A fully autonomous embodied intelligent mobile robot system architecture

Abstract

This invention provides a fully autonomous embodied intelligent mobile robot system architecture, including a structural and mobility subsystem, a perception subsystem, a power supply subsystem, a thermal control subsystem, an intelligent computing subsystem, and a wireless communication subsystem. The power supply subsystem provides power; the structural and mobility subsystem controls the movement of the embodied intelligent mobile robot and obtains motion data; the perception subsystem senses and measures the environment and the state of the embodied intelligent robot, obtaining measurement data; the thermal control subsystem acquires temperature information for insulation and heat dissipation; the wireless communication subsystem enables communication between the embodied intelligent robot and other intelligent agents, acquiring relevant data from other intelligent agents; and the intelligent computing subsystem processes the acquired motion data, measurement data, temperature information, and related data to determine the task to be executed. Based on this system architecture, the embodied intelligent mobile robot can achieve autonomous navigation and task planning in complex and unknown environments where GNSS is denied.

Description

Technical Field

[0001] This invention relates to the field of intelligent robot technology, and in particular to a fully autonomous embodied intelligent mobile robot system architecture. Background Technology

[0002] Embodied intelligence refers to intelligent agents with bodies that can interact with the physical world to perform various tasks. It can be applied to various forms of hardware devices, including robots, autonomous vehicles, and drones, with humanoid robots being the optimal physical form. For embodied intelligent mobile robots, the Global Navigation Satellite System (GNSS) is the primary method of positioning in outdoor environments or on celestial surfaces. Satellite signals enable embodied intelligent mobile robots to accurately determine their own location during movement, thereby achieving precise motion and control.

[0003] However, when embodied intelligent mobile robots are in complex and unknown scenarios such as remote mountainous areas or dangerous environments, GNSS signals may be interfered with or even interrupted, causing the embodied intelligent mobile robots to be unable to accurately determine their own position, and thus making it difficult for them to navigate autonomously and plan tasks in complex and unknown environments. Summary of the Invention

[0004] This invention provides a fully autonomous embodied intelligent mobile robot system architecture, based on which embodied intelligent mobile robots can achieve autonomous navigation and task planning in complex and unknown environments where GNSS is denied.

[0005] This invention provides a fully autonomous, embodied intelligent mobile robot system architecture, including a structural and mobility subsystem, a perception subsystem, a power supply subsystem, a thermal control subsystem, an intelligent computing subsystem, and a wireless communication subsystem;

[0006] The structure and mobility subsystem, the sensing subsystem, the thermal control subsystem, and the wireless communication subsystem are respectively connected to the intelligent computing subsystem; the structure and mobility subsystem, the sensing subsystem, the thermal control subsystem, the intelligent computing subsystem, and the wireless communication subsystem are respectively connected to the power supply subsystem; the power supply subsystem is used for power supply.

[0007] The structural and mobility subsystem includes a structural cabin and a mobility mechanism; the mobility mechanism is used to control the movement of the embodied intelligent mobile robot and transmit motion data to the intelligent computing subsystem.

[0008] The perception subsystem is used to perceive and measure the state of the environment and the embodied intelligent robot to obtain measurement data.

[0009] The thermal control subsystem is used to acquire the temperature information of the embodied intelligent robot for heat preservation and heat dissipation.

[0010] The wireless communication subsystem is used to enable the embodied intelligent robot to communicate with other intelligent agents in order to obtain relevant data from the other intelligent agents;

[0011] The intelligent computing subsystem is used to process the acquired motion data, measurement data, temperature information, and related data to determine the task to be executed.

[0012] Preferably, the moving mechanism includes a motion platform, a motor, and a drive control component; the moving mechanism is a wheeled motion mechanism, a legged motion mechanism, a tracked motion mechanism, or a hybrid motion mechanism.

[0013] Preferably, the sensing subsystem includes a visual measurement sensor, an inertial measurement sensor, and an astronomical measurement sensor;

[0014] The visual measurement sensor includes at least one of a visible light camera, an infrared camera, and a depth camera, and the visual measurement sensor is used to measure topography.

[0015] The inertial measurement sensor includes a gyroscope and an accelerometer, and is used to measure the inertial motion state of the embodied intelligent robot.

[0016] The astronomical measurement sensor includes a solar sensor and a star sensor, used to measure the attitude of the embodied intelligent robot relative to the sun's orientation information.

[0017] Preferably, the power subsystem includes a storage battery and a solar cell.

[0018] Preferably, the thermal control subsystem includes a temperature sensor, an electric heater, a thermal control coating, a multi-layer thermal insulation material assembly, and thermally conductive filler.

[0019] Preferably, the wireless communication subsystem includes a wireless network interface and a central processing unit.

[0020] Preferably, the wireless communication subsystem is embedded in the intelligent computing subsystem.

[0021] Preferably, the wireless communication subsystem further includes: an FPGA bridging interface, a UART interface, and an LVDS interface; the central processing unit is connected to the FPGA bridging interface, and the UART interface and the LVDS interface are respectively connected to the FPGA bridging interface; the intelligent computing subsystem is connected to the UART interface and the LVDS interface of the wireless communication subsystem through a wired communication node.

[0022] Preferably, the intelligent computing subsystem is further configured to perform the following operations:

[0023] The terrain data, the inertial motion state data and attitude information of the embodied intelligent robot are obtained from the measurement data.

[0024] Determine the safe zone based on the aforementioned topographic data;

[0025] The attitude, heading, speed, and position information of the embodied intelligent robot are determined based on the inertial motion state data, the attitude information, and the motion data.

[0026] Based on the safe area, the attitude, the heading, the speed, and the position information, the navigation result information of the embodied intelligent robot is determined, so as to determine a safe movement path according to the mobility of the mobile mechanism;

[0027] The framing position is determined on the safe movement path, and the sensing subsystem takes a picture to obtain the captured image.

[0028] Preferably, the intelligent computing subsystem is further configured to perform the following operations:

[0029] The self-state and environmental information of the embodied intelligent robot are determined based on the relevant data, the motion data, and the measurement data, so as to determine a safe movement path or perform a corresponding task based on the mobility of the mobile mechanism; wherein, the safe movement paths are different for different intelligent agents.

[0030] Preferably, the intelligent computing subsystem is further configured to perform the following operations:

[0031] Whether to enter a sleep charging state is determined based on the power supply voltage information of the power supply subsystem.

[0032] Preferably, the intelligent computing subsystem is further configured to perform the following operations:

[0033] Determine whether the temperature information is greater than a preset temperature threshold;

[0034] If the judgment result is negative, then the task to be performed is to heat the embodied intelligent mobile robot.

[0035] Compared with the prior art, the present invention has at least the following beneficial effects:

[0036] (1) The fully autonomous embodied intelligent mobile robot system architecture of the present invention has a mobile physical entity and fully autonomous environmental interaction, perception and decision-making functions. It can support the embodied intelligent agent to realize fully autonomous perception, navigation, movement, photography and communication functions in a complex and unknown environment that is GNSS denied without external intervention.

[0037] (2) The fully autonomous embodied intelligent mobile robot system architecture of the present invention has wireless communication function, supports multi-source information interaction such as environment and status between multiple intelligent agents, avoids the waste of detection resources caused by repeated detection, and can also realize collaborative detection, operation or group intelligence research and development.

[0038] (3) The fully autonomous embodied intelligent mobile robot system architecture of the present invention has the self-survival and maintenance capability of the embodied intelligent body. Through self-power supply and temperature control measures, it can maintain autonomous survival in harsh environments while supporting the completion of fully autonomous tasks. At the same time, the power supply adopts a storage battery and a solar cell, which can be charged by the solar cell and maintain autonomous survival by the storage battery when the solar cell power is insufficient at night, thereby improving the survivability of the embodied intelligent mobile robot.

[0039] (4) The fully autonomous embodied intelligent mobile robot system architecture of the present invention supports lightweight implementation of weight, power consumption and computing power, and can obtain a mobile, photo-taking and communication embodied intelligent mobile robot with limited resources without relying on a large model.

[0040] (5) The fully autonomous embodied intelligent mobile robot system architecture of the present invention supports intelligent computing, motion platform, sensor configuration, power charging and sleep mode, and wireless communication mode to be flexibly designed and configured according to task requirements and weight and power consumption constraints, and has good versatility and scalability. Attached Figure Description

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 This is a schematic diagram of a fully autonomous embodied intelligent mobile robot system architecture provided in an embodiment of the present invention;

[0043] Figure 2 This is a schematic diagram of the structure of a sensing subsystem provided in an embodiment of the present invention;

[0044] Figure 3 This is a schematic diagram of the structure of a wireless communication subsystem provided in an embodiment of the present invention;

[0045] Figure 4 This is a schematic diagram of another wireless communication subsystem provided in an embodiment of the present invention;

[0046] Reference numerals: 10-Structure and Mobility Subsystem; 20-Sensing Subsystem; 30-Power Supply Subsystem; 40-Thermal Control Subsystem; 50-Intelligent Computing Subsystem; 60-Wireless Communication Subsystem; 101-Structure Cabin; 102-Mobility Mechanism; 201-Visual Measurement Sensor; 202-Inertial Measurement Sensor; 203-Astronomical Measurement Sensor; 601-Wireless Network Interface; 602-Central Processing Unit; 603-FPGA Bridging Interface; 604-UART Interface; 605-LVDS Interface. Detailed Implementation

[0047] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0048] Please refer to Figure 1 This invention provides a fully autonomous embodied intelligent mobile robot system architecture, including: a structure and mobility subsystem 10, a perception subsystem 20, a power supply subsystem 30, a thermal control subsystem 40, an intelligent computing subsystem 50, and a wireless communication subsystem 60.

[0049] The structural and mobility subsystem 10, sensing subsystem 20, thermal control subsystem 40, and wireless communication subsystem 60 are respectively connected to the intelligent computing subsystem 50; the structural and mobility subsystem 10, sensing subsystem 20, thermal control subsystem 40, intelligent computing subsystem 50, and wireless communication subsystem 60 are respectively connected to the power supply subsystem 30; the power supply subsystem 30 is used for power supply.

[0050] The structure and mobility subsystem 10 includes a structural cabin 101 and a mobility mechanism 102; the mobility mechanism 102 is used to control the movement of the embodied intelligent mobile robot and transmit the motion data to the intelligent computing subsystem 50.

[0051] The perception subsystem 20 is used to perceive and measure the environment and the state of the embodied intelligent robot to obtain measurement data;

[0052] The thermal control subsystem 40 is used to acquire the temperature information of the embodied intelligent robot for heat preservation and heat dissipation.

[0053] The wireless communication subsystem 60 is used to enable the embodied intelligent robot to communicate with other intelligent agents in order to obtain relevant data from other intelligent agents;

[0054] The intelligent computing subsystem 50 is used to process the acquired motion data, measurement data, temperature information and related data to determine the tasks to be executed.

[0055] In this invention, the fully autonomous embodied intelligent mobile robot system architecture, constructed from a structure and mobility subsystem, a perception subsystem, a power supply subsystem, a thermal control subsystem, and an intelligent computing subsystem, not only possesses embodied functions such as a mobile physical entity and fully autonomous environmental interaction, perception, and decision-making, but also supports the embodied intelligent agent to achieve fully autonomous perception, navigation, movement, photography, and communication in complex and unknown environments where GNSS is denied, through the cooperation between the various subsystems without external intervention.

[0056] In a preferred embodiment, the structure and mobility subsystem 10 transmits the motion data of the mobility mechanism 102 to the intelligent computing subsystem 50 via interfaces such as CAN and Ethernet; the acquisition method is mainly active; the intelligent computing subsystem 50 transmits the motion commands calculated based on the motion data to the mobility subsystem.

[0057] The sensing subsystem 20 transmits the measurement sensor data to the intelligent computing subsystem 50 via interfaces such as the Internet, serial port, and LVDS; the acquisition method can be active or interrupt-driven; the intelligent computing subsystem 50 transmits interrupt-driven acquisition commands or sensor status setting commands to the corresponding sensors in the sensing subsystem 20.

[0058] The power supply subsystem 30 transmits its power voltage information to the intelligent computing subsystem 50, which then makes task management decisions based on the current power status.

[0059] The thermal control subsystem 40 transmits the collected temperature information to the intelligent computing subsystem 50, which then makes task management decisions based on the current temperature status.

[0060] The intelligent computing subsystem 50 will also transmit relevant data of other intelligent agents obtained by the wireless communication subsystem 60, as well as the communication data of its own intelligent robot, to other intelligent agents, and use the wireless communication subsystem to realize information interaction with other intelligent agents to support multi-machine collaborative operation.

[0061] It should be noted that the relevant data or communication data includes motion data and measurement data; among which, measurement data includes topographic data and image data.

[0062] In a preferred embodiment, such as Figure 1 As shown, the moving mechanism 102 includes a motion platform, a motor, and a drive control assembly; the moving mechanism 102 adopts a wheeled motion mechanism, a legged motion mechanism, a tracked motion mechanism, or a hybrid motion mechanism.

[0063] In this invention, the mobility of the mobile mechanism is determined based on the terrain features and movement requirements of the task execution scenario, including but not limited to wheeled, legged, tracked, or hybrid mobile mechanisms. The mobile mechanism and motor work together to move, and the structural and mobile subsystem includes several mobile mechanisms, each corresponding to a motor.

[0064] In a preferred embodiment, such as Figure 2 As shown, the sensing subsystem 20 includes a visual measurement sensor 201, an inertial measurement sensor 202, and an astronomical measurement sensor 203;

[0065] The visual measurement sensor 201 includes at least one of a visible light camera, an infrared camera, and a depth camera, and is used to measure topography.

[0066] The inertial measurement sensor 202 includes a gyroscope and an accelerometer. The inertial measurement sensor 202 is used to measure the inertial motion state of the embodied intelligent robot.

[0067] The astronomical measurement sensor 203 includes a solar sensor and a star sensor, used to measure the attitude of the embodied intelligent robot relative to the sun's orientation information.

[0068] It should be noted that "at least one" means that there can be one, two, or more. Specifically, the visual measurement sensor can be a visible light camera, an infrared camera, a depth camera, a visible light camera and an infrared camera, a visible light camera and a depth camera, an infrared camera and a depth camera, or a visible light camera, an infrared camera, and a depth camera. In this way, by using different visual measurement sensors, it is possible to adapt to the measurement of terrain and landforms under different lighting conditions; the visible light camera can also be used for photographic tasks.

[0069] In this invention, the perception subsystem can autonomously measure the terrain, solar direction, gravitational direction, inertia, and its own motion state within its natural environment using its own sensors, and collect and process the measurement data. Specifically, the visual measurement sensor is used to acquire images and point clouds to measure the terrain; the inertial measurement sensor is used to acquire angular velocity, specific force, and other parameters to measure the inertial motion state of the embodied intelligent robot; and the astronomical measurement sensor is used to acquire celestial position data to measure the robot's attitude relative to the solar position.

[0070] In a preferred embodiment, the power subsystem 30 includes a battery and a solar cell.

[0071] In a preferred embodiment, the intelligent computing subsystem 50 is also used to perform the following operations:

[0072] Determine whether to enter sleep charging state based on the power supply voltage information of the power subsystem.

[0073] In this invention, the fully autonomous embodied intelligent mobile robot system architecture is equipped with a power subsystem, thus possessing self-survival and maintenance capabilities. Through self-powered power supply and temperature control measures, it can maintain autonomous survival in harsh environments while supporting the completion of fully autonomous tasks. At the same time, the power supply adopts both storage batteries and solar cells, which can be used to charge the battery and maintain autonomous survival when the solar cell power is insufficient at night, thereby improving the survivability of the embodied intelligent mobile robot.

[0074] In a preferred embodiment, the thermal control subsystem 40 includes a temperature sensor, an electric heater, a thermal control coating, a multilayer thermal insulation material assembly, and thermally conductive filler.

[0075] In a preferred embodiment, the intelligent computing subsystem is also used to perform the following operations:

[0076] Determine if the temperature information is greater than the preset temperature threshold;

[0077] If the judgment result is negative, then the task to be performed is to heat the embodied intelligent mobile robot.

[0078] In this invention, the thermal control subsystem employs active and passive thermal control measures such as thermal control coatings, multi-layer thermal insulation material components, thermally conductive fillers, electric heaters, and temperature sensors. When the temperature exceeds or falls below a preset temperature threshold, heat dissipation or insulation is used to ensure the adaptability of the embodied intelligent mobile robot to ambient temperature during operation and storage. Through the combination of self-powered power supply and temperature control measures, it can maintain autonomous survival in harsh environments while supporting the completion of fully autonomous tasks, ensuring that the embodied intelligent mobile robot can survive and operate stably in both high and low temperature environments, thereby improving the stability and reliability of the embodied intelligent mobile robot.

[0079] In a preferred embodiment, the intelligent computing subsystem 50 includes an intelligent computing unit, a system management unit, and intelligent computing software. The intelligent computing unit includes computing components such as a multi-core CPU and an FPGA, capable of performing functions such as measurement data acquisition and processing, environmental perception computing, self-navigation computing, environmental interaction and decision-making, behavior / task management and scheduling, and motion control. The intelligent computing unit includes a central computing board, WiFi communication, power supply, and system management board. The intelligent computing unit runs the system software, application software, and FPGA software.

[0080] In a preferred embodiment, the intelligent computing subsystem is also used to perform the following operations:

[0081] Topographic data, inertial motion data, and attitude information of the embodied intelligent robot are obtained from the measurement data.

[0082] Determine the safe zone based on topographic data;

[0083] The attitude, heading, velocity, and position information of the embodied intelligent robot are determined based on inertial motion state data, attitude information, and motion data.

[0084] Based on the safety zone, attitude, heading, speed and position information, the navigation results information of the embodied intelligent robot is determined so as to determine a safe movement path according to the mobility of the mobile mechanism;

[0085] The framing position is determined on a safe movement path, and the perception subsystem takes pictures to obtain the captured images.

[0086] In this invention, the embodied intelligent mobile robot possesses measurement and data acquisition capabilities, environmental perception, navigation, path planning, smooth movement, framing and photography capabilities, wireless communication, sleep charging, and behavioral decision-making. Specifically, the embodied intelligent mobile robot can autonomously measure the terrain, sun direction, gravity direction, motion inertia, and its own motion state in the surrounding natural scene using its onboard sensors, collecting and processing the data to obtain measurement data. Then, it uses the measurement data to autonomously perceive and identify the surrounding terrain and perform relative navigation, determining safe areas and obstacle terrain. Next, it estimates its own attitude, heading, speed, and position information using the measurement data to further perceive and determine navigation results, autonomously planning a safe movement path based on the mobility of its mobile mechanism. Because the mobile mechanism has a motion platform, motors, and drive control components, it has a certain ability to climb slopes and overcome obstacles, enabling smooth movement in natural terrain. Subsequently, it reaches the framing position according to the safe movement path, uses a visual measurement sensor to frame and compose the photographic target, obtain the optimal photographing position and posture, and then takes the picture. Then, based on the wireless communication subsystem, it autonomously establishes wireless communication with other intelligent agents to exchange key information during the task process, including measurement data, motion data, its own state, and task results. Furthermore, the power supply subsystem can utilize its own power supply to provide energy for measurement, sensing, behavior, and communication; it also provides temperature protection to achieve self-survival in complex and unknown environments; it can monitor power supply and temperature, and autonomously enter hibernation charging mode when needed to maintain its own energy supply and survivability. Thus, the intelligent computing subsystem performs fully autonomous scheduling and decision-making for tasks such as measurement data acquisition and processing, perception and navigation calculation, motion control, image capture, information communication transmission, and system status monitoring.

[0087] The fully autonomous embodied intelligent mobile robot system architecture provided by this invention supports lightweight implementation in terms of weight, power consumption, and computing power. It can obtain a mobile, photographic, and communicative embodied intelligent mobile robot with limited resources without relying on a large model.

[0088] In a preferred embodiment, such as Figure 3 and Figure 4 As shown, the wireless communication subsystem 60 includes a wireless network interface 601 and a central processing unit 602.

[0089] In a preferred embodiment, such as Figure 3 As shown, the wireless communication subsystem 60 is embedded in the intelligent computing subsystem 50.

[0090] In a preferred embodiment, such as Figure 4 As shown, the wireless communication subsystem 60 also includes: an FPGA bridging interface 603, a UART interface 604, and an LVDS interface 605; the central processing unit 60 is connected to the FPGA bridging interface 603, and the UART interface 604 and LVDS interface 605 are respectively connected to the FPGA bridging interface 603; the intelligent computing subsystem 50 is connected to the UART interface 604 and LVDS interface 605 of the wireless communication subsystem 60 through a wired communication node.

[0091] In this invention, the wireless communication subsystem can be designed according to actual application scenarios. It can be integrated into the intelligent computing subsystem via embedding or designed and implemented independently as a separate unit, connected to the wireless communication subsystem via a wired connection. The wireless communication subsystem can adopt mobile communication or WiFi communication methods as needed, and can also add wired communication interfaces if necessary, supporting both wireless and wired communication. It should be noted that... Figure 4 In this context, a remote communication node refers to a remote communication node on another intelligent agent or base station that communicates wirelessly.

[0092] In a preferred embodiment, the intelligent computing subsystem is also used to perform the following operations:

[0093] Based on relevant data, motion data, and measurement data, the self-state and environmental information of the embodied intelligent robot are determined, so as to determine a safe movement path or perform corresponding tasks according to the mobility of the mobile mechanism; among them, the safe movement paths are different for different intelligent agents.

[0094] In this invention, the fully autonomous embodied intelligent mobile robot system architecture has wireless communication capabilities, which supports the interaction of multiple intelligent agents with multi-source information such as environment and status. This can avoid the waste of detection resources caused by repeated detection, and at the same time, it can also realize collaborative detection, operation or group intelligence research and development.

[0095] In this invention, the fully autonomous embodied intelligent mobile robot system architecture supports the flexible design and configuration of intelligent computing, motion platform, sensor configuration, power charging and sleep modes, and wireless communication modes according to task requirements and weight and power consumption constraints, and has good versatility and scalability.

[0096] The embodied intelligent robot system architecture provided by this invention has been applied to intelligent micro-robots on the lunar surface, achieving fully autonomous interactive movement, framing, photography, and communication with other intelligent agents in the lunar environment. This embodied intelligent robot system architecture can also be extended to intelligent robots on the surfaces of extraterrestrial bodies such as the Moon and Mars, as well as on the Earth's surface, for various scenarios and applications, enabling fully autonomous intelligent operations in complex and unknown environments.

[0097] It is understood that the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on a fully autonomous embodied intelligent mobile robot system architecture. In other embodiments of the present invention, a fully autonomous embodied intelligent mobile robot system architecture may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements.

[0098] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fully autonomous embodied intelligent mobile robot system architecture, characterized in that, include: Structure and Mobility Subsystem, Sensing Subsystem, Power Supply Subsystem, Thermal Control Subsystem, Intelligent Computing Subsystem, and Wireless Communication Subsystem; The structure and mobility subsystem, the sensing subsystem, the thermal control subsystem, and the wireless communication subsystem are respectively connected to the intelligent computing subsystem; the structure and mobility subsystem, the sensing subsystem, the thermal control subsystem, the intelligent computing subsystem, and the wireless communication subsystem are respectively connected to the power supply subsystem; the power supply subsystem is used for power supply. The structural and mobility subsystem includes a structural cabin and a mobility mechanism; the mobility mechanism is used to control the movement of the embodied intelligent mobile robot and transmit motion data to the intelligent computing subsystem. The perception subsystem is used to perceive and measure the state of the environment and the embodied intelligent robot to obtain measurement data. The thermal control subsystem is used to acquire the temperature information of the embodied intelligent robot for heat preservation and heat dissipation. The wireless communication subsystem is used to enable the embodied intelligent robot to communicate with other intelligent agents in order to obtain relevant data from the other intelligent agents; The intelligent computing subsystem is used to process the acquired motion data, measurement data, temperature information, and related data to determine the task to be executed. The sensing subsystem includes a visual measurement sensor, an inertial measurement sensor, and an astronomical measurement sensor; The visual measurement sensor includes at least one of a visible light camera, an infrared camera, and a depth camera, and the visual measurement sensor is used to measure topography. The inertial measurement sensor includes a gyroscope and an accelerometer, and is used to measure the inertial motion state of the embodied intelligent robot. The astronomical measurement sensor includes a solar sensor and a star sensor, used to measure the attitude of the embodied intelligent robot relative to the sun's orientation information.

2. The fully autonomous embodied intelligent mobile robot system architecture according to claim 1, characterized in that, The moving mechanism includes a motion platform, a motor, and a drive control component; the moving mechanism can be a wheeled motion mechanism, a legged motion mechanism, a tracked motion mechanism, or a hybrid motion mechanism.

3. The fully autonomous embodied intelligent mobile robot system architecture according to claim 1, characterized in that, The power subsystem includes a storage battery and a solar cell.

4. The fully autonomous embodied intelligent mobile robot system architecture according to claim 1, characterized in that, The thermal control subsystem includes a temperature sensor, an electric heater, a thermal control coating, a multi-layer thermal insulation material assembly, and thermally conductive filler.

5. The fully autonomous embodied intelligent mobile robot system architecture according to claim 1, characterized in that, The wireless communication subsystem includes a wireless network interface and a central processing unit.

6. The fully autonomous embodied intelligent mobile robot system architecture according to claim 5, characterized in that, The wireless communication subsystem is embedded in the intelligent computing subsystem.

7. The fully autonomous embodied intelligent mobile robot system architecture according to claim 5, characterized in that, The wireless communication subsystem further includes: an FPGA bridging interface, a UART interface, and an LVDS interface; the central processing unit is connected to the FPGA bridging interface, and the UART interface and the LVDS interface are respectively connected to the FPGA bridging interface; the intelligent computing subsystem is connected to the UART interface and the LVDS interface of the wireless communication subsystem through a wired communication node.

8. The fully autonomous embodied intelligent mobile robot system architecture according to claim 1, characterized in that, The intelligent computing subsystem is also used to perform the following operations: The terrain data, the inertial motion state data and attitude information of the embodied intelligent robot are obtained from the measurement data. Determine the safe zone based on the aforementioned topographic data; The attitude, heading, speed, and position information of the embodied intelligent robot are determined based on the inertial motion state data, the attitude information, and the motion data. Based on the safe area, the attitude, the heading, the speed, and the position information, the navigation result information of the embodied intelligent robot is determined, so as to determine a safe movement path according to the mobility of the mobile mechanism; The system moves along the safe path to the viewing location, and the sensing subsystem takes a picture to obtain the captured image.

9. The fully autonomous embodied intelligent mobile robot system architecture according to claim 1, characterized in that, The intelligent computing subsystem is also used to perform the following operations: The self-state and environmental information of the embodied intelligent robot are determined based on the relevant data, the motion data, and the measurement data, so as to determine a safe movement path or perform a corresponding task based on the mobility of the mobile mechanism; wherein, the safe movement paths are different for different intelligent agents.

10. The fully autonomous embodied intelligent mobile robot system architecture according to claim 1, characterized in that, The intelligent computing subsystem is also used to perform the following operations: Whether to enter a sleep charging state is determined based on the power supply voltage information of the power subsystem.

11. The fully autonomous embodied intelligent mobile robot system architecture according to any one of claims 1 to 10, characterized in that, The intelligent computing subsystem is also used to perform the following operations: Determine whether the temperature information is greater than a preset temperature threshold; If the judgment result is negative, then the task to be performed is to heat the embodied intelligent mobile robot.

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