基于AVR单片机的轮式机器人硬件设计与实现  

Hardware Design and Implementation of Wheel-Robot Base on AVR Microcontroller

作　　者：肖若娴 杨晶菁[2] 夏天[1] 汤任飞 孙文鹏[1] 陈圣王 Ruoxian Xiao;Jingjing Yang;Tian Xia;Renfei Tang;Wenpeng Sun;Shengwang Chen(School of Chemical Engineering, Fuzhou University,Fuzhou,Fujian,350116,China;School of Electrical Engineering and Automation,Fuzhou University,Fuzhou,Fujian,350116,China)

机构地区：[1]福州大学石油化工学院,福建福州350116 [2]福州大学电气工程与自动化学院,福建福州350116

出　　处：《电子科学技术》2017年第3期81-85,共5页Electronic Science & Technology

基　　金：福州大学2016年大学生创新创业训练计划项目(201610386044)

摘　　要：本文详细介绍了一种基于AVR ATmega128的轮式机器人硬件设计。本设计的机器人可实现在由挡板组成的迷宫中自主行走并记忆路线的功能。选用Atmega128作为微处理器,红外线发射接收对管作为避障模块,DRV8833作为微型直流电机控制芯片,并设计了电压转换和充电模块。微控制器控制红外线模块的发射和接收,计算机器人和迷宫挡板的距离;采用PWM信号控制微型直流电机的转速和转向;通过电机编码器反馈的脉冲信号计算机器人的转速和前进方向。本文详细介绍了各模块的工作原理和具体实现电路。This paper introduces hardware design of wheel-robot which bases on AVR ATmega128.It can walk in the maze automatically and remember the route.The wheel-robot uses Atmega128asmicroprocessor,infrared transmitter and receiver as obstacle avoidance module,DRV8833as the micro DC motor control chip,and also has voltage conversion and charging module.The microcontroller controls the infrared transmitting and receiving module,calculates robot and baffle distance,controls thethe speed and direction of DC motor by PWM signal,calculatesthe speed and direction of robot by the feedback pulse signals of the motor encoder.This paper introduces the working principle of each module and the realization circuit.

关 键 词：单片机 轮式机器人 直流电机 红外线传感器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]