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-JQ 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初级篇。
本书以真实工程项目为背景，通过“基础知识篇”、“综合实践篇”、“竞赛创新篇”和“拓展应用篇”
四篇讲述了智能鼠的发展、硬件、开发环境、功能调试；智能鼠的交互控制、姿态控制；智能鼠算
法解析、高级功能；智能鼠技术应用扩展等。同时，本书附录提供了国际 Micromouse 走迷宫竞赛
相关知识、智能鼠器件清单、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。
本书适合作为基础教育学校开展职业启蒙、科技活动和特色教育的教材，也可作为职业教育的教材，
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 elementary-level of a series of books on Micromouse
Technology and Application.
The book is based on real engineering projects, through “Elementary Knowledge”, “Comprehensive
Practice”,“Advanced Skills and Competitions” and “Extended Application”. All of these four chapters are
describe the development, hardware, development environment, and function debugging of the Micromouse;
interactive control and attitude control of the Micromouse; analysis of the Micromouse algorithm; advanced
functions; application expansion of micromouse technology, 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 basic education school to carry out vocational enlightenment, scientifc and technological activities and characteristic education. It is also suitable as the textbook of vocational education.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电一体化、控制论、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，我们编写了适用于基础教育和职
业教育的《智能鼠原理与制作》（初级篇）教材。本书以天津启诚伟业科技
有限公司提供的 TQD-Micromouse-JQ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实践的教学载体，
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。本书适合作
为基础教育学校开展职业启蒙、科技活动和特色教育的教材，也可作为职业教育的教
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”（适用于中等职业学校）国际实训课程
标准， 60学时教学内容，课程设计与实施采用理实一体的方式，以动脑动手相结合，整
体贯穿技术技能训练，为职业道德素养内化形成服务。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。
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。英文部分由天津市东丽区职业教育中心学校一
级教师王晓芹，天津启诚伟业科技有限公司总经理助理严靖怡，天津机电职业技术学
院讲师周蘩雨编译。天津市东丽区职业教育中心学校高级教师李鑫，天津市东丽区职
业教育中心学校高级教师刘学文，天津市东丽区职业教育中心学校高级教师董庆林，
天津市东丽区职业教育中心学校一级教师李军，天津市东丽区职业教育中心学校一
级教师张宏戍，南开大学电子信息与光学工程学院实验师李晓晨参与了本书编写和翻
译工作。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
津市东丽区职业教育中心学校、天津第一轻工业学校、天津经济贸易学校、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、 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。本书由天津市东丽区职业教育中心学校赞助编译，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 multi-dimensional
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(Elementary) for basic education and vocational education. This book is
based on the TQD-Micromouse-JQ 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. Institutions of higher
education and vocational colleges can use the book to guide their practicums
on innovation. Intelligent micro motion device (Micromouse) technology and
application series 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. The book is suitable as the textbook of basic education school to
carry out vocational enlightenment, scientific and technological activities
and characteristic education. It is also suitable as the textbook of vocational
education. 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 provides the international training course
standard of “Micromouse Design Principles and Production Process”
(applicable to secondary vocational colleges). There is a total of 60 hours of
teaching content. The course design and implementation adopt a method of
integrating theory and practice, combining brain and hands. Throughout the
technical skills training, it serves for the internalization of professional ethics.
The content of this course is highly integrated with the “Luban Workshop”
construction projects in many countries. Serving the “the Belt and Road”
initiative, spreading Chinese vocational education standards, providing rich
practical teaching resources for countries along “the Belt and Road” route,
serving the training of skilled personnel in various fields.
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
Wang Xiaoqin, first class teacher of Tianjin Dongli District Vocational Education
Center, Yan Jingyi, a general manager assistant of Tianjin Qicheng Science
and Technology Co., Ltd. and Zhou Fanyu, lecturer in Tianjin Vocational College
of Mechanics and Electricity. Li Xin, senior teacher of Tianjin Dongli District
Vocational Education Center, Liu Xuewen, senior teacher of Tianjin Dongli
District Vocational Education Center, Dong Qinglin, senior teacher of Tianjin
Dongli District Vocational Education Center, Li Jun, first class teacher of Tianjin
Dongli District Vocational Education Center, Zhang hongshu, senior teacher
of Tianjin Dongli District Vocational Education Center and Li Xiaochen, an
experimentalist of Electronic Information and Optical Engineering College in
Nankai University, participated in the collation and translation of this book. David
Otten, professor of Massachusetts Institute of Technology (MIT) in USA, Peter
Harrison, professor of Birmingham City University in UK and António 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 Dongli District Vocational Education Center, Tianjin First Light Industry
School, Tianjin Economics and Trade School, Massachusetts Institute of
Technology (MIT), Birmingham City University, and University of Trás-osMontes and Alto Douro. 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 to
compiled by Tianjin Dongli District Vocational Education Center, 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............................................................................001
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 智能鼠大脑的结构 .................................................................... 014
项目三 智能鼠的开发环境 ........................................................................ 016
任务一 Arduino软件开发环境 ............................................................... 016
任务二 智能鼠的逻辑思维方式 ............................................................ 019
项目四 智能鼠的基础功能调试 ................................................................ 024
任务一 智能鼠的眼睛看世界 ................................................................ 024
任务二 智能鼠的腿动起来 .................................................................... 028
第二篇　综合实践篇............................................................................031
项目一 智能鼠的交互控制 ........................................................................ 033
任务一 智能鼠人机交互系统 ................................................................ 033
任务二 智能鼠眼睛和腿的协同工作 .................................................... 037
项目二 智能鼠的姿态控制 ........................................................................ 039
任务一 智能鼠跑起来 ............................................................................ 039
任务二 智能鼠学会转弯 ........................................................................ 046
第三篇　竞赛创新篇............................................................................051
项目一 智能鼠常用算法解析 .................................................................... 053
任务一 左手法则 .................................................................................... 053
任务二 右手法则 .................................................................................... 054
项目二 智能鼠高级功能 ............................................................................ 056
第一篇　基础知识篇............................................................................001
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 智能鼠大脑的结构 .................................................................... 014
项目三 智能鼠的开发环境 ........................................................................ 016
任务一 Arduino软件开发环境 ............................................................... 016
任务二 智能鼠的逻辑思维方式 ............................................................ 019
项目四 智能鼠的基础功能调试 ................................................................ 024
任务一 智能鼠的眼睛看世界 ................................................................ 024
任务二 智能鼠的腿动起来 .................................................................... 028
第二篇　综合实践篇............................................................................031
项目一 智能鼠的交互控制 ........................................................................ 033
任务一 智能鼠人机交互系统 ................................................................ 033
任务二 智能鼠眼睛和腿的协同工作 .................................................... 037
项目二 智能鼠的姿态控制 ........................................................................ 039
任务一 智能鼠跑起来 ............................................................................ 039
任务二 智能鼠学会转弯 ........................................................................ 046
第三篇　竞赛创新篇............................................................................051
项目一 智能鼠常用算法解析 .................................................................... 053
任务一 左手法则 .................................................................................... 053
任务二 右手法则 .................................................................................... 054
项目二 智能鼠高级功能 ............................................................................ 056

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 ................................................. 013
Task 1 Components of Micromouse ...................................................... 013
Task 2 The Control Structure of Micromouse ........................................ 015
Project 3 Development Environment of Micromouse................................. 018
Task 1 Arduino Development Environment ........................................... 018
Task 2 Logical Thinking of Micromouse ............................................... 021
Project 4 Basic Function Control of Micromouse ....................................... 026
Task 1 Micromouse Sees the World ....................................................... 026
Task 2 Micromouse Moves..................................................................... 031
Chapter 2 Comprehensive Practice............................. 035
Project 1 Interaction Control of Micromouse.............................................. 037
Task 1 Human-Computer Interaction System ........................................ 037
Task 2 Cooperation Between Eyes and Legs.......................................... 042
Project 2 Attitude Control of Micromouse .................................................. 044
Task 1 Micromouse Runs ....................................................................... 044
Task 2 Micromouse Turns ...................................................................... 052
Chapter 3 Advanced Skills and Competitions ......... 057
Project 1 Analysis of Common Algorithms................................................. 059
Task 1 The Left-Hand Rule .................................................................... 059
Task 2 The Right-Hand Rule .................................................................. 061
Project 2 Advanced Control Function of Micromouse................................ 063
Task 1 Principle and Implementation of Multi-Sensor Cooperation...... 063
Task 2 Principle and Implementation of Multithreading........................ 068
Task 3 Micromouse Avoids Obstacles and Runs Flexibly...................... 071
Chapter 4 Extended Application .................................... 079
Project 1 Structural Composition of TQD-IOT Engineering Innovation
Course Platform............................................................................ 081
Task 1 Relationship Between Engineering Innovation
Course Platform and Micromouse .............................................. 081
Task 2 Hardware Composition of Engineering Innovation
Course Platform .......................................................................... 084
Project 2 IOT Extended Application of Micromouse Technology .............. 088
Task 1 Micromouse Controller Controls the Lighting System............... 088
Task 2 Micromouse Controller Controls the Security System ............... 097
Task 3 Micromouse Controller Controls the Display System ................ 109
Appendix ....................................................................................... 119
Appendix A Micromouse Competition Going Popular in the World........... 121
Appendix B Entry-Level Micromouse Competition Analysis..................... 133
Appendix C Device List of TQD-Micromouse-JQ...................................... 139
Appendix D Device List of TQD-IOT Engineering Innovation Course
Platform ................................................................................... 139
Appendix E Teaching Content and Class Arrangement............................... 140
Appendix F The Circuit Diagram Symbol Comparison Table .................... 140
Appendix G Bilingual Comparison Table of Glossary................................ 141
Appendix H The International Curriculum Standard for “Micromouse
Design Principles and Production Process” ............................ 143

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

本书为中英双语版智能微型运动装置（Micromouse）技术与应用系列丛书，鲁班工坊智能鼠配套系列教材，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。