3. 数据库设计 .............................................................................................................11
3.1 E-R 图.............................................................................................................11
3.2 数据库关系模式 ...........................................................................................12
3.2.1 数据表及数据项介绍 ........................................................................12
3.3 关系模式规范化 ...........................................................................................13
3.3.1 用户使用关系 ....................................................................................14
3.3.2 功能实现关系 ....................................................................................14
3.3.3 控制关系 ............................................................................................14
3.3.4 测距关系 ............................................................................................14
3.3.5 物体识别关系 ....................................................................................14
3.3.6 物体抓取关系 .....................................................................................15
4. 体系结构设计 .........................................................................................................15
4.1 总体结构 .......................................................................................................16
4.2 软件体系结构 ...............................................................................................16
4.2.1 软件总体结构 .....................................................................................17
4.3 硬件体系结构 ...............................................................................................18
4.4 技术体系结构 ...............................................................................................20
4.5 支撑体系结构(部署和实施方案)................................................................21
5. 接口设计 .................................................................................................................23
5.1 对外用户调用接口 .......................................................................................24
5.1.1 “自主避障”功能相关用户接口 ....................................................24
5.1.2 “定点巡航”功能相关用户接口 ....................................................25
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