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15066\u4e2d\u7ed9\u51fa\u7684\u534f\u4f5c\u673a\u5668\u4eba\u51cf\u901f\u51c6\u5219\u53ef\u7b80\u5316\u4e3a\uff1a\u673a\u5668\u4eba\u8fd0\u52a8\u901f\u5ea6&nbsp;<math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\"><semantics><mrow><msub><mi>v<\/mi><mi>r<\/mi><\/msub><\/mrow><\/semantics><\/math><em>v<\/em><em>r<\/em>\u200b&nbsp;\u5e94\u5c0f\u4e8e\u7b49\u4e8e\u4eba\u5458\u8ddd\u79bb&nbsp;<math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\"><semantics><mrow><mi>d<\/mi><\/mrow><\/semantics><\/math><em>d<\/em>&nbsp;\u7684\u51fd\u6570\uff1a<math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" display=\"block\"><semantics><mrow><msub><mi>v<\/mi><mi>r<\/mi><\/msub><mo stretchy=\"false\">(<\/mo><mi>d<\/mi><mo stretchy=\"false\">)<\/mo><mo>=<\/mo><msub><mi>v<\/mi><mrow><mi>m<\/mi><mi>a<\/mi><mi>x<\/mi><\/mrow><\/msub><mo>\u22c5<\/mo><mi>min<\/mi><mo>\u2061<\/mo><mrow><mo fence=\"true\">(<\/mo><mn>1<\/mn><mo separator=\"true\">,<\/mo><mfrac><mrow><mi>d<\/mi><mo>\u2212<\/mo><msub><mi>d<\/mi><mrow><mi>s<\/mi><mi>t<\/mi><mi>o<\/mi><mi>p<\/mi><\/mrow><\/msub><\/mrow><mrow><msub><mi>d<\/mi><mrow><mi>s<\/mi><mi>l<\/mi><mi>o<\/mi><mi>w<\/mi><\/mrow><\/msub><mo>\u2212<\/mo><msub><mi>d<\/mi><mrow><mi>s<\/mi><mi>t<\/mi><mi>o<\/mi><mi>p<\/mi><\/mrow><\/msub><\/mrow><\/mfrac><mo fence=\"true\">)<\/mo><\/mrow><mo separator=\"true\">,<\/mo><mspace width=\"1em\"><\/mspace><mi>d<\/mi><mo>&gt;<\/mo><msub><mi>d<\/mi><mrow><mi>s<\/mi><mi>t<\/mi><mi>o<\/mi><mi>p<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math><em>v<\/em><em>r<\/em>\u200b(<em>d<\/em>)=<em>v<\/em><em>ma<\/em><em>x<\/em>\u200b\u22c5min(1,<em>d<\/em><em>s<\/em><em>l<\/em><em>o<\/em><em>w<\/em>\u200b\u2212<em>d<\/em><em>s<\/em><em>t<\/em><em>o<\/em><em>p<\/em>\u200b<em>d<\/em>\u2212<em>d<\/em><em>s<\/em><em>t<\/em><em>o<\/em><em>p<\/em>\u200b\u200b),<em>d<\/em>&gt;<em>d<\/em><em>s<\/em><em>t<\/em><em>o<\/em><em>p<\/em>\u200b<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5f53&nbsp;<math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\"><semantics><mrow><mi>d<\/mi><mo>\u2264<\/mo><msub><mi>d<\/mi><mrow><mi>s<\/mi><mi>t<\/mi><mi>o<\/mi><mi>p<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math><em>d<\/em>\u2264<em>d<\/em><em>s<\/em><em>t<\/em><em>o<\/em><em>p<\/em>\u200b&nbsp;\u65f6\u673a\u5668\u4eba\u5b8c\u5168\u505c\u6b62\u3002\u672c\u6a21\u578b\u4e2d\uff0c<math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\"><semantics><mrow><msub><mi>d<\/mi><mrow><mi>s<\/mi><mi>l<\/mi><mi>o<\/mi><mi>w<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math><em>d<\/em><em>s<\/em><em>l<\/em><em>o<\/em><em>w<\/em>\u200b&nbsp;\u4e3a\u51cf\u901f\u8d77\u59cb\u8ddd\u79bb\uff0c<math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\"><semantics><mrow><msub><mi>d<\/mi><mrow><mi>s<\/mi><mi>t<\/mi><mi>o<\/mi><mi>p<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math><em>d<\/em><em>s<\/em><em>t<\/em><em>o<\/em><em>p<\/em>\u200b&nbsp;\u4e3a\u505c\u6b62\u8ddd\u79bb\u3002\u4e0e\u6807\u51c6\u4e0d\u540c\u7684\u662f\uff0c\u672c\u6587\u63d0\u51fa\u52a8\u6001\u8c03\u6574\u8fd9\u4e24\u4e2a\u53c2\u6570\uff1a\u5f53\u4eba\u5458\u79fb\u52a8\u901f\u5ea6\u8f83\u5feb\u65f6\uff0c\u63d0\u524d\u51cf\u901f\uff0c\u5373&nbsp;<math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\"><semantics><mrow><msub><mi>d<\/mi><mrow><mi>s<\/mi><mi>l<\/mi><mi>o<\/mi><mi>w<\/mi><\/mrow><\/msub><mo>=<\/mo><msub><mi>d<\/mi><mrow><mi>s<\/mi><mi>l<\/mi><mi>o<\/mi><mi>w<\/mi><mn>0<\/mn><\/mrow><\/msub><mo>+<\/mo><msub><mi>k<\/mi><mi>v<\/mi><\/msub><mo>\u22c5<\/mo><msub><mi>v<\/mi><mi>h<\/mi><\/msub><\/mrow><\/semantics><\/math><em>d<\/em><em>s<\/em><em>l<\/em><em>o<\/em><em>w<\/em>\u200b=<em>d<\/em><em>s<\/em><em>l<\/em><em>o<\/em><em>w<\/em>0\u200b+<em>k<\/em><em>v<\/em>\u200b\u22c5<em>v<\/em><em>h<\/em>\u200b\uff0c\u5176\u4e2d&nbsp;<math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\"><semantics><mrow><msub><mi>v<\/mi><mi>h<\/mi><\/msub><\/mrow><\/semantics><\/math><em>v<\/em><em>h<\/em>\u200b&nbsp;\u4e3a\u4eba\u5458\u5f84\u5411\u901f\u5ea6\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">3.2 \u8fb9\u754c\u751f\u6210\u4e0e\u66f4\u65b0<br>\u5b89\u5168\u56f4\u680f\u8fb9\u754c\u5728\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u88ab\u8868\u793a\u4e3a\u4e00\u4e2a\u968f\u4eba\u5458\u4f4d\u7f6e\u53d8\u5316\u800c\u6536\u7f29\/\u6269\u5f20\u7684\u52bf\u573a\u3002\u673a\u5668\u4eba\u4e0d\u80fd\u8fdb\u5165\u8ddd\u79bb\u4eba\u5458\u5c0f\u4e8e\ud835\udc51\ud835\udc60\ud835\udc61\ud835\udc5c\ud835\udc5ddstop<br>\u200b\u7684\u533a\u57df\u3002\u5c06\u673a\u5668\u4eba\u7684\u4efb\u52a1\u8def\u5f84\u5d4c\u5165\u8be5\u52bf\u573a\uff0c\u901a\u8fc7\u5b9e\u65f6\u8def\u5f84\u4fee\u6b63\u5b9e\u73b0\u907f\u8ba9\u3002\u66f4\u65b0\u7684\u9891\u7387\u75315G\u7f51\u7edc\u4fdd\u969c\uff1a\u6bcf\u4e2a\u611f\u77e5\u8282\u70b9\u4ee51kHz\u91c7\u6837\u9891\u7387\u6d4b\u91cf\u7535\u5bb9\uff0c\u901a\u8fc75G\u4e0a\u884c\u94fe\u8def\u53d1\u9001\u81f3\u8fb9\u7f18\u670d\u52a1\u5668\uff08MEC\uff09\uff0c\u670d\u52a1\u5668\u6bcf5ms\u5b8c\u6210\u4e00\u6b21\u5b9a\u4f4d\u4e0e\u8fb9\u754c\u8ba1\u7b97\uff0c\u7136\u540e\u5c06\u66f4\u65b0\u540e\u7684\u901f\u5ea6\u9650\u5236\u6216\u8def\u5f84\u70b9\u901a\u8fc75G\u4e0b\u884c\u94fe\u8def\u53d1\u9001\u7ed9\u673a\u5668\u4eba\u63a7\u5236\u5668\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">3.3 \u4e0e\u673a\u5668\u4eba\u63a7\u5236\u5668\u7684\u63a5\u53e3<br>\u91c7\u7528OPC UA over 5G\u4f5c\u4e3a\u901a\u4fe1\u534f\u8bae\uff0c\u673a\u5668\u4eba\u63a7\u5236\u5668\u63a5\u6536\u76ee\u6807\u901f\u5ea6\u6216\u8def\u5f84\u70b9\u4fee\u6539\u6307\u4ee4\u3002\u4e3a\u5e94\u5bf9\u7f51\u7edc\u77ac\u65f6\u8d85\u65f6\uff0c\u673a\u5668\u4eba\u4fa7\u5b9e\u73b0\u770b\u95e8\u72d7\u5b9a\u65f6\u5668\uff1a\u82e5\u8d85\u8fc720ms\u672a\u6536\u5230\u65b0\u8fb9\u754c\u6570\u636e\uff0c\u81ea\u52a8\u6267\u884c\u5b89\u5168\u51cf\u901f\u76f4\u81f3\u505c\u6b62\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">4 \u5b9e\u9a8c\u9a8c\u8bc1<br>4.1 \u5b9e\u9a8c\u5e73\u53f0<br>\u5de5\u4e1a5G\u5b9e\u9a8c\u7f51\uff1a\u4e2d\u56fd\u79fb\u52a85G\u4e13\u7f51\uff0c\u6838\u5fc3\u7f51\u4e0b\u6c89\u90e8\u7f72\uff0c\u57fa\u7ad9\u8986\u76d6\u5b9e\u9a8c\u533a\u57df\uff0c\u7aef\u5230\u7aef\u5e73\u5747\u5ef6\u8fdf3.2ms\u3002\u534f\u4f5c\u673a\u5668\u4eba\uff1aUR20e\uff0c\u63a7\u5236\u7cfb\u7edf\u652f\u6301\u5916\u90e8\u901f\u5ea6\u6307\u4ee4\uff08\u5b9e\u65f6\u6027\u8981\u6c42&lt;10ms\uff09\u3002\u7535\u78c1\u611f\u77e5\u8282\u70b9\uff1a\u81ea\u7814\u6a21\u5757\uff08\u6d4b\u91cf\u8303\u56f40.3-3m\uff0c\u7cbe\u5ea6\u00b10.1m\uff09\uff0c\u5171\u90e8\u7f726\u4e2a\u8282\u70b9\uff0c\u8d34\u4e8e\u673a\u5668\u4eba\u5468\u56f4\u7acb\u67f1\u548c\u5730\u9762\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5bf9\u6bd4\u65b9\u6848\uff1aIntel RealSense D455\u6df1\u5ea6\u76f8\u673a + PC\u7aefYOLOv8\u4eba\u4f53\u68c0\u6d4b + TCP\/IP\u901a\u4fe1\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">4.2 \u5b9a\u4f4d\u7cbe\u5ea6\u6d4b\u8bd5<br>\u9759\u6001\u5b9a\u4f4d\uff1a\u572810\u4e2a\u6d4b\u8bd5\u70b9\uff0c\u672c\u6587\u7535\u78c1\u611f\u77e5\u7cfb\u7edf\u5e73\u5747\u8bef\u5dee0.28m\uff0c\u6700\u5927\u8bef\u5dee0.52m\uff1b\u6df1\u5ea6\u76f8\u673a\u5e73\u5747\u8bef\u5dee0.19m\uff0c\u4f46\u5b58\u5728\u89c6\u573a\u6b7b\u89d2\u3002\u52a8\u6001\u6d4b\u8bd5\uff08\u4eba\u4ee51m\/s\u884c\u8d70\uff09\uff1a\u7535\u78c1\u611f\u77e5\u7cfb\u7edf\u8ddf\u8e2a\u5ef6\u8fdf\u7ea67ms\uff0c\u4f4d\u7f6e\u8ff9\u5e73\u6ed1\uff1b\u6df1\u5ea6\u76f8\u673a\u7684\u68c0\u6d4b\u5ef6\u8fdf\u7ea690ms\uff0c\u4e14\u5f53\u4eba\u80cc\u5bf9\u76f8\u673a\u65f6\u53d1\u751f\u4e22\u5e27\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6307\u6807 \u7535\u78c1\u611f\u77e5+5G \u6df1\u5ea6\u76f8\u673a+TCP<br>\u5e73\u5747\u5b9a\u4f4d\u8bef\u5dee(\u9759\u6001) 0.28m 0.19m<br>90%\u5206\u4f4d\u8bef\u5dee(\u52a8\u6001) 0.32m 0.47m<br>\u7aef\u5230\u7aef\u5ef6\u8fdf(\u611f\u77e5\u2192\u8f93\u51fa) 9.2ms 115ms<br>\u6700\u5927\u8ddf\u8e2a\u9891\u7387 200Hz 10Hz<br>4.3 \u52a8\u6001\u56f4\u680f\u6709\u6548\u6027<br>\u8bbe\u5b9a\u673a\u5668\u4eba\u6b63\u5e38\u901f\u5ea6500mm\/s\uff0c<math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\"><semantics><mrow><msub><mi>d<\/mi><mrow><mi>s<\/mi><mi>l<\/mi><mi>o<\/mi><mi>w<\/mi><mn>0<\/mn><\/mrow><\/msub><mo>=<\/mo><mn>1.0<\/mn><mi>m<\/mi><\/mrow><\/semantics><\/math><em>d<\/em><em>s<\/em><em>l<\/em><em>o<\/em><em>w<\/em>0\u200b=1.0<em>m<\/em>\uff0c<math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\"><semantics><mrow><msub><mi>d<\/mi><mrow><mi>s<\/mi><mi>t<\/mi><mi>o<\/mi><mi>p<\/mi><\/mrow><\/msub><mo>=<\/mo><mn>0.3<\/mn><mi>m<\/mi><\/mrow><\/semantics><\/math><em>d<\/em><em>s<\/em><em>t<\/em><em>o<\/em><em>p<\/em>\u200b=0.3<em>m<\/em>\uff0c<math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\"><semantics><mrow><msub><mi>k<\/mi><mi>v<\/mi><\/msub><mo>=<\/mo><mn>0.2<\/mn><\/mrow><\/semantics><\/math><em>k<\/em><em>v<\/em>\u200b=0.2\u3002\u4eba\u5458\u4ee51.2m\/s\u901f\u5ea6\u5f84\u5411\u63a5\u8fd1\u673a\u5668\u4eba\u3002\u8bb0\u5f55\u673a\u5668\u4eba\u901f\u5ea6\u53d8\u5316\u66f2\u7ebf\uff1a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u672c\u6587\u52a8\u6001\u6a21\u578b\uff1a\u4eba\u5458\u901f\u5ea6\u8f83\u9ad8\u65f6\uff0c\u5728\u8ddd\u79bb1.24m\u5904\uff08\u52a8\u6001<math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\"><semantics><mrow><msub><mi>d<\/mi><mrow><mi>s<\/mi><mi>l<\/mi><mi>o<\/mi><mi>w<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math><em>d<\/em><em>s<\/em><em>l<\/em><em>o<\/em><em>w<\/em>\u200b\uff09\u5f00\u59cb\u51cf\u901f\u81f380mm\/s\uff0c\u5f53\u4eba\u5b9e\u9645\u505c\u6b62\u57280.6m\u5904\u65f6\uff0c\u673a\u5668\u4eba\u91cd\u65b0\u52a0\u901f\u5230300mm\/s\u3002\u6574\u4e2a\u8fc7\u7a0b\u4e2d\u6700\u5c0f\u4eba\u673a\u8ddd\u79bb0.35m\uff08\u5b89\u5168\uff09\u3002\u76f8\u6bd4\u9759\u6001\u6a21\u578b\uff0c\u673a\u5668\u4eba\u4efb\u52a1\u5b8c\u6210\u65f6\u95f4\u7f29\u77ed\u4e8628%\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u9759\u6001\u56fa\u5b9a\u56f4\u680f\uff08\u56fa\u5b9a\u51cf\u901f\u533a1.0m\uff09\uff1a\u5f53\u4eba\u8fdb\u51651.0m\u5185\uff0c\u673a\u5668\u4eba\u7acb\u5373\u51cf\u901f\u5230150mm\/s\uff0c\u4f46\u4eba\u5458\u672a\u7ee7\u7eed\u9760\u8fd1\u65f6\u673a\u5668\u4eba\u53ef\u6062\u590d\u901f\u5ea6\uff0c\u4f46\u56f4\u680f\u4e0d\u80fd\u533a\u5206\u63a5\u8fd1\u901f\u5ea6\uff0c\u5bfc\u81f4\u9891\u7e41\u51cf\u901f\u5f71\u54cd\u6548\u7387\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">4.4 \u9c81\u68d2\u6027\u6d4b\u8bd5<br>\u5728\u4eba-\u673a-\u591a\u91d1\u5c5e\u7269\u4f53\u5171\u5b58\u73af\u5883\u4e2d\uff0c\u91d1\u5c5e\u7269\u4f53\u5bf9\u7535\u78c1\u573a\u6709\u6270\u52a8\uff0c\u53ef\u80fd\u4ea7\u751f\u865a\u8b66\u3002\u672c\u6587\u901a\u8fc7\u9891\u8c31\u5206\u6790\u533a\u5206\u4eba\u4f53\uff08\u4f4e\u9891\u7535\u5bb9\u53d8\u5316\u6a21\u5f0f\uff09\u4e0e\u91d1\u5c5e\u7269\u4f53\uff08\u65e0\u8fd0\u52a8\u6216\u521a\u6027\u8fd0\u52a8\u6a21\u5f0f\uff09\uff0c\u8bef\u62a5\u7387\u964d\u4f4e\u81f3\u6bcf10\u5206\u949f1\u6b21\uff0c\u53ef\u63a5\u53d7\u6c34\u5e73\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">5 \u8ba8\u8bba<br>5.1 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