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控制系统以AT89S52单片机为核心,由直流减速电机驱动电路、引导线检测电路、倾角检测电路、路程检测电路、键盘显示电路、电源电路等组成,可以实现移动机器人自动寻迹、确定平衡点,同时具有操作时间显示、路程累计等功能。利用PWM技术对直流减速电机进行调速,采用红外传感器来寻线和检测机器人运动方向,倾角传感器来检测平衡板的角度,并对传感器输出的电压信号进行了滤波处理。
The control system is composed of AT89S52 single-chip microcomputer and consists of DC motor drive circuit, lead detection circuit, dip detection circuit, distance detection circuit, keyboard display circuit, power supply circuit and so on. It can realize the automatic tracking of mobile robot and determine the balance point. With operating time display, distance accumulation and other functions. The PWM technology is adopted to regulate the DC geared motor. The infrared sensor is used to hunt and detect the direction of the robot motion. The tilt sensor detects the angle of the balance board and filters the voltage signal output by the sensor.