The control system design for detecting line automatically wheeled robot is presented. In the control system,AT89S52 is used as CPU,CPLD is augmented to help CPU for data processing; .

• 设计了一种自动巡线轮式行走机器人控制系统,采用AT89S52型单片机作为主控CPU,外加一个复杂可编程逻辑器件(CPLD)协助CPU处理数据,扩展了程序参数存储器,能够进行检测引导线和直流电机、舵机的PWM控制。