本文通过对小型自动清扫机器人的研究,从机械结构的总体设计,到控制系统的设计,进行了一个较详细的阐述。控制系统以单片机AT89C51为核心,辅以外围电路、电机驱动电路、传感器检测电路以及红外遥控电路等进行硬件上的设计。并着重对避障功能进行了讨论,整个机器人系统采用C语言编程实现完整的功能。 This article through a small automatic cleaning robot research, from the overall mechanical structure design, control system design, carried out a more detailed description. Control system to the microcontroller AT89C51 as the core, supplemented by peripheral circuits, motor drive circuit, sensor detection circuit and infrared remote control circuit hardware design. And focus on the obstacle avoidance function were discussed, the entire robot system using C language programming to achieve full functionality.