Moving Robot Kernel Control System Is Developed

Today, the study and development of robot technology enters into a new phase, but the robot technology is faced with two aspect of task; one is how the study and development of robot technology serve for the country economy better, the other is how does the china robot tend towards industrialization and take part in the international competition. Now in the market, the robot is divided into two types, one is controlled by computer directly, the control part (computer) and execution part (robot) are connected by data line and control line. When using, the robot often running in tow plenty cable, this is very discommodiousness. This robot running scope is small, but the control is very convenience. The other is complete independent robot, this type of robot is controlled by SCM commonly. Many sensors are fixed on the robot noumenon, the SCM make known control instruction by gather, dealing with and analyzing the signal. This type of robot running scope is big, in the running process, don't need towing plenty cable, but the control is discommodiousness, especially the user can't take part in the running control of robot, even if it can execute some user enactment, is also very simple operation. For the familiar evadable obstacle problem of robot, the actually execute process is completed by the designer, and isn't controlled by user. This robot running isn't agility.In this paper, the move robot based on and controller by sensor is developed, our developed robot, pay attention to the advantage and disadvantage of above two kinds of robot, now can program online, running leave the line. This assurance the user to take part in, and also implement the independence of execute process. It is a move robot, syncretizing the photosensitive sensor, infrared sensor, sound sensor and control motor sensor, it apply the leave line running technology, graphics program technology and sound technology, this make the move robot have very strong function. 80C552 microcontroller, can output two PWM to control the motor of the move robot, 10 bit A/D transition deal with the signal gathered by SCM, many interrupt deal with the change of outer environment, and control the move robot.In the E2PROM of move robot control mainboard, our micro operation system programmed in advance is embedded, this micro operation system include the environment apperceive, path layout and action decision-making etc many function ofmove robot, each function has unique ID number, the user can carry through graphics program for upper bit machine software, then download the function ID number and the function parameter through the computer serial port to the NVRAM of the main control board. When the move robot running leave the line, execute program acquire parameter which in the NVRAM real time, thus implement the online program and running leave the line of the move robot.