说明：  智能机器小车主要完成寻迹功能，由机械结构和控制单元两个部分组成。机械结构是一个由底盘、前后辅助轮、控制板支架、传感器支架、左右驱动轮、步进电机等组成。控制单元部分主要由主要包含传感器及其调理电路、步进电机及驱动电路、控制器三个部分。本设计的核心为控制器部分，采用Altera MAX7000S系列的EPM7064LC84-15作主控芯片。CPLD芯片的设计主要在MAX+plusⅡ10.0环境下利用VHDL语言编程实现。驱动步进电机电路主要利用ULN2803作为驱动芯片。
(intelligent machines trolley track of the major functions by mechanical structure and control modules of two components. Mechanical structure is a chassis, after supporting wheels, the control panel stent, sensors stent, driving wheel around, Stepper motors, and other components. Some of the main control unit from the mainly contains sensors and conditioning circuits, and stepper motor drive circuit, the controller of three parts. The design for the core controller, Altera MAX7000S the EPM7064LC84-15 for the control chip. CPLD chip design mainly in MAX II plus 10.0 environment using VHDL programming. Stepper motor driver circuit using mainly driven ULN2803 chip.)