{"id":11209,"date":"2026-04-08T09:22:00","date_gmt":"2026-04-08T01:22:00","guid":{"rendered":"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/"},"modified":"2026-04-08T09:22:00","modified_gmt":"2026-04-08T01:22:00","slug":"state-machine-diagram-best-practices-robotics-deadlocks","status":"publish","type":"post","link":"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/","title":{"rendered":"\u7528\u65bc\u6a5f\u5668\u4eba\u56fa\u4ef6\u4e2d\u907f\u514d\u6b7b\u9396\u7684\u72c0\u614b\u6a5f\u5716\u6700\u4f73\u5be6\u52d9"},"content":{"rendered":"<p>\u8a2d\u8a08\u53ef\u9760\u7684\u6a5f\u5668\u4eba\u63a7\u5236\u7cfb\u7d71\u9700\u8981\u7cbe\u78ba\u6027\u3002\u56fa\u4ef6\u4e2d\u7684\u4e00\u500b\u908f\u8f2f\u932f\u8aa4\u53ef\u80fd\u5c0e\u81f4\u64cd\u4f5c\u4e2d\u6b62\u6216\u786c\u9ad4\u640d\u58de\u3002\u72c0\u614b\u6a5f\u63d0\u4f9b\u4e86\u4e00\u7a2e\u7d50\u69cb\u5316\u7684\u65b9\u6cd5\u4f86\u7ba1\u7406\u8907\u96dc\u884c\u70ba\u3002\u82e5\u6b63\u78ba\u5be6\u65bd\uff0c\u53ef\u63d0\u5347\u7cfb\u7d71\u7684\u53ef\u9810\u6e2c\u6027\u8207\u53ef\u7dad\u8b77\u6027\u3002\u7136\u800c\uff0c\u8a2d\u8a08\u4e0d\u7576\u6703\u5f15\u5165\u6b7b\u9396\u7b49\u98a8\u96aa\u3002\u9019\u4e9b\u72c0\u6cc1\u6703\u4f7f\u7cfb\u7d71\u51cd\u7d50\uff0c\u963b\u6b62\u9032\u4e00\u6b65\u7684\u9032\u5c55\u3002<\/p>\n<p>\u672c\u6307\u5357\u63a2\u8a0e UML \u72c0\u614b\u6a5f\u5716\u7684\u6700\u4f73\u5be6\u52d9\u3002\u91cd\u9ede\u5728\u6a5f\u5668\u4eba\u56fa\u4ef6\u7684\u61c9\u7528\u60c5\u5883\u3002\u6211\u5011\u5c07\u6aa2\u8996\u5982\u4f55\u8a2d\u8a08\u8f49\u79fb\u908f\u8f2f\u3001\u7ba1\u7406\u8cc7\u6e90\u4ee5\u53ca\u8655\u7406\u4e26\u767c\u6027\u3002\u76ee\u6a19\u662f\u5728\u4e0d\u589e\u52a0\u4e0d\u5fc5\u8981\u7684\u8907\u96dc\u5ea6\u4e0b\uff0c\u5be6\u73fe\u7cfb\u7d71\u7684\u7a69\u5065\u6027\u3002<\/p>\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter\"><img alt=\"Infographic illustrating best practices for UML state machine diagrams in robotics firmware to prevent deadlocks, featuring common causes like circular dependencies and missing guards, plus solutions including timeout transitions, deterministic guards, and resource management strategies, designed with clean flat style and pastel colors for educational use\" decoding=\"async\" src=\"https:\/\/www.archimetric.com\/wp-content\/uploads\/2026\/04\/state-machine-deadlock-prevention-robotics-firmware-infographic.jpg\"\/><\/figure>\n<\/div>\n<h2>\ud83e\udde0 \u7406\u89e3\u6a5f\u5668\u4eba\u4e2d\u7684\u72c0\u614b\u6a5f<\/h2>\n<p>\u72c0\u614b\u6a5f\u662f\u4e00\u7a2e\u8a08\u7b97\u7684\u6578\u5b78\u6a21\u578b\u3002\u5b83\u63cf\u8ff0\u4e86\u4e00\u500b\u6839\u64da\u8f38\u5165\u5728\u5b9a\u7fa9\u72c0\u614b\u4e4b\u9593\u79fb\u52d5\u7684\u7cfb\u7d71\u3002\u5728\u6a5f\u5668\u4eba\u9818\u57df\uff0c\u9019\u4e9b\u8f38\u5165\u901a\u5e38\u4f86\u81ea\u611f\u6e2c\u5668\u3001\u4f7f\u7528\u8005\u6307\u4ee4\u6216\u5167\u90e8\u8a08\u6642\u5668\u3002\u72c0\u614b\u4ee3\u8868\u7279\u5b9a\u7684\u904b\u4f5c\u6a21\u5f0f\uff0c\u4f8b\u5982\u300c\u7a7a\u9592\u300d\u3001\u300c\u79fb\u52d5\u4e2d\u300d\u3001\u300c\u8655\u7406\u4e2d\u300d\u6216\u300c\u932f\u8aa4\u300d\u3002<\/p>\n<p><strong>\u70ba\u4ec0\u9ebc\u8981\u4f7f\u7528\u72c0\u614b\u6a5f\uff1f<\/strong><\/p>\n<ul>\n<li><strong>\u6e05\u6670\u6027\uff1a<\/strong>\u8996\u89ba\u5316\u5716\u8868\u80fd\u6e05\u695a\u5730\u5448\u73fe\u908f\u8f2f\u6d41\u7a0b\u3002<\/li>\n<li><strong>\u5b8c\u6574\u6027\uff1a<\/strong>\u78ba\u4fdd\u6240\u6709\u60c5\u5883\u90fd\u5df2\u7d0d\u5165\u8003\u91cf\u3002<\/li>\n<li><strong>\u53ef\u7dad\u8b77\u6027\uff1a<\/strong>\u8b8a\u66f4\u50c5\u9650\u65bc\u7279\u5b9a\u72c0\u614b\u6216\u8f49\u79fb\uff0c\u4e0d\u6703\u5f71\u97ff\u6574\u9ad4\u7cfb\u7d71\u3002<\/li>\n<li><strong>\u9664\u932f\uff1a<\/strong>\u5728\u6545\u969c\u767c\u751f\u6642\uff0c\u66f4\u5bb9\u6613\u8ffd\u8e64\u57f7\u884c\u8def\u5f91\u3002<\/li>\n<\/ul>\n<p>\u7136\u800c\uff0c\u5d4c\u5165\u5f0f\u7cfb\u7d71\u5b58\u5728\u9650\u5236\u3002\u8a18\u61b6\u9ad4\u6709\u9650\uff0c\u8655\u7406\u80fd\u529b\u6709\u9650\uff0c\u6642\u5e8f\u81f3\u95dc\u91cd\u8981\u3002\u7576\u5169\u500b\u6216\u66f4\u591a\u72c0\u614b\u7121\u9650\u671f\u5730\u4e92\u76f8\u7b49\u5f85\u6642\uff0c\u5c31\u6703\u767c\u751f\u6b7b\u9396\u3002\u9019\u901a\u5e38\u662f\u7531\u65bc\u5faa\u74b0\u4f9d\u8cf4\u6216\u8cc7\u6e90\u7af6\u722d\u6240\u5c0e\u81f4\u3002<\/p>\n<h2>\u26a0\ufe0f \u56fa\u4ef6\u4e2d\u6b7b\u9396\u7684\u5e38\u898b\u539f\u56e0<\/h2>\n<p>\u5728\u61c9\u7528\u4fee\u5fa9\u63aa\u65bd\u4e4b\u524d\uff0c\u5fc5\u9808\u5148\u4e86\u89e3\u6839\u672c\u539f\u56e0\u3002\u6a5f\u5668\u4eba\u56fa\u4ef6\u4e2d\u7684\u6b7b\u9396\u901a\u5e38\u6e90\u65bc\u4e8b\u4ef6\u6392\u968a\u65b9\u5f0f\u8207\u8cc7\u6e90\u53d6\u5f97\u6a5f\u5236\u3002<\/p>\n<h3>1. \u5faa\u74b0\u8cc7\u6e90\u4f9d\u8cf4<\/h3>\n<p>\u72c0\u614b A \u7b49\u5f85\u72c0\u614b B \u6301\u6709\u7684\u8cc7\u6e90\u3002\u72c0\u614b B \u7b49\u5f85\u72c0\u614b A \u6301\u6709\u7684\u8cc7\u6e90\u3002\u96d9\u65b9\u7686\u7121\u6cd5\u7e7c\u7e8c\u3002\u9019\u5728\u591a\u57f7\u884c\u7dd2\u6216\u591a\u7a0b\u5e8f\u67b6\u69cb\u4e2d\u76f8\u7576\u5178\u578b\u3002<\/p>\n<h3>2. \u7f3a\u5c11\u8f49\u79fb\u5b88\u885b<\/h3>\n<p>\u82e5\u8f49\u79fb\u689d\u4ef6\u6c38\u9060\u7121\u6cd5\u6eff\u8db3\uff0c\u7cfb\u7d71\u5c07\u6c38\u9060\u505c\u7559\u5728\u8a72\u72c0\u614b\u3002\u5c0d\u64cd\u4f5c\u54e1\u800c\u8a00\u9019\u770b\u8d77\u4f86\u50cf\u6b7b\u9396\uff0c\u4f46\u6280\u8853\u4e0a\u5176\u5be6\u662f\u908f\u8f2f\u505c\u9813\u3002<\/p>\n<h3>3. \u963b\u585e\u4e8b\u4ef6\u4f47\u5217<\/h3>\n<p>\u9ad8\u512a\u5148\u6b0a\u4e8b\u4ef6\u88ab\u4f4e\u512a\u5148\u6b0a\u4e8b\u4ef6\u963b\u64cb\u3002\u82e5\u4f47\u5217\u586b\u6eff\uff0c\u65b0\u4e8b\u4ef6\u5c07\u88ab\u4e1f\u68c4\uff0c\u6216\u7cfb\u7d71\u6703\u963b\u585e\u7b49\u5f85\u7a7a\u9593\u3002<\/p>\n<h3>4. \u4e0d\u7576\u7684\u932f\u8aa4\u8655\u7406<\/h3>\n<p>\u7576\u767c\u751f\u932f\u8aa4\u6642\uff0c\u6a5f\u5668\u6703\u8f49\u79fb\u5230\u300c\u932f\u8aa4\u300d\u72c0\u614b\u3002\u82e5\u8a72\u72c0\u614b\u672a\u5b9a\u7fa9\u9000\u51fa\u689d\u4ef6\uff0c\u6a5f\u5668\u4eba\u5c07\u505c\u6b62\u56de\u61c9\u6240\u6709\u8f38\u5165\u3002<\/p>\n<h2>\ud83d\udee1\ufe0f \u5716\u8868\u8a2d\u8a08\u7684\u6700\u4f73\u5be6\u52d9<\/h2>\n<p>\u8a2d\u8a08\u5716\u8868\u662f\u7b2c\u4e00\u9053\u9632\u7dda\u3002\u8996\u89ba\u6a21\u578b\u5fc5\u9808\u8f49\u63db\u70ba\u7a0b\u5f0f\u78bc\uff0c\u4e14\u4e0d\u80fd\u5f15\u5165\u908f\u8f2f\u932f\u8aa4\u3002<\/p>\n<h3>1. \u5b9a\u7fa9\u660e\u78ba\u7684\u9032\u5165\u8207\u96e2\u958b\u52d5\u4f5c<\/h3>\n<p>\u6bcf\u500b\u72c0\u614b\u90fd\u61c9\u5b9a\u7fa9\u9032\u5165\u8207\u96e2\u958b\u6642\u7684\u884c\u70ba\u3002\u9019\u53ef\u78ba\u4fdd\u8cc7\u6e90\u88ab\u4e00\u81f4\u5730\u7ba1\u7406\u3002<\/p>\n<ul>\n<li><strong>\u9032\u5165\u52d5\u4f5c\uff1a<\/strong> \u521d\u59cb\u5316\u8b8a\u6578\u3001\u555f\u52d5\u8a08\u6642\u5668\u6216\u555f\u7528\u611f\u6e2c\u5668\u3002<\/li>\n<li><strong>\u96e2\u958b\u52d5\u4f5c\uff1a<\/strong> \u505c\u6b62\u57f7\u884c\u5668\u3001\u91cb\u653e\u9396\u5b9a\u6216\u8a18\u9304\u8cc7\u6599\u3002<\/li>\n<li><strong> \u6548\u679c\uff1a<\/strong> \u8f49\u63db\u767c\u751f\u6642\u7acb\u5373\u57f7\u884c\u7684\u52d5\u4f5c\u3002<\/li>\n<\/ul>\n<p><strong> \u7bc4\u4f8b\uff1a<\/strong><\/p>\n<ul>\n<li>\u9032\u5165 <em>\u904b\u52d5<\/em> \u72c0\u614b\uff1a\u555f\u7528\u99ac\u9054\u9a45\u52d5\u5668\u3002<\/li>\n<li>\u96e2\u958b <em>\u904b\u52d5<\/em> \u72c0\u614b\uff1a\u505c\u7528\u99ac\u9054\u9a45\u52d5\u5668\u3002<\/li>\n<\/ul>\n<h3>2. \u70ba\u8907\u96dc\u7684\u5b50\u6a5f\u5668\u4f7f\u7528\u6b77\u53f2\u72c0\u614b<\/h3>\n<p>\u8907\u96dc\u7684\u6a5f\u5668\u4eba\u5177\u6709\u5d4c\u5957\u7684\u884c\u70ba\u3002\u6b63\u4ea4\u5340\u57df\u5141\u8a31\u7368\u7acb\u7684\u7a0b\u5e8f\u540c\u6642\u904b\u884c\u3002\u6b77\u53f2\u72c0\u614b\u6703\u8a18\u4f4f\u6700\u5f8c\u6d3b\u8e8d\u7684\u5b50\u72c0\u614b\u3002<\/p>\n<ul>\n<li><strong>\u6df1\u5ea6\u6b77\u53f2\uff1a<\/strong> \u56de\u5230\u6700\u6df1\u5c64\u7684\u6d3b\u8e8d\u72c0\u614b\u3002<\/li>\n<li><strong>\u6dfa\u5c64\u6b77\u53f2\uff1a<\/strong> \u56de\u5230\u8a72\u5c64\u7d1a\u6700\u8fd1\u9032\u5165\u7684\u72c0\u614b\u3002<\/li>\n<\/ul>\n<p>\u9019\u53ef\u9632\u6b62\u7cfb\u7d71\u6bcf\u6b21\u91cd\u65b0\u9032\u5165\u5b50\u6a5f\u5668\u6642\u90fd\u91cd\u8a2d\u70ba\u9810\u8a2d\u72c0\u614b\uff0c\u5f9e\u800c\u964d\u4f4e\u5ef6\u9072\u548c\u6f5b\u5728\u7684\u7af6\u614b\u689d\u4ef6\u3002<\/p>\n<h3>3. \u689d\u4ef6\u5b88\u885b\u5fc5\u9808\u662f\u78ba\u5b9a\u6027\u7684<\/h3>\n<p>\u5b88\u885b\u6c7a\u5b9a\u8f49\u63db\u662f\u5426\u767c\u751f\u3002\u5b83\u5011\u5fc5\u9808\u5feb\u901f\u4e14\u4e00\u81f4\u5730\u8a55\u4f30\u3002\u907f\u514d\u5728\u5b88\u885b\u689d\u4ef6\u4e2d\u9032\u884c\u8907\u96dc\u7684\u8a08\u7b97\u3002<\/p>\n<ul>\n<li><strong>\u4e0d\u826f\uff1a<\/strong> \u4f7f\u7528\u5de2\u72c0\u8ff4\u5708\u6aa2\u67e5\u4e00\u9577\u4e32\u611f\u6e2c\u5668\u503c\u3002<\/li>\n<li><strong>\u826f\u597d\uff1a<\/strong> \u6aa2\u67e5\u7531\u80cc\u666f\u4efb\u52d9\u8a2d\u7f6e\u7684\u5e03\u6797\u65d7\u6a19\u3002<\/li>\n<\/ul>\n<h3>4. \u5be6\u4f5c\u903e\u6642\u8f49\u63db<\/h3>\n<p>\u4efb\u4f55\u72c0\u614b\u90fd\u4e0d\u61c9\u7121\u9650\u671f\u5730\u7b49\u5f85\u4e8b\u4ef6\u3002\u903e\u6642\u53ef\u78ba\u4fdd\u9032\u5c55\u3002<\/p>\n<ul>\n<li>\u70ba\u72c0\u614b\u8a2d\u5b9a\u6700\u5927\u6301\u7e8c\u6642\u9593\u3002<\/li>\n<li>\u5b9a\u7fa9\u903e\u6642\u6642\u8f49\u63db\u81f3\u932f\u8aa4\u6216\u7a7a\u9592\u72c0\u614b\u3002<\/li>\n<li>\u9019\u53ef\u9632\u6b62\u56e0\u7db2\u8def\u5ef6\u9072\u6216\u611f\u6e2c\u5668\u5ef6\u9072\u800c\u5361\u4f4f\u3002<\/li>\n<\/ul>\n<h3>5. \u6700\u5c0f\u5316\u4e26\u767c\u5340\u57df<\/h3>\n<p>\u4e26\u767c\u5340\u57df\uff08\u6b63\u4ea4\u72c0\u614b\uff09\u529f\u80fd\u5f37\u5927\u4f46\u5177\u6709\u98a8\u96aa\u3002\u5340\u57df\u8d8a\u591a\uff0c\u767c\u751f\u540c\u6b65\u932f\u8aa4\u7684\u6f5b\u5728\u53ef\u80fd\u6027\u5c31\u8d8a\u9ad8\u3002<\/p>\n<ul>\n<li>\u76e1\u53ef\u80fd\u4fdd\u6301\u5340\u57df\u4e4b\u9593\u7684\u7368\u7acb\u6027\u3002<\/li>\n<li>\u8b39\u614e\u4f7f\u7528\u4e8b\u4ef6\u5ee3\u64ad\u3002<\/li>\n<li>\u907f\u514d\u5728\u4e26\u767c\u5340\u57df\u4e4b\u9593\u5171\u4eab\u53ef\u8b8a\u72c0\u614b\u3002<\/li>\n<\/ul>\n<h2>\ud83d\udd04 \u8655\u7406\u8f49\u79fb\u8207\u4e8b\u4ef6<\/h2>\n<p>\u72c0\u614b\u4e4b\u9593\u7684\u8f49\u79fb\u662f\u5927\u591a\u6578\u908f\u8f2f\u932f\u8aa4\u767c\u751f\u7684\u5730\u65b9\u3002\u4e8b\u4ef6\u8655\u7406\u9806\u5e8f\u81f3\u95dc\u91cd\u8981\u3002<\/p>\n<h3>\u4e8b\u4ef6\u512a\u5148\u7d1a<\/h3>\n<p>\u4e26\u975e\u6240\u6709\u4e8b\u4ef6\u90fd\u540c\u7b49\u91cd\u8981\u3002\u786c\u9ad4\u6545\u969c\u4e8b\u4ef6\u5fc5\u9808\u8986\u84cb\u72c0\u614b\u66f4\u65b0\u4e8b\u4ef6\u3002\u5728\u5716\u8868\u4e2d\u5b9a\u7fa9\u512a\u5148\u7d1a\u5c64\u7d1a\u3002<\/p>\n<h3>\u8f49\u79fb\u89f8\u767c\u689d\u4ef6<\/h3>\n<p>\u78ba\u4fdd\u6bcf\u500b\u72c0\u614b\u5c0d\u6bcf\u500b\u76f8\u95dc\u4e8b\u4ef6\u90fd\u6709\u660e\u78ba\u7684\u56de\u61c9\u3002\u82e5\u5ffd\u7565\u67d0\u4e8b\u4ef6\uff0c\u5247\u8996\u70ba\u7121\u64cd\u4f5c\u3002\u82e5\u4e8b\u4ef6\u51fa\u4e4e\u610f\u6599\uff0c\u53ef\u80fd\u6703\u5f15\u767c\u672a\u5b9a\u7fa9\u884c\u70ba\u3002<\/p>\n<h3>\u81ea\u8f49\u79fb<\/h3>\n<p>\u4f7f\u7528\u81ea\u8f49\u79fb\uff08\u505c\u7559\u5728\u540c\u4e00\u72c0\u614b\uff09\u5c0d\u65bc\u8655\u7406\u91cd\u8a66\u6216\u5faa\u74b0\u5f88\u6709\u7528\u3002\u7136\u800c\uff0c\u8acb\u907f\u514d\u5728\u6c92\u6709\u4e2d\u65b7\u689d\u4ef6\u7684\u60c5\u6cc1\u4e0b\u65bc\u81ea\u8f49\u79fb\u4e2d\u7522\u751f\u7121\u9650\u5faa\u74b0\u3002<\/p>\n<h2>\ud83d\udcca \u8f49\u79fb\u7b56\u7565\u6bd4\u8f03<\/h2>\n<table border=\"1\" cellpadding=\"10\" cellspacing=\"0\">\n<tr>\n<th>\u7b56\u7565<\/th>\n<th>\u512a\u9ede<\/th>\n<th>\u7f3a\u9ede<\/th>\n<th>\u6b7b\u9396\u98a8\u96aa<\/th>\n<\/tr>\n<tr>\n<td>\u7acb\u5373\u57f7\u884c<\/td>\n<td>\u66f4\u5feb\u7684\u97ff\u61c9\u6642\u9593<\/td>\n<td>\u66f4\u96e3\u4e2d\u65b7<\/td>\n<td>\u4f4e<\/td>\n<\/tr>\n<tr>\n<td>\u5ef6\u9072\u57f7\u884c<\/td>\n<td>\u5141\u8a31\u6436\u4f54<\/td>\n<td>\u66f4\u9ad8\u7684\u5ef6\u9072<\/td>\n<td>\u4e2d\u7b49<\/td>\n<\/tr>\n<tr>\n<td>\u4e8b\u4ef6\u6392\u968a<\/td>\n<td>\u53ef\u8655\u7406\u7a81\u767c\u4e8b\u4ef6<\/td>\n<td>\u8a18\u61b6\u9ad4\u958b\u92b7<\/td>\n<td>\u9ad8\uff08\u82e5\u4f47\u5217\u963b\u585e\uff09<\/td>\n<\/tr>\n<tr>\n<td>\u4e2d\u65b7\u9a45\u52d5<\/td>\n<td>\u5373\u6642\u56de\u61c9<\/td>\n<td>\u8907\u96dc\u7684\u540c\u6b65<\/td>\n<td>\u4e2d\u7b49<\/td>\n<\/tr>\n<\/table>\n<h2>\ud83e\udde9 \u8cc7\u6e90\u8207\u9396\u7684\u7ba1\u7406<\/h2>\n<p>\u56fa\u4ef6\u7d93\u5e38\u8207\u786c\u9ad4\u5916\u8a2d\u4e92\u52d5\u3002\u9019\u4e9b\u8cc7\u6e90\u9700\u8981\u7368\u4f54\u5b58\u53d6\u4ee5\u9632\u6b62\u640d\u58de\u3002<\/p>\n<h3>\u8cc7\u6e90\u914d\u7f6e<\/h3>\n<p>\u70ba\u53d6\u5f97\u9396\u5236\u5b9a\u56b4\u683c\u898f\u5247\u3002<\/p>\n<ul>\n<li>\u5728\u6240\u6709\u72c0\u614b\u4e2d\u4ee5\u4e00\u81f4\u7684\u9806\u5e8f\u53d6\u5f97\u9396\u3002<\/li>\n<li>\u4f7f\u7528\u5b8c\u7562\u5f8c\u7acb\u5373\u91cb\u653e\u9396\u3002<\/li>\n<li>\u7b49\u5f85\u5176\u4ed6\u8cc7\u6e90\u6642\u7d55\u4e0d\u6301\u6709\u9396\u3002<\/li>\n<\/ul>\n<h3>\u6b7b\u9396\u9810\u9632\u77e9\u9663<\/h3>\n<p>\u4f7f\u7528\u77e9\u9663\u8ffd\u8e64\u8cc7\u6e90\u4f9d\u8cf4\u95dc\u4fc2\u3002<\/p>\n<ul>\n<li>\u5217\u51fa\u6240\u6709\u72c0\u614b\u3002<\/li>\n<li>\u5217\u51fa\u6240\u6709\u8cc7\u6e90\u3002<\/li>\n<li>\u6a19\u8a18\u54ea\u4e9b\u72c0\u614b\u6301\u6709\u54ea\u4e9b\u8cc7\u6e90\u3002<\/li>\n<li>\u8b58\u5225\u4f9d\u8cf4\u5716\u4e2d\u7684\u5faa\u74b0\u3002<\/li>\n<\/ul>\n<p>\u5982\u679c\u5b58\u5728\u5faa\u74b0\uff0c\u5247\u91cd\u65b0\u8a2d\u8a08\u72c0\u614b\u6d41\u7a0b\u4ee5\u6253\u7834\u5b83\u3002<\/p>\n<h2>\ud83e\uddea \u6e2c\u8a66\u8207\u9a57\u8b49<\/h2>\n<p>\u8a2d\u8a08\u5716\u8868\u50c5\u5b8c\u6210\u4e86\u4e00\u534a\u7684\u5de5\u4f5c\u3002\u9a57\u8b49\u78ba\u4fdd\u5be6\u4f5c\u8207\u6a21\u578b\u76f8\u7b26\u3002<\/p>\n<h3>\u6a21\u578b\u5728\u8ff4\u5708\u6e2c\u8a66<\/h3>\n<p>\u5728\u90e8\u7f72\u5230\u786c\u9ad4\u4e4b\u524d\uff0c\u65bc\u6a21\u64ec\u74b0\u5883\u4e2d\u57f7\u884c\u72c0\u614b\u6a5f\u908f\u8f2f\u3002\u9019\u53ef\u8b93\u60a8\u9032\u884c\u58d3\u529b\u6e2c\u8a66\uff0c\u800c\u4e0d\u6703\u5371\u53ca\u5be6\u9ad4\u5143\u4ef6\u3002<\/p>\n<h3>\u786c\u9ad4\u5728\u8ff4\u5708\u6e2c\u8a66<\/h3>\n<p>\u5c07\u56fa\u4ef6\u9023\u63a5\u5230\u6a21\u64ec\u7684\u7269\u7406\u74b0\u5883\u3002\u9a57\u8b49\u6642\u5e8f\u9650\u5236\u8207\u611f\u6e2c\u5668\u53cd\u994b\u8ff4\u8def\u3002<\/p>\n<h3>\u6a21\u7cca\u6e2c\u8a66<\/h3>\n<p>\u5411\u7cfb\u7d71\u6ce8\u5165\u96a8\u6a5f\u4e8b\u4ef6\u3002\u89c0\u5bdf\u72c0\u614b\u6a5f\u662f\u5426\u80fd\u59a5\u5584\u8655\u7406\u610f\u5916\u8f38\u5165\uff0c\u6216\u6703\u7576\u6a5f\u3002<\/p>\n<h3>\u8a18\u9304\u8207\u8ffd\u8e64<\/h3>\n<p>\u70ba\u72c0\u614b\u8f49\u63db\u5be6\u65bd\u8a73\u7d30\u8a18\u9304\u3002<\/p>\n<ul>\n<li>\u8a18\u9304\u9032\u5165\u8207\u96e2\u958b\u7684\u6642\u9593\u6233\u3002<\/li>\n<li>\u8a18\u9304\u4e8b\u4ef6\u89f8\u767c\u8207\u8f49\u63db\u7d50\u679c\u3002<\/li>\n<li>\u8a18\u9304\u8cc7\u6e90\u7684\u53d6\u5f97\u8207\u91cb\u653e\u3002<\/li>\n<\/ul>\n<p>\u9019\u4e9b\u8cc7\u6599\u5c0d\u65bc\u8a3a\u65b7\u50c5\u5728\u7279\u5b9a\u689d\u4ef6\u4e0b\u767c\u751f\u7684\u9593\u6b47\u6027\u6b7b\u9396\u81f3\u95dc\u91cd\u8981\u3002<\/p>\n<h2>\ud83d\udd0d \u5206\u6790\u7279\u5b9a\u7684\u6b7b\u9396\u60c5\u5883<\/h2>\n<p>\u8b93\u6211\u5011\u770b\u770b\u6a5f\u5668\u4eba\u56fa\u4ef6\u4e2d\u554f\u984c\u767c\u751f\u7684\u5177\u9ad4\u7bc4\u4f8b\u3002<\/p>\n<h3>\u60c5\u5883 1\uff1a\u50b3\u611f\u5668\u7b49\u5f85<\/h3>\n<p><strong>\u72c0\u614b\uff1a<\/strong>\u7b49\u5f85 Lidar \u6578\u64da\u3002<\/p>\n<p><strong>\u689d\u4ef6\uff1a<\/strong>\u50c5\u5728\u6536\u5230\u300cDataReceived\u300d\u6642\u8f49\u63db\u3002<\/p>\n<p><strong>\u554f\u984c\uff1a<\/strong> \u5982\u679c\u50b3\u611f\u5668\u672a\u80fd\u50b3\u9001\u6578\u64da\uff0c\u8a72\u72c0\u614b\u5c07\u6c38\u9060\u7121\u6cd5\u9000\u51fa\u3002\u6a5f\u5668\u4eba\u6703\u51cd\u7d50\u3002<\/p>\n<p><strong>\u89e3\u6c7a\u65b9\u6848\uff1a<\/strong> \u589e\u52a0\u8d85\u6642\u8f49\u63db\u3002\u5982\u679c\u300cDataReceived\u300d\u5728 5 \u79d2\u5167\u672a\u5230\u9054\uff0c\u5247\u8f49\u63db\u81f3\u300cSensorError\u300d\u72c0\u614b\u3002<\/p>\n<h3>\u60c5\u5883 2\uff1a\u99ac\u9054\u9396\u5b9a<\/h3>\n<p><strong>\u72c0\u614b\uff1a<\/strong> \u96fb\u6c60\u5145\u96fb\u4e2d\u3002<\/p>\n<p><strong>\u689d\u4ef6\uff1a<\/strong> \u7576\u96fb\u6c60\u5145\u6eff\u6642\u8f49\u63db\u81f3\u300cIdle\u300d\u3002<\/p>\n<p><strong>\u554f\u984c\uff1a<\/strong> \u300cBatteryFull\u300d\u4e8b\u4ef6\u7531\u5145\u96fb\u96fb\u8def\u7522\u751f\u3002\u4e3b\u8655\u7406\u5668\u5f9e\u672a\u8f2a\u8a62\u72c0\u614b\u66ab\u5b58\u5668\u3002<\/p>\n<p><strong>\u89e3\u6c7a\u65b9\u6848\uff1a<\/strong> \u78ba\u4fdd\u4e2d\u65b7\u8655\u7406\u5e38\u6578\u5c07\u4e8b\u4ef6\u5f35\u8cbc\u81f3\u72c0\u614b\u6a5f\u4f47\u5217\u3002\u4e0d\u8981\u4f9d\u8cf4\u5fd9\u788c\u8ff4\u5708\u4e2d\u7684\u8f2a\u8a62\u3002<\/p>\n<h3>\u60c5\u5883 3\uff1a\u5de2\u72c0\u547c\u53eb<\/h3>\n<p><strong>\u72c0\u614b\uff1a<\/strong> \u5c0e\u822a\u4e2d\u3002<\/p>\n<p><strong>\u689d\u4ef6\uff1a<\/strong> \u547c\u53eb\u5b50\u51fd\u6578\u300cPathPlanning\u300d\u3002<\/p>\n<p><strong>\u554f\u984c\uff1a<\/strong> \u300cPathPlanning\u300d\u6703\u963b\u585e 10 \u79d2\u3002\u5728\u6b64\u671f\u9593\uff0c\u72c0\u614b\u6a5f\u7121\u6cd5\u8655\u7406\u5176\u4ed6\u4e8b\u4ef6\u3002<\/p>\n<p><strong>\u89e3\u6c7a\u65b9\u6848\uff1a<\/strong> \u5c07\u9577\u6642\u9593\u4efb\u52d9\u79fb\u81f3\u80cc\u666f\u57f7\u884c\u7dd2\u3002\u5411\u4e3b\u72c0\u614b\u6a5f\u767c\u9001\u300cPlanningComplete\u300d\u4e8b\u4ef6\u3002<\/p>\n<h2>\ud83d\udd27 \u7a0b\u5f0f\u78bc\u5be6\u4f5c\u6a21\u5f0f<\/h2>\n<p>\u5716\u8868\u5fc5\u9808\u80fd\u6e05\u6670\u5c0d\u61c9\u5230\u7a0b\u5f0f\u78bc\u3002\u5b58\u5728\u591a\u7a2e\u6a21\u5f0f\u53ef\u9054\u6210\u6b64\u76ee\u6a19\u3002<\/p>\n<h3>Switch-Case \u6a21\u5f0f<\/h3>\n<p>\u4f7f\u7528\u4e00\u500b\u4e3b\u8ff4\u5708\uff0c\u6839\u64da\u76ee\u524d\u7684\u72c0\u614b\u8b8a\u6578\u9032\u884c Switch-Case \u5224\u65b7\u3002\u6b64\u65b9\u6cd5\u7c21\u55ae\uff0c\u4f46\u72c0\u614b\u6578\u91cf\u589e\u591a\u6642\u6703\u8b8a\u5f97\u96e3\u4ee5\u7dad\u8b77\u3002<\/p>\n<ul>\n<li>\u512a\u9ede\uff1a\u5c0d\u7c21\u55ae\u6a5f\u5668\u800c\u8a00\uff0c\u5bb9\u6613\u95b1\u8b80\u3002<\/li>\n<li>\u7f3a\u9ede\uff1a\u96e3\u4ee5\u91cd\u69cb\uff0cCase \u6a19\u7c64\u5bb9\u6613\u51fa\u73fe\u62fc\u5beb\u932f\u8aa4\u3002<\/li>\n<\/ul>\n<h3>\u72c0\u614b\u7269\u4ef6\u6a21\u5f0f<\/h3>\n<p>\u6bcf\u500b\u72c0\u614b\u90fd\u662f\u5be6\u4f5c\u5171\u540c\u4ecb\u9762\u7684\u985e\u5225\u3002\u4e3b\u8ff4\u5708\u6703\u547c\u53eb\u76ee\u524d\u72c0\u614b\u7684 handle \u65b9\u6cd5\u3002<\/p>\n<ul>\n<li>\u512a\u9ede\uff1a\u5c01\u88dd\u908f\u8f2f\uff0c\u66f4\u5bb9\u6613\u64f4\u5c55\u3002<\/li>\n<li>\u7f3a\u9ede\uff1a\u984d\u5916\u8ca0\u64d4\u8f03\u5927\uff0c\u8a18\u61b6\u9ad4\u4f7f\u7528\u91cf\u8f03\u591a\u3002<\/li>\n<\/ul>\n<h3>\u8868\u683c\u9a45\u52d5\u65b9\u6cd5<\/h3>\n<p>\u5c07\u8f49\u79fb\u72c0\u614b\u5132\u5b58\u5728\u8cc7\u6599\u8868\u683c\u4e2d\u3002\u5f15\u64ce\u6839\u64da\u76ee\u524d\u72c0\u614b\u8207\u4e8b\u4ef6\u67e5\u8a62\u4e0b\u4e00\u72c0\u614b\u3002<\/p>\n<ul>\n<li>\u512a\u9ede\uff1a\u9ad8\u5ea6\u53ef\u914d\u7f6e\uff0c\u8cc7\u6599\u8207\u908f\u8f2f\u5206\u96e2\u3002<\/li>\n<li>\u7f3a\u9ede\uff1a\u9664\u932f\u8f03\u56f0\u96e3\uff0c\u9700\u8981\u5f37\u5927\u7684\u5f15\u64ce\u652f\u63f4\u3002<\/li>\n<\/ul>\n<h2>\ud83d\udee0\ufe0f \u5d4c\u5165\u5f0f\u74b0\u5883\u4e0b\u7684\u512a\u5316<\/h2>\n<p>\u6a5f\u5668\u4eba\u56fa\u4ef6\u901a\u5e38\u904b\u884c\u5728\u8a18\u61b6\u9ad4\u8207 CPU \u8cc7\u6e90\u6709\u9650\u7684\u5fae\u63a7\u5236\u5668\u4e0a\u3002<\/p>\n<h3>\u8a18\u61b6\u9ad4\u7ba1\u7406<\/h3>\n<ul>\n<li>\u57f7\u884c\u6642\u671f\u907f\u514d\u70ba\u72c0\u614b\u7269\u4ef6\u9032\u884c\u52d5\u614b\u914d\u7f6e\u3002<\/li>\n<li>\u555f\u52d5\u6642\u9810\u5148\u914d\u7f6e\u4e8b\u4ef6\u7de9\u885d\u5340\u3002<\/li>\n<li>\u5b57\u4e32\u8207\u7d00\u9304\u4f7f\u7528\u56fa\u5b9a\u5927\u5c0f\u7684\u7de9\u885d\u5340\u3002<\/li>\n<\/ul>\n<h3>CPU \u4f7f\u7528\u7387<\/h3>\n<ul>\n<li>\u4fdd\u6301\u72c0\u614b\u8f49\u79fb\u7684\u539f\u5b50\u6027\u3002<\/li>\n<li>\u76e1\u91cf\u6e1b\u5c11\u5728\u72c0\u614b\u8f49\u79fb\u8655\u7406\u5668\u5167\u7684\u57f7\u884c\u6642\u9593\u3002<\/li>\n<li>\u4e2d\u65b7\u50c5\u7528\u65bc\u786c\u9ad4\u4e8b\u4ef6\uff0c\u800c\u975e\u8edf\u9ad4\u908f\u8f2f\u3002<\/li>\n<\/ul>\n<h2>\ud83d\udcc8 \u7dad\u8b77\u8207\u6f14\u9032<\/h2>\n<p>\u6a5f\u5668\u4eba\u6703\u6f14\u9032\uff0c\u9700\u6c42\u6703\u8b8a\u66f4\uff0c\u72c0\u614b\u6a5f\u5fc5\u9808\u80fd\u9069\u61c9\u3002<\/p>\n<h3>\u7248\u672c\u63a7\u5236<\/h3>\n<p>\u5c07\u72c0\u614b\u5716\u4fdd\u7559\u5728\u7248\u672c\u63a7\u5236\u4e2d\uff0c\u8207\u539f\u59cb\u78bc\u4e00\u540c\u7ba1\u7406\u3002\u78ba\u4fdd\u6a21\u578b\u8207\u5be6\u4f5c\u4e00\u81f4\u3002<\/p>\n<h3>\u6587\u4ef6\u8aaa\u660e<\/h3>\n<p>\u4f7f\u7528\u8a3b\u91cb\u6a19\u8a3b\u5716\u8868\uff0c\u89e3\u91cb\u8907\u96dc\u908f\u8f2f\u3002\u4e0d\u8981\u50c5\u4f9d\u8cf4\u5716\u8868\u672c\u8eab\u3002<\/p>\n<h3>\u91cd\u69cb<\/h3>\n<p>\u65b0\u589e\u529f\u80fd\u6642\uff0c\u8acb\u5be9\u67e5\u73fe\u6709\u72c0\u614b\u3002\u78ba\u4fdd\u65b0\u908f\u8f2f\u4e0d\u6703\u5f15\u5165\u65b0\u7684\u6b7b\u9396\u8def\u5f91\u3002<\/p>\n<h2>\ud83d\ude80 \u4e3b\u8981\u6536\u7a6b\u7e3d\u7d50<\/h2>\n<p>\u6253\u9020\u53ef\u9760\u7684\u6a5f\u5668\u4eba\u56fa\u4ef6\u9700\u8981\u56b4\u8b39\u7684\u8a2d\u8a08\u3002\u72c0\u614b\u6a5f\u662f\u4e00\u7a2e\u5f37\u5927\u7684\u5de5\u5177\uff0c\u4f46\u9700\u8981\u4ed4\u7d30\u7ba1\u7406\u4e8b\u4ef6\u8207\u8cc7\u6e90\u3002<\/p>\n<ul>\n<li><strong>\u5b9a\u7fa9\u903e\u6642\uff1a<\/strong> \u6c38\u9060\u4e0d\u8981\u8b93\u67d0\u500b\u72c0\u614b\u7121\u9650\u671f\u7b49\u5f85\u3002<\/li>\n<li><strong>\u7ba1\u7406\u8cc7\u6e90\uff1a<\/strong> \u907f\u514d\u5faa\u74b0\u4f9d\u8cf4\u3002<\/li>\n<li><strong>\u5fb9\u5e95\u6e2c\u8a66\uff1a<\/strong> \u4f7f\u7528\u6a21\u64ec\u8207\u6a21\u7cca\u6e2c\u8a66\u3002<\/li>\n<li><strong>\u76e3\u63a7\u4e8b\u4ef6\uff1a<\/strong> \u78ba\u4fdd\u6240\u6709\u8f38\u5165\u90fd\u5df2\u8655\u7406\u3002<\/li>\n<li><strong>\u4fdd\u6301\u7c21\u55ae\uff1a<\/strong> \u5728\u53ef\u80fd\u7684\u60c5\u6cc1\u4e0b\u6e1b\u5c11\u8907\u96dc\u6027\u3002<\/li>\n<\/ul>\n<p>\u9075\u5faa\u9019\u4e9b\u5be6\u52d9\uff0c\u958b\u767c\u8005\u53ef\u4ee5\u5efa\u7acb\u5177\u5099\u97cc\u6027\u4e14\u53ef\u9810\u6e2c\u7684\u7cfb\u7d71\u3002\u91cd\u9ede\u59cb\u7d42\u653e\u5728\u529f\u80fd\u8207\u5b89\u5168\u4e0a\u3002\u907f\u514d\u6b7b\u9396\u53ef\u78ba\u4fdd\u6a5f\u5668\u4eba\u80fd\u7121\u4e2d\u65b7\u5730\u5b8c\u6210\u4efb\u52d9\u3002<\/p>\n<h2>\ud83d\udd2e \u672a\u4f86\u8003\u91cf<\/h2>\n<p>\u96a8\u8457\u6a5f\u5668\u4eba\u7cfb\u7d71\u8b8a\u5f97\u66f4\u52a0\u81ea\u4e3b\uff0c\u72c0\u614b\u6a5f\u5c07\u9700\u8981\u8207\u66f4\u9ad8\u5c64\u7d1a\u7684\u6c7a\u7b56\u5c64\u6574\u5408\u3002\u6a5f\u5668\u5b78\u7fd2\u6a21\u578b\u53ef\u80fd\u63d0\u51fa\u884c\u52d5\u5efa\u8b70\uff0c\u4f46\u72c0\u614b\u6a5f\u61c9\u59cb\u7d42\u4f5c\u70ba\u5b89\u5168\u9632\u8b77\u3002<\/p>\n<ul>\n<li>\u78ba\u4fdd\u4eba\u5de5\u667a\u6167\u8207\u72c0\u614b\u908f\u8f2f\u4e4b\u9593\u7684\u4ecb\u9762\u5b9a\u7fa9\u660e\u78ba\u3002<\/li>\n<li>\u82e5\u4eba\u5de5\u667a\u6167\u5c64\u5931\u6548\uff0c\u61c9\u5141\u8a31\u7cfb\u7d71\u5e73\u9806\u964d\u7d1a\u3002<\/li>\n<li>\u5728\u95dc\u9375\u8def\u5f91\u4e0a\uff0c\u6301\u7e8c\u512a\u5148\u8003\u616e\u78ba\u5b9a\u6027\u884c\u70ba\uff0c\u800c\u975e\u6a5f\u7387\u6027\u7d50\u679c\u3002<\/li>\n<\/ul>\n<p>\u4efb\u4f55\u7a69\u5065\u7cfb\u7d71\u7684\u57fa\u790e\uff0c\u5728\u65bc\u5c0d\u5176\u64cd\u4f5c\u72c0\u614b\u6709\u6e05\u6670\u7684\u7406\u89e3\u3002\u61c9\u5728\u8a2d\u8a08\u968e\u6bb5\u6295\u5165\u6642\u9593\u3002\u7d50\u69cb\u826f\u597d\u7684\u5716\u8868\u5728\u5be6\u969b\u61c9\u7528\u4e2d\u5c07\u5e36\u4f86\u56de\u5831\u3002<\/p>\n<h2>\ud83d\udcdd \u5be6\u4f5c\u6700\u5f8c\u63d0\u9192<\/h2>\n<p>\u8acb\u8a18\u4f4f\uff0c\u5716\u8868\u662f\u4e00\u4efd\u5408\u7d04\u3002\u5b83\u5b9a\u7fa9\u4e86\u7cfb\u7d71\u5728\u6240\u6709\u689d\u4ef6\u4e0b\u7684\u884c\u70ba\u3002\u61c9\u5982\u6b64\u5c0d\u5f85\u3002\u8207\u540c\u5115\u5171\u540c\u5be9\u67e5\u3002\u6311\u6230\u5047\u8a2d\u3002\u6e2c\u8a66\u908a\u754c\u60c5\u6cc1\u3002\u9019\u7a2e\u8b39\u614e\u614b\u5ea6\u6b63\u662f\u529f\u80fd\u539f\u578b\u8207\u53ef\u6295\u5165\u751f\u7522\u7684\u56fa\u4ef6\u4e4b\u9593\u7684\u5340\u5225\u3002<\/p>\n<p>\u7576\u767c\u751f\u6b7b\u9396\u6642\uff0c\u4e0d\u8981\u5047\u8a2d\u662f\u786c\u9ad4\u6545\u969c\u3002\u9019\u901a\u5e38\u662f\u908f\u8f2f\u932f\u8aa4\u3002\u91cd\u65b0\u6aa2\u8996\u72c0\u614b\u8f49\u79fb\u3002\u6aa2\u67e5\u5b88\u885b\u689d\u4ef6\u3002\u9a57\u8b49\u4e8b\u4ef6\u6d41\u7a0b\u3002\u89e3\u6c7a\u65b9\u6848\u5728\u65bc\u8a2d\u8a08\u672c\u8eab\u3002<\/p>\n<p>\u63a1\u7528\u9019\u4e9b\u6700\u4f73\u5be6\u52d9\uff0c\u5c07\u5e36\u4f86\u66f4\u6613\u9664\u932f\u3001\u66f4\u5b89\u5168\u64cd\u4f5c\u4e14\u66f4\u9ad8\u6548\u7dad\u8b77\u7684\u7cfb\u7d71\u3002\u53ef\u9760\u6027\u7684\u9053\u8def\u7531\u660e\u78ba\u7684\u72c0\u614b\u8207\u5b9a\u7fa9\u826f\u597d\u7684\u8f49\u79fb\u6240\u92ea\u6210\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u8a2d\u8a08\u53ef\u9760\u7684\u6a5f\u5668\u4eba\u63a7\u5236\u7cfb\u7d71\u9700\u8981\u7cbe\u78ba\u6027\u3002\u56fa\u4ef6<\/p>\n","protected":false},"author":3479,"featured_media":11210,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_yoast_wpseo_title":"\u72c0\u614b\u6a5f\u5716\u8868\u6700\u4f73\u5be6\u52d9\uff1a\u5728\u6a5f\u5668\u4eba\u9818\u57df\u907f\u514d\u6b7b\u9396","_yoast_wpseo_metadesc":"\u5b78\u7fd2UML\u72c0\u614b\u6a5f\u7684\u6700\u4f73\u5be6\u52d9\uff0c\u4ee5\u9632\u6b62\u6a5f\u5668\u4eba\u56fa\u4ef6\u4e2d\u51fa\u73fe\u6b7b\u9396\u3002\u78ba\u4fdd\u5d4c\u5165\u5f0f\u63a7\u5236\u7cfb\u7d71\u7684\u53ef\u9760\u6027\uff0c\u4e26\u907f\u514d\u95dc\u9375\u6027\u505c\u9813\u3002","fifu_image_url":"","fifu_image_alt":"","footnotes":""},"categories":[127],"tags":[161,101],"class_list":["post-11209","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-unified-modeling-language","tag-academic","tag-uml"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.0 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>\u72c0\u614b\u6a5f\u5716\u8868\u6700\u4f73\u5be6\u52d9\uff1a\u5728\u6a5f\u5668\u4eba\u9818\u57df\u907f\u514d\u6b7b\u9396<\/title>\n<meta name=\"description\" content=\"\u5b78\u7fd2UML\u72c0\u614b\u6a5f\u7684\u6700\u4f73\u5be6\u52d9\uff0c\u4ee5\u9632\u6b62\u6a5f\u5668\u4eba\u56fa\u4ef6\u4e2d\u51fa\u73fe\u6b7b\u9396\u3002\u78ba\u4fdd\u5d4c\u5165\u5f0f\u63a7\u5236\u7cfb\u7d71\u7684\u53ef\u9760\u6027\uff0c\u4e26\u907f\u514d\u95dc\u9375\u6027\u505c\u9813\u3002\" \/>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/\" \/>\n<meta property=\"og:locale\" content=\"zh_TW\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u72c0\u614b\u6a5f\u5716\u8868\u6700\u4f73\u5be6\u52d9\uff1a\u5728\u6a5f\u5668\u4eba\u9818\u57df\u907f\u514d\u6b7b\u9396\" \/>\n<meta property=\"og:description\" content=\"\u5b78\u7fd2UML\u72c0\u614b\u6a5f\u7684\u6700\u4f73\u5be6\u52d9\uff0c\u4ee5\u9632\u6b62\u6a5f\u5668\u4eba\u56fa\u4ef6\u4e2d\u51fa\u73fe\u6b7b\u9396\u3002\u78ba\u4fdd\u5d4c\u5165\u5f0f\u63a7\u5236\u7cfb\u7d71\u7684\u53ef\u9760\u6027\uff0c\u4e26\u907f\u514d\u95dc\u9375\u6027\u505c\u9813\u3002\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/\" \/>\n<meta property=\"og:site_name\" content=\"ArchiMetric Traditional Chinese\" \/>\n<meta property=\"article:published_time\" content=\"2026-04-08T01:22:00+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/www.archimetric.com\/tw\/wp-content\/uploads\/sites\/5\/2026\/04\/state-machine-deadlock-prevention-robotics-firmware-infographic.jpg\" \/>\n\t<meta property=\"og:image:width\" content=\"1664\" \/>\n\t<meta property=\"og:image:height\" content=\"928\" \/>\n\t<meta property=\"og:image:type\" content=\"image\/jpeg\" \/>\n<meta name=\"author\" content=\"archimetric@visual-paradigm.com\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u4f5c\u8005:\" \/>\n\t<meta name=\"twitter:data1\" content=\"archimetric@visual-paradigm.com\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"Article\",\"@id\":\"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/#article\",\"isPartOf\":{\"@id\":\"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/\"},\"author\":{\"name\":\"archimetric@visual-paradigm.com\",\"@id\":\"https:\/\/www.archimetric.com\/tw\/#\/schema\/person\/e4027c9f5b602fc705716009e5671d28\"},\"headline\":\"\u7528\u65bc\u6a5f\u5668\u4eba\u56fa\u4ef6\u4e2d\u907f\u514d\u6b7b\u9396\u7684\u72c0\u614b\u6a5f\u5716\u6700\u4f73\u5be6\u52d9\",\"datePublished\":\"2026-04-08T01:22:00+00:00\",\"mainEntityOfPage\":{\"@id\":\"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/\"},\"wordCount\":20,\"commentCount\":0,\"image\":{\"@id\":\"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/#primaryimage\"},\"thumbnailUrl\":\"https:\/\/www.archimetric.com\/tw\/wp-content\/uploads\/sites\/5\/2026\/04\/state-machine-deadlock-prevention-robotics-firmware-infographic.jpg\",\"keywords\":[\"academic\",\"UML\"],\"articleSection\":[\"Unified Modeling Language\"],\"inLanguage\":\"zh-TW\",\"potentialAction\":[{\"@type\":\"CommentAction\",\"name\":\"Comment\",\"target\":[\"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/#respond\"]}]},{\"@type\":\"WebPage\",\"@id\":\"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/\",\"url\":\"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/\",\"name\":\"\u72c0\u614b\u6a5f\u5716\u8868\u6700\u4f73\u5be6\u52d9\uff1a\u5728\u6a5f\u5668\u4eba\u9818\u57df\u907f\u514d\u6b7b\u9396\",\"isPartOf\":{\"@id\":\"https:\/\/www.archimetric.com\/tw\/#website\"},\"primaryImageOfPage\":{\"@id\":\"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/#primaryimage\"},\"image\":{\"@id\":\"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/#primaryimage\"},\"thumbnailUrl\":\"https:\/\/www.archimetric.com\/tw\/wp-content\/uploads\/sites\/5\/2026\/04\/state-machine-deadlock-prevention-robotics-firmware-infographic.jpg\",\"datePublished\":\"2026-04-08T01:22:00+00:00\",\"author\":{\"@id\":\"https:\/\/www.archimetric.com\/tw\/#\/schema\/person\/e4027c9f5b602fc705716009e5671d28\"},\"description\":\"\u5b78\u7fd2UML\u72c0\u614b\u6a5f\u7684\u6700\u4f73\u5be6\u52d9\uff0c\u4ee5\u9632\u6b62\u6a5f\u5668\u4eba\u56fa\u4ef6\u4e2d\u51fa\u73fe\u6b7b\u9396\u3002\u78ba\u4fdd\u5d4c\u5165\u5f0f\u63a7\u5236\u7cfb\u7d71\u7684\u53ef\u9760\u6027\uff0c\u4e26\u907f\u514d\u95dc\u9375\u6027\u505c\u9813\u3002\",\"breadcrumb\":{\"@id\":\"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/#breadcrumb\"},\"inLanguage\":\"zh-TW\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/\"]}]},{\"@type\":\"ImageObject\",\"inLanguage\":\"zh-TW\",\"@id\":\"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/#primaryimage\",\"url\":\"https:\/\/www.archimetric.com\/tw\/wp-content\/uploads\/sites\/5\/2026\/04\/state-machine-deadlock-prevention-robotics-firmware-infographic.jpg\",\"contentUrl\":\"https:\/\/www.archimetric.com\/tw\/wp-content\/uploads\/sites\/5\/2026\/04\/state-machine-deadlock-prevention-robotics-firmware-infographic.jpg\",\"width\":1664,\"height\":928},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"Home\",\"item\":\"https:\/\/www.archimetric.com\/tw\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"\u7528\u65bc\u6a5f\u5668\u4eba\u56fa\u4ef6\u4e2d\u907f\u514d\u6b7b\u9396\u7684\u72c0\u614b\u6a5f\u5716\u6700\u4f73\u5be6\u52d9\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\/\/www.archimetric.com\/tw\/#website\",\"url\":\"https:\/\/www.archimetric.com\/tw\/\",\"name\":\"ArchiMetric Traditional Chinese\",\"description\":\"EA, Dev Ops, Scrum, Agile and More\",\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\/\/www.archimetric.com\/tw\/?s={search_term_string}\"},\"query-input\":{\"@type\":\"PropertyValueSpecification\",\"valueRequired\":true,\"valueName\":\"search_term_string\"}}],\"inLanguage\":\"zh-TW\"},{\"@type\":\"Person\",\"@id\":\"https:\/\/www.archimetric.com\/tw\/#\/schema\/person\/e4027c9f5b602fc705716009e5671d28\",\"name\":\"archimetric@visual-paradigm.com\",\"image\":{\"@type\":\"ImageObject\",\"inLanguage\":\"zh-TW\",\"@id\":\"https:\/\/www.archimetric.com\/tw\/#\/schema\/person\/image\/\",\"url\":\"https:\/\/secure.gravatar.com\/avatar\/de58c1924d83d002dbce0b79f74ba4b70e2f85238332df6cabc0227effdf470d?s=96&d=mm&r=g\",\"contentUrl\":\"https:\/\/secure.gravatar.com\/avatar\/de58c1924d83d002dbce0b79f74ba4b70e2f85238332df6cabc0227effdf470d?s=96&d=mm&r=g\",\"caption\":\"archimetric@visual-paradigm.com\"},\"url\":\"https:\/\/www.archimetric.com\/tw\/author\/archimetricvisual-paradigm-com\/\"}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"\u72c0\u614b\u6a5f\u5716\u8868\u6700\u4f73\u5be6\u52d9\uff1a\u5728\u6a5f\u5668\u4eba\u9818\u57df\u907f\u514d\u6b7b\u9396","description":"\u5b78\u7fd2UML\u72c0\u614b\u6a5f\u7684\u6700\u4f73\u5be6\u52d9\uff0c\u4ee5\u9632\u6b62\u6a5f\u5668\u4eba\u56fa\u4ef6\u4e2d\u51fa\u73fe\u6b7b\u9396\u3002\u78ba\u4fdd\u5d4c\u5165\u5f0f\u63a7\u5236\u7cfb\u7d71\u7684\u53ef\u9760\u6027\uff0c\u4e26\u907f\u514d\u95dc\u9375\u6027\u505c\u9813\u3002","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/","og_locale":"zh_TW","og_type":"article","og_title":"\u72c0\u614b\u6a5f\u5716\u8868\u6700\u4f73\u5be6\u52d9\uff1a\u5728\u6a5f\u5668\u4eba\u9818\u57df\u907f\u514d\u6b7b\u9396","og_description":"\u5b78\u7fd2UML\u72c0\u614b\u6a5f\u7684\u6700\u4f73\u5be6\u52d9\uff0c\u4ee5\u9632\u6b62\u6a5f\u5668\u4eba\u56fa\u4ef6\u4e2d\u51fa\u73fe\u6b7b\u9396\u3002\u78ba\u4fdd\u5d4c\u5165\u5f0f\u63a7\u5236\u7cfb\u7d71\u7684\u53ef\u9760\u6027\uff0c\u4e26\u907f\u514d\u95dc\u9375\u6027\u505c\u9813\u3002","og_url":"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/","og_site_name":"ArchiMetric Traditional Chinese","article_published_time":"2026-04-08T01:22:00+00:00","og_image":[{"width":1664,"height":928,"url":"https:\/\/www.archimetric.com\/tw\/wp-content\/uploads\/sites\/5\/2026\/04\/state-machine-deadlock-prevention-robotics-firmware-infographic.jpg","type":"image\/jpeg"}],"author":"archimetric@visual-paradigm.com","twitter_card":"summary_large_image","twitter_misc":{"\u4f5c\u8005:":"archimetric@visual-paradigm.com"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"Article","@id":"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/#article","isPartOf":{"@id":"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/"},"author":{"name":"archimetric@visual-paradigm.com","@id":"https:\/\/www.archimetric.com\/tw\/#\/schema\/person\/e4027c9f5b602fc705716009e5671d28"},"headline":"\u7528\u65bc\u6a5f\u5668\u4eba\u56fa\u4ef6\u4e2d\u907f\u514d\u6b7b\u9396\u7684\u72c0\u614b\u6a5f\u5716\u6700\u4f73\u5be6\u52d9","datePublished":"2026-04-08T01:22:00+00:00","mainEntityOfPage":{"@id":"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/"},"wordCount":20,"commentCount":0,"image":{"@id":"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/#primaryimage"},"thumbnailUrl":"https:\/\/www.archimetric.com\/tw\/wp-content\/uploads\/sites\/5\/2026\/04\/state-machine-deadlock-prevention-robotics-firmware-infographic.jpg","keywords":["academic","UML"],"articleSection":["Unified Modeling Language"],"inLanguage":"zh-TW","potentialAction":[{"@type":"CommentAction","name":"Comment","target":["https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/#respond"]}]},{"@type":"WebPage","@id":"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/","url":"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/","name":"\u72c0\u614b\u6a5f\u5716\u8868\u6700\u4f73\u5be6\u52d9\uff1a\u5728\u6a5f\u5668\u4eba\u9818\u57df\u907f\u514d\u6b7b\u9396","isPartOf":{"@id":"https:\/\/www.archimetric.com\/tw\/#website"},"primaryImageOfPage":{"@id":"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/#primaryimage"},"image":{"@id":"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/#primaryimage"},"thumbnailUrl":"https:\/\/www.archimetric.com\/tw\/wp-content\/uploads\/sites\/5\/2026\/04\/state-machine-deadlock-prevention-robotics-firmware-infographic.jpg","datePublished":"2026-04-08T01:22:00+00:00","author":{"@id":"https:\/\/www.archimetric.com\/tw\/#\/schema\/person\/e4027c9f5b602fc705716009e5671d28"},"description":"\u5b78\u7fd2UML\u72c0\u614b\u6a5f\u7684\u6700\u4f73\u5be6\u52d9\uff0c\u4ee5\u9632\u6b62\u6a5f\u5668\u4eba\u56fa\u4ef6\u4e2d\u51fa\u73fe\u6b7b\u9396\u3002\u78ba\u4fdd\u5d4c\u5165\u5f0f\u63a7\u5236\u7cfb\u7d71\u7684\u53ef\u9760\u6027\uff0c\u4e26\u907f\u514d\u95dc\u9375\u6027\u505c\u9813\u3002","breadcrumb":{"@id":"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/#breadcrumb"},"inLanguage":"zh-TW","potentialAction":[{"@type":"ReadAction","target":["https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/"]}]},{"@type":"ImageObject","inLanguage":"zh-TW","@id":"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/#primaryimage","url":"https:\/\/www.archimetric.com\/tw\/wp-content\/uploads\/sites\/5\/2026\/04\/state-machine-deadlock-prevention-robotics-firmware-infographic.jpg","contentUrl":"https:\/\/www.archimetric.com\/tw\/wp-content\/uploads\/sites\/5\/2026\/04\/state-machine-deadlock-prevention-robotics-firmware-infographic.jpg","width":1664,"height":928},{"@type":"BreadcrumbList","@id":"https:\/\/www.archimetric.com\/tw\/state-machine-diagram-best-practices-robotics-deadlocks\/#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"Home","item":"https:\/\/www.archimetric.com\/tw\/"},{"@type":"ListItem","position":2,"name":"\u7528\u65bc\u6a5f\u5668\u4eba\u56fa\u4ef6\u4e2d\u907f\u514d\u6b7b\u9396\u7684\u72c0\u614b\u6a5f\u5716\u6700\u4f73\u5be6\u52d9"}]},{"@type":"WebSite","@id":"https:\/\/www.archimetric.com\/tw\/#website","url":"https:\/\/www.archimetric.com\/tw\/","name":"ArchiMetric Traditional Chinese","description":"EA, Dev Ops, Scrum, Agile and More","potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/www.archimetric.com\/tw\/?s={search_term_string}"},"query-input":{"@type":"PropertyValueSpecification","valueRequired":true,"valueName":"search_term_string"}}],"inLanguage":"zh-TW"},{"@type":"Person","@id":"https:\/\/www.archimetric.com\/tw\/#\/schema\/person\/e4027c9f5b602fc705716009e5671d28","name":"archimetric@visual-paradigm.com","image":{"@type":"ImageObject","inLanguage":"zh-TW","@id":"https:\/\/www.archimetric.com\/tw\/#\/schema\/person\/image\/","url":"https:\/\/secure.gravatar.com\/avatar\/de58c1924d83d002dbce0b79f74ba4b70e2f85238332df6cabc0227effdf470d?s=96&d=mm&r=g","contentUrl":"https:\/\/secure.gravatar.com\/avatar\/de58c1924d83d002dbce0b79f74ba4b70e2f85238332df6cabc0227effdf470d?s=96&d=mm&r=g","caption":"archimetric@visual-paradigm.com"},"url":"https:\/\/www.archimetric.com\/tw\/author\/archimetricvisual-paradigm-com\/"}]}},"_links":{"self":[{"href":"https:\/\/www.archimetric.com\/tw\/wp-json\/wp\/v2\/posts\/11209","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.archimetric.com\/tw\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.archimetric.com\/tw\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.archimetric.com\/tw\/wp-json\/wp\/v2\/users\/3479"}],"replies":[{"embeddable":true,"href":"https:\/\/www.archimetric.com\/tw\/wp-json\/wp\/v2\/comments?post=11209"}],"version-history":[{"count":0,"href":"https:\/\/www.archimetric.com\/tw\/wp-json\/wp\/v2\/posts\/11209\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.archimetric.com\/tw\/wp-json\/wp\/v2\/media\/11210"}],"wp:attachment":[{"href":"https:\/\/www.archimetric.com\/tw\/wp-json\/wp\/v2\/media?parent=11209"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.archimetric.com\/tw\/wp-json\/wp\/v2\/categories?post=11209"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.archimetric.com\/tw\/wp-json\/wp\/v2\/tags?post=11209"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}