摘要小型家用清扫机器人集成了移动机器人技术、传感器技术以及微机控制技术等多个关键领域的技术，能实现在比如家庭地面等小范围地面的自动清洁，这样的机器人可以替代人们平时人工的清洁工作，目前市场上已经出现了不少这类设备，但核心技术主要依赖于进口，因此大多价格昂贵。故在互联网+及家居智能化的大背景下，该产品具有十分广阔的市场前景。

本文首先综述了小型家用清洁机器人的国内外研究现状，在研究、对比了国内外的几种较为典型的产品后，提出了目前适应于日常家庭，成本价格较低的清扫机器人设计方案。

目前的家用清扫机器人系统主要由清扫机器人以及智能自动充电站组成。本文主要阐述机器人清扫的主体的组成部分，并完成了硬件电路的实现。通过综合对比各个方案的输入输出接口、存储及可靠性等，本产品的主控微机芯片选择了宏晶公司的STC89C52单片机，该单片机应用系统功能强、体积小、价格便宜并能够完全满足本次设计的要求。61766

然后，详细设计了电机控制电路、红外传感器、超声波传感器及电源模块。

    最后，经过设计制作出了样机，进行实验研究，结果表面，所制作的清扫机器人能够完成简单环境小范围的清扫工作，达到预期效果

毕业论文关键词：机器人，单片机，智能

 The control system of small household cleaning robot

Abstract Small household cleaning robot is an integration of the key technologies of mobile robot technology, sensor technology and computer control technology in multiple areas, implementation of family of a small range of ground automatic cleaning, instead of the normal people's manual cleaning work, at present on the market there have been a lot of this kind of equipment, but core technology mainly depends on import, so most expensive. So in the Internet plus and Home Furnishing intelligent background, the product has very broad market prospects.

In this paper, we first review the small household cleaning robot at home and abroad research present situation, after the study and comparison of several domestic and foreign typical products, put forward to the for daily household, lower cost price of cleaning robot design.

The current household cleaning robot system mainly consists of the cleaning robot and intelligent automatic charging station. In this paper, the main body of the robot is described, and the realization of the hardware circuit is completed. Through the comprehensive comparison of various schemes of the input and output interface, the memory and the reliability of, the product of main control microcomputer chip selected macro crystal company STC89C52 MCU, the MCU application system function is strong, small size, price cheap and can fully meet the design requirements.

Then, the infrared sensor, ultrasonic sensor, power module and motor control circuit are designed in detail.

Finally, after the design and production of the prototype, the experimental study, the results of the surface, the production of the cleaning robot can complete the simple environment of a small range of cleaning work, to achieve the desired results

关键词：robot, MCU, intelligence

 摘   要 i

Abstract ii

第1章 绪论 1

1.1 选题背景、目的与意义 1

1.1.1 机器人技术概述 1

1.1.2 服务型机器人的出现原因