmvr.inspection.domain.InspectionTaskInstance;
+import com.cmvr.inspection.domain.vo.InspectionTaskStartVO;
 import com.cmvr.inspection.domain.vo.InspectionTaskInstanceVo;
 import com.cmvr.inspection.service.IInspectionTaskInstanceService;
 import com.cmvr.common.utils.poi.ExcelUtil;
@ -121,9 +122,10 @@ public class InspectionTaskInstanceController extends BaseController
    @PreAuthorize("@ss.hasPermi('inspection:taskInstance:edit')")
    @Log(title = "巡检任务执行实例", businessType = BusinessType.UPDATE)
    @PutMapping("/start/{id}")
-    public AjaxResult start(@PathVariable("id") String id)
+    public AjaxResult start(@PathVariable("id") String id,
+                            @RequestBody(required = false) InspectionTaskStartVO startVO)
    {
-        return toAjax(inspectionTaskInstanceService.startInstance(id));
+        return toAjax(inspectionTaskInstanceService.startInstance(id, startVO));
    }

    /**
--- a/cmvr-iot-aima/src/main/java/com/cmvr/aima/domain/vo/AimaTaskStartVO.java
+++ b/cmvr-iot-aima/src/main/java/com/cmvr/aima/domain/vo/AimaTaskStartVO.java
@ -0,0 +1,20 @@
+package com.cmvr.aima.domain.vo;
+
+import com.cmvr.test.model.vo.ResourceRuntimeAssignmentVO;
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Data
+@ApiModel("爱玛任务启动参数")
+public class AimaTaskStartVO {
+
+    @ApiModelProperty("兼容单机器人执行ID")
+    private String robotId;
+
+    @ApiModelProperty("机器人角色运行分配")
+    private List<ResourceRuntimeAssignmentVO> runtimeAssignments = new ArrayList<>();
+}
--- a/cmvr-iot-aima/src/main/java/com/cmvr/aima/service/IAimaTaskInstanceService.java
+++ b/cmvr-iot-aima/src/main/java/com/cmvr/aima/service/IAimaTaskInstanceService.java
@ -6,6 +6,7 @@ import com.baomidou.mybatisplus.spring.service.IService;
 import com.cmvr.aima.domain.AimaTaskInstance;
 import com.cmvr.aima.domain.dto.AimaTaskInstanceQuery;
 import com.cmvr.aima.domain.vo.AimaTaskInstanceVo;
+import com.cmvr.aima.domain.vo.AimaTaskStartVO;

 /**
 * 爱玛任务执行实例Service接口
@ -28,7 +29,7 @@ public interface IAimaTaskInstanceService  extends IService<AimaTaskInstance> {
     * @param id 任务实例ID
     * @return 结果
     */
-    int startInstance(String id);
+    int startInstance(String id, AimaTaskStartVO startVO);

    /**
     * 暂停任务实例
--- a/cmvr-iot-aima/src/main/java/com/cmvr/aima/service/impl/AimaTaskInstanceServiceImpl.java
+++ b/cmvr-iot-aima/src/main/java/com/cmvr/aima/service/impl/AimaTaskInstanceServiceImpl.java
@ -6,6 +6,7 @@ import com.alibaba.fastjson2.JSONObject;
 import com.baomidou.mybatisplus.spring.service.impl.ServiceImpl;
 import com.cmvr.aima.domain.dto.AimaTaskInstanceQuery;
 import com.cmvr.aima.domain.vo.AimaTaskInstanceVo;
+import com.cmvr.aima.domain.vo.AimaTaskStartVO;
 import com.cmvr.common.exception.ServiceException;
 import com.cmvr.common.utils.SecurityUtils;
 import com.cmvr.test.flow.control.FlowControlService;
@ -119,7 +120,7 @@ public class AimaTaskInstanceServiceImpl extends ServiceImpl<AimaTaskInstanceMap
     * 开始执行任务实例
     */
    @Override
-    public int startInstance(String id) {
+    public int startInstance(String id, AimaTaskStartVO startVO) {
        AimaTaskInstance instance = aimaTaskInstanceMapper.selectAimaTaskInstanceById(id);
        if (instance == null) {
            throw new ServiceException("任务实例不存在");
@ -148,6 +149,8 @@ public class AimaTaskInstanceServiceImpl extends ServiceImpl<AimaTaskInstanceMap
            TeTaskExecuteNormalVO.builder()
                .taskId(aimaTask.getTaskConfigId())
                .moduleCode(FlowExecutionModuleCodes.AIMA)
+                .robotId(startVO == null ? null : startVO.getRobotId())
+                .runtimeAssignments(startVO == null ? null : startVO.getRuntimeAssignments())
                .runParams(runParams)
                .build()
        );
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeAgvServiceImpl.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeAgvServiceImpl.java
@ -90,6 +90,9 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
            edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
        AgvCommand.AgvNavigateToStationCommand.Request request = AgvCommand.AgvNavigateToStationCommand.Request.newBuilder()
            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .setOptions(AgvUtils.AgvMotionOptions.newBuilder()
+                .setAsynchronous(true)
+                .build())
            .setStationId(stationId)
            .build();
        executeGrpcCall(() -> stub.navigateToStation(request));
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/AgvCommand.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/AgvCommand.java
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/AgvServiceGrpc.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/AgvServiceGrpc.java
@ -639,6 +639,37 @@ public final class AgvServiceGrpc {
    return getStopMappingMethod;
  }

+  private static volatile io.grpc.MethodDescriptor<cmvr.api.AgvCommand.AgvTranslateCommand.Request,
+      cmvr.api.AgvCommand.AgvTranslateCommand.Feedback> getTranslateMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "translate",
+      requestType = cmvr.api.AgvCommand.AgvTranslateCommand.Request.class,
+      responseType = cmvr.api.AgvCommand.AgvTranslateCommand.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.AgvCommand.AgvTranslateCommand.Request,
+      cmvr.api.AgvCommand.AgvTranslateCommand.Feedback> getTranslateMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.AgvCommand.AgvTranslateCommand.Request, cmvr.api.AgvCommand.AgvTranslateCommand.Feedback> getTranslateMethod;
+    if ((getTranslateMethod = AgvServiceGrpc.getTranslateMethod) == null) {
+      synchronized (AgvServiceGrpc.class) {
+        if ((getTranslateMethod = AgvServiceGrpc.getTranslateMethod) == null) {
+          AgvServiceGrpc.getTranslateMethod = getTranslateMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.AgvCommand.AgvTranslateCommand.Request, cmvr.api.AgvCommand.AgvTranslateCommand.Feedback>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "translate"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.AgvTranslateCommand.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.AgvTranslateCommand.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new AgvServiceMethodDescriptorSupplier("translate"))
+              .build();
+        }
+      }
+    }
+    return getTranslateMethod;
+  }
+
  /**
   * Creates a new async stub that supports all call types for the service
   */
@ -893,6 +924,16 @@ public final class AgvServiceGrpc {
      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getStopMappingMethod(), responseObserver);
    }

+    /**
+     * <pre>
+     * 按指定速度平移固定距离。成功返回仅表示控制器已接受命令。
+     * </pre>
+     */
+    public void translate(cmvr.api.AgvCommand.AgvTranslateCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.AgvTranslateCommand.Feedback> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getTranslateMethod(), responseObserver);
+    }
+
    @java.lang.Override public final io.grpc.ServerServiceDefinition bindService() {
      return io.grpc.ServerServiceDefinition.builder(getServiceDescriptor())
          .addMethod(
@ -1035,6 +1076,13 @@ public final class AgvServiceGrpc {
                cmvr.api.Common.CommandHeader.Request,
                cmvr.api.Common.CommandHeader.Feedback>(
                  this, METHODID_STOP_MAPPING)))
+          .addMethod(
+            getTranslateMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.AgvCommand.AgvTranslateCommand.Request,
+                cmvr.api.AgvCommand.AgvTranslateCommand.Feedback>(
+                  this, METHODID_TRANSLATE)))
          .build();
    }
  }
@ -1278,6 +1326,17 @@ public final class AgvServiceGrpc {
      io.grpc.stub.ClientCalls.asyncUnaryCall(
          getChannel().newCall(getStopMappingMethod(), getCallOptions()), request, responseObserver);
    }
+
+    /**
+     * <pre>
+     * 按指定速度平移固定距离。成功返回仅表示控制器已接受命令。
+     * </pre>
+     */
+    public void translate(cmvr.api.AgvCommand.AgvTranslateCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.AgvTranslateCommand.Feedback> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getTranslateMethod(), getCallOptions()), request, responseObserver);
+    }
  }

  /**
@ -1500,6 +1559,16 @@ public final class AgvServiceGrpc {
      return io.grpc.stub.ClientCalls.blockingUnaryCall(
          getChannel(), getStopMappingMethod(), getCallOptions(), request);
    }
+
+    /**
+     * <pre>
+     * 按指定速度平移固定距离。成功返回仅表示控制器已接受命令。
+     * </pre>
+     */
+    public cmvr.api.AgvCommand.AgvTranslateCommand.Feedback translate(cmvr.api.AgvCommand.AgvTranslateCommand.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getTranslateMethod(), getCallOptions(), request);
+    }
  }

  /**
@ -1729,6 +1798,17 @@ public final class AgvServiceGrpc {
      return io.grpc.stub.ClientCalls.futureUnaryCall(
          getChannel().newCall(getStopMappingMethod(), getCallOptions()), request);
    }
+
+    /**
+     * <pre>
+     * 按指定速度平移固定距离。成功返回仅表示控制器已接受命令。
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.AgvCommand.AgvTranslateCommand.Feedback> translate(
+        cmvr.api.AgvCommand.AgvTranslateCommand.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getTranslateMethod(), getCallOptions()), request);
+    }
  }

  private static final int METHODID_GET_RUNTIME_STATE = 0;
@ -1751,6 +1831,7 @@ public final class AgvServiceGrpc {
  private static final int METHODID_START_MAPPING = 17;
  private static final int METHODID_STREAM_MAP = 18;
  private static final int METHODID_STOP_MAPPING = 19;
+  private static final int METHODID_TRANSLATE = 20;

  private static final class MethodHandlers<Req, Resp> implements
      io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@ -1849,6 +1930,10 @@ public final class AgvServiceGrpc {
          serviceImpl.stopMapping((cmvr.api.Common.CommandHeader.Request) request,
              (io.grpc.stub.StreamObserver<cmvr.api.Common.CommandHeader.Feedback>) responseObserver);
          break;
+        case METHODID_TRANSLATE:
+          serviceImpl.translate((cmvr.api.AgvCommand.AgvTranslateCommand.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.AgvTranslateCommand.Feedback>) responseObserver);
+          break;
        default:
          throw new AssertionError();
      }
@ -1930,6 +2015,7 @@ public final class AgvServiceGrpc {
              .addMethod(getStartMappingMethod())
              .addMethod(getStreamMapMethod())
              .addMethod(getStopMappingMethod())
+              .addMethod(getTranslateMethod())
              .build();
        }
      }
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/AgvServiceOuterClass.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/AgvServiceOuterClass.java
@ -25,7 +25,7 @@ public final class AgvServiceOuterClass {
    java.lang.String[] descriptorData = {
      "\n\032cmvr/api/agv_service.proto\022\010cmvr.api\032\025" +
      "cmvr/api/common.proto\032\032cmvr/api/agv_comm" +
-      "and.proto2\320\016\n\nAgvService\022f\n\017getRuntimeSt" +
+      "and.proto2\254\017\n\nAgvService\022f\n\017getRuntimeSt" +
      "ate\022(.cmvr.api.AgvRuntimeStateCommand.Re" +
      "quest\032).cmvr.api.AgvRuntimeStateCommand." +
      "Feedback\022r\n\023getNavigationStatus\022,.cmvr.a" +
@ -72,7 +72,9 @@ public final class AgvServiceOuterClass {
      "\032&.cmvr.api.AgvMapStreamCommand.Feedback" +
      "0\001\022P\n\013stopMapping\022\037.cmvr.api.CommandHead" +
      "er.Request\032 .cmvr.api.CommandHeader.Feed" +
-      "backb\006proto3"
+      "back\022Z\n\ttranslate\022%.cmvr.api.AgvTranslat" +
+      "eCommand.Request\032&.cmvr.api.AgvTranslate" +
+      "Command.Feedbackb\006proto3"
    };
    descriptor = com.google.protobuf.Descriptors.FileDescriptor
      .internalBuildGeneratedFileFrom(descriptorData,
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/AgvUtils.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/AgvUtils.java
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_command.proto
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_command.proto
@ -95,6 +95,23 @@ message AgvFollowPathCommand {
  }
 }

+
+// 按指定速度执行固定距离平移命令。
+message AgvTranslateCommand {
+  message Request {
+    // 通用请求头。header.device_id 指定目标 AGV 设备。
+    CommandHeader.Request header = 1;
+    // 固定距离平移参数。
+    cmvr.msgs.AgvTranslation translation = 2;
+  }
+
+  message Feedback {
+    // 仅表示控制器是否接受命令，不表示平移已经完成。
+    CommandHeader.Feedback header = 1;
+  }
+}
+
+
 // 下发底盘速度命令。
 message AgvSetVelocityCommand {
  // 请求体。
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_service.proto
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_service.proto
@ -69,4 +69,8 @@ service AgvService {

  // 停止当前建图/扫图会话。
  rpc stopMapping(CommandHeader.Request) returns (CommandHeader.Feedback);
+
+
+  // 按指定速度平移固定距离。成功返回仅表示控制器已接受命令。
+  rpc translate(AgvTranslateCommand.Request) returns (AgvTranslateCommand.Feedback);
 }
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_utils.proto
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_utils.proto
@ -14,6 +14,29 @@ message AgvPose2d {
  double theta = 3;
 }

+// 固定距离平移使用的距离参考模式。
+enum AgvTranslationMode {
+  // 根据底盘里程计算运动距离。
+  AGV_TRANSLATION_MODE_ODOMETRY = 0;
+  // 根据定位结果计算运动距离。
+  AGV_TRANSLATION_MODE_LOCALIZATION = 1;
+}
+
+
+
+// AGV 车体坐标系下的固定距离平移参数。
+message AgvTranslation {
+  // 平移距离的绝对值，单位：米，必须大于 0。
+  double distance = 1;
+  // 车体 X 方向速度，单位：米/秒；正为向前，负为向后。
+  double vx = 2;
+  // 车体 Y 方向速度，单位：米/秒；正为向左，负为向右。
+  double vy = 3;
+  // 距离参考模式；默认使用里程模式。
+  AgvTranslationMode mode = 4;
+}
+
+
 // AGV 车体坐标系下的平面速度。
 message AgvVelocity {
  // 车体 X 方向线速度，单位：米/秒。
@ -24,6 +47,9 @@ message AgvVelocity {
  double wz = 3;
 }

+
+
+
 // AGV 电池状态。
 message AgvBatteryState {
  // 电量比例，范围：[0, 1]，例如 0.8 表示 80%。
--- a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/vo/InspectionTaskStartVO.java
+++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/vo/InspectionTaskStartVO.java
@ -0,0 +1,20 @@
+package com.cmvr.inspection.domain.vo;
+
+import com.cmvr.test.model.vo.ResourceRuntimeAssignmentVO;
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Data
+@ApiModel("巡检任务启动参数")
+public class InspectionTaskStartVO {
+
+    @ApiModelProperty("兼容单机器人执行ID")
+    private String robotId;
+
+    @ApiModelProperty("机器人角色运行分配")
+    private List<ResourceRuntimeAssignmentVO> runtimeAssignments = new ArrayList<>();
+}
--- a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionTaskInstanceService.java
+++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionTaskInstanceService.java
@ -4,6 +4,7 @@ import java.util.List;

 import com.baomidou.mybatisplus.spring.service.IService;
 import com.cmvr.inspection.domain.InspectionTaskInstance;
+import com.cmvr.inspection.domain.vo.InspectionTaskStartVO;
 import com.cmvr.inspection.domain.dto.InspectionTaskInstanceQuery;
 import com.cmvr.inspection.domain.vo.InspectionTaskInstanceVo;
 /**
@ -61,7 +62,7 @@ public interface IInspectionTaskInstanceService extends IService<InspectionTaskI
     * @param id 任务实例主键
     * @return 结果
     */
-    int startInstance(String id);
+    int startInstance(String id, InspectionTaskStartVO startVO);

    /**
     * 暂停任务实例
--- a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/InspectionRobotDeviceAssignmentValidator.java
+++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/InspectionRobotDeviceAssignmentValidator.java
@ -0,0 +1,26 @@
+package com.cmvr.inspection.service;
+
+import com.cmvr.common.exception.GlobalException;
+import com.cmvr.inspection.mapper.InspectionRobotDeviceMapper;
+import com.cmvr.test.flow.runtime.engine.RobotDeviceAssignmentValidator;
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Service;
+
+@Service
+@RequiredArgsConstructor
+public class InspectionRobotDeviceAssignmentValidator implements RobotDeviceAssignmentValidator {
+
+    private final InspectionRobotDeviceMapper deviceMapper;
+
+    @Override
+    public void validate(String robotId, String deviceId, Integer expectedDeviceKind) {
+        var devices = deviceMapper.selectByIdentity(robotId, deviceId);
+        if (devices.isEmpty()) {
+            throw new GlobalException("设备[" + deviceId + "]不属于机器人[" + robotId + "]");
+        }
+        Integer actualKind = devices.get(0).getDeviceKind();
+        if (expectedDeviceKind != null && !expectedDeviceKind.equals(actualKind)) {
+            throw new GlobalException("设备[" + deviceId + "]的类型与流程设备用途不匹配");
+        }
+    }
+}
--- a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionTaskInstanceServiceImpl.java
+++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionTaskInstanceServiceImpl.java
@ -25,6 +25,7 @@ import org.springframework.stereotype.Service;
 import com.cmvr.common.utils.DateUtils;
 import com.cmvr.inspection.mapper.InspectionTaskInstanceMapper;
 import com.cmvr.inspection.domain.InspectionTaskInstance;
+import com.cmvr.inspection.domain.vo.InspectionTaskStartVO;
 import com.cmvr.inspection.service.IInspectionTaskInstanceService;

 /**
@ -143,7 +144,7 @@ public class InspectionTaskInstanceServiceImpl extends ServiceImpl<InspectionTas
     * 开始执行任务实例
     */
    @Override
-    public int startInstance(String id)
+    public int startInstance(String id, InspectionTaskStartVO startVO)
    {
        InspectionTaskInstance instance = inspectionTaskInstanceMapper.selectInspectionTaskInstanceById(id);
        if (instance == null) {
@ -169,7 +170,8 @@ public class InspectionTaskInstanceServiceImpl extends ServiceImpl<InspectionTas
        // 调用真正的执行
        String insId = flowTaskRuntimeService.executeTask(TeTaskExecuteNormalVO.builder()
                .taskId(inspectionTask.getTaskConfigId())
-                .robotId(robot.getRobotId())
+                .robotId(startVO != null && startVO.getRobotId() != null ? startVO.getRobotId() : robot.getRobotId())
+                .runtimeAssignments(startVO == null ? null : startVO.getRuntimeAssignments())
                .moduleCode(FlowExecutionModuleCodes.INSPECTION)
                .runParams(runParams)
                .build());
--- a/cmvr-iot-test/src/main/java/com/cmvr/test/flow/context/TaskContext.java
+++ b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/context/TaskContext.java
@ -7,11 +7,13 @@ import com.cmvr.test.enums.RunModeEnum;
 import com.cmvr.test.enums.TaskStatusEnum;
 import com.cmvr.test.enums.TerminalStatusEnum;
 import com.cmvr.test.flow.builder.TaskKeyBuilder;
+import com.cmvr.test.model.vo.ResourceRuntimeAssignmentVO;
 import lombok.Data;

 import java.util.Collections;
 import java.util.Date;
 import java.util.List;
+import java.util.ArrayList;
 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;

@ -47,6 +49,15 @@ public class TaskContext {
    /** 稳定的机器人锁键。 */
    private String lockKey;

+    /** 本次任务实际使用的全部机器人ID。 */
+    private List<String> robotIds = new ArrayList<>();
+
+    /** 全部机器人锁键，用于多机器人任务的原子占用和释放。 */
+    private List<String> lockKeys = new ArrayList<>();
+
+    /** 任务启动时冻结的机器人角色分配。 */
+    private List<ResourceRuntimeAssignmentVO> runtimeAssignments = new ArrayList<>();
+
    /**
     * 当前运行状态（运行中/已完成/失败/暂停/终止）
     */
--- a/cmvr-iot-test/src/main/java/com/cmvr/test/flow/context/TaskContextManager.java
+++ b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/context/TaskContextManager.java
@ -1,6 +1,7 @@
 package com.cmvr.test.flow.context;

 import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.common.exception.GlobalException;
 import com.cmvr.test.enums.TaskStatusEnum;
 import com.cmvr.test.enums.TerminalStatusEnum;
 import lombok.Getter;
@ -8,6 +9,8 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;

 import java.util.List;
+import java.util.ArrayList;
+import java.util.Collections;
 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;

@ -32,30 +35,41 @@ public class TaskContextManager {
    /**
     * 注册任务上下文（任务启动时调用）
     */
-    public void register(TaskContext context) {
-        instContextMap.put(context.getInstId(), context);
-        if (context.getLockKey() != null) {
-            robotInstMap.put(context.getLockKey(), context.getInstId());
+    public synchronized void register(TaskContext context) {
+        List<String> lockKeys = effectiveLockKeys(context);
+        for (String lockKey : lockKeys) {
+            if (robotInstMap.containsKey(lockKey)) {
+                throw new GlobalException("当前任务中的机器人正在执行其他任务，请稍后再试");
+            }
        }
+        instContextMap.put(context.getInstId(), context);
+        lockKeys.forEach(lockKey -> robotInstMap.put(lockKey, context.getInstId()));
        context.setTerminalStatus(TerminalStatusEnum.RUNNING);
-        log.info("注册任务上下文：instId={}, robotId={}", context.getInstId(), context.getRobotId());
+        log.info("注册任务上下文：instId={}, robotIds={}", context.getInstId(), context.getRobotIds());
    }

    /**
     * 注销任务上下文（任务结束 / 终止后调用）
     */
-    public void unregister(String instId) {
+    public synchronized void unregister(String instId) {
        TaskContext ctx = instContextMap.remove(instId);
        if (ctx != null) {
            ctx.setTerminalStatus(TerminalStatusEnum.READY);
            ctx.setTerminalLocked(false);
-            if (ctx.getLockKey() != null) {
-                robotInstMap.remove(ctx.getLockKey());
-            }
-            log.info("注销任务上下文：instId={}, robotId={}", instId, ctx.getRobotId());
+            effectiveLockKeys(ctx).forEach(lockKey -> robotInstMap.remove(lockKey, instId));
+            log.info("注销任务上下文：instId={}, robotIds={}", instId, ctx.getRobotIds());
        }
    }

+    private List<String> effectiveLockKeys(TaskContext context) {
+        if (context.getLockKeys() != null && !context.getLockKeys().isEmpty()) {
+            return new ArrayList<>(context.getLockKeys());
+        }
+        return context.getLockKey() == null
+                ? Collections.emptyList()
+                : Collections.singletonList(context.getLockKey());
+    }
+
    /**
     * 获取任务上下文
     */
--- a/cmvr-iot-test/src/main/java/com/cmvr/test/flow/control/FlowControlService.java
+++ b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/control/FlowControlService.java
@ -22,6 +22,7 @@ import org.springframework.stereotype.Component;
 import jakarta.annotation.Resource;
 import java.util.ArrayList;
 import java.util.List;
+import java.util.Collections;
 import java.util.concurrent.CountDownLatch;
 import java.util.stream.Collectors;

@ -55,7 +56,7 @@ public class FlowControlService {
            throw new GlobalException("任务已终止，无需重复操作");
        }
        // 异步终止
-        executor.execute(() -> edgeSystemService.stopAll(ctx.getRobotId()));
+        stopAllRobots(ctx);

        // 统一记录日志 + 设置上下文状态 + 数据库状态
        taskInstHolder.syncStatus(instId, TaskStatusEnum.STOPPED);
@ -80,7 +81,7 @@ public class FlowControlService {
            throw new GlobalException("任务已处于暂停状态");
        }
        // 异步停止终端
-        executor.execute(() -> edgeSystemService.stopAll(ctx.getRobotId()));
+        stopAllRobots(ctx);
        ctx.setPaused(true);
        ctx.setTerminalStatus(TerminalStatusEnum.RUNNING);
        ctx.setStatus(TaskStatusEnum.PAUSED);
@ -196,4 +197,14 @@ public class FlowControlService {
        // 发布任务恢复事件
        taskInstHolder.syncStatusAsResumed(instId);
    }
+
+    private void stopAllRobots(TaskContext context) {
+        List<String> robotIds = context.getRobotIds() == null || context.getRobotIds().isEmpty()
+                ? Collections.singletonList(context.getRobotId())
+                : context.getRobotIds();
+        robotIds.stream()
+                .filter(robotId -> robotId != null && !robotId.isBlank())
+                .distinct()
+                .forEach(robotId -> executor.execute(() -> edgeSystemService.stopAll(robotId)));
+    }
 }
--- a/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/engine/FlowItemExecutor.java
+++ b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/engine/FlowItemExecutor.java
@ -40,6 +40,7 @@ public class FlowItemExecutor {
    private final TaskInstHolder taskInstHolder;
    private final FlowExecutionChainBuilder chainBuilder;
    private final TaskThreadRegistry taskThreadRegistry;
+    private final FlowRuntimeAssignmentResolver runtimeAssignmentResolver;

    /**
     * 执行主流程（每个检测项调用一次）
@ -226,7 +227,7 @@ public class FlowItemExecutor {
    }

    @NotNull
-    private static TaskNodeExecuteMessage buildTaskNodeExecuteMsg(FlowGraph graph, FlowNodeWrapper node,
+    private TaskNodeExecuteMessage buildTaskNodeExecuteMsg(FlowGraph graph, FlowNodeWrapper node,
                                                                  TaskNodeExecuteMessage rootMessage, String nodeId, String nodeName,
                                                                  List<Integer> iterations) {
        TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
@ -245,6 +246,7 @@ public class FlowItemExecutor {
        message.setLoopNum(rootMessage.getLoopNum());

        message.setLoopArray(rootMessage.getLoopArray());
+        runtimeAssignmentResolver.resolveNode(node, message);
        return message;
    }

--- a/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/engine/FlowRuntimeAssignmentResolver.java
+++ b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/engine/FlowRuntimeAssignmentResolver.java
@ -0,0 +1,88 @@
+package com.cmvr.test.flow.runtime.engine;
+
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson2.JSONArray;
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.common.exception.GlobalException;
+import com.cmvr.test.flow.builder.FlowNodeWrapper;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
+import com.cmvr.test.model.vo.ResourceRuntimeAssignmentVO;
+import com.cmvr.test.model.vo.RobotRuntimeMemberVO;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+/** Resolves a logical role/device use to the frozen physical assignment of this task. */
+@Component
+public class FlowRuntimeAssignmentResolver {
+
+    public void resolveNode(FlowNodeWrapper node, TaskNodeExecuteMessage message) {
+        JSONObject executionTarget = node.getRawProperties().getJSONObject("executionTarget");
+        if (executionTarget == null) {
+            return;
+        }
+
+        String roleKey = executionTarget.getString("roleKey");
+        if (StrUtil.isBlank(roleKey)) {
+            throw new GlobalException("节点[" + node.getNodeName() + "]未配置机器人角色");
+        }
+        // 兼容旧调用方：只有robotId时继续使用根消息中的机器人和节点原有deviceId。
+        if (message.getRuntimeAssignments() == null || message.getRuntimeAssignments().isEmpty()) {
+            message.setRoleKey(roleKey);
+            return;
+        }
+        ResourceRuntimeAssignmentVO assignment = findAssignment(message.getRuntimeAssignments(), roleKey);
+        if (assignment == null || assignment.getMembers() == null || assignment.getMembers().isEmpty()) {
+            throw new GlobalException("机器人角色[" + roleKey + "]未安排执行机器人");
+        }
+
+        // 第一阶段实现一个角色绑定一台机器人；members结构为后续角色池调度保留。
+        RobotRuntimeMemberVO member = assignment.getMembers().get(0);
+        if (StrUtil.isBlank(member.getRobotId())) {
+            throw new GlobalException("机器人角色[" + roleKey + "]的机器人ID不能为空");
+        }
+        message.setRoleKey(roleKey);
+        message.setRoleMemberKey(member.getMemberKey());
+        message.setRobotId(member.getRobotId());
+
+        JSONObject resolvedDevices = new JSONObject();
+        resolvedDevices.put("robotId", member.getRobotId());
+        String deviceSlotKey = executionTarget.getString("deviceSlotKey");
+        if (StrUtil.isNotBlank(deviceSlotKey)) {
+            String deviceId = member.getDevices() == null ? null : member.getDevices().get(deviceSlotKey);
+            if (StrUtil.isBlank(deviceId)) {
+                throw new GlobalException("机器人角色[" + roleKey + "]未分配设备用途[" + deviceSlotKey + "]");
+            }
+            resolvedDevices.put("deviceId", deviceId);
+        }
+
+        // 兼容Schema V2早期的parameterName/slotKey结构。
+        JSONArray deviceBindings = executionTarget.getJSONArray("deviceBindings");
+        if (deviceBindings != null) {
+            for (int i = 0; i < deviceBindings.size(); i++) {
+                JSONObject binding = deviceBindings.getJSONObject(i);
+                String parameterName = binding.getString("parameterName");
+                String slotKey = binding.getString("slotKey");
+                String deviceId = member.getDevices() == null ? null : member.getDevices().get(slotKey);
+                if (StrUtil.isBlank(parameterName) || StrUtil.isBlank(slotKey)) {
+                    throw new GlobalException("节点[" + node.getNodeName() + "]的设备用途配置不完整");
+                }
+                if (StrUtil.isBlank(deviceId)) {
+                    throw new GlobalException("机器人角色[" + roleKey + "]未分配设备用途[" + slotKey + "]");
+                }
+                resolvedDevices.put(parameterName, deviceId);
+            }
+        }
+        message.setResolvedDeviceBindings(resolvedDevices);
+    }
+
+    private ResourceRuntimeAssignmentVO findAssignment(List<ResourceRuntimeAssignmentVO> assignments, String roleKey) {
+        if (assignments == null) {
+            return null;
+        }
+        return assignments.stream()
+                .filter(item -> roleKey.equals(item.getRoleKey()))
+                .findFirst()
+                .orElse(null);
+    }
+}
--- a/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/engine/FlowRuntimeDefinitionValidator.java
+++ b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/engine/FlowRuntimeDefinitionValidator.java
@ -0,0 +1,130 @@
+package com.cmvr.test.flow.runtime.engine;
+
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson2.JSON;
+import com.alibaba.fastjson2.JSONArray;
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.common.exception.GlobalException;
+import com.cmvr.test.model.vo.ResourceRuntimeAssignmentVO;
+import com.cmvr.test.model.vo.RobotRuntimeMemberVO;
+import lombok.RequiredArgsConstructor;
+import org.springframework.beans.factory.ObjectProvider;
+import org.springframework.stereotype.Component;
+
+import java.util.HashMap;
+import java.util.HashSet;
+import java.util.List;
+import java.util.Map;
+import java.util.Set;
+
+/** Validates Schema V2 role references before a task is submitted asynchronously. */
+@Component
+@RequiredArgsConstructor
+public class FlowRuntimeDefinitionValidator {
+
+    private final ObjectProvider<RobotDeviceAssignmentValidator> deviceValidatorProvider;
+
+    public void validate(String flowData, List<ResourceRuntimeAssignmentVO> assignments) {
+        JSONObject flow = JSON.parseObject(flowData);
+        JSONArray nodes = flow.getJSONArray("nodes");
+        if (nodes == null) {
+            throw new GlobalException("流程节点数据不能为空");
+        }
+        JSONObject startProperties = null;
+        for (int i = 0; i < nodes.size(); i++) {
+            JSONObject node = nodes.getJSONObject(i);
+            if ("start".equalsIgnoreCase(node.getString("type"))) {
+                startProperties = node.getJSONObject("properties");
+                break;
+            }
+        }
+        JSONArray roles = startProperties == null ? null : startProperties.getJSONArray("resourceRoles");
+        if (roles == null || roles.isEmpty()) {
+            return; // 旧流程继续使用单robotId协议。
+        }
+
+        Map<String, ResourceRuntimeAssignmentVO> assignmentByRole = new HashMap<>();
+        if (assignments != null) {
+            assignments.forEach(item -> assignmentByRole.put(item.getRoleKey(), item));
+        }
+        Map<String, Set<String>> slotKeysByRole = new HashMap<>();
+
+        for (int i = 0; i < roles.size(); i++) {
+            JSONObject role = roles.getJSONObject(i);
+            String roleKey = role.getString("roleKey");
+            if (StrUtil.isBlank(roleKey) || slotKeysByRole.containsKey(roleKey)) {
+                throw new GlobalException("流程机器人角色标识为空或重复");
+            }
+            ResourceRuntimeAssignmentVO assignment = assignmentByRole.get(roleKey);
+            RobotRuntimeMemberVO member = firstMember(assignment);
+            boolean required = !Boolean.FALSE.equals(role.getBoolean("required"));
+            if (required && (member == null || StrUtil.isBlank(member.getRobotId()))) {
+                throw new GlobalException("机器人角色[" + role.getString("displayName") + "]未安排执行机器人");
+            }
+
+            Set<String> slotKeys = new HashSet<>();
+            JSONArray slots = role.getJSONArray("deviceSlots");
+            if (slots != null) {
+                for (int j = 0; j < slots.size(); j++) {
+                    JSONObject slot = slots.getJSONObject(j);
+                    String slotKey = slot.getString("slotKey");
+                    if (StrUtil.isBlank(slotKey) || !slotKeys.add(slotKey)) {
+                        throw new GlobalException("机器人角色[" + roleKey + "]的设备用途标识为空或重复");
+                    }
+                    String deviceId = member == null || member.getDevices() == null
+                            ? null : member.getDevices().get(slotKey);
+                    boolean slotRequired = !Boolean.FALSE.equals(slot.getBoolean("required"));
+                    boolean roleAssigned = member != null && StrUtil.isNotBlank(member.getRobotId());
+                    if (slotRequired && (required || roleAssigned) && StrUtil.isBlank(deviceId)) {
+                        throw new GlobalException("设备用途[" + slot.getString("displayName") + "]未分配真实设备");
+                    }
+                    validatePhysicalDevice(member, deviceId, slot.getInteger("deviceKind"));
+                }
+            }
+            slotKeysByRole.put(roleKey, slotKeys);
+        }
+
+        for (int i = 0; i < nodes.size(); i++) {
+            JSONObject node = nodes.getJSONObject(i);
+            JSONObject properties = node.getJSONObject("properties");
+            JSONObject target = properties == null ? null : properties.getJSONObject("executionTarget");
+            if (target == null) {
+                continue;
+            }
+            String roleKey = target.getString("roleKey");
+            Set<String> slotKeys = slotKeysByRole.get(roleKey);
+            if (slotKeys == null) {
+                throw new GlobalException("节点[" + properties.getString("name") + "]引用了不存在的机器人角色");
+            }
+            String deviceSlotKey = target.getString("deviceSlotKey");
+            if (StrUtil.isNotBlank(deviceSlotKey) && !slotKeys.contains(deviceSlotKey)) {
+                throw new GlobalException("节点[" + properties.getString("name") + "]引用了不存在的设备用途");
+            }
+            // 兼容Schema V2早期的deviceBindings结构。
+            JSONArray bindings = target.getJSONArray("deviceBindings");
+            if (bindings != null) {
+                for (int j = 0; j < bindings.size(); j++) {
+                    String slotKey = bindings.getJSONObject(j).getString("slotKey");
+                    if (!slotKeys.contains(slotKey)) {
+                        throw new GlobalException("节点[" + properties.getString("name") + "]引用了不存在的设备用途");
+                    }
+                }
+            }
+        }
+    }
+
+    private RobotRuntimeMemberVO firstMember(ResourceRuntimeAssignmentVO assignment) {
+        return assignment == null || assignment.getMembers() == null || assignment.getMembers().isEmpty()
+                ? null : assignment.getMembers().get(0);
+    }
+
+    private void validatePhysicalDevice(RobotRuntimeMemberVO member, String deviceId, Integer expectedKind) {
+        if (member == null || StrUtil.isBlank(deviceId)) {
+            return;
+        }
+        RobotDeviceAssignmentValidator validator = deviceValidatorProvider.getIfAvailable();
+        if (validator != null) {
+            validator.validate(member.getRobotId(), deviceId, expectedKind);
+        }
+    }
+}
--- a/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/engine/FlowTaskEngine.java
+++ b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/engine/FlowTaskEngine.java
@ -48,6 +48,7 @@ public class FlowTaskEngine {
                message.setInstId(instId);
                message.setTaskId(taskId);
                message.setRobotId(robotId);
+                message.setRuntimeAssignments(context.getRuntimeAssignments());
                message.setItemId(itemId);
                if (runMode.equals(RunModeEnum.VI_PROJECT)) {
                    message.setLoopDetail(item.getSchemeInfo());
--- a/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/engine/FlowTaskRuntimeEntry.java
+++ b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/engine/FlowTaskRuntimeEntry.java
@ -18,6 +18,8 @@ import com.cmvr.test.model.vo.TeDetectItemDeployFlowVO;
 import com.cmvr.test.model.vo.TeTaskExecuteNormalVO;
 import com.cmvr.test.model.vo.TeTaskExecuteProjectVO;
 import com.cmvr.test.model.vo.TeTaskExecuteTrailVO;
+import com.cmvr.test.model.vo.ResourceRuntimeAssignmentVO;
+import com.cmvr.test.model.vo.RobotRuntimeMemberVO;
 import com.cmvr.test.service.ITeDetectionItemService;
 import com.cmvr.test.service.ITeTaskInstService;
 import com.cmvr.test.service.ITeTaskOrchestrationService;
@ -28,6 +30,11 @@ import org.springframework.beans.factory.ObjectProvider;
 import org.springframework.transaction.annotation.Transactional;

 import java.util.List;
+import java.util.ArrayList;
+import java.util.LinkedHashMap;
+import java.util.LinkedHashSet;
+import java.util.Map;
+import java.util.Set;

 /**
 * 任务执行入口
@ -43,14 +50,16 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
    private final TaskInstHolder taskInstHolder;
    private final FlowTaskAsyncDispatcher flowTaskAsyncDispatcher;
    private final ObjectProvider<RobotExecutionTargetResolver> targetResolverProvider;
+    private final FlowRuntimeDefinitionValidator runtimeDefinitionValidator;



    @Transactional(rollbackFor = Exception.class)
    public String executeTask(TeTaskExecuteNormalVO taskExecuteNormalVO) {
-        RobotExecutionTarget target = resolveTarget(taskExecuteNormalVO.getRobotId());
+        ResolvedRuntimeResources resources = resolveResources(
+                taskExecuteNormalVO.getRobotId(), taskExecuteNormalVO.getRuntimeAssignments());
        return executeTaskInternal(
-                target,
+                resources,
                taskExecuteNormalVO.getTaskId(),
                taskExecuteNormalVO.getModuleCode(),
                RunModeEnum.NORMAL,
@ -62,18 +71,15 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
    @Transactional(rollbackFor = Exception.class)
    public String executeTrialTask(TeTaskExecuteTrailVO taskExecuteTrailVO) {
        JSONObject runParams = taskExecuteTrailVO.getRunParams();
-        RobotExecutionTarget target = resolveTarget(taskExecuteTrailVO.getRobotId());
+        ResolvedRuntimeResources resources = resolveResources(
+                taskExecuteTrailVO.getRobotId(), taskExecuteTrailVO.getRuntimeAssignments());
+        RobotExecutionTarget target = resources.primaryTarget();
        String robotId = target.getRobotId();
-        String lockKey = target.lockKey();
-        if (lockKey == null) {
-            throw new GlobalException("机器人ID不能为空");
-        }
-        if (taskInstHolder.isRobotLocked(lockKey)) {
-            throw new GlobalException("当前机器人正在执行其他任务，请稍后再试");
-        }
+        assertResourcesAvailable(resources);

        // 构建试运行任务定义（临时任务）
        String itemId = taskExecuteTrailVO.getItemId();
+        runtimeDefinitionValidator.validate(taskExecuteTrailVO.getFlowData(), resources.assignments());

        TeDetectItemDeployFlowVO deployFlowVO = new TeDetectItemDeployFlowVO();
        deployFlowVO.setId(itemId);
@ -96,7 +102,7 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
            List<TeQueryTaskDetailDTO> details = CollUtil.newArrayList(teQueryTaskDetailDTO);

            // 注册上下文
-            registerTaskContext(instId, taskId, null, target, itemId, RunModeEnum.TRIAL, runParams);
+            registerTaskContext(instId, taskId, null, resources, itemId, RunModeEnum.TRIAL, runParams);

            // 异步调度执行（与正式任务一致，只是模式为 TRIAL）
            flowTaskAsyncDispatcher.submit(instId, taskId, robotId, RunModeEnum.TRIAL, details);
@ -116,9 +122,10 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {

    @Transactional(rollbackFor = Exception.class)
    public String executeProjectTask(TeTaskExecuteProjectVO taskExecuteProjectVO) {
-        RobotExecutionTarget target = resolveTarget(taskExecuteProjectVO.getRobotId());
+        ResolvedRuntimeResources resources = resolveResources(
+                taskExecuteProjectVO.getRobotId(), taskExecuteProjectVO.getRuntimeAssignments());
        return executeTaskInternal(
-                target,
+                resources,
                taskExecuteProjectVO.getProjectId(),
                null,
                RunModeEnum.VI_PROJECT,
@ -130,19 +137,18 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
    @Transactional(rollbackFor = Exception.class)
    public String executeTaskInternal(String robotId, String taskId, String moduleCode,
                                      RunModeEnum runMode, JSONObject runParams, Object originalVO) {
-        return executeTaskInternal(new RobotExecutionTarget(robotId), taskId,
+        return executeTaskInternal(resolveResources(robotId, null), taskId,
                moduleCode, runMode, runParams, originalVO);
    }

-    private String executeTaskInternal(RobotExecutionTarget target, String taskId, String moduleCode,
+    private String executeTaskInternal(ResolvedRuntimeResources resources, String taskId, String moduleCode,
                                      RunModeEnum runMode, JSONObject runParams, Object originalVO) {
+        RobotExecutionTarget target = resources.primaryTarget();
        String robotId = target.getRobotId();
-        String lockKey = target.lockKey();
-        if (lockKey != null && taskInstHolder.isRobotLocked(lockKey)) {
-            throw new GlobalException("当前机器人正在执行其他任务，请稍后再试");
-        }
+        assertResourcesAvailable(resources);
        // 查询任务详情（检测项信息）
        List<TeQueryTaskDetailDTO> details = taskOrchestrationService.queryTaskDetail(taskId);
+        details.forEach(detail -> runtimeDefinitionValidator.validate(detail.getFlowData(), resources.assignments()));
        int count = (int) details.stream().filter(dto -> ObjUtil.equals(dto.getIsDeploy(), "1")).count();
        if (count > 0) {
            throw new GlobalException("当前任务存在未发布的检测项!");
@ -153,7 +159,7 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {

        try {
            // 注册上下文
-            registerTaskContext(instId, taskId, moduleCode, target, null, runMode, runParams);
+            registerTaskContext(instId, taskId, moduleCode, resources, null, runMode, runParams);

            // 异步提交执行
            flowTaskAsyncDispatcher.submit(instId, taskId, robotId, runMode, details);
@ -188,8 +194,9 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
    /**
     * 注册上下文
     */
-    private void registerTaskContext(String instId, String taskId, String moduleCode, RobotExecutionTarget target,
+    private void registerTaskContext(String instId, String taskId, String moduleCode, ResolvedRuntimeResources resources,
                                     String itemId, RunModeEnum mode, JSONObject runParams) {
+        RobotExecutionTarget target = resources.primaryTarget();
        TaskContext ctx = new TaskContext();
        ctx.setInstId(instId);
        ctx.setTaskId(taskId);
@ -197,6 +204,9 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
        ctx.setRunMode(mode);
        ctx.setRobotId(target.getRobotId());
        ctx.setLockKey(target.lockKey());
+        ctx.setRobotIds(resources.targets().stream().map(RobotExecutionTarget::getRobotId).filter(StrUtil::isNotBlank).toList());
+        ctx.setLockKeys(resources.targets().stream().map(RobotExecutionTarget::lockKey).filter(ObjUtil::isNotEmpty).toList());
+        ctx.setRuntimeAssignments(resources.assignments());
        ctx.setItemId(itemId);
        ctx.setStatus(TaskStatusEnum.RUNNING);
        ctx.setTerminalLocked(true);
@ -216,4 +226,58 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
        // 纯逻辑工作流不调用边缘设备，可不绑定机器人。
        return new RobotExecutionTarget(null);
    }
+
+    private ResolvedRuntimeResources resolveResources(String legacyRobotId,
+                                                       List<ResourceRuntimeAssignmentVO> assignments) {
+        List<ResourceRuntimeAssignmentVO> normalizedAssignments = assignments == null
+                ? new ArrayList<>() : assignments;
+        Map<String, RobotExecutionTarget> targetsByRobot = new LinkedHashMap<>();
+        Set<String> roleKeys = new LinkedHashSet<>();
+
+        for (ResourceRuntimeAssignmentVO assignment : normalizedAssignments) {
+            if (assignment == null || StrUtil.isBlank(assignment.getRoleKey())) {
+                throw new GlobalException("机器人角色标识不能为空");
+            }
+            if (!roleKeys.add(assignment.getRoleKey())) {
+                throw new GlobalException("机器人角色重复：" + assignment.getRoleKey());
+            }
+            if (assignment.getMembers() == null) {
+                continue;
+            }
+            for (RobotRuntimeMemberVO member : assignment.getMembers()) {
+                if (member == null || StrUtil.isBlank(member.getRobotId())) {
+                    continue;
+                }
+                RobotExecutionTarget target = resolveTarget(member.getRobotId());
+                member.setRobotId(target.getRobotId());
+                targetsByRobot.putIfAbsent(target.getRobotId(), target);
+            }
+        }
+
+        if (targetsByRobot.isEmpty() && StrUtil.isNotBlank(legacyRobotId)) {
+            RobotExecutionTarget target = resolveTarget(legacyRobotId);
+            targetsByRobot.put(target.getRobotId(), target);
+        }
+        List<RobotExecutionTarget> targets = new ArrayList<>(targetsByRobot.values());
+        if (targets.isEmpty()) {
+            targets.add(new RobotExecutionTarget(null));
+        }
+        return new ResolvedRuntimeResources(targets, normalizedAssignments);
+    }
+
+    private void assertResourcesAvailable(ResolvedRuntimeResources resources) {
+        for (RobotExecutionTarget target : resources.targets()) {
+            String lockKey = target.lockKey();
+            if (lockKey != null && taskInstHolder.isRobotLocked(lockKey)) {
+                throw new GlobalException("当前任务中的机器人正在执行其他任务，请稍后再试");
+            }
+        }
+    }
+
+    private record ResolvedRuntimeResources(List<RobotExecutionTarget> targets,
+                                            List<ResourceRuntimeAssignmentVO> assignments) {
+        private RobotExecutionTarget primaryTarget() {
+            return targets.get(0);
+        }
+    }
 }
--- a/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/engine/RobotDeviceAssignmentValidator.java
+++ b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/engine/RobotDeviceAssignmentValidator.java
@ -0,0 +1,7 @@
+package com.cmvr.test.flow.runtime.engine;
+
+/** Optional project adapter used to verify that a physical device belongs to a robot. */
+public interface RobotDeviceAssignmentValidator {
+
+    void validate(String robotId, String deviceId, Integer expectedDeviceKind);
+}
--- a/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/interceptor/FlowInputPrepareInterceptor.java
+++ b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/interceptor/FlowInputPrepareInterceptor.java
@ -39,6 +39,16 @@ public class FlowInputPrepareInterceptor extends AbstractFlowMsgPreInterceptor {
        // 调用已有的 prepare 方法
        JSONObject inputParams = paramPreparer.prepare(graph, node, message);

+        if (message.getResolvedDeviceBindings() != null) {
+            inputParams.putAll(message.getResolvedDeviceBindings());
+        }
+        if (message.getRoleKey() != null) {
+            inputParams.put("executorRoleKey", message.getRoleKey());
+        }
+        if (message.getRoleMemberKey() != null) {
+            inputParams.put("executorMemberKey", message.getRoleMemberKey());
+        }
+
        message.setInputParams(inputParams);
        log.debug("[InputPrepare] 节点 {} 准备输入参数: {}", message.getNodeId(), inputParams);

--- a/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/message/TaskNodeExecuteMessage.java
+++ b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/message/TaskNodeExecuteMessage.java
@ -3,6 +3,7 @@ package com.cmvr.test.flow.runtime.message;
 import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.test.enums.ActionEnum;
 import com.cmvr.test.flow.builder.FlowGraph;
+import com.cmvr.test.model.vo.ResourceRuntimeAssignmentVO;
 import lombok.Data;

 import java.util.ArrayList;
@ -82,6 +83,18 @@ public class TaskNodeExecuteMessage {
     */
    private String robotId;

+    /** 流程机器人角色标识。 */
+    private String roleKey;
+
+    /** 本次任务内被选中的角色成员。 */
+    private String roleMemberKey;
+
+    /** 冻结的本次执行角色分配。 */
+    private List<ResourceRuntimeAssignmentVO> runtimeAssignments = new ArrayList<>();
+
+    /** 节点参数名到真实设备ID的解析结果。 */
+    private JSONObject resolvedDeviceBindings = new JSONObject();
+
    /**
     * 节点入参
     */
--- a/cmvr-iot-test/src/main/java/com/cmvr/test/model/vo/ResourceRuntimeAssignmentVO.java
+++ b/cmvr-iot-test/src/main/java/com/cmvr/test/model/vo/ResourceRuntimeAssignmentVO.java
@ -0,0 +1,19 @@
+package com.cmvr.test.model.vo;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+@Data
+@ApiModel("流程资源运行分配")
+public class ResourceRuntimeAssignmentVO {
+
+    @ApiModelProperty("流程内稳定的机器人角色标识")
+    private String roleKey;
+
+    @ApiModelProperty("本次执行绑定的机器人成员")
+    private List<RobotRuntimeMemberVO> members = new ArrayList<>();
+}
--- a/cmvr-iot-test/src/main/java/com/cmvr/test/model/vo/RobotRuntimeMemberVO.java
+++ b/cmvr-iot-test/src/main/java/com/cmvr/test/model/vo/RobotRuntimeMemberVO.java
@ -0,0 +1,22 @@
+package com.cmvr.test.model.vo;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.LinkedHashMap;
+import java.util.Map;
+
+@Data
+@ApiModel("机器人角色运行成员")
+public class RobotRuntimeMemberVO {
+
+    @ApiModelProperty("本次任务内的成员标识")
+    private String memberKey;
+
+    @ApiModelProperty("机器人永久唯一ID")
+    private String robotId;
+
+    @ApiModelProperty("设备用途标识到真实设备ID的映射")
+    private Map<String, String> devices = new LinkedHashMap<>();
+}
--- a/cmvr-iot-test/src/main/java/com/cmvr/test/model/vo/TeTaskExecuteNormalVO.java
+++ b/cmvr-iot-test/src/main/java/com/cmvr/test/model/vo/TeTaskExecuteNormalVO.java
@ -10,6 +10,9 @@ import lombok.NoArgsConstructor;

 import jakarta.validation.constraints.NotEmpty;

+import java.util.ArrayList;
+import java.util.List;
+
@Data
@ApiModel("正常任务执行VO")
@Builder
@ -26,6 +29,11 @@ public class TeTaskExecuteNormalVO {
    @ApiModelProperty("机器人永久唯一ID")
    private String robotId;

+    @ApiModelProperty("本次执行的机器人角色分配；为空时兼容使用robotId")
+    @Builder.Default
+    private List<ResourceRuntimeAssignmentVO> runtimeAssignments = new ArrayList<>();
+
    @ApiModelProperty(value = "运行时参数")
+    @Builder.Default
    private JSONObject runParams = new JSONObject();
 }
--- a/cmvr-iot-test/src/main/java/com/cmvr/test/model/vo/TeTaskExecuteProjectVO.java
+++ b/cmvr-iot-test/src/main/java/com/cmvr/test/model/vo/TeTaskExecuteProjectVO.java
@ -7,6 +7,9 @@ import lombok.Data;

 import jakarta.validation.constraints.NotEmpty;

+import java.util.ArrayList;
+import java.util.List;
+
@Data
@ApiModel("项目执行VO")
 public class TeTaskExecuteProjectVO {
@ -18,6 +21,9 @@ public class TeTaskExecuteProjectVO {
    @ApiModelProperty("机器人永久唯一ID")
    private String robotId;

+    @ApiModelProperty("本次执行的机器人角色分配；为空时兼容使用robotId")
+    private List<ResourceRuntimeAssignmentVO> runtimeAssignments = new ArrayList<>();
+
    @ApiModelProperty(value = "运行时参数")
    private JSONObject runParams = new JSONObject();
 }
--- a/cmvr-iot-test/src/main/java/com/cmvr/test/model/vo/TeTaskExecuteTrailVO.java
+++ b/cmvr-iot-test/src/main/java/com/cmvr/test/model/vo/TeTaskExecuteTrailVO.java
@ -7,6 +7,9 @@ import lombok.Data;

 import jakarta.validation.constraints.NotEmpty;

+import java.util.ArrayList;
+import java.util.List;
+
@Data
@ApiModel("试运行任务执行VO")
 public class TeTaskExecuteTrailVO {
@ -20,9 +23,11 @@ public class TeTaskExecuteTrailVO {
    private String flowData;

    @ApiModelProperty("机器人永久唯一ID")
-    @NotEmpty(message = "机器人ID不能为空")
    private String robotId;

+    @ApiModelProperty("本次执行的机器人角色分配；为空时兼容使用robotId")
+    private List<ResourceRuntimeAssignmentVO> runtimeAssignments = new ArrayList<>();
+
    @ApiModelProperty(value = "运行时参数")
    private JSONObject runParams = new JSONObject();
 }
--- a/cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/engine/FlowRuntimeAssignmentResolverTest.java
+++ b/cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/engine/FlowRuntimeAssignmentResolverTest.java
@ -0,0 +1,68 @@
+package com.cmvr.test.flow.runtime.engine;
+
+import com.alibaba.fastjson2.JSON;
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.test.flow.builder.FlowNodeWrapper;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
+import com.cmvr.test.model.vo.ResourceRuntimeAssignmentVO;
+import com.cmvr.test.model.vo.RobotRuntimeMemberVO;
+import org.junit.Test;
+
+import java.util.List;
+import java.util.Map;
+
+import static org.junit.Assert.assertEquals;
+
+public class FlowRuntimeAssignmentResolverTest {
+
+    private final FlowRuntimeAssignmentResolver resolver = new FlowRuntimeAssignmentResolver();
+
+    @Test
+    public void resolvesRobotAndDeviceByRoleAndSlot() {
+        FlowNodeWrapper node = new FlowNodeWrapper();
+        node.setNodeName("拍摄");
+        node.setRawProperties(JSON.parseObject("""
+                {
+                  "executionTarget": {
+                    "roleKey": "inspection",
+                    "deviceSlotKey": "front_camera"
+                  }
+                }
+                """));
+
+        RobotRuntimeMemberVO member = new RobotRuntimeMemberVO();
+        member.setMemberKey("inspection_1");
+        member.setRobotId("robot-2");
+        member.setDevices(Map.of("front_camera", "camera-6"));
+        ResourceRuntimeAssignmentVO assignment = new ResourceRuntimeAssignmentVO();
+        assignment.setRoleKey("inspection");
+        assignment.setMembers(List.of(member));
+
+        TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
+        message.setRobotId("legacy-robot");
+        message.setRuntimeAssignments(List.of(assignment));
+
+        resolver.resolveNode(node, message);
+
+        assertEquals("inspection", message.getRoleKey());
+        assertEquals("inspection_1", message.getRoleMemberKey());
+        assertEquals("robot-2", message.getRobotId());
+        assertEquals("camera-6", message.getResolvedDeviceBindings().getString("deviceId"));
+    }
+
+    @Test
+    public void keepsLegacyRobotWhenAssignmentsAreAbsent() {
+        FlowNodeWrapper node = new FlowNodeWrapper();
+        node.setNodeName("旧节点");
+        node.setRawProperties(new JSONObject(Map.of(
+                "executionTarget", new JSONObject(Map.of("roleKey", "default_executor"))
+        )));
+        TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
+        message.setRobotId("legacy-robot");
+
+        resolver.resolveNode(node, message);
+
+        assertEquals("default_executor", message.getRoleKey());
+        assertEquals("legacy-robot", message.getRobotId());
+    }
+}
--- a/sql/inspection_module.sql
+++ b/sql/inspection_module.sql
@ -61,7 +61,7 @@ CREATE TABLE `inspection_robot_device` (
  `remark` varchar(500) DEFAULT NULL,
  PRIMARY KEY (`id`),
  KEY `idx_robot_device_robot_id` (`robot_id`),
-  KEY `idx_robot_device_identity` (`robot_id`, `device_id`),
+  UNIQUE KEY `uk_robot_device_identity` (`robot_id`, `device_id`),
  KEY `idx_robot_device_online` (`robot_id`, `online_status`)
 ) ENGINE=InnoDB DEFAULT CHARSET=utf8mb4 COLLATE=utf8mb4_unicode_ci COMMENT='机器人自动发现设备';

--- a/sql/robot_quic_identity_migration.sql
+++ b/sql/robot_quic_identity_migration.sql
@ -35,7 +35,7 @@ create table inspection_robot_device (
    remark varchar(500) null,
    primary key (id),
    index idx_robot_device_robot_id (robot_id),
-    index idx_robot_device_identity (robot_id, device_id),
+    unique index uk_robot_device_identity (robot_id, device_id),
    index idx_robot_device_online (robot_id, online_status)
 ) comment='Devices discovered from robot QUIC heartbeat';

--- a/sql/workflow_resource_role_v2.sql
+++ b/sql/workflow_resource_role_v2.sql
@ -0,0 +1,10 @@
+-- Workflow resource role V2 prerequisite.
+-- Resolve any rows returned by this query before applying the unique constraint.
+select robot_id, device_id, count(*) as duplicate_count
+from inspection_robot_device
+group by robot_id, device_id
+having count(*) > 1;
+
+alter table inspection_robot_device
+    drop index idx_robot_device_identity,
+    add unique key uk_robot_device_identity (robot_id, device_id);