摘要导盲机器人作为为视觉障碍者提供环境导引的辅助工具。它属于服务机器人的范畴，通过各种传感器对周围环境的探测，将探测后所得到的的信息反馈给视觉障碍者，帮助他们弥补视觉信息的缺失。国内外视觉障碍者数量庞大，而他们只能通过其他的60％的感觉来获取信息。52355

中国是全球盲人最多的一个国家，从2003年统计，中国盲人约有一千万，而且有双眼低视力患者一千两百万，如果按照目前的趋势，预测到2020年中国盲人数量会至少增加一倍。因此，设计一款导盲机器人来帮助视觉障碍者是十分有必要的，并且它将有着非常广泛的市场前景。

本文在综合国内外现有的导盲辅助工具的基础上，决定机器人的行走机构采用1个从动轮和2个主动轮的轮式结构，主动轮由电机驱动，控制车体的前行和转向，导盲机器人前进的动力由使用者自身提供。机器人采用MSP430单片机控制，通过超声波、红外、RFID及语音识别等多模块信息交互融合，此款导盲机器人可以非常容易的实现室内避障和语音寻物等多种功能。

毕业论文关键字: MSP430；语音控制；射频模块；避障

Abstract The blind guiding robot is a novel device designed to help blind or visually impaired users navigate safely．It belongs to serving robot category．It detects the environment information by the many kinds of sensors．And it sends the information to the blind，and helps him/her know the environment．Throughout the world，the number of blind is numerous，and the blind have to use 60% abilities of sensory．

China is the world blind most countries, according the 2003 statistics, There are 10000000 blind and 12000000 low vision patients, if present trends continue, China will at least double blind number in 2020. So it is very important to design a practical guide robot to help the visually impaired, and will have a very broad application prospects. Designing a sort of practical blind guiding robot to help the visual impaired persons has great significance．

On the basis of the characteristics of the domestic and foreign existing guide tool, walking mechanism of the robot use one driven wheel and two driving wheels structure, a driving wheel driven by the motor, control the vehicle forward and steering, power for the robot to move forward by the users themselves with .The robot adopts single chip control, through ultrasound, infrared, RFID and speech recognition modules of information integration, the robot can easily realize the indoor obstacle avoidance and voice search and other functions.

Keywords:  MSP430;  voice control;  RFID;  obstacle avoidance 

目   录

第一章 绪论 1

1.1 选题的目的及意义 1

1.2 国内外发展概况 1

1.2.1移动式机器人 1

1.2.2穿戴式行进辅具 2

1.2.3手杖式行进辅具 3

1.2.4电子式行进辅具 4

1.3导盲机器人的发展趋势 4

1.4 设计目标 4

1.5论文的主要工作内容 5

第二章  结构设计 6

2.1 总体方案设计 6

2.2 多传感器检测方案设计 7

2.2.1传感器的选型 8

2.2.2多传感器信息融合设计 11

2.3 机械结构方案设计