1、摘 要 I 摘 要 智能机器人被人们称为第三代机器人，是能利用感觉和识别功能做决策行 动的机器人。本文以慧鱼创意组合模型为平台，设计出一种智能机器人循 迹边界识别小车。小车利用微动开关检测边界，利用光电管进行循迹。小车采 用慧鱼智能接口板进行控制，用直流电动机驱动。该智能小车的机械结构可以 实现反复拆装，无限组合。控制软件为 ROBO Pro，控制机器人完成一系列复杂 动作：如寻找轨迹沿轨迹行走遇到边界停止回避边界继续寻 找轨迹继续沿轨迹行走等。本文首先对小车的总体结构进行分析，确定驱 动方案和传动方案，然后按照模块化设计方法组装搭建小车结构，最后对智能 小车的循迹和边界识别的控制系统进行了研
2、究，完成了智能小车硬件设计及软 件设计，成功实现了主动循迹和边界识别功能。 关键词关键词 ：智能机器人 慧鱼 循迹 边界识别 - II - Title Tracking and boundary identification of the smart car Abstract Intelligent robots are known as the third-generation robot, it is able to utilize to feel and identify decision-making action. In this paper, the creative combin
3、ation of Fischertechnik model as a platform to design an intelligent robot - car tracking to avoid the cliff. Car use micro-switches test the cliff and use photocell cell for tracking. The cars adopt Fischertechnik Intelligent board with two DC motor drive. The intelligent cars mechanical structure
4、can be repeated disassembly, infinite combinations. Control system can identify ROBO PRO as the core. Such as the searching for the track、 walking along the tracks、 stopping to face cliff、 avoiding the cliff 、continuing to look for the track and continuing to walk along the track. In this paper, the
5、 first analysis the overall structure of the car to determine the driver program and drive program, establish the car in accordance with the method of modular design structure and finally research the car control system. In this paper, study the smart car tracking and avoiding the cliff, completed t
6、he Smart car hardware production and software design, and successfully implemented the function of tracking and avoiding the cliff. Keywords : Robot; Fischertechnik ; Tour Line; Boundary identification 目录 - - III 目 录 摘 要. I ABSTRACT II 第 1 章 绪论 1 1.1 选题背景及意义 1 1.2 国内外机器人的发展现状 2 1.3 慧鱼机器人的前景 3 第 2 章 智能小车的总体设计 5 2.1 智能小车实现功能 5 2.1.1 边界识别功能 6 2.1.2 循迹功能 6 2.1.3 循迹加边界识别功能 6 2.2 小车驱动方案的对比分析及选择 6 2.3 智能小车传动方案的对比分析及选择 7 2.4 小车控制系统的总体设计 7 2.5 循迹边界识别小车总体设计简图 8 2.6 本章小结 9 第 3 章 智能
