Research And Design Of The Integrated Communication System Of Service Robots Based On STM32

The robotics is a new interdisciplinary complex technology which represents thehighest level of human scientific and technological development. Service robots are the hotand key areas in recent years.Communication system is the basis and important part of service robots. Therefore, itis very significant to research the communication system of service robots. Currently, mostof the robot communication systems use relatively simple communication mode that makesit great limitation of applications. For this situation, the paper presented an integratedcommunications program which aims at realizing multi-protocol communication andsolving the problem that may occur when service robots face a complex communicationenvironment.According to the features that the embedded system hardware and software can betailored, the paper researched and sought a cost-effective solution of the service robotsintegrated communication system based on embedded system. We choseSTM32F107(Connectivity) as the main control chip, designed the Ethernet, CAN,RS232/485interface circuits, etc. and built up the hardware architecture of integratedcommunications systems of service robots. Furthermore，we redacted CAN, USART andEthernet underlying drivers, built the μC/OS-Ⅱoperating system，detailed the migrationprocess and designed the embedded TCP/IP protocol stack LwIP, CAN and RS232/RS485protocol stack and related API. Finally, we designed the relevant agreements conversionprocess, and achieved the function of this system which was designed as an integratedcommunication system of service robots.