A robot and its multifunctional mainboard

Abstract

The present application relates to a robot and a multifunctional mainboard thereof, which integrates a power supply component, a backup battery switching component, a main control component, a voice processing component, an audio output component, a 4G communication component, an Ethernet switch component and a WiFi / BT component. The main control component is electrically connected to the power supply component, the backup battery switching component, the voice processing component, the audio output component, the 4G communication component, the Ethernet switch component and the WiFi / BT component respectively using a universal board-to-board connector. The Ethernet switch component is used to access multiple Ethernet devices or sensors; the backup battery switching component is used to provide an auxiliary voltage to power the main control component when the power supply component is working abnormally; the 4G communication component is used for network communication to transmit data; and the WiFi / BT component is used for wireless data transmission. Since each functional component is electrically connected using a universal board-to-board connector, no wire connection is required, thereby achieving the effect of a compact overall multifunctional mainboard, strong reliability and high degree of integration.

Description

Technical Field

[0001] The present application belongs to the field of electronic circuit technology, and in particular, relates to a robot and a multifunctional mainboard thereof. Background Art

[0002] With the development and application of artificial intelligence technology, more types of non-industrial robots have emerged, such as educational robots, service robots, entertainment robots, etc. The common feature of these robots is that they all use new technologies, such as navigation planning, voice recognition, image recognition, 4G communication, etc.

[0003] For the robot's hardware platform, the current solutions generally use development boards or small industrial computers or tablet computers as the mainboards. These devices are generally integrated with common interfaces such as USB, network, WIFI, etc., but lack special modules required by robots such as 4G communication, voice recognition, and power management.

[0004] The advantages of using universal modules to build a robot system are:

[0005] 1. Quickly build a demo machine for debugging and functional verification;

[0006] 2. No special requirements for the robot structure;

[0007] 3. There are not too many requirements for robot reliability.

[0008] The disadvantages are:

[0009] 1. When there are many universal modules, more wires are required for connection. Compared with PCB board-to-board connection or PCB onboard wiring, the reliability is poor and the performance is seriously affected. At the same time, the whole is not compact enough, which is not conducive to mass production;

[0010] 2. The universal module construction method has different power requirements and power-on logics for different sensors, which makes it inconvenient to manage the power of the universal module.

[0011] 3. Common modules are usually connected by wires or interfaces, such as the widely used USB2.0 TYPE A. However, this interface has no anti-loosening and anti-shaking measures, and is prone to loosening after long-term operation, resulting in poor reliability.

[0012] 4. When there are more universal modules, more fixed positions are required in the structure, the structural design will be more complicated, the production cost will be higher, and it will not be conducive to mass production.

[0013] Therefore, the existing robot mainboard has the problems of being not compact enough and having poor reliability. Summary of the invention

[0014] In view of this, an embodiment of the present application provides a robot and a multifunctional mainboard thereof, aiming to solve the problems of the existing robot mainboard being not compact enough and having poor reliability.

[0015] A first aspect of an embodiment of the present application provides a multifunctional mainboard of a robot, wherein the multifunctional mainboard integrates:

[0016] Power supply components, backup battery switching components, main control components, voice processing components, audio output components, 4G communication components, Ethernet switch components and WiFi / BT components;

[0017] The main control component is electrically connected to the power component, the backup battery switching component, the voice processing component, the audio output component, the 4G communication component, the Ethernet switch component and the WiFi / BT component respectively using a universal board-to-board connector;

[0018] The power supply component is configured to receive an external power supply signal to power the main control component, and to perform voltage conversion on the external power supply signal to power the external device; the backup battery switching component is configured to provide an auxiliary voltage to power the main control component when the power supply component is working abnormally; the Ethernet switch component is configured to access multiple Ethernet devices or sensors; the 4G communication component is configured to communicate over the network to transmit data; the WiFi / BT component is configured to perform wireless data transmission; the voice processing component is configured to perform denoising and analog-to-digital conversion on the collected voice signal, and then transmit it to the main control component, and cooperate with echo cancellation; the audio output component is configured to output an optimized audio signal according to the control signal of the main control component; the main control component is configured to control the power supply component, the backup battery switching component, the voice processing component, the audio output component, the 4G communication component, the Ethernet switch component and the WiFi / BT component to work.

[0019] Preferably, the multifunctional mainboard further includes a universal interface component,

[0020] The universal interface component is connected to the main control component, and the universal interface component is configured to connect to external devices and realize the function expansion of the multi-functional mainboard.

[0021] Preferably, the power supply assembly comprises:

[0022] a charging management circuit configured to supply power to the main control component, record the discharge parameters of the external power signal, and read the power; and

[0023] The voltage conversion circuit is connected to the charging management circuit and is configured to perform voltage conversion on the external power signal for charging the external device.

[0024] Preferably, the backup battery switching component comprises:

[0025] The charging management circuit is configured to detect whether the input voltage of the main power supply circuit is lower than a preset threshold;

[0026] A backup battery switching circuit is connected to the charging management circuit and is configured to, when the input voltage of the power main circuit is lower than a preset threshold, provide feedback to the main control component and switch to the backup battery to power the main control component;

[0027] The battery power detection circuit is connected to the backup battery switching circuit and is configured to detect the storage power of the backup battery in real time.

[0028] Preferably, the main control component is implemented using a core board, and the core board is detachable and replaceable.

[0029] Preferably, the speech processing component comprises:

[0030] A plurality of voice access components configured to collect the voice signal for noise removal processing and analog-to-digital conversion; and

[0031] The echo cancellation component is configured to cooperate in performing echo cancellation.

[0032] Preferably, the audio output component comprises:

[0033] an audio decoding component configured to convert the control signal of the main control component into an audio signal; and

[0034] The power amplifier component is connected to the audio decoding component and is configured to amplify the power of the audio signal and then output it.

[0035] Preferably, the 4G communication component is implemented using a communication chip.

[0036] Preferably, the universal interface component comprises:

[0037] Any one or more of the network port, USB port, TTL serial port, UART port, RS232 port, RS485 port and CAN port.

[0038] A second aspect of an embodiment of the present application provides a robot, comprising:

[0039] The multifunctional motherboard as described above; and

[0040] The housing is configured to encapsulate the multifunctional mainboard.

[0041] The above-mentioned robot and its multifunctional mainboard are integrated with a power supply component, a backup battery switching component, a main control component, a voice processing component, an audio output component, a 4G communication component, an Ethernet switch component and a WiFi / BT component. The main control component is electrically connected to the power supply component, the backup battery switching component, the voice processing component, the audio output component, the 4G communication component, the Ethernet switch component and the WiFi / BT component using a universal board-to-board connector. The power supply component is configured to receive an external power supply signal to power the main control component, and to power an external device after voltage conversion of the external power supply signal; the backup battery switching component is configured to provide an auxiliary voltage to power the main control component when the power supply component is working abnormally; the Ethernet switch component is configured to access multiple Ethernet devices or sensors; the 4G communication component is configured to communicate over the network to transmit data; the WiFi / BT component is configured to transmit data wirelessly; the voice processing component is configured to perform denoising and analog-to-digital conversion on the collected voice signal, and then transmit it to the main control component, and cooperate with echo cancellation; the audio output component is configured to output an optimized audio signal according to the control signal of the main control component. Since the functional components are electrically connected using a universal board-to-board connector, there is no need for wire connection, and anti-loosening and anti-shake designs are made, the multi-functional mainboard is overall compact, reliable and highly integrated, solving the problems of the existing robot mainboard being overall not compact enough and having poor reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0043] Figure 1 A schematic diagram of a module structure of a multifunctional mainboard of a robot provided as a preferred embodiment of the first aspect of the present application;

[0044] Figure 2 A schematic diagram of a module structure of a multifunctional mainboard of a robot provided in another embodiment of the first aspect of the present application;

[0045] Figure 3 For the corresponding Figure 2 An example circuit diagram of a multifunctional mainboard of a robot is provided;

[0046] Figure 4 For the corresponding Figure 2 An example circuit diagram of a universal interface component of a multifunctional mainboard of a robot is provided;

[0047] Figure 5 For the corresponding Figure 2 An example circuit diagram of a power supply component of a multi-function mainboard of a robot is provided. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] See also Figure 1 , the module structure of a multifunctional mainboard of a robot provided by the best embodiment of the first aspect of the present application, for the convenience of explanation, only the part related to this embodiment is shown, and the details are as follows:

[0050] The multifunctional mainboard of the robot mentioned above integrates a power supply component 102, a backup battery switching component 104, a main control component 101, a voice processing component 103, an audio output component 105, a 4G communication component 106, an Ethernet switch component 107 and a WiFi / BT component 108.

[0051] The main control component 101 is electrically connected to the power supply component 102, the backup battery switching component 104, the voice processing component 103, the audio output component 105, the 4G communication component 106, the Ethernet switch component 107 and the WiFi / BT component 108 using a universal board-to-board connector.

[0052] The power supply component 102 is configured to receive an external power supply signal to supply power to the main control component 101, and to perform voltage conversion on the external power supply signal for charging an external device.

[0053] The backup battery switching component 104 is configured to provide an auxiliary voltage to power the main control component when the power supply component 102 operates abnormally, so that the multi-function mainboard continues to operate for a preset time.

[0054] The Ethernet switch component 107 is configured to access a plurality of Ethernet devices or sensors.

[0055] The 4G communication component 106 is configured to communicate with the network to transmit data.

[0056] The WiFi / BT component 108 is configured to transmit data wirelessly.

[0057] The voice processing component 103 is configured to perform denoising and analog-to-digital conversion on the collected voice signal, transmit it to the main control component 101, and cooperate with echo cancellation.

[0058] The audio output component 105 is configured to output an optimized audio signal according to the control signal of the main control component 101 .

[0059] The main control component 101 is configured to control the power supply component 102, the backup battery switching component 104, the voice processing component 103, the audio output component 105, the 4G communication component 106, the Ethernet switch component 107 and the WiFi / BT component 108 to operate.

[0060] It should be noted that the above-mentioned multifunctional motherboard is mainly used in the field of service robots, and can also be used in other consumer electronics such as VR, AR technology fields, etc. Its main function is to be used as the system motherboard.

[0061] Specifically, the power supply component 102 supports wide power input, with a voltage range of 12-60V, which is convenient for connecting to various types of batteries or power supplies. At the same time, a power-on slow start circuit is set on the multi-function mainboard to improve the stability of the power supply and system. The power supply component 102 can also provide 12V, 5V, 3.3V, 1.8V and other power signal outputs to charge external devices. At the same time, it has power-on timing control, current monitoring, short-circuit protection, etc., which is convenient for connecting and expanding the functions of multiple types of sensors.

[0062] Specifically, the main control component 101 adopts a core board mode and is arranged on a multi-function main board through an MXM connector. The advantage of this is that different types of CPU systems can be selected, and different CPU core boards can be flexibly replaced without replacing the multi-function main board, thereby improving the scalability of the multi-function main board while ensuring the system function.

[0063] Specifically, the above-mentioned voice processing component 103 is fixed on the multifunctional mainboard through a connector. The voice processing component 103 and the CPU core board are connected by a high-speed bus, and can also be directly realized through PCB routing. Compared with the wire connection, the stability of signal transmission is greatly improved. The MIC input part of the voice processing component 103, the connector is left on the mainboard, and an external MIC array can be connected. The reserved interface on the multifunctional mainboard supports up to 6 mic inputs, which is convenient for the voice processing component 103 to be used in different scenarios. At the same time, the voice processing component 103 also has a built-in echo cancellation circuit. Compared with the wire transmission echo cancellation circuit, this processing greatly improves the reliability of sensitive signal transmission, can significantly reduce the use of cables, and improves the signal transmission quality.

[0064] Specifically, the multifunctional mainboard also integrates an audio output component 105, and a power amplifier circuit is designed. The multifunctional mainboard can be directly connected to a speaker to achieve voice output, without the need for a separate power amplifier module, which greatly reduces the number of external modules of the robot. At the same time, the power amplifier circuit also reserves an echo cancellation circuit to facilitate the processing and development of voice recognition.

[0065] Specifically, the multifunctional mainboard is also integrated with a 4G communication component 106, which can be fixed on the multifunctional mainboard using a universal board-to-board connector such as MINI-PCIE. Compared with the 4G module with the commonly used USB Type A interface, the sensitive signal connection between the 4G communication component 106 and the CPU core board, and between the 4G communication component 106 and the SIM card can be directly realized through PCB routing, which greatly improves the stability of signal transmission. The 4G communication component 106 is mainly used for networked communication and can transmit any data, not limited to voice signals. In addition, compared with the USB Type A interface, the MINI-PCIE connector has the advantages of anti-loosening and anti-shaking when used in mobile robots, which greatly improves the stability and reliability of the system. The use of a universal board-to-board connector also greatly improves the substitutability of the module.

[0066] Specifically, the multifunctional mainboard is also integrated with an Ethernet switch component 107, which can enable up to 4 Ethernet devices or sensors to be directly connected to the multifunctional mainboard without the need for an external Ethernet switch or a device with Ethernet switch function.

[0067] Specifically, the multifunctional mainboard is also integrated with a WiFi / BT component 108, which includes a WiFi module and a Bluetooth module. In addition, based on the 4G communication component 106 integrated in the multifunctional mainboard, arbitrary switching among wired network, wireless network and 4G can be realized.

[0068] See also Figure 2 , another embodiment of the first aspect of the present application provides a module structure of a multifunctional mainboard of a robot. For the sake of convenience, only the part related to this embodiment is shown, which is described in detail as follows:

[0069] As an embodiment of the present application, the multifunctional mainboard further includes a universal interface component 109,

[0070] The universal interface component 109 is connected to the main control component 101 , and the universal interface component 109 is configured to connect to external devices and realize the functional expansion of the multi-functional mainboard.

[0071] Specifically, the universal interface component 109 integrates a variety of interfaces, including network port, USB port, (3) TTL serial port, RS232 port, RS485 port, CAN port, etc., which greatly facilitates the expansion of the system.

[0072] Figure 3 Shows the corresponding Figure 2 An example circuit of a multifunctional mainboard of a robot is provided. For the sake of convenience, only the part related to this embodiment is shown, which is described in detail as follows:

[0073] As an optional implementation, the main control component 101 adopts a core board ( Figure 3 The CPU core board is used to represent the implementation. The core board can be replaced to facilitate the use of different main control systems. Of course, the model of the core board is not limited, as long as the functional role of this embodiment can be achieved.

[0074] As an optional implementation, the voice processing component 103 includes an echo elimination component 1032 and multiple voice access components 1031 .

[0075] A plurality of voice access components 1031 are configured to collect voice signals for noise reduction processing and analog-to-digital conversion; and

[0076] The echo cancellation component 1032 is configured to cooperate in performing echo cancellation.

[0077] As an optional implementation, the audio output component 105 includes an audio decoding component 1052 and a power amplifier component 1051 .

[0078] The audio decoding component 1052 is configured to convert the control signal of the main control component 101 into an audio signal.

[0079] The power amplifier component 1051 is connected to the audio decoding component 1052 and is configured to amplify the power of the audio signal and then output it, that is, to output an optimized audio signal.

[0080] Exemplarily, the audio decoding component 1052 is connected to the CPU core board via UART, I2S, and GPIO signals. The audio decoding component 1052 outputs an analog signal to the power amplifier component 1051. The power amplifier component 1051 implements sound power amplification, adopts a class D power amplifier, and supports a maximum output of 30W. In order to improve the audio quality, the audio output component 105 is also designed with a power amplifier power-on timing circuit, a pop sound elimination circuit, a gain adjustment circuit, etc.

[0081] As an optional implementation, the 4G communication component 106 is implemented using a communication chip.

[0082] As an optional implementation, the general interface component 109 includes:

[0083] (1) Network port

[0084] The multi-function motherboard is equipped with an Ethernet switch. Compared with general industrial computers or industrial tablets, it has more network port resources and does not require a separate Ethernet switch. The switch supports 100M / 1000M networks, and the CPU core board is directly connected to the switch. At the same time, the multi-function motherboard has 4 universal RJ45 connectors, which makes it convenient for the robot to connect more external sensors.

[0085] (2) USB interface

[0086] The multi-function motherboard is equipped with 9 universal USB2.0 interfaces and 1 USB3.0 interface.

[0087] (3)TTL serial port

[0088] The multi-function mainboard has 3 TTL-level UARTs and provides 3.3V or 5V power.

[0089] (4) RS232 interface

[0090] The multi-function mainboard is designed with 1 RS232 interface, adopts JST connector, and provides 3.3V or 5V power supply.

[0091] (5) RS485 interface

[0092] The multi-function mainboard is designed with 1 RS485 interface, adopts JST connector, and provides 3.3V or 5V power supply.

[0093] (6) CAN interface

[0094] The multi-function mainboard is designed with a CAN interface, uses a JST connector, and provides 3.3V or 5V power supply.

[0095] (7) WiFi\BT interface

[0096] The WiFi function is implemented using a WiFi module, the module model is AP6356S, which also has Bluetooth function. The module is mainly connected to the CPU core board through I2S, UART, GPIO signals.

[0097] (8) Ethernet interface

[0098] The Ethernet interface on the multifunctional motherboard is realized through a USB to Ethernet chip. This design can ensure that the multifunctional motherboard can adapt to more processors, because as long as the processor has a USB interface, Ethernet expansion can be realized. At the same time, the conversion chip also has a USB2.0 HUB function, which can expand the USB interface while expanding the network port. In order to enable the robot to connect to more network port devices, an Ethernet switch is also designed on the multifunctional motherboard, and 4 RJ45 network ports are reserved for external use, which is convenient for connecting more network port devices, such as radars, cameras, etc.

[0099] Figure 4 Shows the corresponding Figure 2 An example circuit of a universal interface component in a multifunctional mainboard of a robot is provided. For ease of explanation, only the part related to this embodiment is shown, which is described in detail as follows:

[0100] As another optional implementation, the universal interface component 109 includes any one or more of an Ethernet port, a USB port, a TTL serial port, a UART interface 1071 , an RS232 interface 1072 , an RS485 interface 1073 and a CAN interface 1074 .

[0101] Specifically, the multifunctional motherboard can provide 4 serial ports and 1 RS485 interface to the outside. 2 of the multiple serial ports are TTL level (UART interface) and 2 are RS232 level. Because the serial port resources of the CPU core board are limited, in order to provide more serial ports to the outside, a serial port expansion circuit is adopted. The core of the circuit is a serial port expansion chip WK2204, which can realize the function of 1 input and 4 outputs. The input end can be connected to the CPU core board through the I2C / UART / SPI interface, and the output end can expand 4 UARTs. In this design, 2 of the 4 UARTs are TTL outputs, 1 is RS232 output, and 1 is designed as RS485 output.

[0102] It should be noted that at present, general consumer electronics processors do not have a CAN interface in their external functions. However, as a mature bus technology, the CAN bus is very suitable for use on robots. In order to meet this requirement, a CAN expansion circuit is designed in this multi-functional motherboard. An SPI to CAN chip is used to connect the processor through the SPI interface to realize the CAN function of the main processor. In order to improve the anti-interference ability of the CAN bus, an isolation circuit is designed for CAN. The isolation circuit is mainly used on SPI signals, and the SPI signal isolation is used to achieve ground isolation between the CAN bus and the CPU system. In addition, because the processor is 1.8V level, the SPI signal level output by the CPU core board is also 1.8V. A level conversion circuit is also used in the circuit to achieve level compatibility between the CPU signal and the CAN chip.

[0103] Figure 5 Shows the corresponding Figure 2 An example circuit of a power supply component in a multifunctional mainboard of a robot is provided. For ease of explanation, only the part related to this embodiment is shown, which is described in detail as follows:

[0104] As an optional implementation, the power supply assembly 102 includes a charging management circuit 1021 and a voltage conversion circuit 1022 ( Figure 5 (expressed using a step-down circuit).

[0105] The charging management circuit 1021 is configured to supply power to the main control component 101, record the discharge parameters of the external power signal, and read the power level.

[0106] The voltage conversion circuit 1022 is connected to the charging management circuit 1021 and is configured to convert the voltage of the external power signal for charging the external device.

[0107] Specifically, the charging management circuit 1021 integrates a charging management chip, which can realize the normal charging curve of the battery. The core of reading the power is to use an integrated circuit meter to calculate the power by recording and calculating the battery discharge parameters. The CPU core board can realize the reading of power through the I2C interface.

[0108] Specifically, the above-mentioned voltage conversion circuit 1022 mainly converts the input voltage of the multi-function mainboard into the voltage required for the operation of each module. The multi-function board is mainly designed with 5V, 3.3V, 1.8V and other DC-DC step-down circuits or LDO (low dropout regulator, low voltage difference linear regulator).

[0109] Of course, the power supply assembly 102 may also include a monitoring circuit, a backup battery switching circuit, an anti-reverse insertion circuit, and a slow start circuit.

[0110] Among them, the monitoring circuit mainly collects the working voltage and working current of each functional module through ADC (Analog-to-Digital Converter). When an abnormal module voltage or current is detected, the power supply of the module can be cut off and reported in time, thereby improving the reliability and intelligence of the system and facilitating the remote monitoring of the working status of the system.

[0111] Among them, for the backup battery switching circuit, the multifunctional motherboard can be connected to a 3.6-12V external battery as the backup power supply of the system. When the main power supply of the system is suddenly cut off, it can be switched to the backup battery in time and ensure that the system will not be powered off. The implementation scheme of this function is: the battery input voltage passes through a boost circuit to raise the battery voltage to the system power supply voltage, and then the system voltage and the battery boosted voltage are divided, and the signal is sent to a voltage comparator. When the system voltage drops, the voltage comparator outputs a signal to timely connect the power supply of the main system to the boosted voltage of the backup battery to realize the switching of the system power supply. At the same time, a level signal can be given to the CPU core board to notify that the CPU core board is using the backup battery. When the main system power supply is normal, the battery boost circuit works normally, but the voltage is not output to ensure that the battery power is not consumed. The switching circuit is simple and reliable, and does not require the participation of the CPU core board.

[0112] Among them, the anti-reverse insertion circuit is designed to improve the reliability of the multi-function motherboard. When the main power is input on the multi-function motherboard, an anti-reverse insertion circuit is designed to ensure that the multi-function motherboard circuit can be protected when the positive and negative poles of the power supply are connected in reverse by human error.

[0113] Among them, for the slow start circuit, when there are many loads or devices on the circuit board, there will be a large current spike at the moment of power-on. The existence of the current spike has a large impact on the output of the previous level. Designing a slow start circuit in the main circuit input part of the multifunctional motherboard can reduce the impact of the multifunctional motherboard on the external power supply circuit and improve the reliability of the overall robot.

[0114] As an optional implementation, the backup battery switching component 104 includes a charging management circuit, a backup battery switching circuit and a battery power detection circuit.

[0115] The charging management circuit is configured to detect whether the input voltage of the main power loop is lower than a preset threshold.

[0116] The backup battery switching circuit is connected to the charging management circuit, and is configured to feedback to the main control component 101 and switch to the backup battery to power the main control component 101 when the input voltage of the main power circuit is lower than a preset threshold.

[0117] The battery power detection circuit is connected to the backup battery switching circuit and is configured to detect the storage power of the backup battery in real time.

[0118] Exemplarily, the backup battery does not supply power to the main control component 101 during normal operation. When the switching circuit detects that the input voltage of the main power circuit is lower than the preset threshold, it is determined that the main power supply is abnormal, and the backup battery is immediately started to supply power. In this process, it is necessary to ensure that the system does not lose power and the system operation is not affected. At the same time, the backup battery can ensure that the system continues to work for 30 minutes (the continuous working time can be flexibly set as needed). When the power supply of the system main circuit returns to normal, the main power circuit can charge the backup battery according to the battery power status. The above-mentioned backup battery switching circuit has a simple circuit structure design and has the advantages of low cost, high reliability and short switching time.

[0119] The present application also provides a robot, characterized in that it comprises:

[0120] The multifunctional motherboard as described above; and

[0121] The housing is configured to encapsulate the multifunctional mainboard.

[0122] It should be noted that the robot is based on the above-mentioned multifunctional mainboard with an additional shell, so the functional description and principle description of the power supply component 102, backup battery switching component 104, main control component 101, voice processing component 103, audio output component 105, 4G communication component 106, Ethernet switch component 107, WiFi / BT component 108 and universal interface component 109 in the multifunctional mainboard can be referred to. Figures 1 to 5In addition, the housing can be a metal housing or a plastic housing, which can be configured according to actual needs.

[0123] In summary, the above-mentioned robot and its multifunctional mainboard in the embodiment of the present application are integrated with a power supply component, a backup battery switching component, a main control component, a voice processing component, an audio output component, a 4G communication component, an Ethernet switch component and a WiFi / BT component. The main control component is electrically connected to the power supply component, the backup battery switching component, the voice processing component, the audio output component, the 4G communication component, the Ethernet switch component and the WiFi / BT component using a universal board-to-board connector. The power supply component is configured to receive an external power signal to power the main control component, and to power the external device after voltage conversion of the external power signal; the backup battery switching component is configured to provide an auxiliary voltage to power the main control component when the power supply component is working abnormally; the Ethernet switch component is configured to access multiple Ethernet devices or sensors; the 4G communication component is configured to communicate over the network to transmit data; the WiFi / BT component is configured to transmit data wirelessly; the voice processing component is configured to perform denoising and analog-to-digital conversion on the collected voice signal, and then transmit it to the main control component, and cooperate with echo cancellation; the audio output component is configured to output an optimized audio signal according to the control signal of the main control component. Since the functional components are electrically connected using a universal board-to-board connector, there is no need for wire connection, and anti-loosening and anti-shake designs are made, the multi-functional mainboard is overall compact, reliable and highly integrated, solving the problems of the existing robot mainboard being overall not compact enough and having poor reliability.

[0124] Various embodiments are described herein for various devices, circuits, apparatuses, systems and / or methods. Many specific details are set forth to provide a thorough understanding of the overall structure, function, manufacture and use of the embodiments as described in the specification and shown in the drawings. However, those skilled in the art will appreciate that the embodiments may be implemented without such specific details. In other examples, well-known operations, parts and elements are described in detail so as not to make the embodiments in the specification difficult to understand. Those skilled in the art will appreciate that the embodiments herein and shown are non-limiting examples, and therefore it will be appreciated that the specific structural and functional details disclosed herein may be representative and do not necessarily limit the scope of the embodiments.

[0125] References to "various embodiments", "in an embodiment", "one embodiment", or "an embodiment" throughout the specification, etc., mean that a particular feature, structure, or characteristic described with respect to an embodiment is included in at least one embodiment. Therefore, the appearance of the phrases "in various embodiments", "in some embodiments", "in an embodiment", or "in an embodiment", etc., in appropriate places throughout the specification, do not necessarily refer to the same embodiment. In addition, particular features, structures, or characteristics may be combined in any appropriate manner in one or more embodiments. Therefore, a particular feature, structure, or characteristic shown or described with respect to one embodiment may be combined in whole or in part with features, structures, or characteristics of one or more other embodiments without assuming that such a combination is not an illogical or non-functional limitation. Any directional references (e.g., plus, minus, upper, lower, up, down, left, right, leftward, rightward, top, bottom, above, below, vertical, horizontal, clockwise, and counterclockwise) are used for identification purposes to help the reader understand the present disclosure, and do not create limitations, particularly with respect to the location, orientation, or use of the embodiments.

[0126] Although certain embodiments are described above with a certain degree of detail, those skilled in the art may make many changes to the disclosed embodiments without departing from the scope of the present disclosure. Connection references (e.g., attachment, coupling, connection, etc.) should be interpreted broadly and may include intermediate members between the connection of elements and relative motion between elements. Therefore, connection references do not necessarily imply that two elements are directly connected / coupled and are in a fixed relationship with each other. The use of "for example" throughout the specification should be interpreted broadly and used to provide non-limiting examples of embodiments of the present disclosure, and the present disclosure is not limited to such examples. It is intended that all matters included in the above description or shown in the accompanying drawings should be interpreted as merely illustrative rather than restrictive. Changes in details or structure may be made without departing from the present disclosure.

[0127] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A multifunctional mainboard of a robot, characterized in that: The multifunctional mainboard is integrated with: Power supply components, backup battery switching components, main control components, voice processing components, audio output components, 4G communication components, Ethernet switch components and WiFi / BT components; The main control component is electrically connected to the power component, the backup battery switching component, the voice processing component, the audio output component, the 4G communication component, the Ethernet switch component and the WiFi / BT component respectively using a universal board-to-board connector; The power supply component is configured to receive an external power supply signal to power the main control component, and to power an external device after performing voltage conversion on the external power supply signal; the backup battery switching component is configured to provide an auxiliary voltage to power the main control component when the power supply component works abnormally; The Ethernet switch component is configured to access multiple Ethernet devices or sensors; the 4G communication component is configured to communicate over the Internet to transmit data; the WiFi / BT component is configured to transmit data wirelessly; the voice processing component is configured to perform denoising and analog-to-digital conversion on the collected voice signal, transmit it to the main control component, and cooperate with echo cancellation; the audio output component is configured to output an optimized audio signal according to the control signal of the main control component; the main control component is configured to control the power supply component, the backup battery switching component, the voice processing component, the audio output component, the 4G communication component, the Ethernet switch component, and the WiFi / BT component to work; The backup battery switching assembly comprises: The charging management circuit is configured to detect whether the input voltage of the main power supply circuit is lower than a preset threshold; The backup battery switching circuit is connected to the charging management circuit and is configured to feedback to the main control component when the input voltage of the main power supply circuit is lower than a preset threshold value, and switch the backup battery to power the main control component, including: the battery input voltage is boosted to the system power supply voltage through the boosting circuit, and the system voltage and the battery boosted voltage are both sent to the voltage comparator after voltage division. When the system voltage drops, the voltage comparator is actuated to output a signal to promptly connect the power supply of the main system to the boosted voltage of the backup battery to realize the switching of the system power supply, and at the same time give the main control component a level signal notification that the backup battery is being used. When the main system is powered normally, the battery boosting circuit works normally, but no voltage is output.

2. The multifunctional motherboard according to claim 1, characterized in that: The multifunctional mainboard also includes a universal interface component, The universal interface component is connected to the main control component, and the universal interface component is configured to connect to external devices and realize the function expansion of the multi-functional mainboard.

3. The multifunctional motherboard according to claim 1, characterized in that: The power supply assembly comprises: a charging management circuit configured to supply power to the main control component, record the discharge parameters of the external power signal, and read the power; and The voltage conversion circuit is connected to the charging management circuit and is configured to perform voltage conversion on the external power signal for charging the external device.

4. The multifunctional motherboard according to claim 1, characterized in that: The backup battery switching assembly also includes: The battery power detection circuit is connected to the backup battery switching circuit and is configured to detect the storage power of the backup battery in real time.

5. The multifunctional motherboard according to claim 1, characterized in that: The main control component is implemented by a core board, and the core board is detachable and replaceable.

6. The multifunctional motherboard according to claim 1, characterized in that: The speech processing component comprises: A plurality of voice access components configured to collect the voice signal for noise removal processing and analog-to-digital conversion; and The echo cancellation component is configured to cooperate in performing echo cancellation.

7. The multifunctional motherboard according to claim 1, characterized in that: The audio output component comprises: an audio decoding component configured to convert the control signal of the main control component into an audio signal; and The power amplifier component is connected to the audio decoding component and is configured to amplify the power of the audio signal and then output it.

8. The multifunctional motherboard according to claim 2, characterized in that: The universal interface component comprises: Any one or more of the network port, USB port, TTL serial port, UART port, RS232 port, RS485 port and CAN port.

9. A robot, characterized in that: include: The multifunctional motherboard according to any one of claims 1 to 8; and The housing is configured to encapsulate the multifunctional mainboard.

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