| This thesis focuses on designing a control platform for mobile educational robot, which not only can be used for the robot contest by students in the m iddle school and the elementary school, but also can be utilized by college stu dents as a research platform for robot. The control platform features good exp ansibility, remote control and good modularity. In this thesis, the control platfo rm's hardware system and software system are based on ARM9 microprocessor and embeded Linux system respectively.Firstly, this thesis analyzes the present development and research status of educational robot in the home and overseas and finds the main problem existi ng widely, by which some design requirements are put forward.After analyzing and comparing performances of several mocroprocessors, t his thesis chooses ARM9 as the key processor of the control platform accordin g to its design and control requirements. Then by utilizing the modularization method this thesis designs the overall hardware scheme in which the whole co ntrol platform is divided into a CPU module and several expansion modules. I n order to improve the expansibility of the robot, this thesis uses I2C bus as modules'standard interface which makes it possbile for modules to be reassem bled and interchanged.For Linux is open-source, tailorable and powerful and has many other adv antages, this thesis chooses Linux as the embeded operating system. Utilizing t he ideology of hierarchical software design, the control platform's software syst em is divided into four layers and furtherly each layer is subdivided into a nu mber of relatively independent software modules, which improves the entire so ftware system's expansibility and portability. In the detailed design stage of the software system, this thesis discusses the general design process of embeded Linux device drivers and designs drivers of a varity of external devices interfa ce so that the robot can expand more expansion module. Then several major a pplications's design process and exambles are given, in which the AVR virtual machine is an innovative point of this thesis and enhances the portability of t he robto control platform's software.Finally, several experiments are designed and the experiment results verify the design of the robot control platform is feasible.The main chievements in the thesis are as follows:1. Based on ARM9 microprocessor and embedded Linux, a control platfor m for mobile educational robot is built, in which the I2C bus is used to stand ardize the interface between the CPU module and peripheral devices, so that t he platform as a whole has a good level of modularity and scalability.2. Using AVR virtual machine as a robot key control software is put for ward, and the AVR virtual machine is implemented.3. The wireless download capability and remote control function of the ro bot are implemented based on nRF905 module. |
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