竞赛机器人小车的设计

Design of a Vehicle-like Robot for Competition

本文结合机器人竞赛，介绍了竞赛机器人小车的设计和具体实现。机器人小车以SST公司的SST89E564RD单片机为控制器，辅以传感器模块和驱动器模块。其中传感器模块采用的是反射式可见光传感器，利用达林顿管对反射光强进行放大。控制模块采样传感器信号，并以此来确定小车状态和辨认路线，然后依据预置于控制模块中的导航地图来控制驱动模块并采用PWM方式调节电机转速，并改变小车的前进方向和速度，从而达到自主寻迹的目的。

Combining with the robot competition, this paper introduces the design and implementation of an automatic guided vehicle-like robot for competition. The vehicle-like robot is made with SST89E564RD MCU as a controller, and assisted by a sensor module and a drive module. Reflective visible light sensor which can magnify the intensity of reflective light by using Darlington transistor is adopted in the sensor module. By sampling voltage signals of the sensor module, control module can identify the state of the vehicle-like robot and distinguish the routes. Then in accordance with the preset navigation map, the controller could use PWM mode to adjust the motor speed and change the advanced direction and the speed of the vehicle-like robot, and thereby, the robot is automatically guided.