基于增强型51单片机的可变形机器人控制系统设计
Design of Control System for Deformable Robot Based on Enhanced 51 Single Chip Microcomputer

随着自动化技术的不断发展，越来越多的机器人投入到大家的日常生活中。机器人的介入，大大提升了人们的生活质量和社会生产速度。但是，几乎所有机器人都只能服务于特定的领域。因此，开发一款能胜任多项工作的机器人显得极其重要，既可以大幅提升机器人的工作效率和环境适应能力，又可以极大程度的解决机器人因不能胜任某项工作而暂时闲置所造成的资源浪费。可变形机器人控制系统设计可广泛应用于日常生活。它是一种相对低成本，易于通过亚克力板和轻量化金属拼接生产的可变形机器人。它可以通过解体和重组达到变形的目的，并可以进行手动和自动控制。通过对其硬件的设计，确定需要使用的电源模块、单片机最小系统、传感器模块、驱动模块，为可变形机器人实现解体和重组对接的功能做铺垫。继而通过软件设计，确定可变形机器人控制流程、机器人驱动程序及电磁巡线算法程序。此外，在系统板上设置复位键，可实现控制模式切换。机器人既可凭借电磁传感器，通过程序和算法，可实现自动控制，也可依靠蓝牙模块，可实现手动控制。最后，加入机械手这一嵌套模块，并通过2.4 G遥控器实现实时手动控制。嵌套模块的使用，大大拓宽了可变形机器人的使用范围，增加了其工作能力。
With the continuous development of automation technology, more and more robots are put into everyone’s daily life. The intervention of robots has greatly improved people’s quality of life and social production speed. However, almost all robots can only serve a specific field. Therefore, developing a robot that can handle multiple tasks is extremely important. This can greatly improve the work efficiency and environmental adaptability of robots, and also greatly solve the resource waste caused by robots being temporarily idle due to their inability to perform certain tasks. The design of a deformable robot control system can be widely used in daily life. It is a relatively low-cost, easy-to-produce deformable robot produced by splicing acrylic plates and lightweight metal. It can achieve the purpose of deformation through disassembly and reorganization, and can be controlled manually and automatically. Through the design of its hardware, the power module, the minimum system of the single chip microcomputer, the sensor module and the drive module to be used are determined to pave the way for the deformable robot to realize the functions of disassembly and reorganization and docking. Subsequently, this article determines the control process, robot driver program, and electromagnetic line inspection algorithm program of the deformable robot through software design. In addition, setting the reset button on the system board can realize the control mode switching. The robot can achieve automatic control by means of electromagnetic sensors, through programs and algorithms, or it can rely on Bluetooth modules for manual control. Finally, this system incorporates a nested module for robotic arms and achieves real-time manual control through a 2.4 G remote control. The use of nested modules greatly expands the use of deformable robots and increases their working capabilities.