The Design And Implementation Of Wheeled Robot Experimental Platform Based On UC/OS-Ⅱ

In recent years, with the wide application of the robot control technology and therapid development of the microprocessor and the embedded systems, intelligentwheeled robot begins to play an increasingly important role in the teachingexperiment and science competition for college students, even for primary or middleschool students. Taking Sunplus SPCE061A as the hardware core and based onuC/OS-II RTOS, this paper designs and realizes a kind of intelligent wheeled robotsexperimental platform with the following functions: obstacle detection, intelligentdecision, automatic operation and voice prompt.Firstly, this article introduces the uC/OS-II real-time system briefly and explainsthe advantages of SPCE061A. Then from two aspects of the hardware circuit andsoftware design, the paper analyzes the design details and implementation processes.In terms of hardware, this paper designs all of the circuit of the wholeexperimental platform and produces the PCB circuit board. The hardware structureincludes power management circuit, SPCE061A minimum system circuit, USB toserial download circuit, voice module circuit, sensor module circuit and servo motorcircuit and so on.While developing software, based on SPCE061A μ’nSP and Sunplus IDEtools, this paper ports uC/OS-II firstly; The following step is writing the functionmodule subroutine, including: UART module function, sensors module function andmotor driver function, voice prompt function; According to the need finally, the paperconfigures and cuts uC/OS-II RTOS kernel and then writes comprehensive applicationprogramming based on uC/OS-II. The intelligent wheeled robot experimental platform uses USB to serial circuit todownload program, rather than using expensive Probe. In this way, it is not onlycheaper, but also can apply to PC which have no parallel and serial port; The designof application in the uC/OS-II environment can avoid many disadvantages of baremetal development. Those disadvantages include: difficulty software updates,complex logic relation and strong module dependencies. Voice prompt makes theexperimental platform more intelligent. In addition, the results not only have strongreference value for the future robot design of our robot team, but also can be used asexperimental platform of MCU, robot control and embedded system and other relatedcourses. So they have very high practical value. After the actual debugging, the resultsbasically meet the expected requirements and the design scheme is feasible.