A Research And Application Of Embedded System On Service Robot

In recent years, with the high-developing robotics technologies, robots have been used widely. Its application area is expanding from industry area to service area, and the work environment is also changing from structured to unstructured. Service robot is able to accomplish kinds of service work, including acting as a company, home nursing, medical assistant and so on, with a great potential significance to cope with the aging of society in our country. However, there still exist a lot of difficulties in the promotion of the intelligent service robot in society or market. The most prominent problems are the robot energy consumption problem and the lack of friendly man-machine interfaces.This paper takes the service robot SRU(Service Robot of UESTC) as the object of study, created by the robot research center, elaborating the process of how the bottom control system is realized detailedly: firstly, the target of the bottom control system is brought by analyzing the practical function needs; secondly, the operational principle of the embedded real-time operation system(RTOS) and the embedded TCP/IP protocol stack is studied, besides the transplantation of the embedded RTOS and the embedded TCP/IP protocol stack is achieved successfully; thirdly, based on the work above, the functions of SRU bottom control system have been designed and the tasks have been classified, including the mobile function, the data communication function and the speech interaction function, and all the tasks have been achieved; lastly, based on SRU the designed bottom control software have been experimental verified. The main works include:(1) On the basis of the porting files of μC/OS-II RTOS to the Cortex-M3 core, after analyzing the core structure of Cortex-M4 and operational principle of the μC/OS-III RTOS, the transplantation of μC/OS-III to STM32F407 microcontroller, which is based on the Cortex-M4 core, has been made and the transplantation has been tested.(2) On the basis of the successfully ported μC/OS-III, after researching the operational principle of the light TCP/IP protocol stack Lw IP, under the structure of the driver frame provided by Lw IP, the driver for ethernet physical chip DP83848 is achieved and the transplantation of the operating system emulation layer of Lw IP is done. Finally, the corresponding transportation is also tested.(3) With the works above, the functions of SRU have been classified into 3 parts, the mobile function, the data communication function and the speech interaction function. What is more is that every single function part has been divided into numbers of small tasks, after designing the bottom control system framework and the data-pack formation for every task, the functions have been realized. At last, the monitoring software of host computer have been designed and realized based on Lab Windows/CVI integrated development environment, to test the designed bottom control software function. The contents of the tests include PC control test and voice control test.