自主移动机器人控制器设计

文档编号:DQ226   文档字数:21559,页数:49

摘要：以八位单片机为核心的嵌入式系统早已广泛应用于各个领域，这些应用大多还处于单机使用的嵌入式底层阶段。其特点是以MCU为核心，与一些简单的传感器及监测、指示、和显示等设备配合，实现一定的测量、显示、信息处理及控制等功能。虽然在许多应用中利用了CAN、RS-232和RS-485等总线将MCU组网。但这种网络的应用空间有限，相关的通信协议也比较单一，并且没有和广泛应用的Internet连接。目前，Internet已成为社会重要的基础信息设施，是信息流通的重要渠道。嵌入式系统必将与Internet完美融合，方便、低廉的将信息传送到世界上的任何一个地方。
 ARM体系的处理器是目前嵌入式系统中使用最广泛的处理器。它采用了RISC技术，具有体积小、低功耗、低成本、高性能等特点，芯片内部大量使用寄存器，指令执行速度更快，指令长度固定等特点，使得它的处理速度快，执行效率高。由于Linux对于ARM技术的支持，具有内核可裁减，代码开放的特点，把Linux应用到嵌入式系统中，能充分发挥ARM和Linux的优势。
 本文首先说明了所构建的基于ARM的自主移动的嵌入式系统的总体结构，然后进行了系统的硬件设计，接着针对系统的硬件设备移植了启动代码，最后说明了uCLinux内核配备和移植相应的的方法和说明，最终开发设计出一个基于ARM的自主移动机器人的嵌入式系统核心。本文最后进行了总结与展望。
关键词:   嵌入式系统； ARM； 板级设计；设备驱动程序
Abstract:Embedded system with eight bit microcomputer as the core is applied in various fields. These applications mainly stay in embed bottom floor stage of microcomputer. Its characteristics are taking MCU as core, with simple sensors and monitoring, prescription, and display device etc to realize certain functions such as measuring, displaying, information processing and controlling. Though CAN, RS-232 and RS-485 buses are applied to make up MCU network, this application space is very limited, relative protocols are somewhat simple, and there is no connection to broadly used Internet. Currently, Internet becomes important information infrastructure and main access of information communication. Embedded system must perfectly combined with Internet so as to transfer information to everywhere in the world.
 Processor in ARM system is mostly used in current embedded system. It takes RISC technology, with characteristics such as small volume, low power consumption, advanced function. Registers are greatly used in inner chip, instruction executes fast and with fixed length, which enables processor works fast with high effectiveness. As Linux supports ARM technology, has inner core can be downsizing and open codes, so applying Linux to embedded system can give fully play to ARM and Linux advantages. 
 General structure of automatically mobile embedded system based on ARM is explained in this paper, then system hardware design, replanting starting code to system hardware device, finally uCLinux inner core configuration and the method &instruction of replanting. Embedded system core in automatically mobile robotics based on ARM is designed and developed eventually, which is concluded and prospected at the end of the paper. 
Key words:  Embedded system； ARM；The board-grade design；Driver

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