Control circuit of robot system

Abstract

The invention discloses a control circuit of a robot system. The control circuit comprises an MCU main control module, an air pressure detection module connected with the MCU main control module, an IMU inertial navigation module, a communication module and a band-type brake motor control module, and a power management module connected with the MCU main control module and used for supplying power to the whole circuit. The communication module comprises a CAN communication unit, an RS485 communication unit and an RS232 communication unit which are connected with the MCU main control module; and the MCU main control module is also connected with an IO expansion interface. The power management module, the IO expansion interface, the air pressure detection module, the IMU inertial navigation module, the CAN communication unit, the RS485 communication interface, the RS232 communication interface and other communication interfaces are integrated, so that multifunctional integrated control of the robot is achieved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a control circuit of a robot system. Background Art

[0002] The control circuit of the existing robot system has the following shortcomings:

[0003] 1) Independent module control: Each functional unit module inside the robot (such as sensors, actuators, communication units, etc.) is often controlled independently, lacking an effective integration and coordination mechanism, resulting in low overall control efficiency;

[0004] 2) Complex wiring inside the hardware: Due to the lack of integrated design, the hardware connection lines inside the robot are complex, which not only increases the manufacturing cost, but also increases the difficulty of maintenance and the probability of error;

[0005] 3) Weak anti-interference ability: The existing robot system performs poorly in anti-electromagnetic interference and is easily interfered by the external environment, affecting the normal operation of the robot;

[0006] 4) Poor stability: Due to deficiencies in hardware and software design, the robot system has poor stability, which may lead to mission execution failure or robot malfunction;

[0007] 5) Compatibility issues: The hardware combination of different types of robots and the requirements of multiple industrial controller protocols have not been fully considered, resulting in compatibility issues and limiting the application scope of robots. Summary of the invention

[0008] The purpose of the present invention is to provide a control circuit of a robot system, which integrates a power management module, an IO expansion interface, an air pressure detection module, an IMU inertial navigation module, a CAN communication unit, and communication interfaces such as RS485 and RS232 to achieve multifunctional integrated control of the robot.

[0009] In order to achieve the above purpose, the following technical solutions are adopted:

[0010] A control circuit of a robot system comprises an MCU main control module, an air pressure detection module connected to the MCU main control module, an IMU inertial navigation module, a communication module and a brake release motor control module, and a power management module connected to the MCU main control module and used to supply power to the entire circuit; the communication module comprises a CAN communication unit, an RS485 communication unit and an RS232 communication unit connected to the MCU main control module; the MCU main control module is also connected to an IO expansion interface.

[0011] Furthermore, the MCU main control module includes a main control chip U5, an EEPROM chip U6, and an I2C communication circuit; the CAN_RX communication line and the CAN_TX communication line of the 70th pin and the 71st pin of the main control chip U5 are connected to the CAN communication unit; the SCL communication line and the SDA communication line of the 47th pin and the 48th pin of the main control chip U5 are connected to the IMU inertial navigation module; the SPI2_CS communication line, the SPI2_SCK communication line, the SPI2_MISO communication line, and the SPI2_MOSI communication line of the 77th pin, the 78th pin, the 79th pin, and the 80th pin of the main control chip U5 are connected to the air pressure detection module; the I2C_WP control line of the 7th pin of the EEPROM chip U6 is connected to the 59th pin of the main control chip U5; the I2C_SCL communication line and the I2C_SDA communication line of the 5th pin and the 6th pin of the EEPROM chip U6 are respectively connected to the 47th pin and the 48th pin of the main control chip U5.

[0012] Furthermore, the air pressure detection module includes an air pressure detection chip U32, and the chip model used is BMP280; the SPI2_CS communication line, SPI2_SCK communication line, SPI2_MISO communication line, and SPI2_MOSI communication line of the 77th pin, the 78th pin, the 79th pin, and the 80th pin of the main control chip U5 are respectively connected to the 2nd pin, the 4th pin, the 5th pin, and the 3rd pin of the air pressure detection chip U32.

[0013] Furthermore, the IMU inertial navigation module includes a navigation chip U33, and the chip model used is ICM-20948; the SCL communication line and SDA communication line of the 47th pin and the 48th pin of the main control chip U5 are connected to the 23rd pin and the 24th pin of the navigation chip U33; the 22nd pin, the 23rd pin and the 24th pin of the navigation chip U33 are connected to the power management module via resistors R221, R220 and R217 respectively.

[0014] Furthermore, the CAN communication unit includes a communication chip U7, a communication chip U8, and a power supply filter circuit; the chip model used by the communication chip U7 is SIT1050Q, and the chip model used by the communication chip U8 is NUP2105LT1G; the CAN_RX communication line and the CAN_TX communication line of the 70th and 71st pins of the main control chip U5 are respectively connected to the 4th and 1st pins of the communication chip U7; the CANL communication line and the CANH communication line of the 6th and 7th pins of the communication chip U7 are respectively connected to the 2nd and 3rd pins of the communication chip U8.

[0015] Furthermore, the brake release motor control module includes a left brake release chip U38, a right brake release chip U40, a left motor switch tube assembly, a right motor switch tube assembly, a brake release switch chip U55, a switch tube Q48, a switch tube Q49, and a NAND gate control chip U39; the first pin of the NAND gate control chip U39 is connected to the MOTO_48V_OFF control line of the 60th pin of the main control chip U5 via a resistor R266, and the third pin of the NAND gate control chip U39 is connected to the ON_Brake control line of the 61st pin of the main control chip U5 via a resistor R271; the 7th and 6th pins of the left brake release chip U38 are connected to the left motor control line of the robot, and the 7th and 6th pins of the right brake release chip U40 are connected to the right motor control line of the robot; the left motor switch tube assembly includes switch tubes Q28, switch tubes Q 29, the 2nd and 4th pins of the left brake release chip U38 are connected to the collector of the switch tube Q28 and the collector of the switch tube Q29 respectively; the right motor switch tube assembly includes the switch tube Q31 and the switch tube Q33, the 2nd and 4th pins of the right brake release chip U40 are connected to the collector of the switch tube Q31 and the collector of the switch tube Q33 respectively; the 4th pin of the NAND gate control chip U39 is connected to the base of the switch tube Q28, the base of the switch tube Q29, the base of the switch tube Q31 and the base of the switch tube Q33 through the resistor R272; the 3rd pin of the brake release switch chip U55 is connected to the base of the switch tube Q48 and the base of the switch tube Q49, and the collector of the switch tube Q48 and the collector of the switch tube Q49 are used to output the control signal ON_Brake_A to control the operation of the left brake release chip U38 and the right brake release chip U40.

[0016] Furthermore, the chip model used by the left brake release chip U38 and the right brake release chip U40 is GAQW211G2EH; the chip model used by the brake release switch chip U55 is NE555PWR.

[0017] Furthermore, the air pressure detection module is integrated with a temperature detection unit and a pressure detection unit. The robot detects the atmospheric pressure information and temperature information of its current environment through the air pressure detection module, and calculates the altitude of the robot's current location according to the following formula, and then converts the obtained altitude into the number of floors where the robot is currently located. The formula is:

[0018] h=((1-(P / 1013.25)^0.1903)*44330.77) / (T+273.15),

[0019] Wherein, h is the altitude, P is the atmospheric pressure measured by the air pressure detection module, and T is the temperature measured by the air pressure detection module.

[0020] Furthermore, the IMU inertial navigation module is integrated with a gyroscope and an accelerometer, and the robot is accurately positioned and its posture is adjusted through the IMU inertial navigation module.

[0021] By adopting the above scheme, the beneficial effects of the present invention are:

[0022] 1) The circuit uses an air pressure sensor to measure the altitude value, and transmits the collected real-time data to the MCU through SPI communication. When the robot performs a cross-floor task, the collected data can be transformed to accurately determine and locate the current floor where the robot is located, avoiding the problem of the robot losing its position due to map drift;

[0023] 2) The IMU sensor is embedded in the circuit unit. Based on the performance characteristics of the inertial navigation sensor, the robot's climbing, acceleration, turning direction and other posture movements during movement are reconfirmed with the first odometer, and the robot posture is adjusted and the accuracy of key points is improved in the algorithm. When the robot is impacted by vibration, the sensor can be used to detect the internal status of the device, such as identifying and monitoring the health status and fault information of the monitoring device;

[0024] 3) Through the one-button unlocking circuit design, the problem that the robot is locked when turned off can be solved, resulting in the robot being unable to be manually pushed to the charging pile for normal charging;

[0025] 4) The circuit adopts an isolated power supply design to prevent the instantaneous current from being too large due to hot plugging of some power supplies or motors and other interface devices during the power-on process, causing the robot system to fail to start normally or arcing at the interface;

[0026] 5) Multiple emergency stop buttons are set on the robot body and AMR chassis, which can make the robot stop urgently when encountering emergencies during operation. The circuit design simplifies the process of paralleling each emergency stop switch, avoiding repeated wiring problems from the box to the AMR chassis control circuit, and reducing internal wiring and internal signal interference;

[0027] 6) The circuit integrates CAN, USB and other communication interfaces, which are compatible with the protocol requirements of different types of controllers. It can also connect to a variety of sensors, such as smoke alarm detectors, infrared alarms, etc. At the same time, it can be easily connected to the controller to realize one-button power on / off reset control function. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a principle block diagram of the present invention;

[0029] Figure 2 A circuit diagram of a part of the MUC main control module of the present invention;

[0030] Figure 3 A circuit diagram of another part of the MUC main control module of the present invention;

[0031] Figure 4 is a circuit diagram of the air pressure detection module of the present invention;

[0032] Figure 5 A circuit diagram of an IMU inertial navigation module of the present invention;

[0033] Figure 6 A circuit diagram of a CAN communication unit of the present invention;

[0034] Figure 7 A circuit diagram of an RS485 communication unit of the present invention;

[0035] Figure 8 A circuit diagram of a NAND gate control chip of the present invention;

[0036] Fig. 9 It is a circuit diagram of the left brake release chip of the present invention;

[0037] Fig.10 It is a circuit diagram of the right brake release chip of the present invention;

[0038] Fig.11 A circuit diagram of a brake release switch chip of the present invention;

[0039] Fig.12 FIG. 4 is a circuit diagram of a power management module of the present invention. DETAILED DESCRIPTION

[0040] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0041] Reference Figures 1 to 12 As shown, the present invention provides a control circuit of a robot system. In one embodiment, it includes an MCU main control module, an air pressure detection module connected to the MCU main control module, an IMU inertial navigation module, a communication module and a brake release motor control module, and a power management module connected to the MCU main control module and used to power the entire circuit; the communication module includes a CAN communication unit, an RS485 communication unit and an RS232 communication unit connected to the MCU main control module; the MCU main control module is also connected to an IO expansion interface.

[0042] In this implementation, an air pressure detection module (air pressure sensor) is embedded in the circuit to collect information about the robot's current floor. When the robot performs cross-floor tasks, the MCU main control module calculates the robot's current floor based on the floor height information and the air pressure sensor detection value, and compares and binds it with the floor information sent by the elevator control to ensure that the robot's cross-floor information is accurate.

[0043] At the same time, the circuit is also embedded with an IMU inertial navigation module (IMU sensor), which performs secondary confirmation and posture adjustment with the odometer in the motor. When the robot climbs a slope, the driving wheels of the robot are prone to slipping due to the influence of the slope, and the motor odometer will have data statistical errors, which will lead to positioning deviation of the robot. The IMU in the circuit can collect data in real time and report the mileage data of the driving motor in order to correct the positioning deviation.

[0044] In addition, multiple IO expansion interfaces and IO level conversion interfaces are designed in the circuit to connect multiple ultrasonic sensors and convert TTL levels and CMOS levels of high-speed USB, serial ports, etc. to meet the load capacity required for high-speed communication. The circuit is also equipped with RS485, CAN, TCP and other communication interfaces to facilitate the connection of hardware devices such as industrial controllers, lidar, drive motors, depth cameras, etc.

[0045] In one embodiment, the MCU main control module includes a main control chip U5, an EEPROM chip U6, and an I2C communication circuit; the CAN_RX communication line and the CAN_TX communication line of the 70th pin and the 71st pin of the main control chip U5 are connected to the CAN communication unit; the SCL communication line and the SDA communication line of the 47th pin and the 48th pin of the main control chip U5 are connected to the IMU inertial navigation module; the SPI2_CS communication line, the SPI2_SCK communication line, the SPI2_MISO communication line, and the SPI2_MOSI communication line of the 77th pin, the 78th pin, the 79th pin, and the 80th pin of the main control chip U5 are connected to the air pressure detection module; the I2C_WP control line of the 7th pin of the EEPROM chip U6 is connected to the 59th pin of the main control chip U5; the I2C_SCL communication line and the I2C_SDA communication line of the 5th pin and the 6th pin of the EEPROM chip U6 are respectively connected to the 47th pin and the 48th pin of the main control chip U5.

[0046] In this embodiment, the main control chip U5 adopts the GD32F407RET6 chip with a package pin of 100PIN, wherein the CAN_RX and CAN_TX communication lines of the pins P70 and P71 at one end are connected to the CAN_RX and CAN_TX communication lines of the pins P4 and P1 at the other end of U7; the SCL and SDA communication lines of the pins P47 and P48 at one end of the U5 chip are connected to the P23 and P24 at the other end of the U33 chip; the pins P The SPI2_CS, SPI2_SCK, SPI2_MISO, and SPI2_MOSI communication lines of 77, P78, P79, and P80 are connected to the P2, P4, P5, and P3 pins at the other end of the U32 chip; the MOTO_48V_OFF control line of the P60 pin at one end of the U5 chip is connected to the R266 resistor at the other end of U39; the ON_Brake control line of the P61 pin at one end of the U5 chip is connected to the R271 resistor at the other end of U39.

[0047] At the same time, the chip model used by the EEPROM chip U6 is 24C18, which is composed of an I2C communication circuit and a peripheral circuit; the I2C_WP control line of the pin at one end of the U6 chip P7 is connected to the pin at the other end of the U5 chip P59; the I2C_SCL and I2C_SDA communication lines of the pins at one end of the U6 chip P5 and P6 are connected to the other end of the U5 chip P47 and P48.

[0048] In one embodiment, the air pressure detection module includes an air pressure detection chip U32 and a peripheral power supply circuit, and the chip model used by U32 is BMP280; the SPI2_CS communication line, SPI2_SCK communication line, SPI2_MISO communication line, and SPI2_MOSI communication line of the 77th pin, the 78th pin, the 79th pin, and the 80th pin of the main control chip U5 are respectively connected to the 2nd pin, the 4th pin, the 5th pin, and the 3rd pin of the air pressure detection chip U32.

[0049] In one embodiment, the IMU inertial navigation module includes a navigation chip U33, a power supply circuit, and an I2C communication circuit. The chip model used by U33 is ICM-20948; the SCL communication line and the SDA communication line of the 47th and 48th pins of the main control chip U5 are connected to the 23rd and 24th pins of the navigation chip U33; the 22nd, 23rd and 24th pins of the navigation chip U33 are connected to a 3.3V power supply via resistors R221, R220 and R217 respectively.

[0050] In one embodiment, the CAN communication unit includes a communication chip U7, a communication chip U8, and a power supply filter circuit; the chip model used by the communication chip U7 is SIT1050Q, and the chip model used by the communication chip U8 is NUP2105LT1G; the CAN_RX communication line and the CAN_TX communication line of the 70th pin and the 71st pin of the main control chip U5 are respectively connected to the 4th pin and the 1st pin of the communication chip U7; the CANL communication line and the CANH communication line of the 6th pin and the 7th pin of the communication chip U7 are respectively connected to the 2nd pin and the 3rd pin of the communication chip U8.

[0051] In one embodiment, the brake release motor control module includes a left brake release chip U38, a right brake release chip U40, a left motor switch tube assembly, a right motor switch tube assembly, a brake release switch chip U55, a switch tube Q48, a switch tube Q49, and a NAND gate control chip U39; the first pin of the NAND gate control chip U39 is connected to the MOTO_48V_OFF control line of the 60th pin of the main control chip U5 via a resistor R266, and the third pin of the NAND gate control chip U39 is connected to the ON_Brake control line of the 61st pin of the main control chip U5 via a resistor R271; the 7th and 6th pins of the left brake release chip U38 are connected to the left motor control line of the robot, and the 7th and 6th pins of the right brake release chip U40 are connected to the right motor control line of the robot; the left motor switch tube assembly includes a switch tube Q28, a switch tube Q29, the 2nd and 4th pins of the left brake release chip U38 are connected to the collector of the switch tube Q28 and the collector of the switch tube Q29 respectively; the right motor switch tube assembly includes the switch tube Q31 and the switch tube Q33, the 2nd and 4th pins of the right brake release chip U40 are connected to the collector of the switch tube Q31 and the collector of the switch tube Q33 respectively; the 4th pin of the NAND gate control chip U39 is connected to the base of the switch tube Q28, the base of the switch tube Q29, the base of the switch tube Q31 and the base of the switch tube Q33 through the resistor R272; the 3rd pin of the brake release switch chip U55 is connected to the base of the switch tube Q48 and the base of the switch tube Q49, and the collector of the switch tube Q48 and the collector of the switch tube Q49 are used to output the control signal ON_Brake_A to control the operation of the left brake release chip U38 and the right brake release chip U40.

[0052] In this embodiment, the left brake release chip U38 and the right brake release chip U40 use the chip model GAQW211G2EH; the brake release switch chip U55 uses the chip model NE555PWR, and the output (P3 pin) of U55 is connected to the collectors of Q48 and Q49. These two transistors are used to drive the left brake release (U38) and the right brake release (U40). At the same time, the output (Y pin) of the U39 NAND gate is connected to the trigger pin (TRIG pin, U55 P2 pin of U55 is used to control the triggering of U55, thereby controlling the conduction and cutoff of Q48 and Q49, and further controlling the status of the left and right release brakes. The LOCKA+, LOCKA-, LOCKB+, and LOCKB- pins of U38 and U40 are respectively connected to the motor control lines for controlling the motor's brake status. This configuration allows U55 to drive the two release brake control chips (U38 and U40) through the logic control of the NAND gate (U39), thereby realizing the control of the motor brake.

[0053] In one embodiment, the air pressure detection module integrates a temperature detection unit and a pressure detection unit. The robot detects the atmospheric pressure information and temperature information of its current environment through the air pressure detection module, and calculates the altitude of the robot's current location according to the following formula, and then converts the obtained altitude into the number of floors where the robot is currently located. The formula is:

[0054] h=((1-(P / 1013.25)^0.1903)*44330.77) / (T+273.15),

[0055] Wherein, h is the altitude, P is the atmospheric pressure measured by the air pressure detection module, and T is the temperature measured by the air pressure detection module.

[0056] In this embodiment, the BMP280 altitude atmospheric pressure sensor chip is used, which has a built-in temperature detection and pressure sensor. By measuring and collecting environmental parameters such as temperature values ​​and atmospheric pressure values, and transmitting the collected temperature values ​​and atmospheric pressure values ​​and other raw data to the MCU main control module through the SPI communication interface protocol, the MCU main control module can calibrate and convert the data through internal digital signal processing to obtain more accurate environmental parameters; and according to the atmospheric pressure and temperature information, the altitude can be calculated using a specific algorithm. In this way, when the robot reaches a certain floor of a building, the robot's current floor information can be confirmed by the placed beacon and the corresponding altitude value. Specifically:

[0057] Usually the floor height is known (the parameter value is about 2.5 to 4 meters). The measured atmospheric pressure value can be converted into altitude using the following formula: h = ((1-(P / 1013.25)^0.1903)*44330.77) / (T+273.15), where h is the altitude (unit: meter), P is the currently measured air pressure (unit: Pascal), and T is the currently measured temperature (unit: Celsius). When measuring and collecting data, an approximate value is obtained based on the formula, and error correction and calibration are performed through software.

[0058] First, based on the known floor height, convert the calculated altitude to the number of floors. For example, assuming that the height of each floor of a building is 3m, the atmospheric pressure value measured by the BMP280 pressure sensor is converted to an altitude of 12.5m; then, divide the calculated altitude of 12.5m by the height of each floor of 3m to get 4.17 floors; and since the floor is an integer, it can be rounded up or rounded up according to the specific situation to get an estimated floor of 4 or 5 floors (depending on whether half floors or fractional floors are considered). Since 4.17 is closer to 4, the estimated floor is 4 floors.

[0059] However, when the robot is accidentally pushed during an elevator mission, resulting in positioning deviation, the data collected by the robot's lidar does not match the current environment of the robot. At this time, the robot's host computer needs to communicate with the internal MCU and air pressure sensor, and compare the air pressure value with the current map data information. If the current floor information is incorrect, the software will automatically pull the corresponding map for correction, and at the same time conduct a secondary confirmation with the nearby beacons to obtain the coordinate position (X, Y, Z coordinate values). The host computer corrects the current coordinate position of the robot through repositioning to realize the robot positioning deviation correction function.

[0060] In one embodiment, the IMU inertial navigation module integrates a gyroscope and an accelerometer, and the robot is accurately positioned and its posture is adjusted through the IMU inertial navigation module.

[0061] In this embodiment, the IMU uses the ICM-20948 chip, which has a built-in gyroscope and accelerometer, and can measure the current position, angle, speed and acceleration of the robot in real time, and calculate the robot's posture in three-dimensional space, such as pitch angle, yaw angle and roll angle, by fusing the data of the gyroscope and accelerometer; then, the collected angular velocity values ​​and other raw data are transmitted to the MCU main control module through the I2C communication protocol. The MCU main control module integrates the navigation algorithm through the data parameters collected by various sensors such as the laser radar, depth camera and odometer in the drive motor, so as to control the robot's drive motor to move smoothly or accelerate, and realize the precise positioning of the robot's travel path and the adjustment of posture perception, specifically:

[0062] The MCU main control module first initializes the corresponding I2C clock frequency interface and configures the gyroscope's working mode, measurement range, data rate and other key parameters; then, the MCU main control module sends and receives commands through the I2C communication interface, and converts the received gyroscope raw data into specific angular velocity values; then, the MCU main control module uses the Kalman filter algorithm to filter and compensate for the noise and offset of the collected angular velocity values ​​to obtain smooth data, and finally integrates the angular velocity data to obtain coordinate values ​​such as angle information.

[0063] When the robot is stationary, the IMU in the robot collects data as X, Y, and Z coordinate values. Due to the effect of the earth's gravity, only the Z-axis direction has an acceleration value G, and the other coordinate values ​​are zero; when the robot has a certain tilt angle, the earth's gravity will measure a certain force in the X and Y axis directions, and the magnitude of the force on the X and Y axes is related to the tilt angle β.

[0064] The inclination angle data β can be calculated by the inverse tangent using the formula β = arctan (x / z), β = arctan (y / z); when the robot executes the delivery task route through the dispatch system, the IMU sensor on the control board installed in the robot communicates with the background management system in real time and uploads coordinate information, such as speed value, inclination angle β value, etc. The background management system integrates the data of the laser radar navigation and odometer in the robot, scans the current map environment, and generates parameters such as confidence, running speed, and angular velocity; when the robot's motor drive wheel slips or other unexpected factors cause the robot's posture or map positioning to deviate during operation, At this time, the MCU main control module continuously collects the IMU's set comprehensive threshold parameter error, which is too large, triggering the data compensation on the robot's internal navigation path. The new posture is calculated through the angular velocity data and the posture at the previous moment, the current robot's speed data is integrated, and the position is updated in combination with the current posture information. The laser radar scanning data is self-corrected during operation to avoid the problem of positioning data drift map or point parameter loss due to long-term operation of the robot; when the robot reaches the nearest task point or correction point, the background management system and the robot's sensor data point coordinates are compared and judged again to correct the accumulated errors in the line and the adjustment of the robot's motion posture.

[0065] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A control circuit of a robot system, characterized in that: It includes an MCU main control module, an air pressure detection module connected to the MCU main control module, an IMU inertial navigation module, a communication module and a brake release motor control module, as well as a power management module connected to the MCU main control module and used to power the entire circuit; the communication module includes a CAN communication unit, an RS485 communication unit and an RS232 communication unit connected to the MCU main control module; the MCU main control module is also connected to an IO expansion interface.

2. The control circuit of the robot system according to claim 1, characterized in that: The MCU main control module includes a main control chip U5, an EEPROM chip U6, and an I2C communication circuit; the CAN_RX communication line and the CAN_TX communication line of the 70th and 71st pins of the main control chip U5 are connected to the CAN communication unit; the SCL communication line and the SDA communication line of the 47th and 48th pins of the main control chip U5 are connected to the IMU inertial navigation module; the SPI2_CS communication line, the SPI2_SCK communication line, the SPI2_MISO communication line, and the SPI2_MOSI communication line of the 77th, 78th, 79th and 80th pins of the main control chip U5 are connected to the air pressure detection module; the I2C_WP control line of the 7th pin of the EEPROM chip U6 is connected to the 59th pin of the main control chip U5; the I2C_SCL communication line and the I2C_SDA communication line of the 5th and 6th pins of the EEPROM chip U6 are respectively connected to the 47th and 48th pins of the main control chip U5.

3. The control circuit of the robot system according to claim 2, characterized in that: The air pressure detection module includes an air pressure detection chip U32, and the chip model used is BMP280; the SPI2_CS communication line, SPI2_SCK communication line, SPI2_MISO communication line, and SPI2_MOSI communication line of the 77th pin, the 78th pin, the 79th pin, and the 80th pin of the main control chip U5 are respectively connected to the 2nd pin, the 4th pin, the 5th pin, and the 3rd pin of the air pressure detection chip U32.

4. The control circuit of the robot system according to claim 2, characterized in that: The IMU inertial navigation module includes a navigation chip U33, and the chip model used is ICM-20948; the SCL communication line and SDA communication line of the 47th and 48th pins of the main control chip U5 are connected to the 23rd and 24th pins of the navigation chip U33; the 22nd, 23rd and 24th pins of the navigation chip U33 are connected to the power management module via resistors R221, R220 and R217 respectively.

5. The control circuit of the robot system according to claim 2, characterized in that: The CAN communication unit includes a communication chip U7, a communication chip U8, and a power supply filter circuit; the chip model used by the communication chip U7 is SIT1050Q, and the chip model used by the communication chip U8 is NUP2105LT1G; the CAN_RX communication line and the CAN_TX communication line of the 70th and 71st pins of the main control chip U5 are respectively connected to the 4th and 1st pins of the communication chip U7; the CANL communication line and the CANH communication line of the 6th and 7th pins of the communication chip U7 are respectively connected to the 2nd and 3rd pins of the communication chip U8.

6. The control circuit of the robot system according to claim 2, characterized in that: The brake release motor control module includes a left brake release chip U38, a right brake release chip U40, a left motor switch tube assembly, a right motor switch tube assembly, a brake release switch chip U55, a switch tube Q48, a switch tube Q49, and a NAND gate control chip U39; the first pin of the NAND gate control chip U39 is connected to the MOTO_48V_OFF control line of the 60th pin of the main control chip U5 via a resistor R266, and the third pin of the NAND gate control chip U39 is connected to the ON_Brake control line of the 61st pin of the main control chip U5 via a resistor R271; the 7th and 6th pins of the left brake release chip U38 are connected to the left motor control line of the robot, and the 7th and 6th pins of the right brake release chip U40 are connected to the right motor control line of the robot; the left motor switch tube assembly includes switch tubes Q28 and Q29 The second and fourth pins of the left brake release chip U38 are connected to the collector of the switch tube Q28 and the collector of the switch tube Q29, respectively; the right motor switch tube assembly includes the switch tube Q31 and the switch tube Q33, and the second and fourth pins of the right brake release chip U40 are connected to the collector of the switch tube Q31 and the collector of the switch tube Q33, respectively; the fourth pin of the NAND gate control chip U39 is connected to the base of the switch tube Q28, the base of the switch tube Q29, the base of the switch tube Q31 and the base of the switch tube Q33 through the resistor R272; the third pin of the brake release switch chip U55 is connected to the base of the switch tube Q48 and the base of the switch tube Q49, and the collector of the switch tube Q48 and the collector of the switch tube Q49 are used to output the control signal ON_Brake_A to control the operation of the left brake release chip U38 and the right brake release chip U40.

7. The control circuit of the robot system according to claim 6, characterized in that: The chip model used by the left brake release chip U38 and the right brake release chip U40 is GAQW211G2EH; the chip model used by the brake release switch chip U55 is NE555PWR.

8. The control circuit of the robot system according to claim 1, characterized in that: The air pressure detection module integrates a temperature detection unit and a pressure detection unit. The robot detects the atmospheric pressure information and temperature information of its current environment through the air pressure detection module, and calculates the altitude of the robot's current location according to the following formula, and then converts the obtained altitude into the number of floors where the robot is currently located. The formula is: h=((1-(P / 1013.25)^0.1903)*44330.77) / (T+273.15), Wherein, h is the altitude, P is the atmospheric pressure measured by the air pressure detection module, and T is the temperature measured by the air pressure detection module.

9. The control circuit of the robot system according to claim 1, characterized in that: The IMU inertial navigation module integrates a gyroscope and an accelerometer, and the robot is accurately positioned and its posture is adjusted through the IMU inertial navigation module.

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