履带小车循迹避障测速，使用51单片机，利用红外线传感器检测地面上的黑带，沿着黑带移动，通过记录转速和时间计算速度。包含超声波测距用于避障-The pedrail dolly tracking obstacle avoidance velocity, using 51 single chip, using infrared sensors to detect the ground of black belt, moving along the black belt, by recording the time and speed of computational speed. Ultrasonic distance measurement for obstacle avoidance