\u6c6a\u601d\u8fea \u66f9\u5c0f\u534e \u5468 \u52c7\u6b66\u6c49\u7406\u5de5\u5927\u5b66\u7269\u6d41\u5de5\u7a0b\u5b66\u9662 \u6b66\u6c49 430063\u6458\u8981\uff1a\u63d0\u51fa\u4e00\u79cd\u65b0\u578b\u7684AGV \u5b9a\u4f4d\u5bfc\u822a\u65b9\u6848\uff0c\u901a\u8fc7RFID \u4e0e\u56fe\u50cf\u8bc6\u522b\u89e3\u51b3\u60ef\u6027\u5bfc\u822a\u8bef\u5dee\u7d2f\u8ba1\u7684\u7f3a\u9677\uff0c\u4ee5STM32\u4e3a\u4e3b\u63a7\u5236\u5668\u5b9e\u73b0\u5bf9\u5e73\u53f0\u7684\u6570\u636e\u91c7\u96c6\u548c\u59ff\u6001\u8ba1\u7b97\uff0c\u7531\u4f20\u611f\u5668\u5f97\u5230\u5e73\u53f0\u7684\u52a0\u901f\u5ea6\u3001\u89d2\u901f\u5ea6\uff0c\u91c7\u7528\u56db\u5143\u6570\u6cd5\u4f5c\u4e3a\u5e73\u53f0\u7684\u59ff\u6001\u66f4\u65b0\u7b97\u6cd5\uff0c\u7ecf\u6ee4\u6ce2\u540e\u5f97\u5230\u5e73\u53f0\u7684\u59ff\u6001\u89d2\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u8be5\u65b9\u6cd5\u53ef\u9760\u6027\u5f3a\uff0c\u8ba1\u7b97\u7b80\u5355\uff0c\u4e14\u5177\u6709\u8f83\u597d\u7684\u5b9a\u4f4d\u7cbe\u5ea6\uff0c\u53ef\u4ee5\u6ee1\u8db3AGV \u7684\u5b9a\u4f4d\u7cfb\u7edf\u8981\u6c42\u3002\u5173\u952e\u8bcd\uff1aAGV; \u60ef\u6027\u5bfc\u822a\uff1b\u56fe\u50cf\u8bc6\u522b\uff1b\u59ff\u6001\u89e3\u7b97\u4e2d\u56fe\u5206\u7c7b\u53f7\uff1aTP391 \u6587\u732e\u6807\u8bc6\u7801\uff1aA \u6587\u7ae0\u7f16\u53f7\uff1a1001-0785\uff082018\uff0908-0081-040 \u5f15\u8a00\u968f\u7740\u52b3\u52a8\u529b\u6210\u672c\u7684\u4e0a\u5347\u548c\u6280\u672f\u6c34\u5e73\u7684\u63d0\u9ad8\uff0c\u7269\u6d41\u4ed3\u50a8\u884c\u4e1a\u7684\u81ea\u52a8\u5316\u7a0b\u5ea6\u4e0d\u65ad\u63d0\u5347\u3002\u4f5c\u4e3a\u4ed3\u50a8\u7269\u6d41\u7684\u6838\u5fc3\u8bbe\u5907\uff0c\u81ea\u52a8\u5bfc\u5f15\u5c0f\u8f66\uff08AGV\uff09\u7684\u5e94\u7528\u8303\u56f4\u4e0e\u5bfc\u822a\u6280\u672f\u5f97\u5230\u8fc5\u731b\u53d1\u5c55\u3002\u76ee\u524dAGV \u4e3b\u8981\u6709\u7535\u78c1\u5bfc\u5f15\u3001\u5149\u5b66\u5bfc\u5f15\u3001\u6fc0\u5149\u5bfc\u822a\u3001\u60ef\u6027\u5bfc\u822a\u3001\u89c6\u89c9\u5bfc\u822a\u548c\u5168\u7403\u5b9a\u4f4d\u7cfb\u7edf\u5bfc\u822a\u7b49\u65b9\u5f0f[1]\u3002\u591a\u6570AGV \u91c7\u7528\u6fc0\u5149\u5bfc\u822a\u548c\u78c1\u5bfc\u822a\u65b9\u5f0f\uff0c\u867d\u7136\u8fd9\u4e9b\u5bfc\u822a\u6280\u672f\u5df2\u662f\u6210\u719f\u6280\u672f\uff0c\u4f46\u5176\u6210\u672c\u9ad8\uff0c\u96be\u4ee5\u7ef4\u62a4\u548c\u6539\u9020\uff0c\u56e0\u6b64\uff0c\u65b0\u7684\u5bfc\u822a\u65b9\u5f0f\u8d8a\u6765\u8d8a\u53d7\u5230\u4eba\u4eec\u7684\u5173\u6ce8\u3002\u5176\u4e2d\uff0c\u60ef\u6027\u5bfc\u822a\u6280\u672f\u4f5c\u4e3a\u4e00\u79cd\u4e0d\u4f9d\u8d56\u5916\u754c\u8f85\u52a9\u7684\u72ec\u7acb\u5bfc\u822a\u65b9\u5f0f\uff0c\u5728\u9002\u7528\u8303\u56f4\u548c\u5e03\u5c40\u4e0a\u5177\u6709\u5f97\u5929\u72ec\u539a\u7684\u4f18\u52bf\u3002\u53e6\u4e00\u65b9\u9762\uff0c\u4f34\u968f\u7740\u7269\u8054\u7f51\u7684\u5174\u8d77\uff0c\u65e0\u7ebf\u5c04\u9891\u8bc6\u522b\uff08RFID\uff09\u6280\u672f\u88ab\u5f15\u5165\uff0c\u8be5\u6280\u672f\u6210\u672c\u4f4e\uff0c\u4f7f\u7528\u7075\u6d3b\uff0c\u6297\u6c61\u67d3\u80fd\u529b\u5f3a\u3002\u9488\u5bf9\u60ef\u6027\u5bfc\u822a\u65b9\u5f0f\u4e2d\u7684\u8bef\u5dee\u7d2f\u79ef\u548c\u5b9a\u4f4d\u7cbe\u5ea6\u95ee\u9898\uff0c\u672c\u8bbe\u8ba1\u5f15\u5165RFID \u6280\u672f\u4e0e\u56fe\u50cf\u8bc6\u522b\u6280\u672f\uff0c\u5c06\u4f4d\u7f6e\u4fe1\u606f\u5b58\u50a8\u5728RFID \u6807\u7b7e\u4e2d\uff0c\u56fe\u50cf\u8bc6\u522b\u83b7\u53d6\u59ff\u6001\u4fe1\u606f\uff0c\u5b9e\u73b0AGV\u7684\u8f85\u52a9\u5b9a\u4f4d\uff0c\u63d0\u9ad8\u81ea\u52a8\u5316\u6548\u7387\u30021 \u6574\u4f53\u65b9\u6848\u8bbe\u8ba1AGV \u5c0f\u8f66\u5229\u7528\u60ef\u6027\u5bfc\u822a\u4f5c\u4e3a\u5bfc\u5f15\u6280\u672f\uff0c\u7531\u4e8e\u7cfb\u7edf\u4e2d\u6240\u7528\u6570\u636e\u90fd\u662f\u91c7\u6837\u5f97\u5230\u7684\uff0c\u800c\u4e14\u662f\u7531\u524d\u4e00\u72b6\u6001\u91cf\u63a8\u5230\u4e0b\u4e00\u72b6\u6001\u91cf\uff0c\u56e0\u6b64\uff0c\u5728\u7b97\u6cd5\u89e3\u7b97\u7684\u8fc7\u7a0b\u4e2d\uff0c\u6240\u6709\u8bef\u5dee\u90fd\u4f1a\u968f\u7740\u65f6\u95f4\u88ab\u7b97\u6cd5\u7d2f\u79ef\u4e0b\u6765\uff0c\u53ef\u80fd\u9020\u6210\u5f88\u5927\u7684\u7d2f\u79ef\u8bef\u5dee[2]\u3002\u672c\u8bbe\u8ba1\u901a\u8fc7RFID \u5b9a\u4f4d\u6765\u4fee\u6b63\u5b9a\u4f4d\u8bef\u5dee, \u901a\u8fc7\u56fe\u50cf\u8bc6\u522b\u6765\u4fee\u6b63\u89d2\u5ea6\u8bef\u5dee\uff0c\u5728\u5730\u9762\u6bcf\u9694\u4e00\u6bb5\u8ddd\u79bb\u8d34\u4e00\u4e2a\u5730\u6807\uff0c\u5229\u7528AGV \u5c0f\u8f66\u4e0a\u7684\u6444\u50cf\u5934\u626b\u63cf\u6765\u786e\u5b9a\u5f53\u524dAGV \u5c0f\u8f66\u7684\u5b9e\u65f6\u4f4d\u7f6e\u4fe1\u606f\uff0c\u7136\u540e\u57fa\u4e8e\u8fd9\u4e9b\u4fe1\u606f\u76f4\u63a5\u5bf9\u60ef\u6027\u5bfc\u822a\u7cfb\u7edf\u8fdb\u884c\u7ea0\u6b63\uff0c\u91cd\u65b0\u8c03\u6574\u521d\u59cb\u53c2\u6570\u3002\u878d\u5408\u5bfc\u822a\u65b9\u6848\u5982\u56fe1 \u6240\u793a\uff0c\u8be5\u6280\u672f\u65b9\u6848\u4e0d\u4ec5\u53ef\u4ee5\u4fdd\u8bc1\u60ef\u6027\u5bfc\u822a\u7cfb\u7edf\u7684\u7cbe\u5ea6\u53ca\u53ef\u9760\u6027\uff0c\u540c\u65f6\u8fd8\u53ef\u4ee5\u5c06RFID \u6807\u7b7e\u4f5c\u4e3a\u7ad9\u70b9\u8bc6\u522b\u7684\u8f7d\u4f53\uff0c\u4f7fAGV \u53ef\u4ee5\u968f\u65f6\u4e0a\u7ebf\uff0c\u907f\u514d\u4e86\u4eba\u5de5\u8f93\u5165\u9519\u8bef\u7684\u60c5\u51b5[3]\u3002\u91c7\u7528\u6805\u683c\u72b6RFID \u6807\u7b7e\u8fdb\u884c\u5bfc\u822a\u548c\u7ad9\u70b9\u6807\u8bc6\uff0c\u6805\u683c\u72b6\u6807\u7b7e\u8bbe\u7f6e\u793a\u4f8b\u5982\u56fe2 \u6240\u793a( \u56fe\u4e2d\u4e3a\u4e86\u8def\u5f84\u6e05\u6670\u7528\u7070\u6846\u4ee3\u66ffRFID \u6807\u7b7e)\u3002\u5c06\u5177\u6709\u5750\u6807\u4fe1\u606f\u7684RFID \u6807\u7b7e\u94fa\u8bbe\u5728\u4ed3\u5e93\u7684\u76f8\u5e94\u4f4d\u7f6e\u4e0a\uff0c\u6bcf\u4e2a\u6807\u7b7e\u90fd\u4ee3\u8868\u4e00\u4e2a\u7ad9\u70b9\uff0c\u53ef\u4ee5\u7528\u4e8eAGV \u5b9a\u4f4d\uff1b\u5982\u679c\u6807\u7b7e\u6b63\u4e0a\u65b9\u8bbe\u7f6e\u4e86\u8d27\u67b6\uff0c\u5219\u8be5\u6807\u7b7e\u4ee3\u8868\u4e00\u4e2a\u8d27\u67b6\u7ad9\u70b9\uff1b\u5982\u679c\u8be5\u6807\u7b7e\u4e0a\u65b9\u76ee\u524d\u5df2\u6709\u5c0f\u8f66\u505c\u9760\uff0c\u5219\u5728\u52a8\u6001\u5730\u56fe\u4e0a\u6807\u8bb0\u8be5\u6805\u683c\u6682\u65f6\u88ab\u5360\u7528\uff1b\u5982\u679c\u6807\u7b7e\u4e0a\u65b9\u5b58\u5728\u969c\u788d\u7269\uff0c\u5219\u5728\u5730\u56fe\u4e0a\u6807\u8bb0\u8be5\u6805\u683c\u4e0d\u53ef\u901a\u884c\u3002\u56fe1 \u878d\u5408\u5bfc\u822a\u65b9\u6848\u56fe2 \u6805\u683c\u72b6\u6807\u7b7e\u8bbe\u7f6e\u793a\u4f8bAGV \u5728\u4e0a\u8ff0\u6805\u683c\u5730\u56fe\u4e2d\u884c\u9a76\u65f6\uff0c\u6bcf\u9694\u56fa\u5b9a\u8ddd\u79bb\u5c31\u4f1a\u4ece\u6807\u7b7e\u4e0a\u65b9\u901a\u8fc7\uff0c\u901a\u8fc7\u6709\u6e90\u6807\u7b7e\u7684\u8bc6\u522b\u6765\u83b7\u53d6\u79bb\u6563\u7684\u5750\u6807\u4fe1\u606f\u3002\u4e3a\u4fdd\u8bc1AGV \u4e0d\u8131\u79bb\u6805\u683c\u8f68\u9053\uff0c\u53ea\u8981\u4fdd\u6301AGV \u5c0f\u8f66\u5b9e\u73b0\u51c6\u786e\u7684\u505c\u9760\u3001\u76f4\u884c\u3001\u65cb\u8f6c90\u00b0\u7684\u63a7\u5236\u52a8\u4f5c\uff0c\u5c31\u53ef\u4ee5\u59cb\u7ec8\u4fdd\u6301\u5728\u76f8\u90bb\u6807\u7b7e\u7684\u8f74\u7ebf\u4e0a\u884c\u9a76\u3002\u8fd0\u884c\u65f6\uff0c\u670d\u52a1\u5668\u7ed3\u5408AGV \u7684\u81ea\u5b9a\u4f4d\u4fe1\u606f\u548c\u5730\u56fe\u4fe1\u606f\uff0c\u4ee5\u6807\u7b7e\u4e3a\u7ad9\u70b9\uff0c\u4e3a\u6bcf\u8f86AGV \u8fdb\u884c\u52a8\u6001\u8def\u5f84\u89c4\u5212\u3002\u5728\u8be5\u6805\u683c\u5730\u56fe\u4e0b\uff0c\u6bcf\u4e2a\u6807\u7b7e\u90fd\u53ef\u4ee5\u7528\u4e8e\u6807\u8bc6\u7ad9\u70b9\uff0c\u4efb\u610f\u4e24\u4e2a\u76f8\u90bb\u6807\u7b7e\u8fde\u7ebf\u5c31\u5f62\u6210\u4e00\u6761\u77ed\u8def\u5f84\uff0c\u7ad9\u70b9\u5bc6\u96c6\uff0c\u8fd8\u53ef\u8fdb\u884c\u52a8\u6001\u89c4\u5212\u8def\u5f84\u30022 \u4f20\u611f\u5668\u4fe1\u53f7\u91c7\u96c6\u4e0e\u5904\u7406\u4e3a\u4e86\u8bbe\u8ba1\u4f53\u79ef\u5c0f\u3001\u8d28\u91cf\u8f7b\u3001\u529f\u8017\u4f4e\u7684\u59ff\u6001\u5bfc\u822a\u53c2\u8003\u7cfb\u7edf\uff0c\u9009\u62e9\u96c6\u6210\u5ea6\u9ad8\u7684\u5d4c\u5165\u5f0f\u5904\u7406\u5668STM32F103ZET6 \u4f5c\u4e3a\u5bfc\u822a\u6838\u5fc3\u5904\u7406\u5668\uff0c\u5b9e\u73b0\u59ff\u6001\u548c\u5bfc\u822a\u89e3\u7b97\u4ee5\u53ca\u8f93\u51fa\u3002\u4f7f\u7528\u96c6\u6210\u52a0\u901f\u5ea6\u8ba1\u548c\u9640\u87ba\u4eea\u7684MPU9255 \u6d4b\u91cf\u52a0\u901f\u5ea6\u548c\u673a\u4f53\u7684\u89d2\u901f\u5ea6\u3002\u7531\u4e8e\u8f7d\u4f53\u7684\u59ff\u6001\u65b9\u4f4d\u89d2\u901f\u7387\u8f83\u5927\uff0c\u5bf9\u59ff\u6001\u77e9\u9635\u7684\u5b9e\u65f6\u8ba1\u7b97\u63d0\u51fa\u4e86\u66f4\u9ad8\u7684\u8981\u6c42\u3002\u786e\u5b9a\u8f7d\u4f53\u7684\u59ff\u6001\u77e9\u9635\u5373\u4e3a\u7814\u7a76\u8f7d\u4f53\u5750\u6807\u7cfbb \u548c\u5bfc\u822a\u5750\u6807\u7cfbn \u7684\u7a7a\u95f4\u8f6c\u6362\u5173\u7cfb\uff0c\u4e00\u822c\u7528\u8f7d\u4f53\u5750\u6807\u7cfb\u76f8\u5bf9\u5bfc\u822a\u5750\u6807\u7cfb\u7684\u4e09\u6b21\u8f6c\u52a8\u89d2\u786e\u5b9a\uff0c\u5373\u4fef\u4ef0\u89d2\u03b8 \u3001\u822a\u5411\u89d2\u03c8 \u3001\u6eda\u8f6c\u89d2\u03b3 \u3002\u76ee\u524d\u4e3b\u8981\u7684\u7814\u7a76\u65b9\u6cd5\u4e3a\u6b27\u62c9\u6cd5\u3001\u65b9\u5411\u4f59\u5f26\u6cd5\u548c\u56db\u5143\u6570\u6cd5[4]\u3002\u6b27\u62c9\u6cd5\u6c42\u89e3\u59ff\u6001\u89d2\u65f6\uff0c\u6c42\u89e3\u901f\u5ea6\u7f13\u6162\uff0c\u59ff\u6001\u6c42\u89e3\u65b9\u7a0b\u4e2d\u4f1a\u51fa\u73b0\u201c\u5947\u70b9\u201d\uff0c\u800c\u4e14\u4e0d\u80fd\u8fdb\u884c\u5168\u59ff\u6001\u89e3\u7b97\u3002\u65b9\u5411\u4f59\u5f26\u6cd5\u5728\u6c42\u89e3\u8fc7\u7a0b\u4e2d\u8ba1\u7b97\u91cf\u8fc7\u5927\uff0c\u4e0d\u80fd\u5feb\u901f\u5f97\u5230\u8ba1\u7b97\u7ed3\u679c\uff0c\u5f88\u96be\u5b9e\u73b0\u5b9e\u9645\u5de5\u4f5c\u4e2d\u7684\u76ee\u6807\u3002\u56db\u5143\u6570\u6cd5\u4e0d\u4ec5\u6c42\u89e3\u65b9\u7a0b\u65e0\u5947\u6027\uff0c\u800c\u4e14\u7ebf\u6027\u7a0b\u5ea6\u9ad8\uff0c\u65b9\u7a0b\u89e3\u7b97\u65f6\u95f4\u5927\u5927\u51cf\u5c11\uff0c\u56e0\u6b64\uff0c\u672c\u6587\u59ff\u6001\u6d4b\u91cf\u7cfb\u7edf\u4e2d\u9009\u7528\u56db\u5143\u6570\u6cd5\u4f5c\u4e3a\u59ff\u6001\u66f4\u65b0\u7b97\u6cd5[5]\u30022.1 \u56db\u5143\u6570\u6cd5\u56db\u5143\u6570\u6cd5\u59ff\u6001\u77e9\u9635\u8ba1\u7b97\u6b65\u9aa4\u5982\u4e0b[6]\uff1a\u521d\u59cb\u56db\u5143\u6570\u7684\u786e\u5b9a\uff0c\u8f93\u5165\u56db\u5143\u6570\u65b9\u7a0b\u5728\u6c42\u89e3\u8fc7\u7a0b\u4e2d\u521d\u59cb\u59ff\u6001\u89d2\u66f4\u65b0\u56db\u5143\u6570\uff0c\u9700\u8981\u8fd9\u4e2a\u5468\u671f\u7ecf\u8fc7\u8865\u507f\u540e\u7684\u89d2\u901f\u5ea6gx\u3001gy\u3001gz\uff0c\u8be5\u8ba1\u7b97\u8fc7\u7a0b\u4e2d\u91c7\u7528\u4e8c\u9636\u9f99\u683c\u5e93\u5854\u6cd5\uff0c\u67093\uff09\u59ff\u6001\u89d2\u8ba1\u7b97\uff0c\u5b9e\u65f6\u8ba1\u7b97\u51fa\u56db\u5143\u6570\u540e\uff0c\u518d\u7531\u5f0f\uff083\uff09\u5b8c\u6210\u59ff\u6001\u77e9\u9635\u7684\u66f4\u65b0\u8ba1\u7b97\uff0c\u901a\u8fc7\u5f0f\uff084\uff09\u83b7\u5f97\u8f7d\u4f53\u7684\u59ff\u6001\u89d2\u4fe1\u606f2.2 \u5361\u5c14\u66fc\u6ee4\u6ce2\u5728\u5b9e\u9645\u6d4b\u8bd5\u4e2d\uff0c\u4e0a\u4f4d\u673a\u63a5\u6536\u5230\u89d2\u59ff\u6001\u7684\u6570\u636e\u4ecd\u7136\u5b58\u5728\u5c11\u8bb8\u566a\u58f0\u5e72\u6270\uff0c\u4e3a\u4e86\u6ee4\u9664\u566a\u58f0\u5e72\u6270\uff0c\u5f15\u5165\u5361\u5c14\u66fc\u6ee4\u6ce2\u7b97\u6cd5\u3002\u8bbe\u59ff\u6001\u89d2\u4e3a\u03b1 \uff0c\u5bf9\u5176\u79bb\u6563\u5316\u5e76\u6784\u9020\u72b6\u6001\u65b9\u7a0b\u548c\u89c2\u6d4b\u65b9\u7a0b1\uff09\u901a\u8fc7\u7b2ck -1 \u65f6\u523b\u7684\u03b1 \u503c\uff0c\u9884\u6d4b\u7b2ck \u65f6\u523b\u7684\u03b1 \u503c\uff1ak k -1 k \u03b1 =\u03b1 \u4e282\uff09\u6839\u636e\u7b2ck -1 \u65f6\u523b\u7684\u7cfb\u7edf\u8bef\u5dee\u4f30\u8ba1\u7b2ck \u65f6\u523b\u7684\u7cfb\u7edf\u9884\u6d4b\u8bef\u5dee\uff1a3\uff09\u6ee4\u6ce2\u589e\u76ca\uff1a4\uff09\u7cfb\u7edf\u6700\u4f18\u4f30\u7b97\u503c\uff1a5\uff09\u8bef\u5dee\u66f4\u65b0\uff1a2.3 \u56fe\u50cf\u8bc6\u522b\u5f53AGV \u5c0f\u8f66\u4ece\u6807\u7b7e\u4e0a\u65b9\u901a\u8fc7\u65f6\uff0c\u9700\u8981\u7528\u56fe\u50cf\u8bc6\u522b\u7684\u65b9\u6cd5\u5bf9\u60ef\u6027\u5bfc\u822a\u7684\u7d2f\u79ef\u8bef\u5dee\u8fdb\u884c\u4fee\u6b63\uff0c\u8c03\u6574\u89d2\u5ea6\uff0c\u4f7f\u5c0f\u8f66\u5728\u6b63\u786e\u7684\u65b9\u5411\u4e0a\u884c\u9a76\u3002\u5177\u4f53\u6d41\u7a0b\uff1a\u83b7\u53d6\u56fe\u50cf\u2192\u989c\u8272\u7a7a\u95f4\u8f6c\u6362\u2192\u9608\u503c\u5206\u5272\u2192\u8fb9\u7f18\u63d0\u53d6\u2192 Hough \u53d8\u6362\u2192\u5f97\u5230\u89d2\u5ea6\u3002\u5176\u4e2d\uff0cHough \u53d8\u6362\u662f\u68c0\u6d4b\u56fe\u50cf\u4e2d\u76f4\u7ebf\u548c\u5176\u89d2\u5ea6\u7684\u5173\u952e\u3002\u5b83\u901a\u8fc7\u5c06\u56fe\u50cf\u5750\u6807\u7a7a\u95f4\u53d8\u6362\u5230\u53c2\u6570\u7a7a\u95f4\u6765\u5b9e\u73b0\u76f4\u7ebf\u4e0e\u66f2\u7ebf\u7684\u62df\u5408[7]\u3002\u4f7f\u7528\u6781\u5750\u6807\u65b9\u7a0b\u6765\u8868\u793a\u76f4\u7ebf\uff0c\u5176\u65b9\u7a0b\u4e3aHough \u53d8\u6362\u7684\u5177\u4f53\u5b9e\u73b0\u6b65\u9aa4\u5982\u4e0b[8]\uff1a1\uff09\u5efa\u7acb\u4e00\u4e2a\u53c2\u6570\uff08 \u03c1 \uff0c\u03b8 \uff09\u7a7a\u95f4\u7684\u4e8c\u7ef4\u6570\u7ec4\uff0c\u8be5\u6570\u7ec4\u76f8\u5f53\u4e8e\u4e00\u4e2a\u7d2f\u52a0\u5668\uff1b2\uff09\u987a\u5e8f\u641c\u7d22\u56fe\u50cf\u4e2d\u6240\u6709\u76ee\u6807\u50cf\u7d20\uff0c\u5bf9\u4e8e\u6bcf\u4e00\u4e2a\u76ee\u6807\u50cf\u7d20\uff0c\u5728\u53c2\u6570\u7a7a\u95f4\u4e2d\u6839\u636e\u5f0f\uff085\uff09\u627e\u5230\u5bf9\u5e94\u4f4d\u7f6e\uff0c\u7136\u540e\u5728\u7d2f\u52a0\u5668\u7684\u5bf9\u5e94\u4f4d\u7f6e\u52a01\uff1b3\uff09\u6c42\u51fa\u53c2\u6570\u7a7a\u95f4\uff08\u7d2f\u52a0\u5668\uff09\u4e2d\u5cf0\u503c\uff0c\u5176\u4f4d\u7f6e\u4e3a\uff08\u03c1 \u2032\uff0c\u03b8 \u2032\uff09\uff1b4\uff09\u901a\u8fc7\u53c2\u6570\u7a7a\u95f4\u4f4d\u7f6e\uff08\u03c1 \u2032\uff0c\u03b8 \u2032\uff09\uff0c\u6839\u636e\u5f0f\uff085\uff09\u627e\u5230\u56fe\u50cf\u7a7a\u95f4\u4e2d\u76f8\u5bf9\u5e94\u7684\u76f4\u7ebf\u53c2\u6570\u30023 \u5b9e\u9a8c\u4e0e\u7ed3\u679c\u5206\u6790\u4e3a\u4e86\u9a8c\u8bc1\u672c\u6587\u7b97\u6cd5\u7684\u7cbe\u5ea6\uff0c\u8bbe\u8ba1\u4e86AGV \u5b9a\u4f4d\u5b9e\u9a8c\u3002\u91c7\u7528\u4e0a\u8ff0\u5341\u8f74\u60ef\u6027\u5bfc\u822a\u5143\u4ef6\uff0c\u8ba9AGV \u5728\u6805\u683c\u5730\u56fe\u4e2d\u6cbf\u76f4\u7ebf\u884c\u8d70\uff0c\u6d4b\u5f97\u7684\u52a0\u901f\u5ea6\u4e0e\u89d2\u901f\u5ea6\u7ecf\u8fc7\u56db\u5143\u6570\u7b97\u6cd5\u89e3\u7b97\u51fa\u59ff\u6001\u89d2\uff0c\u7ecf\u8fc7\u5361\u5c14\u66fc\u6ee4\u6ce2\u5904\u7406\u540e\u5f97\u5230\u4f30\u8ba1\u503c\u3002\u5982\u56fe3 \u6240\u793a\uff0c\u572830 s \u4e2d1 200 \u4e2a\u6570\u636e\u91c7\u6837\u8fc7\u7a0b\u4e2d\uff0c\u7531\u4e8e\u9640\u87ba\u4eea\u968f\u673a\u6f02\u79fb\u7684\u5f71\u54cd\uff0c\u59ff\u6001\u89d2\u6709\u8f83\u5927\u7684\u7d2f\u8ba1\u8bef\u5dee\uff0c\u6ee4\u6ce2\u540e\u660e\u663e\u6536\u655b\uff0c\u8bef\u5dee\u5728\u00b12\u00b0\u4ee5\u5185\u3002\uff08a\uff09\u4fef\u4ef0\u89d2 \uff08b\uff09\u822a\u5411\u89d2 \uff08c\uff09\u6eda\u8f6c\u89d2\u56fe3 \u6ee4\u6ce2\u540e\u7684\u59ff\u6001\u89d2\u5f53\u5c0f\u8f66\u505c\u9760\u5728\u5730\u56fe\u6807\u7b7e\u4e0a\u65b9\u65f6\uff0c\u56fe\u50cf\u8bc6\u522b\u5f53\u524d\u884c\u9a76\u89d2\u5ea6\uff0c\u89c1\u56fe4\u3002\u5c06\u5c0f\u8f66\u539f\u5730\u65cb\u8f6c10\u00b0\uff0c\u518d\u6b21\u8bc6\u522b\u5f53\u524d\u89d2\u5ea6\uff0c\u5982\u56fe5\u3002\u53ef\u89c1\uff0c\u56fe\u50cf\u8bc6\u522b\u6d4b\u91cf\u7684\u7cbe\u5ea6\u8f83\u9ad8\uff0c\u6bcf\u5f53\u5c0f\u8f66\u7ecf\u8fc7\u4e00\u4e2a\u6807\u7b7e\u65f6\uff0c\u90fd\u53ef\u4ee5\u901a\u8fc7\u56fe\u50cf\u8bc6\u522b\u7684\u65b9\u6cd5\u6d4b\u51fa\u5c0f\u8f66\u7684\u504f\u79fb\u91cf\uff0c\u91cd\u65b0\u8c03\u6574\u89d2\u5ea6\u3002\u56fe4 \u539f\u59cb\u56fe\u50cf\uff08\u5de6\uff09\u4e0e\u53d8\u6362\u56fe\u50cf\uff08\u53f3\uff09\u6d4b\u5f97\u03c8 =0.9\u00b0\u56fe5 \u539f\u59cb\u56fe\u50cf\uff08\u5de6\uff09\u4e0e\u53d8\u6362\u56fe\u50cf\uff08\u53f3\uff09\u6d4b\u5f97\u03c8 =-9.1\u00b04 \u7ed3\u8bba\u672c\u6587\u63d0\u51fa\u7684\u7b97\u6cd5\u7ed3\u5408\u60ef\u6027\u5bfc\u822aAGV \u5c0f\u8f66\uff0c\u89e3\u51b3\u4e86\u4f20\u7edf\u60ef\u6027\u5bfc\u822a\u4e2d\u8bef\u5dee\u7d2f\u79ef\u7684\u7f3a\u9677\uff0c\u91c7\u7528\u56fe\u50cf\u8bc6\u522b\u89e3\u51b3\u5c0f\u8f66\u5b9a\u4f4d\u4e0e\u7ea0\u504f\u3002\u57fa\u4e8e\u56db\u5143\u6570\u7684\u59ff\u6001\u89e3\u7b97\u65b9\u6cd5\u8fd0\u7b97\u91cf\u5c0f\u7684\u7279\u70b9\u6ee1\u8db3\u4e86\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\u5b9e\u65f6\u59ff\u6001\u4f30\u8ba1\u7684\u8981\u6c42\u3002\u5bf9\u9640\u87ba\u4eea\u8f93\u51fa\u89d2\u901f\u5ea6\u7684\u968f\u673a\u6f02\u79fb\u8bef\u5dee\uff0c\u5e94\u7528\u6ee4\u6ce2\u5668\u5f97\u5230\u4e86\u59ff\u6001\u6d4b\u91cf\u6a21\u5757\u7a33\u5b9a\u51c6\u786e\u7684\u59ff\u6001\u4fe1\u606f\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u8be5\u65b9\u6cd5\u7b80\u5355\u53ef\u884c\uff0c\u5bf9\u5ba4\u5185AGV \u7684\u8def\u5f84\u5bfc\u822a\u6709\u4e00\u5b9a\u7684\u5b9e\u7528\u4ef7\u503c\uff0c\u4e3a\u89e3\u51b3\u673a\u5668\u7684\u5b9a\u4f4d\u3001\u6d4b\u91cf\u95ee\u9898\u63d0\u4f9b\u4e86\u4e00\u79cd\u65b0\u601d\u8def\u3002\u53c2\u8003\u6587\u732e[1] \u5f20\u6b63\u4e49\uff0eAGV \u6280\u672f\u53d1\u5c55\u7efc\u8ff0[J]\uff0e\u7269\u6d41\u6280\u672f\u4e0e\u5e94\u7528\uff0c2005\uff087\uff09\uff1a67-73.[2] \u5218\u667a\u5e73\uff0c\u6bd5\u5f00\u6ce2\uff0e\u60ef\u6027\u5bfc\u822a\u4e0e\u7ec4\u5408\u5bfc\u822a\u57fa\u7840[M]\uff0e\u5317\u4eac\uff1a\u56fd\u9632\u5de5\u4e1a\u51fa\u7248\u793e\uff0c2013\uff0e[3] \u5f20\u6c38\u6cfd, \u827e\u957f\u80dc, \u5f20\u5c09. \u60ef\u5bfc\u4e0e\u89c6\u89c9\u76f8\u7ed3\u5408\u7684AGV \u5c0f\u8f66\u63a7\u5236\u7cfb\u7edf\u8bbe\u8ba1[J]. \u5c71\u4e1c\u5de5\u4e1a\u6280\u672f,2015\uff0820\uff09\uff1a236.[4] \u6731\u8363\uff0c\u5468\u5146\u82f1. \u57fa\u4e8eMEMS \u7684\u59ff\u6001\u6d4b\u91cf\u7cfb\u7edf[J]. \u6d4b\u63a7\u6280\u672f\uff0c2002\uff0810\uff09.[5] \u674e\u6960, \u9ad8\u4e91\u5cf0. \u57fa\u4e8eARM \u5904\u7406\u5668AGV \u7528\u5fae\u5c0f\u578b\u6377\u8054\u60ef\u5bfc\u7cfb\u7edf\u7684\u7814\u7a76[J]. \u4f20\u611f\u5668\u4e0e\u5fae\u7cfb\u7edf,2008.[6] \u79e6\u6c38\u5143. \u60ef\u6027\u5bfc\u822a[M]. \u5317\u4eac\uff1a\u79d1\u5b66\u51fa\u7248\u793e, 2006.[7] \u79e6\u4e3d\u5a1f\uff0c\u738b\u633a\uff0c\u5218\u5e86\u6d9b. \u8ba1\u7b97\u673a\u5355\u76ee\u89c6\u89c9\u5b9a\u4f4d[M]. \u5317\u4eac\uff1a\u56fd\u9632\u5de5\u4e1a\u51fa\u7248\u793e\uff0c2016.[8] \u9a6c\u9882\u5fb7, \u5f20\u6b63\u53cb. \u8ba1\u7b97\u673a\u89c6\u89c9: \u8ba1\u7b97\u7406\u8bba\u4e0e\u7b97\u6cd5\u57fa\u7840[M].\u5317\u4eac\uff1a\u79d1\u5b66\u51fa\u7248\u793e, 1998.\u4e3e\u62a5\/\u53cd\u9988\u53d1\u8868\u8bc4\u8bba\u53d1\u8868\u4f5c\u8005\u6700\u65b0\u6587\u7ae0\u9ad8\u5b9a\u4f4d\u7cbe\u5ea6\u7684\u7b2c\u4e09\u4ee3\u6838\u73af\u884c\u8d77\u91cd\u673a\u8fd0\u884c\u7cfb\u7edf \u521a\u67d4\u8026\u5408\u52a8\u529b\u5b66\u4eff\u771f01-2014:40\u6db2\u538b\u6316\u6398\u673a\u8f6c\u53f0\u6709\u9650\u5143\u5206\u6790\u4e0e\u75b2\u52b3\u5f3a\u5ea6\u8bc4\u4f3001-2014:33SPMT \u6db2\u538b\u5e73\u677f\u8f66\u8f66\u677f\u53d8\u5f62\u6709\u9650\u5143\u8ba1\u7b97\u4e0e\u4eff\u771f\u6a21\u62df01-2014:31\u76f8\u5173\u6587\u7ae0\u6613\u884c\u673a\u5668\u4eba\uff1a\u638c\u63e1AGV\u6838\u5fc3\u63a7\u5236\u6280\u672f\u662f\u5173\u952e\u8981\u60f3\u83b7\u5f97\u6210\u529f\u521b\u4e1a\uff0c\u79bb\u4e0d\u5f00\u521b\u65b0\uff0c\u79bb\u4e0d\u5f00\u5e02\u573a\u9700\u6c42RFID\u7b49\u6280\u672f\u52a9\u529b\u7269\u6d41\u7ba1\u7406\u5b9e\u73b0\u4ece\u201c\u4eba\u627e\u8d27\u201d\u5230\u201c\u8d27\u627e\u4eba\u201d\u6df1\u5170\u79d1\u6280\u8d5b\u9053\uff5cICPR2020\u5927\u89c4\u6a21\u5546\u54c1\u56fe\u50cf\u8bc6\u522b\u6311\u6218\u8d5b\u51a0\u519b\u65b9\u6848\u5206\u4eab\u667a\u80fdAGV\u5c0f\u8f66\u9632\u649e\u53c2\u6570\u8bbe\u7f6e\u7b56\u7565<\/p>\n
\u672c\u6587\u6765\u6e90\u4e8e\u7a0b\u5e8f\u81ea\u52a8\u6574\u7406\uff0c\u7248\u6743\u4e89\u8bae\u4e0e\u672c\u7ad9\u65e0\u5173\uff0c\u5982\u6709\u4fb5\u6743\uff0c\u8bf7\u8054\u7cfb\u6211\u4eec\u3002
\n \u5180\u5dde\u533a\u626c\u79b9\u6c34\u5de5\u673a\u68b0\u5382
\n \u5382\u5bb6\u76f4\u9500\uff0c\u652f\u6301\u5b9a\u5236\uff0c\u91cf\u5927\u4f18\u60e0
\n \u624b\u673a\uff1a13663289587
\n \u5730\u5740\uff1a\u6cb3\u5317\u7701\u5180\u5dde\u533a\u9ad8\u7530\u5de5\u4e1a\u533a<\/p>\n","protected":false},"excerpt":{"rendered":"\u6c6a\u601d\u8fea \u66f9\u5c0f\u534e \u5468 \u52c7\u6b66\u6c49\u7406\u5de5\u5927\u5b66\u7269\u6d41\u5de5\u7a0b\u5b66\u9662 \u6b66\u6c49 430063\u6458\u8981\uff1a\u63d0\u51fa\u4e00\u79cd\u65b0\u578b\u7684AGV \u5b9a\u4f4d\u5bfc\u822a\u65b9\u6848\uff0c\u901a\u8fc7RFID \u4e0e\u56fe\u50cf\u8bc6\u522b\u89e3\u51b3...","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[74],"tags":[23,21,177,72,22],"class_list":["post-1211","post","type-post","status-publish","format-standard","hentry","category-hangyezixun","tag-shensuofeng","tag-qibiji","tag-rfid--agv-","tag-72","tag-zhamen"],"_links":{"self":[{"href":"https:\/\/jizhouyy.cn\/index.php?rest_route=\/wp\/v2\/posts\/1211","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/jizhouyy.cn\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/jizhouyy.cn\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/jizhouyy.cn\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/jizhouyy.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1211"}],"version-history":[{"count":1,"href":"https:\/\/jizhouyy.cn\/index.php?rest_route=\/wp\/v2\/posts\/1211\/revisions"}],"predecessor-version":[{"id":1212,"href":"https:\/\/jizhouyy.cn\/index.php?rest_route=\/wp\/v2\/posts\/1211\/revisions\/1212"}],"wp:attachment":[{"href":"https:\/\/jizhouyy.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1211"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/jizhouyy.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1211"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/jizhouyy.cn\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1211"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}