摘  要：根据IEEE标准迷宫机器人竞赛规则，设计了一种新型迷宫机器人。该迷宫机器人基于飞思卡尔MC9S12DG128微处理器，采用小型直流减速电机进行驱动并通过码盘和光电传感器检测电机转速，使用收发一体化反射型光电传感器RPR220检测迷宫信息。实验分析表明，该方案完全满足迷宫机器人的硬件要求，在减小迷宫机器人整体尺寸和重量的同时也节约了制作成本。
关键词：迷宫机器人；直流电机；单片机；飞思卡尔

Abstract: According to the rules of IEEE standard micro-mouse match, a new type micro-mouse was designed. The Freescale MC9S12DG128 microprocessor was used as the controller for this micro-mouse. Two direct-current motors were used to drive the car, and the motor speed was detected by photoelectric sensor and encoding disk. The RPR220 sensor which sends and incepts infrared ray was used to detect the information of the maze’s wall. Finally, the experiment analysis shows that the designed micro-mouse can satisfy the micro-mouse’s hardware acquirements completely. It also reduces the whole size, weight and cost of the micro-mouse.
Key words: micro-mouse; DC motor; single chip microprocessor; Freescale