Full-autonomous intelligent mobile robot system architecture

Abstract

The invention provides a full-autonomous intelligent mobile robot system architecture, which comprises a structure and mobile subsystem, a sensing subsystem, a power supply subsystem, a thermal control subsystem, an intelligent calculation subsystem and a wireless communication subsystem, the power subsystem is used for supplying power; the structure and movement subsystem is used for controlling the movement of the intelligent mobile robot with the body to obtain movement data; the sensing subsystem is used for sensing and measuring the environment and the state of the intelligent robot with the body to obtain measurement data; the thermal control subsystem is used for acquiring temperature information for heat preservation and heat dissipation; the wireless communication subsystem is used for realizing communication between the intelligent robot with the body and other intelligent agents and acquiring related data of the other intelligent agents; and the intelligent calculation subsystem is used for processing the acquired motion data, measurement data, temperature information and related data and determining a task to be executed. The intelligent mobile robot with the body based on the system architecture of the scheme can realize autonomous navigation and task planning in a complex unknown environment with GNSS rejection.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and in particular to a fully autonomous embodied intelligent mobile robot system architecture. Background Art

[0002] Embodied intelligence refers to an intelligent entity that has a body and supports interaction with the physical world to perform various tasks. It can be applied to various forms of hardware devices. Robots, unmanned vehicles, drones, etc. can all be used as carriers of embodied intelligence, among which humanoid robots are the best physical form of embodied intelligence. For embodied intelligent mobile robots, the Global Navigation Satellite System (GNSS) is the main way to locate in outdoor environments or on the surface of extraterrestrial bodies. Through satellite signals, embodied intelligent mobile robots can accurately grasp their own position information during movement, thereby achieving precise movement and control.

[0003] However, when the embodied intelligent mobile robot is in a complex and unknown scenario such as a remote mountainous area or a dangerous environment, the GNSS signal may be interfered with or even interrupted, causing the embodied intelligent mobile robot to be unable to accurately determine its own position, and thus to have difficulty in autonomous navigation and mission planning in a complex and unknown environment. Summary of the invention

[0004] The present invention provides a fully autonomous embodied intelligent mobile robot system architecture. The embodied intelligent mobile robot based on the system architecture can achieve autonomous navigation and mission planning in a complex unknown environment denied by GNSS.

[0005] The present invention provides a fully autonomous embodied intelligent mobile robot system architecture, including a structure and movement 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 movement subsystem, the perception subsystem, the thermal control subsystem and the wireless communication subsystem are respectively connected to the intelligent computing subsystem; the structure and movement subsystem, the perception 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 structure and mobile subsystem includes a structural cabin and a mobile mechanism; the mobile mechanism is used to control the movement of the embodied intelligent mobile robot and transmit the movement data to the intelligent computing subsystem;

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

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

[0010] The wireless communication subsystem is used to realize the communication between the embodied intelligent robot and other intelligent entities to obtain relevant data of the other intelligent entities;

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

[0012] Preferably, the mobile mechanism comprises a motion platform, a motor and a drive control component; the mobile mechanism adopts a wheeled motion mechanism, a footed motion mechanism, a tracked motion mechanism or a hybrid motion mechanism.

[0013] Preferably, the perception 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 the inertial measurement sensor is used to measure the inertial motion state of the embodied intelligent robot;

[0016] The astronomical measurement sensors include a sun sensor and a star sensor, which are used to measure the posture of the embodied intelligent robot relative to the sun's position information.

[0017] Preferably, the power subsystem includes batteries and solar cells.

[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 a 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 and integrated in the intelligent computing subsystem.

[0021] Preferably, the wireless communication subsystem also includes: an FPGA bridge interface, a UART interface, and an LVDS interface; the central processing unit is connected to the FPGA bridge interface, and the UART interface and the LVDS interface are respectively connected to the FPGA bridge 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 also used to perform the following operations:

[0023] Acquire topographic data, inertial motion state data and posture information of the embodied intelligent robot from the measurement data;

[0024] Determine a safe area based on the topographic data;

[0025] Determine the posture, heading, speed and position information of the embodied intelligent robot according to the inertial motion state data, the posture information and the motion data;

[0026] Determine navigation result information of the embodied intelligent robot according to the safety area, the posture, the heading, the speed and the position information, so as to determine a safe moving path according to the moving ability of the moving mechanism;

[0027] A framing position is determined on the safe moving path, and the perception subsystem performs framing and photographing to obtain a captured image.

[0028] Preferably, the intelligent computing subsystem is also used to perform the following operations:

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

[0030] Preferably, the intelligent computing subsystem is also used to perform the following operations:

[0031] Whether to enter the dormant charging state is determined according to the power supply voltage information of the power supply subsystem.

[0032] Preferably, the intelligent computing subsystem is also used to perform the following operations:

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

[0034] If the judgment result is no, then it is determined that the task to be executed is to perform a heating treatment on 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 movable physical entity and embodied functions such as fully autonomous environmental interaction, perception and decision-making. It can support the embodied intelligent body to achieve fully autonomous perception, navigation, movement, photography and communication functions in complex and unknown environments denied by GNSS without external intervention.

[0037] (2) The fully autonomous embodied intelligent mobile robot system architecture of the present invention has wireless communication capabilities, supporting the interaction of multiple sources of information such as environment and status between multiple intelligent agents, avoiding the waste of detection resources caused by repeated detection, and at the same time realizing 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 ability to maintain the survival of the embodied intelligent body itself. Through self-powered power 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 uses batteries and solar cells. It can be charged by solar cells and can also be maintained by batteries when the solar cells are 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 realization of weight, power consumption and computing power. Without relying on large models, it is possible to utilize limited resources to obtain an embodied intelligent mobile robot that can move, take photos and communicate.

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

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, 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 some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

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

[0043] Figure 2 is a structural diagram of a perception subsystem provided by an embodiment of the present invention;

[0044] Figure 3 It is a structural diagram of a wireless communication subsystem provided by an embodiment of the present invention;

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

[0046] Figure numerals: 10-structure and movement subsystem; 20-perception subsystem; 30-power supply subsystem; 40-thermal control subsystem; 50-intelligent computing subsystem; 60-wireless communication subsystem; 101-structural cabin; 102-moving mechanism; 201-visual measurement sensor; 202-inertial measurement sensor; 203-astronomical measurement sensor; 601-wireless network interface; 602-central processing unit; 603-FPGA bridge interface; 604-UART interface; 605-LVDS interface. DETAILED DESCRIPTION

[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, rather than all the embodiments. Based on the embodiments in 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 , the embodiment of the present invention provides a fully autonomous embodied intelligent mobile robot system architecture, including: a structure and movement subsystem 10, a perception subsystem 20, a power subsystem 30, a thermal control subsystem 40, an intelligent computing subsystem 50 and a wireless communication subsystem 60;

[0049] The structure and mobility subsystem 10, the sensing subsystem 20, the thermal control subsystem 40 and the wireless communication subsystem 60 are respectively connected to the intelligent computing subsystem 50; the structure and mobility subsystem 10, the sensing subsystem 20, the thermal control subsystem 40, the intelligent computing subsystem 50 and the 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 movement subsystem 10 includes a structure cabin 101 and a movement mechanism 102; the movement mechanism 102 is used to control the movement of the embodied intelligent mobile robot and transmit the movement 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 obtain the temperature information of the embodied intelligent robot for heat preservation and heat dissipation;

[0053] The wireless communication subsystem 60 is used to realize the communication between the embodied intelligent robot and other intelligent entities to obtain relevant data of other intelligent entities;

[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 performed.

[0055] In the present invention, the fully autonomous embodied intelligent mobile robot system architecture constructed by the structure and mobility subsystem, the perception subsystem, the power subsystem, the thermal control subsystem and the intelligent computing subsystem not only has a movable physical entity and embodied functions such as fully autonomous environmental interaction, perception and decision-making, but also supports the embodied intelligent body to achieve fully autonomous perception, navigation, movement, photography and communication functions in a complex and unknown environment denied by GNSS through the cooperation between the subsystems without external intervention.

[0056] In a preferred embodiment, the structure and movement subsystem 10 transmits the movement data of the movement mechanism 102 to the intelligent computing subsystem 50 through an interface such as CAN or Ethernet; the acquisition method is mainly active; the intelligent computing subsystem 50 transmits the movement instructions calculated based on the movement data to the movement subsystem;

[0057] The sensing subsystem 20 transmits the measured sensor data to the intelligent computing subsystem 50 through the Internet, serial port, LVDS and other interfaces; the acquisition method can be active or interruption; the intelligent computing subsystem 50 transmits the interruption acquisition instruction or the sensor state setting instruction to the corresponding sensor in the sensing subsystem 20;

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

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

[0060] The intelligent computing subsystem 50 will also transmit the relevant data of other intelligent entities obtained by the wireless communication subsystem 60, as well as the communication data of its own embodied intelligent robot to other intelligent entities, and use the wireless communication subsystem to realize information interaction with other intelligent entities 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, the measurement data includes topographic data and image data.

[0062] In a preferred embodiment, Figure 1 As shown, the mobile mechanism 102 includes a motion platform, a motor and a drive control component; the mobile mechanism 102 adopts a wheeled motion mechanism, a footed motion mechanism, a tracked motion mechanism or a hybrid motion mechanism.

[0063] In the present invention, the mobility of the mobile mechanism is determined according to the topographical features of the task execution scene and the movement capability requirements, including but not limited to a wheeled movement mechanism, a footed movement mechanism, a tracked movement mechanism or a hybrid movement mechanism. The movement mechanism and the motor move together, and the structure and movement subsystem includes a plurality of movement mechanisms, each of which corresponds to a motor.

[0064] In a preferred embodiment, Figure 2 As shown, the perception 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 the visual measurement sensor is used to measure the topography;

[0066] The inertial measurement sensor 202 includes a gyroscope and an accelerometer, and 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 sun sensor and a star sensor, which are used to measure the posture of the embodied intelligent robot relative to the sun's position information.

[0068] It should be noted that at least one means 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 under different lighting conditions; the visible light camera can also be used for photo taking tasks.

[0069] In the present invention, the perception subsystem can autonomously measure the topography, sun direction, gravity direction, motion inertia and self-motion state of the natural scene through self-carrying sensors, and collect and process the measurement data. It should be noted that the visual measurement sensor is used to collect images and point clouds to measure the topography; the inertial measurement sensor is used to collect angular velocity, specific force and other information to measure the inertial motion state of the embodied intelligent robot; the astronomical measurement sensor is used to collect celestial body orientation to measure the posture of the embodied intelligent robot relative to the sun.

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

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

[0072] Whether to enter the dormant charging state is determined based on the power supply voltage information of the power supply subsystem.

[0073] In the present invention, since the fully autonomous embodied intelligent mobile robot system architecture is equipped with a power subsystem, it has its own survival and maintenance capabilities. Through self-powered power 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 uses batteries and solar cells, which can be charged by solar cells and can also be used to maintain autonomous survival by batteries when the solar cells are 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 multi-layer thermal insulation material assembly, and a thermal conductive filler.

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

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

[0077] If the judgment result is no, then it is determined that the task to be executed is to perform a heating treatment on the embodied intelligent mobile robot.

[0078] In the present invention, the thermal control subsystem adopts active and passive thermal control measures such as thermal control coatings, multi-layer insulation material components, thermally conductive fillers, electric heaters and temperature sensors. When the temperature exceeds the preset threshold or falls below the preset threshold, the adaptability of the embodied intelligent mobile robot to the ambient temperature during work and storage is achieved through heat dissipation or heat preservation. Through the coordination of self-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 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, and can realize functions such as measurement data collection and processing, environmental perception computing, self-navigation computing, environmental interaction and decision-making, behavior / task management 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 is used to run system software, application software and FPGA software.

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

[0081] Obtaining topographic data, inertial motion state data and posture information of the embodied intelligent robot from the measurement data;

[0082] Determine safe areas based on topographic data;

[0083] Determine the attitude, heading, speed and position information of the embodied intelligent robot according to the inertial motion state data, attitude information and motion data;

[0084] Determine navigation result information of the embodied intelligent robot based on the safety area, attitude, heading, speed and position information to determine a safe movement path based on the movement capability of the mobile mechanism;

[0085] The framing position is determined on the safe moving path, and the perception subsystem frames and photographs the scene to obtain the captured image.

[0086] In the present invention, the embodied intelligent mobile robot has measurement and collection functions, environmental perception functions, navigation functions, path planning functions, smooth movement functions, framing and photographing functions, wireless communication functions, sleep and charging functions, and behavior decision-making functions. Specifically, the embodied intelligent mobile robot can autonomously measure the topography, sun direction, gravity direction, motion inertia, and its own motion state of the natural scene through its own sensors, collect data and process to obtain measurement data; then use the measurement data to autonomously perceive and identify the surrounding terrain and relatively navigate to determine the safe area and obstacle terrain; then estimate its own posture, heading, speed, and position information through the measurement data to further perceive and determine the navigation result information, and autonomously plan a safe movement path based on the mobility of the mobile mechanism; because the mobile mechanism has a motion platform, a motor, and a drive control component, it has a certain ability to climb and overcome obstacles, and can move smoothly under natural terrain; then reach the framing position according to the safe movement path, and use the visual measurement sensor to frame and compose the photographing target, obtain the best photographing position and posture, and take pictures. Then, based on the wireless communication subsystem, it fully autonomously establishes wireless communication with other intelligent entities, and communicates and interacts with other intelligent entities for key information in the task process, including measurement data, motion data, its own status and task results. In addition, the power supply subsystem can use its own power supply to provide energy for measurement, perception, behavior and communication, and perform temperature protection to achieve self-survival in complex and unknown environments; it can monitor power supply and temperature, and autonomously hibernate and charge when necessary to maintain its own energy supply and survival ability. In this way, the intelligent computing subsystem performs fully autonomous scheduling decisions on tasks such as measurement data collection and processing, perception and navigation calculation, mobile control, framing and taking pictures, information communication transmission, and system status monitoring.

[0087] The fully autonomous embodied intelligent mobile robot system architecture provided by the present invention supports lightweight realization of weight, power consumption and computing power, and can utilize limited resources to obtain a movable, photo-taking and communicative embodied intelligent mobile robot without relying on large models.

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

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

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

[0091] In the present invention, the wireless communication subsystem can be designed according to the actual application scenario, and can be integrated into the intelligent computing subsystem in an embedded manner, or can be independently designed and implemented as an independent unit and connected to the wireless communication subsystem through a wired connection. The wireless communication subsystem can use mobile communication or WiFi communication as needed, and can also add a wired communication interface when necessary to support wireless and wired communication. It should be noted that Figure 4 The remote communication node in the term refers to a remote communication node on another intelligent agent or base station through wireless communication.

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

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

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

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

[0096] The embodied intelligent robot system architecture provided by the present invention has been applied to intelligent micro-robots on the lunar surface, and has achieved fully autonomous interactive movement, framing, taking photos, and communication with other intelligent bodies on the lunar surface. The embodied intelligent robot system architecture provided by the present invention can also be extended to intelligent robots for various scenarios and purposes on the surfaces of extraterrestrial bodies such as the moon and Mars, as well as on the surface of the earth, for fully autonomous intelligent operations in complex and unknown environments.

[0097] It is understandable that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on the architecture of a fully autonomous embodied intelligent mobile robot system. In other embodiments of the present invention, a fully autonomous embodied intelligent mobile robot system architecture may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently.

[0098] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical factors in the process, method, article or device including the elements.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions 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, perception subsystem, power subsystem, thermal control subsystem, intelligent computing subsystem and wireless communication subsystem; The structure and movement subsystem, the perception subsystem, the thermal control subsystem and the wireless communication subsystem are respectively connected to the intelligent computing subsystem; the structure and movement subsystem, the perception 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 structure and mobile subsystem includes a structural cabin and a mobile mechanism; the mobile mechanism is used to control the movement of the embodied intelligent mobile robot and transmit the movement data to the intelligent computing subsystem; The perception subsystem is used to perceive and measure the environment and the state of the embodied intelligent robot to obtain measurement data; The thermal control subsystem is used to obtain the temperature information of the embodied intelligent robot for heat preservation and heat dissipation; The wireless communication subsystem is used to realize the communication between the embodied intelligent robot and other intelligent entities to obtain relevant data of the other intelligent entities; The intelligent computing subsystem is used to process the acquired motion data, the measurement data, the temperature information and the related data to determine the tasks to be performed.

2. The fully autonomous embodied intelligent mobile robot system architecture according to claim 1 is characterized in that: The mobile mechanism comprises a motion platform, a motor and a drive control component; the mobile mechanism adopts a wheeled motion mechanism, a footed 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 perception 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 the inertial measurement sensor is used to measure the inertial motion state of the embodied intelligent robot; The astronomical measurement sensors include a sun sensor and a star sensor, which are used to measure the posture of the embodied intelligent robot relative to the sun's position information.

4. The fully autonomous embodied intelligent mobile robot system architecture according to claim 1, characterized in that: The power supply subsystem includes batteries and solar cells.

5. 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 a thermal conductive filler.

6. 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.

7. The fully autonomous embodied intelligent mobile robot system architecture according to claim 6, characterized in that: The wireless communication subsystem is embedded and integrated in the intelligent computing subsystem; or, The wireless communication subsystem also includes: an FPGA bridge interface, a UART interface, and an LVDS interface; the central processing unit is connected to the FPGA bridge interface, and the UART interface and the LVDS interface are respectively connected to the FPGA bridge 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: Acquire topographic data, inertial motion state data and posture information of the embodied intelligent robot from the measurement data; Determine a safe area based on the topographic data; Determine the posture, heading, speed and position information of the embodied intelligent robot according to the inertial motion state data, the posture information and the motion data; Determine navigation result information of the embodied intelligent robot according to the safety area, the posture, the heading, the speed and the position information, so as to determine a safe moving path according to the moving ability of the moving mechanism; The camera reaches the framing position through the safe moving path, and the perception subsystem frames and takes pictures to obtain a 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: Determine the self-state and environmental information of the embodied intelligent robot according to the relevant data, the motion data and the measurement data, so as to determine a safe movement path or perform a corresponding task according to the movement capability of the movement mechanism; wherein the safe movement paths of different intelligent bodies are different; and / or, Whether to enter the dormant charging state is determined according to the power supply voltage information of the power supply subsystem.

10. The fully autonomous embodied intelligent mobile robot system architecture according to any one of claims 1 to 9, characterized in that: The intelligent computing subsystem is also used to perform the following operations: Determining whether the temperature information is greater than a preset temperature threshold; If the judgment result is no, then it is determined that the task to be executed is to perform a heating treatment on the embodied intelligent mobile robot.

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