AT89S51为核心的控制板可以达到其基本功能，再辅加由漫反射式光电开关组成的避障电路、555组成的转速控制电路、电源电路、差分驱动电路-AT89S51 as the core of the control panel can achieve its basic functions, and then supplemented by the additional diffuse photoelectric switch circuit composed of obstacle avoidance, consisting of 555 speed control circuit, power circuit, a differential driver circuit