摘要：机器人学是二十一世纪迅速发展的一门综合学科，它集中了机械工程、电子工程、计算机科学、自动控制工程以及人工智能学等多个学科的最新研究成果，是当代科学技术发展最活跃的领域之一。
本文设计研究的是机器人领域的一个热点——移动机器人。介绍了基于AT89C51单片机对轮式移动机器人的运动控制系统。简述了实现该系统的硬件设计方案和软件设计思路，并做了详细设计。该系统利用简单的超声波传感装置实现机器人探测障碍物、判断并自动躲避障碍，通过机器人的控制核心计算测试并显示具体距离。并配合PWM技术对电机进行调速，实现机器人的前、后行走、自动停车等功能。此外该控制系统与电路用光电耦合器完全隔离以避免干扰，提高系统稳定性。
关键词：移动机器人 超声波探测 脉宽调制 单片机
[Abstract]Robotics is a synthesis discipline which has been rapidly developing in 21st century. It concentrates the newest research results of many discipline such as mechanical engineering, electronic engineering, computer science, automatic control project as well as the artificial intelligence study and so on. It is one of the most active domains of modern science and technology.
This paper concerns the mobile robot which is one of the hot issues of robot domain. wheeled Mobile robot's motion control system which based on AT89C51 Single Chip Micyoco was introduced. Hardware and software design of this kind of wheel mobile robot was specified. The robot can detect the obstruction with a kind of ultrasonic wave transmitter, and can automatically steer clear of obstruction by computing and judging in robot's control core, and can also display the distance from obstruction. Based on PWM technology which was used to adjust velocity of the electrical motor, the robot can walk forward, walk backward, auto-stop etc. In addition, the control system was isolated from circuit completely with the electro-optical coupler in order to avoid disturbance, enhance the system’s stability.
Key words: mobile robot; ultrasonic detecting; PWM; Single Chip Micyoco
在系统设计过程中，力求硬件线路简单，充分发挥软件编程方便灵活的特点，来满足系统设计要求。该系统还有许多值得改进的地方，因为超声波属于声波，声音的传播速度与温度有关系，该系统还可以加入温度传感器，查找出温度与声速的对应关系，在计算距离时更加精确，符合实际情况。在实现该系统的设计要求时，还可以加入其它功能，为了让小车多方位快速简单的避障碍物，还可以做另外一个超声波传感器，放在小车的后面，让小车前后都能避障物。另外本设计中驱动电机采用的是直流电机，而调速用的是PWM脉宽调速。所以还可以在电机的一侧加上一个编码器，让速度能得到反馈，构成一个闭环控制系统，使整个机器人的控制精度更高。
