本书为中英双语版，以天津启诚伟业科技有限公司提供的 TQD-Micromouse-JD 智能鼠为载体，是
智能微型运动装置（Micromouse）技术与应用系列丛书的进阶篇。
本书以真实工程项目为背景，通过“基础知识篇”、“综合实践篇”和“拓展竞技篇”三篇讲述
了智能鼠的发展、硬件、开发环境、基本操作；智能鼠高级功能、智能鼠实战任务；智能鼠的路径规
划和行为决策算法、智能鼠路径规划原理、智能鼠走迷宫程序设计等。同时，本书附录提供了国际
Micromouse 走迷宫竞赛相关知识、智能鼠迷宫图库、专业词汇中英文对照表、国际实训课程标准等丰
富资源。
本书在重要的知识点、能力点和素养点上，配有丰富的视频、图片、文本等资源，学习者可以通
过扫描书中二维码获取相关信息。
本书适合作为职业院校相应专业综合与创新实践教学的教材，还可作为相关工程技术人员培训用
书及智能鼠爱好者参考用书。

The book is bilingual in both Chinese and English, based on the TQD-Micromouse-JQ provided by Tianjin
Qicheng Science and Technology Co., Ltd., which is the intermediate-level of a series of books on Micromouse
Technology and Application. The book is based on real engineering projects, through “Elementary Knowledge”,
“Comprehensive Practice” and “Advanced Skills and Competitions”. All of these three chapters are describe the
development, hardware, development environment, and function debugging of the Micromouse; advanced function
of Micromouse, actual combat task of Micromouse and path planning of Micromouse, etc. The appendix of this
book provides the relevant knowledge of the international Micromouse maze competition, such as the device list of
TQD-Micromouse-JQ, the Micromouse maze library, bilingual comparison table of glossary, and the international
curriculum standard.
The book is equipped with a wealth of resources such as videos, pictures, texts, etc. on important knowledge
points, skills points and literacy points. The reader can obtain relevant information by scanning the QR code in the
book.
The book is suitable as the textbook of vocational colleges and universities corresponding professional
comprehensive and innovative practice. It can also be used as a training book for relevant engineering and
technical personnel or reference book for Micromouse lovers.

“智能鼠”，英文名为Micromouse，是使用嵌入式微控制器、传感器和
机电运动部件构成的一种智能微型运动装置（嵌入式微型机器人），智能鼠
可以在不同“迷宫”中自动记忆和选择路径，采用相应的算法，快速到达所
设定的目的地。智能鼠走迷宫竞赛结合了机械电子、控制、光学、程序设计
和人工智能等多方面的科技知识。
四十多年来，电气电子工程师学会（IEEE）每年举办一次国际性的智
能鼠走迷宫竞赛，自举办以来各国踊跃参加，尤其是美国和欧洲国家的高校
学生，为此有些大学还特别开设了“智能鼠原理与制作”的选修课程。中国
从 2007年开始在上海长三角地区举行小规模尝试性比赛。 2009年，天津启诚
伟业科技有限公司将这项国际赛事引进天津，以工程实践创新项目（EPIP）
教学模式，对智能鼠走迷宫竞赛进行本土化创新改革，对于后期智能鼠竞赛
的开展和走进课堂、融入教学起到关键性的作用。经过多年的蜕变与优化，
“智能鼠”已经成为集“职业性、综合性、先进性、趣味性”于一体的创新
实践教育平台，在推动课程改革、提高教学质量、培养学习者的工程实践创
新能力等方面发挥了重要的作用。
为了将智能鼠的成果进一步推广应用，我们编写了适用于职业院校学生学
习及培训的《智能鼠原理与制作》（进阶篇）教材。本书以天津启诚伟业科技有
限公司提供的 TQD-Micromouse-JD智能鼠为载体，由浅及深、由易到难地进行实
践教学。
本书遵循递进原则，从“玩转”到“掌握”，再到“精通”，丰富学习
者的工程实践知识和技术应用经验，拓展学习者的专业视野，内化形成良好
的职业素养，提升学习者的实践创新能力。本书所选案例均来自真实的工程
项目，编者均来自国内长期从事智能鼠研究与开发、国际智能鼠走迷宫竞赛
获奖的院校和企业。
本书在重要的知识点、能力点和素养点上，配有丰富视频、图片、文本
等资源，学习者可以通过扫描书中二维码获取相关信息。本书编著者长期的
国际化教学活动积淀，使得本书成为推进国际化人才培养的实践教学载体，
本书适合作为职业院校相应专业综合与创新实践教学的教材，还可作为相关工程技术
人员培训用书及智能鼠爱好者参考用书。
在本书附录中提供了“智能鼠原理与制作”（适用于高等职业学校）国际实训课
程标准。明确了以智能鼠的硬件结构、智能鼠的开发环境、智能鼠的红外检测、智能
鼠的运动姿态控制、智能鼠的路径规划和行为决策法则等项目为专业核心能力。采用
“教、学、做”一体化的方式，完成专业能力、社会能力、方法能力的培养。本课程内
容与多个国家的“鲁班工坊”建设项目高度融合。服务“一带一路”倡议，推广中国职
业教育标准，为“一带一路”沿线国家提供丰富实践教学资源，服务各地技术技能人
才培养。智能微型运动装置（Micromouse）技术与应用系列丛书是天津市“一带一路”
联合实验室（研究中心）——天津中德柬埔寨智能运动装置与互联通信技术推广中心研
究成果，同时也是工程实践创新项目（EPIP）教学模式规划教材。在高等教育领域“新
工科”方向，可使用本书作为信息与自动化技术融合与创新学科教学的指导用书。
本书由天津大学教授王超，南开大学副教授高艺，启诚智能鼠创始人、天津启
诚伟业科技有限公司总经理宋立红编著。英文部分由天津轻工职业技术学院副教授王
娟、讲师范平平，天津启诚伟业科技有限公司总经理助理严靖怡编译。天津交通职业
学院副教授刘宝生、讲师李萌以及天津轻工职业技术学院讲师王丹阳参与编写。国际专
家美国麻省理工学院教授David Otten和英国伯明翰城市大学教授Peter Harrison、葡萄牙
Trás-os-蒙特斯与奥拓杜罗大学教授António Valente参与本书英文内容的译审，并专为本书
写了贺信。本书在编写过程中得到了天津大学、南开大学、天津轻工职业技术学院、天
津交通职业技术学院、美国麻省理工学院、英国伯明翰城市大学和葡萄牙Trás-os-蒙特斯
与奥拓杜罗大学等相关院校教授、专家的大力支持。天津启诚伟业科技有限公司陈立
考、邱建国、宋姗为本书出版提供了企业实际工程案例、二维码视频、动画、 PPT等课
程资源。衷心感谢天津市教育委员会、中国铁道出版社有限公司、天津启诚伟业科技有
限公司对本教学资源开发提供的指导与帮助。本书由天津轻工职业技术学院赞助编译，
中国铁道出版社有限公司支持出版，并通过鲁班工坊在“一带一路”沿线国家使用。
限于编著者的经验、水平以及时间，书中难免存在不妥和缺漏，敬请专家、广大
读者批评指正。
编著者
2020年8月
Micromouse is a micro, intelligent motion device (or embedded microrobot)
composed of embedded micro controllers, sensors and electromechanical moving
parts. Micromouse can reach the predetermined destination fast by automatically
memorizing all the routes in various mazes and selecting the optimal path out with
the aid of suitable algorithms. The Micromouse competition involves wide-ranging
scientific knowledge such as mechatronics, cybernetics, optics, programming
and artificial intelligence.
For more than 40 years, the Institute of Electrical and Electronics
Engineers (IEEE) has hosted an annual Micromouse competition. Since
its inception, the international event has featured extensive and active
participation, especially that of students from colleges and universities in
the US and Europe. Some universities even offer an elective course on the
principles and production process of Micromouse. In 2007, Shanghai and
some other cities in the Yangtze River Delta started to stage small-scale,
experimental Micromouse competitions. In 2009, Tianjin Qicheng Science
and Technology Co., Ltd. introduced the competition to Tianjin and added
local features to create an updated version based upon the Engineering
Practice Innovation Project (EPIP) teaching model. These pioneering efforts
helped boost future Micromouse events and played a key role in integrating
them into classroom teaching. Years of exploration and progress have made
Micromouse competitions to serve as educational platforms that encourage
innovation and practice. By bringing together expertise and interest, the multidimensional and pioneering competitions have been essential for cultivating
students’ capabilities in practice and innovation, reforming curriculum and
improving education.
In order to further promote and apply the achievements of Micromouse,
we specially organized the book of Micromouse Design Principles and Production
Process (Intermediate ) for vocational-technical learning and training. This book
is based on the TQD-Micromouse-JD provided by Tianjin Qicheng Science and
Technology Co.,Ltd. As a teaching carrier, practice teaching is carried out from
shallow to deep, and from easy to difficult, step-by-step teaching.
This book will teach users with basic principles of Micromouse and end
up as a profession in the field by following a step-by-step method that is
also used in compiling the book. After reading the book, users will acquire
more knowledge about engineering practice, enrich their experience in
technology application, open up a broader vision in expertise, and become
more professional.This book’s ultimate goal is to cultivate innovation-minded
practitioners. The select cases in the book are all adapted from real-life
engineering projects. Also all the authors are came from enterprises, colleges
and universities that have long remained committed to R&D on Micromouse or
that have won awards in international competitions.
This book offers abundant videos, pictures and texts, etc. on important
knowledge points, skills points and literacy points. The reader can scan the
QR code in the book to get these supporting resources. The authors’ rich
international teaching experience has made the book became a practical
teaching carrier to promote international talent training. Vocational colleges
and institutions of higher education can use the book to guide their practicums
on innovation. The book is suitable as the textbook of vocational colleges
and universities corresponding professional comprehensive and innovative
practice. It can also be used as a training book for relevant engineering and
technical personnel or reference book for Micromouse lovers.
The appendix of this book, the international curriculum standard for
“Micromouse Design Principles and Production Process” (applicable to higher
vocational colleges) is provided. This course defines the following aspects as
the core of students’ professional competencies: the hardware structure,
the development environment, the infrared detection, the movement and
attitude control, the path planning and behavior decision-making algorithm of
Micromouse. The method combining “teaching, learning and experimenting”
is adopted in order to build students’ professional competences, social ability
and methodological ability. The content of this course is highly integrated
with the “Luban workshop” construction projects in many countries. This
course provides China educational standards and provides rich practical
teaching resources for all countries along “the Belt and Road” route, serving
the training of skilled personnel in various fields. Intelligent micro motion
device (Micromouse) technology and application series of books are the
research result of Tianjin “the Belt and Road” Joint Laboratory (Research
Center)— Tianjin Sino-German and Cambodia Intelligent Motion Device and
Communication Technology Promotion Center and are also the Engineering
Practice Innovation Project (EPIP) teaching model planned textbook. Amid the
ongoing efforts to build emerging engineering programs, relevant universities
can also use the book to guide the integration of IT and automation technology
and innovative teaching models.
This book is co-authored by Wang Chao, professor of Tianjin University;
Gao Yi, associate professor of Nankai University; and Song Lihong, general
manager of Tianjin Qicheng Science and Technology Co.,Ltd., the founder of
Qicheng Micromouse. The English version was translated and compiled by
associate professor Wang Juan, lecturer Fan Pingping of Tianjin Light Industry
Vocational Technical College, and Yan Jingyi, a general manager assistant
of Tianjin Qicheng Science and Technology Co., Ltd. Associate professor Liu
Baosheng, lecturer Li Meng of Tianjin Transportation Technical College and
Wang Danyang, a lecturer of Tianjin Light Industry Vocational Technical College
are participated in some translation work of this book. David Otten, professor
of Massachusetts Institute of Technology (MIT) in USA, Peter Harrison,
professor of Birmingham City University in UK and Antánio Valente, professor
of University of Trás-os-Montes and Alto Douro in Portugal are proofreaders
of the English version and they specially wrote congratulatory letters for this
books. The book has received great and generous support from scholars
and experts who come from Tianjin University, Nankai University, Tianjin Light
Industry Vocational Technical College, Tianjin Transportation Technical College,
MIT, Birmingham City University, and University of Trás-os-Montes. Chen
Likao, Qiu Jianguo and Song Shan, are the employees of Tianjin Qicheng Science
and Technology Co.,Ltd. provided practical engineering cases, QR codes,
videos and PPT course resources for the book. We also owe great gratitude to
Tianjin Municipal Education Commission, China Railway Publishing House Co.,
Ltd. and Tianjin Qicheng Science and Technology Co.,Ltd. for their invaluable
guidance and support. This book is sponsored compiled by Tianjin Light Industry
Vocational Technical College, published by China Railway Publishing House Co.,
Ltd. and will be used in countries along “the Belt and Road” route through the
Luban Workshop program.
There will be some gaps or even errors in the book due to a tight publishing
schedule and insufficient consideration from the authors, so any constructive
criticisms and suggestions are greatly welcomed.
Authors
August, 2020

第一篇　基础知识篇.................................................................................1
项目一 智能鼠的发展历程 ........................................................................ 003
任务一 智能鼠的起源 ............................................................................ 003
任务二 智能鼠的竞赛与调试环境 ........................................................ 009
项目二 智能鼠的硬件结构 ........................................................................ 012
任务一 智能鼠的组成 ............................................................................ 012
任务二 智能鼠的核心控制板 ................................................................ 013
项目三 智能鼠的开发环境 ........................................................................ 015
任务一 IAR EWARM开发环境 ............................................................. 015
任务二 智能鼠的程序下载 .................................................................... 016
项目四 智能鼠的基本功能操作 ................................................................ 017
任务一 智能鼠的人机交互系统 ............................................................ 017
任务二 智能鼠的红外检测 .................................................................... 020
任务三 智能鼠的运动姿态控制 ............................................................ 025
第二篇　综合实践篇...........................................................................035
项目一 智能鼠高级功能 ............................................................................ 037
任务一 智能鼠直行的控制方法 ............................................................ 037
任务二 智能鼠精确转弯的控制方法 .................................................... 042
项目二 智能鼠实战任务 ............................................................................ 046
任务一 7289调试模块的使用 ................................................................ 046
任务二 非接触式启动和停止控制 ........................................................ 048
任务三 “8字型”路径运行控制 .......................................................... 050
第三篇　拓展竞技篇...........................................................................053
项目一 智能鼠的路径规划和行为决策算法 ............................................ 055
任务一 迷宫搜索的常用策略 ................................................................ 055
任务二 迷宫搜索的基本法则 ................................................................ 055
项目二 智能鼠路径规划的原理 ................................................................ 060
任务一 迷宫信息的存储方法 ................................................................ 060
任务二 等高图的制作方法 .................................................................... 061
项目三 智能鼠走迷宫程序设计 ................................................................ 062
任务一 运行姿态程序控制 .................................................................... 062
任务二 基本程序结构解析 .................................................................... 063
附录.................................................................................................... 077
附录A 风靡全球的国际智能鼠走迷宫竞赛.............................................. 077
附录B 进阶级经典竞赛案例分析.............................................................. 086
附录C TQD-Micromouse-JD器件清单 ...................................................... 092
附录D 教学内容和学时安排 ..................................................................... 092
附录E 电路图形符号对照表...................................................................... 093
附录F 专业词汇中英文对照表 .................................................................. 094
附录G “智能鼠原理与制作”国际实训课程标准 ................................... 096

Chapter 1　Elementary Knowledge..................................001
Project 1 Evolution of Micromouse............................................................. 003
Task 1 Origins of Micromouse ............................................................... 003
Task 2 Competition and Debugging Environment of Micromouse........ 010
Project 2 Micromouse Hardware Structure ................................................. 014
Task 1 Components of Micromouse....................................................... 014
Task 2 Main Control Board of Micromouse........................................... 016
Project 3 Development Environment of Micromouse................................. 017
Task 1 IAR EWARM Development Environment ................................. 017
Task 2 Downloading Program of Micromouse....................................... 018
Project 4 Basic Function Control of Micromouse ....................................... 020
Task 1 Human-Computer Interaction System of Micromouse............... 020
Task 2 Infrared Detection of Micromouse.............................................. 023
Task 3 Attitude Control System.............................................................. 029
Chapter 2　Comprehensive Practice............................. 039
Project 1 Advanced Control Function.......................................................... 041
Task 1 Straight Movement Control ........................................................ 041
Task 2 Accurate Turning Control ........................................................... 046
Project 2 Actual Combat Tasks.................................................................... 050
Task 1 Using of Debugging Board 7289 ................................................ 050
Task 2 Non-Contact Start/Stop Control.................................................. 052
Task 3 Movement Control in Picture-8-Shaped Path ............................. 054
Chapter 3　Advanced Skills and Competitions ......... 057
Project 1 Path Planning and Decision Algorithm ........................................ 059
Task 1 Common Strategies of Maze Searching...................................... 059
Task 2 The Basic Rules of Maze Searching ........................................... 060
Project 2 The Principle of Path Planning..................................................... 065
Task 1 The Information Storage Method of a Maze............................... 065
Task 2 The Step Map Making Method ................................................... 066
Project 3 Micromouse Program Design....................................................... 068
Task 1 Attitude Program Control............................................................ 068
Task 2 Analysis of the Main Program Structures ................................... 070
Appendix ...................................................................................... 083
Appendix A Micromouse Competition Going Popular in the World........... 085
Appendix B Analysis of Improved-level Classic Competition Cases ......... 097
Appendix C Device List of TQD-Micromouse-JD...................................... 105
Appendix D Teaching Content and Class Arrangement .............................. 105
Appendix E The Circuit Diagram Symbol Comparison Table .................... 106
Appendix F Bilingual Comparison Table of Glossary................................. 107
Appendix G The International Curriculum Standard for “Micromouse
Design Principles and Production Process”............................ 109

王超，天津大学教授， 高 艺 ，南开大学教授，宋立红，天津启诚伟业科技有限公司总经理

本书为中英双语版，以天津启诚伟业科技有限公司提供的TQD-Micromouse-JD 智能鼠为载体，是智能微型运动装置（Micromouse）技术与应用系列丛书的进阶篇。本书遵循递进原则，从“玩转”到“掌握”，再到“精通”，丰富学习
者的工程实践知识和技术应用经验，拓展学习者的专业视野，内化形成良好
的职业素养，提升学习者的实践创新能力。本书所选案例均来自真实的工程
项目，编者均来自国内长期从事智能鼠研究与开发、国际智能鼠走迷宫竞赛
获奖的院校和企业。