摘要本文设计了一种基于语音控制导盲机器人避障和路径规划。导盲机器人的设计目的在于辅助视力障碍者在室内行走及寻物，并增强视力障碍者的环境适应性，使人-机-室内环境之间保持更加良好的交互性。用两个步进电机提供行进动力，并用一个万向轮提供机器人转向，并采用S7-200系列PLC做主控制机，超声波传感器及红外传感器获取距离信息，RFID射频模块提供物体身份信息，同时配置有语音导航模块，可更加清晰明确的为盲人提供避障导航。49445

本文重点在导盲机器人的避障和路径规划设计，介绍了RFID、超声波、语音和PLC的型号及应用，还有RFID、语音、超声波技术以及它们与PLC之间的连接电路，包括单片机与单片机之间的通信，单片机与PLC之间的通信以及PLC的执行方式。重点介绍了路径规划的定位、环境地图创建和算法。

毕业论文关键词：RFID；路径规划；语音；导盲机器人；避障。

Abstract

The paper design seeing eyes robot’s obstacle avoidance and path planning based on voice control. Seeing eyes robot is designed to assist visually impaired people to walk in the room and look for things, and enhance the environmental adaptability of the visually impaired people to maintain a more favorable interaction between the people-machine- indoor environment. Two stepper motor provide to moving power. The caster provides to change direction. The paper use PLC sized of S7-200 to control the machine, ultrasonic sensors and infrared sensors to obtain distance information, RFID radio module to provide object identity information, while deploy voice navigation module, which can be more clear to obstacle avoidance navigation for the blind.

The paper focus on design of the seeing eyes robot’s obstacle avoidance and path planning. It describes the model and application of RFID, ultrasound, voice and PLC, and RFID, voice, ultrasonic technology, as well as connection circuit between them and PLC, including the communication between the SCM, between the SCM and PLC, and the means of implementation of PLC. The emphasis introduces location of path planning, creation of map of the environment and algorithms.

Keywords: RFID; path planning; voice; seeing eyes robot; obstacle avoidance.

目  录

第一章  绪论 1

1.1 研究意义和应用前景 1

1.2 国内外机器人类型及优缺点 2

1.2.1引导式行进辅具 2

1.2.2 电子式行进辅具(Electronic travel aids) 2

1.2.3 穿戴式行进辅具 2

1.2.4 移动式机器人(Mobile robot) 3

1.3 论文主要研究内容 3

1.4 本章小结 3

第二章 机器人本体设计及其相关技术 5

2.1 机器人机构方案设计 5

2.1.1 机器人本体三维结构 5

2.1.2 各层结构 5

2.2 手柄 6

2.2.1 可伸缩杆 6

2.2.2 手柄结构设计 6

2.3 语音技术 7

2.3.1 语音技术概述 7

2.3.2 语音技术方式 7

2.3.3 语音技术应用 8

2.4 RFID技术