导盲机器人硬件结构概要1.doc

摘要 导盲机器人是为视觉障碍者行动提供导航帮助的一种服务机器人，它利用多种传感器对周围环境进行探测，将探测的信息进行处理然后做出相应的反馈提供给驱动装置和视障者，以帮助使用者有效地避开障碍。 世界上视觉障碍者数量众多，而他们只能用60%的感觉来获取经验。因而设计一款实用的导盲机器人来帮助视觉障碍者是十分必要的。 本文在综述国内外现有导盲辅助工具特点的基础上，确定了导盲机器人的总体方案。机器人行走机构采用1个万向轮和2个差动轮的轮式结构，在两个差动轮中，有一个是由驱动电机，从而控制车体行进方向，机器人前进的动力由使用者自身提供。机器人采用西门子S7-200控制，配备射频传感器、红外传感器、超声波传感器等检测环境信息，并具有语音提示功能。机器人的主体控制思想为BP神经网络算法，基于这种算法，机器人可以选择合适的转动角度，确定最优运动路径。 关键词: 导盲机器人；避障；传感器；BP神经网络算法 Abstract As one of serving robots, The blind guiding robot is a novel device designed to help blind or visually impaired users navigate safely. it detects the environment information by the many kinds of sensors. And it sends the information to the blind and robot, and helps him/her know the environment and avoid the obstacle efficiently. Throughout the world, the number of blind is numerous, and the blind have to use 60% abilities of sensory. Designing a sort of practical blind guiding robot to help thevisual impaired persons has great significance. According to the characters in the blind guiding robot at home and abroad, a portable and reasonable general scheme is designed. The walking mechanism of the robot is the wheel-structure. It has one steering wheel and two universal wheels. and one of universal wheels is driven by the motor. The steering wheel controls the marching direction of the robot. The progressive power of robot is provided by the user. A PLC is used to control the behaviors of the robot. And the robot detects the environment with three types of sensors including Ultrasonic Sensor, Infrared Sensor, and a RFID sensor. The main program of robot is based on BP neural network algorithm, And the robot can select the appropriate rotation angle, to determine the optimal motion path. Key words: The blind guiding robot；Avoiding Obstruction；SensorBP neural network algorithm 第一章 绪 论 1.1 引言 世界卫生组织估计全世界有盲人4000万到4500万，低视力人数是盲人的3倍，约1.4亿人，我国曾在上世纪80年代进行过视力残疾状况调查。结果显示，我国有视力残疾患者近1300万，其中盲约550万，低视力约750万。 据报道，我国每年会出现新盲人大约45万，低视力135万，即约每分钟就会出现1个盲人，3个低视力