Microprocessor-based intelligent robot drive circuit system

Abstract

This invention discloses a microprocessor-based intelligent robot drive circuit system, belonging to the field of microprocessor circuit technology. The system includes a drive motherboard, which integrates: a power supply circuit for receiving external power and generating at least a first stable voltage and a second stable voltage; a CPIO expansion circuit, including a microprocessor interface for connecting to the microprocessor module and multiple external component interfaces for connecting robot parts; an isolation circuit for electrically isolating control signals from the microprocessor module; and a power switch circuit for selectively conducting either the first stable voltage or the second stable voltage to the external component interfaces based on the isolated control signals. This invention solves the system instability problems caused by power interference, unreliable connections, and loose structures in existing robot development solutions by highly integrating power management, signal isolation, and interface expansion into a single drive motherboard.

Description

Technical Field

[0001] This invention relates to the field of microprocessor circuit technology, and in particular to robot driving solutions, specifically a microprocessor-based intelligent robot driving circuit system. Background Technology

[0002] Currently, robot development platforms based on microprocessors or single-board computers have become mainstream. Their architecture typically utilizes core controllers such as Raspberry Pi, connecting independent motor drives, power supplies, and sensor modules via interfaces. However, existing solutions generally fall into a fundamental technical contradiction: discrete module splicing solutions, which pursue flexibility, sacrifice the electrical and mechanical reliability of the system due to complex physical wiring; while stacked expansion board solutions, which pursue integration, sacrifice scalability and application adaptability due to functional rigidity. Neither approach resolves the inherent power integrity conflict between high-power drive loads and high-sensitivity microprocessors, causing electrical noise generated by motor start-stop to easily pollute or damage the core controller, constituting a technical bottleneck limiting the long-term stable operation of mobile robot systems. Summary of the Invention

[0003] In the first aspect, this application provides a microprocessor-based intelligent robot drive circuit system, which aims to solve the technical problems of low system reliability and susceptibility to interference caused by poor power management and lack of signal path isolation protection in existing robot development platforms.

[0004] To achieve this objective, the technical solution of this application is: a microprocessor-based intelligent robot drive circuit system, including a drive motherboard, the drive motherboard comprising: A power supply circuit is configured to receive an external power supply and generate at least a first stable voltage and a second stable voltage based on the external power supply. The CPIO expansion circuit includes a microprocessor interface and multiple external component interfaces. The microprocessor interface is configured to be detachably electrically connected to a microprocessor module, and the multiple external component interfaces are configured to be electrically connected to multiple robot components. An isolation circuit has an isolated input and an isolated output. The isolated input is electrically connected to the microprocessor interface. The isolation circuit is configured to receive a control signal from the microprocessor module and output an isolated control signal that is logically identical to the control signal but electrically isolated from it. A power switch circuit has a control input terminal, a power input terminal, and a power output terminal. The control input terminal is electrically connected to the isolation output terminal of the isolation circuit. The power input terminal is electrically connected to a voltage output terminal of the power circuit. The power output terminal is electrically connected to at least one external component interface of the CPIO expansion circuit. The power switch circuit is configured to, in response to the isolation control signal, turn on or off the path between the power input terminal and the power output terminal.

[0005] Optionally, the power supply circuit includes at least one DC-DC buck converter configured to convert the voltage of the external power supply to at least one of the first stable voltage and the second stable voltage.

[0006] Optionally, the first stable voltage is 5V, used to power the microprocessor module via the microprocessor interface; the second stable voltage is 3.3V, used to power some low-power components in the isolation circuit and the CPIO expansion circuit.

[0007] Optionally, the isolation circuit includes at least one digital isolator chip, which has a capacitive or inductive isolation gate inside, for blocking the electrical connection of DC and low-frequency AC while transmitting the control signal.

[0008] Optionally, the power switch circuit includes a relay or a solid-state load switch; the isolated control signal is used to control the on / off state of the relay coil, or to control the gate or enable terminal of the solid-state load switch.

[0009] Optionally, the CPIO expansion circuit is further configured to route the control signal between the microprocessor interface and the isolated input of the isolation circuit, and to route the isolated control signal between the isolated output of the isolation circuit and the control input of the power switch circuit.

[0010] Optionally, the isolation circuit is further configured to receive a feedback signal from a robot component connected to the external component interface, and output an isolated feedback signal that is logically identical to the feedback signal but electrically isolated to the microprocessor interface.

[0011] Optionally, the microprocessor interface is a 40-pin socket or pin connector, whose pin definitions correspond to the general input / output pin layout of the Raspberry Pi single-board computer.

[0012] Optionally, the external component interface includes at least one of the following: a servo motor interface for connecting a servo motor, a stepper motor driver interface for connecting a stepper motor, a sensor interface for connecting a sensor, a display interface for connecting an LCD screen, and a fill light interface for connecting a lighting device.

[0013] Secondly, this application provides an intelligent robot, which includes a drive circuit system, a microprocessor module, and robot components as described in any of the preceding claims.

[0014] The beneficial effects of this application are as follows: Through built-in isolation circuitry, the control domain of the microprocessor module is completely electrically isolated from the drive domain of external high-power components. This design effectively prevents voltage surges and current spikes generated by motor start-stop, stall, and other operating conditions from flowing back to the microprocessor through the power supply or signal loop. This fundamentally eliminates system restarts, crashes, or permanent damage caused by such interference, ensuring the long-term stable operation of the robot in complex electromagnetic environments.

[0015] The integrated power supply circuit and power switching circuit constitute a complete system-level power management unit. It can not only efficiently generate multiple stable voltages required by the system from a single external power source (such as a battery), but also allow the microprocessor to independently and programmatically control the power supply to each external component through isolated control signals. This enables on-demand power supply, reduces system standby power consumption, and avoids mutual interference between peripherals caused by sharing power.

[0016] This invention integrates multiple functions, including power conversion, signal isolation, power switching, and interface expansion, onto a single driver motherboard. Compared to solutions using DuPont wires to connect multiple discrete modules, this invention significantly simplifies the robot's internal wiring, reduces potential contact failures due to vibration, and improves the system's mechanical strength and vibration resistance. Simultaneously, the compact layout optimizes space utilization, facilitating the development of miniaturized and compact robot platforms.

[0017] The CPIO expansion circuit on the driver motherboard provides interfaces for various standardized external components, such as servos, stepper motors, various sensors, and display devices. Users do not need to worry about the underlying driver and protection circuit design; they can simply plug and play to expand functional modules according to application requirements, greatly reducing the development threshold, simplifying the assembly process, and improving development efficiency and the versatility of the solution. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall architecture of a microprocessor-based intelligent robot drive circuit system provided in an embodiment of the present invention.

[0020] Figure 2 This is a specific circuit diagram of the power supply circuit provided in an embodiment of the present invention.

[0021] Figure 3 This is a partial circuit diagram of the isolation circuit provided in an embodiment of the present invention.

[0022] Figure 4 This is a partial circuit diagram of the power switch circuit provided in an embodiment of the present invention.

[0023] Figure 5 This is a circuit diagram of the ultraviolet sensor interface portion of the CPIO expansion circuit provided in this embodiment of the invention.

[0024] Figure 6 This is a circuit diagram of the servo interface section in the CPIO expansion circuit provided in this embodiment of the invention.

[0025] Figure 7 This is a circuit diagram of the power output interface portion of the CPIO expansion circuit provided in an embodiment of the present invention.

[0026] Figure 8 This is a circuit diagram of the microprocessor interface portion of the CPIO expansion circuit provided in an embodiment of the present invention. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0029] This embodiment provides a microprocessor-based intelligent robot drive circuit system. In a specific implementation, this method employs a highly integrated drive motherboard, which integrates a power supply circuit for stable power supply, an isolation circuit for signal electrical isolation, a power switch circuit for power on / off, and a CPIO expansion circuit for interface expansion. This enables effective isolation and unified management of the microprocessor module and external robot components at the power and signal levels. This method solves the technical problems of power interference, poor signal integrity, low system reliability, bloated structure, and inconvenient expansion caused by the use of discrete module splicing or simple function stacking in the prior art. It achieves the beneficial effect of providing a standardized hardware foundation platform with high reliability, high integration, and high scalability for intelligent robot development, significantly improving the stability and development efficiency of robot systems. Example

[0030] Please see Figure 1 This invention provides a microprocessor-based intelligent robot drive circuit system, the core of which is a drive motherboard. This drive motherboard acts as a functional hub, connecting upwards through a microprocessor interface (such as...). Figure 8 The J12 connector connects to microprocessor modules (such as Raspberry Pi) and extends downwards and outwards through a series of external component interfaces (such as... Figures 5 to 7 (As shown) It connects to various actuators, sensors, and other components of the robot. The drive motherboard integrates four core circuit modules: power supply circuit, isolation circuit, power switch circuit, and CPIO expansion circuit.

[0031] Please see Figure 2 ,for Figure 1 The power supply circuit in the system receives an external power source with a wide voltage range and converts it into a high-precision, stable voltage required by various components within the system. In one specific embodiment, the external power source is connected to the drive motherboard via a high-current-capable XT60 connector J1.

[0032] For example, the external power source could be a lithium battery pack with a nominal voltage of 24V, whose actual voltage may fluctuate between 25.2V when fully charged and 20V when depleted. The primary task of the power supply circuit is to eliminate the impact of such input voltage fluctuations on subsequent circuitry.

[0033] The power supply circuit includes two independent DC-DC buck converter channels. The first channel ( Figure 2 The upper-middle section of the circuit generates 5V, primarily powering the microprocessor module. The second channel ( Figure 2 The lower half of the circuit is used to generate a 3.3V voltage, which mainly powers the digital logic devices (such as isolation chips) on the motherboard and some external sensors.

[0034] Specifically, the core of the first channel is the buck converter chip U1, model LMR14020SDDA. The 24V input voltage from J1 first passes through an input filter network consisting of capacitors C1 (0.1μF, ceramic capacitor) and C2 (22μF, electrolytic capacitor). C1 filters out high-frequency noise, while C2 acts as an energy storage capacitor, providing instantaneous large current to U1. The filtered voltage is applied to the VIN pin of U1. U1 integrates a power MOSFET, controller, and compensation network. It operates at a fixed switching frequency, which is set by resistors R1 (12kΩ) and R2 (2.2kΩ) connected between the RT / SYNC pin and ground. By adjusting the values ​​of these two resistors, switching losses and external component size can be balanced. U1 stabilizes its output voltage through an external feedback network consisting of resistors R4, R3, and R5. After passing through an LC filter network consisting of L1-C5-C6-C7, the output voltage is sampled by a resistor divider network (R4, R3, R5) and the divided voltage is sent to the FB (feedback) pin of U1. The error amplifier inside U1 compares the voltage at the FB pin with a precise internal reference voltage (e.g., 0.75V) and adjusts the duty cycle of the internal power MOSFET based on the comparison result, thereby stabilizing the output voltage precisely at the target value. Inductor L1 (2.2μH) serves as the core energy storage component, storing energy when the MOSFET is on and releasing energy when the MOSFET is off. Diode D1 (model SS36, Schottky diode) provides a freewheeling path for the inductor current during MOSFET off-peak periods. Output capacitors C5 and C6 (both 22μF) smooth the output voltage ripple and provide transient response capability, while C7 (0.1μF) further filters out high-frequency noise at the output.

[0035] The circuit structure of the second channel is exactly the same as that of the first channel, with its core being the buck converter chip U2 (also LMR14020SDDA). It converts the same 24V input voltage to a stable 3.3V output. Its operating parameters are set by resistors R7 and R8, and the output voltage is precisely set by the feedback network R10, R9, and R11. The corresponding energy storage inductor is L2, the freewheeling diode is D2, and the output filter capacitors are C12, C13, and C14. This dual-channel independent buck design provides two clean, stable, and isolated power supplies for the microprocessor (5V) and sensitive digital logic (3.3V), avoiding mutual interference. Furthermore, the original 24V voltage is also directly extracted to drive components requiring high voltage and high power, such as LCD touchscreens and stepper motors. This power supply circuit design provides a solid physical foundation for the stable operation of the entire system. Its existence ensures that even under harsh operating conditions such as battery voltage fluctuations or drastic changes in external load, the core control part can obtain a constant voltage supply with extremely low ripple and high precision, which is the first line of defense for system reliability.

[0036] Please see Figure 3 Isolation circuitry is crucial for ensuring the safety of microprocessor modules and building system robustness. Its core function is to physically isolate electrical connections along the signal path while allowing lossless digital signal transmission, creating what is known as "current isolation" or "coupler isolation." This "firewall" effectively prevents electrical noise, high-voltage spikes, electrostatic discharge (ESD), and even catastrophic short-circuit faults from external components from being conducted to the delicate and fragile microprocessor.

[0037] In this embodiment, the isolation circuit is mainly composed of multiple digital isolator chips, such as U5 (model CA-IS3742, a four-channel isolator) and U7 (model CA-IS3740). These chips typically integrate miniature transformers or capacitors as isolation barriers.

[0038] The working principle is as follows: Taking U5 as an example, it has two independent power domains: side A (defined by VDDA and GNDA1 / GNDA2) and side B (defined by VDDB and GNDB1 / GNDB2). In application, side A is connected to the power domain of the microprocessor module, namely the 3.3V voltage generated by the aforementioned power circuit (represented as 3V3_Pi in the diagram) and the microprocessor's ground. Side B is connected to the power domain of external components, namely the isolated 3.3V voltage generated by the same power circuit (represented as 3V3 in the diagram) and the external component's ground. Although these two 3.3V voltages originate from the same 24V input, their ground planes are separate, forming two independent reference grounds through an isolation chip.

[0039] For example, when the microprocessor needs to send an enable instruction IRPWREN to the thermal imaging module, it outputs a high level (3.3V) on its corresponding GPIO pin. This signal is sent to the A-side input pin VI1 (pin 4) of U5. After the A-side circuit of U5 detects this high level, it drives the internal high-frequency oscillator to generate a series of encoded high-frequency signals. This series of signals is coupled to the B-side through an internal silicon dioxide (SiO2) capacitor isolation gate. After the B-side receiving circuit receives this series of high-frequency signals, it demodulates and restores it to a stable high-level signal, and outputs it from the corresponding B-side output pin VO1 (pin 13). This output signal is named NEWEN3 in the figure. Logically, NEWEN3 is exactly the same as IRPWREN, but electrically, the level of NEWEN3 is relative to the 3V3 and GNDB1 on the B side, and there is no DC path between it and the 3V3Pi and GNDA1 on the A side. Therefore, even if a serious electrical fault occurs in the B-side circuit (such as the power control section of the thermal imaging module), such as generating a 100V transient spike, the spike will only be blocked by the isolation barrier and will not damage the microprocessor's GPIO pins.

[0040] The same principle applies to communication buses, such as UART communication between a microprocessor and a thermal imaging module. The microprocessor's transmit pin PiTXIR is connected to VI2 of U5, and after isolation, it outputs IRTX from VO2 to the thermal imaging module. The thermal imaging module's transmit pin IRRX is connected to VI3 of U5, and after isolation, it outputs PiRXIR from VO3 back to the microprocessor. This bidirectional isolation ensures the electrical safety of the entire communication link. Capacitors C19 and C21 (both 0.1μF) are decoupling capacitors next to the power supply pins. Their function is to provide a clean local power supply for the chip, filter out noise on the power lines, and ensure the stability of the isolator itself. Capacitors C20 and C22 (1μF and 22μF respectively) are filter capacitors on the isolated power rail, further enhancing the stability of this power domain.

[0041] For the voice module, isolators U7 (CA-IS3740) are also used to isolate its PCM (Pulse Code Modulation) bus signals (PCMDOUT, PCMCLK, PCMFS) and power enable signal VOICEPWR_EN. This comprehensive isolation strategy completely encapsulates the microprocessor module within a secure "electromagnetic shield," protecting it from the complex electromagnetic environment of the external world.

[0042] Please see Figure 4The power switching circuit is the actuator used by the microprocessor to perform intelligent power management on external components. It receives safe, low-power logic control signals from the isolated circuit and uses them to control the switching on and off of high-current, high-voltage power supplies.

[0043] In this embodiment, the power switch circuit uses a variety of switching elements to adapt to the needs of different loads, mainly including relays and solid-state load switches.

[0044] Taking the power supply control of a 24V liquid crystal display (LCD) as an example, its switching circuit consists of relay K1 (model RSS112024) and its driving circuit. The control signal NEWEN2 (original signal LCDPWREN) from the isolation circuit serves as the switching command. NEWEN2 is applied to the gate of the N-channel MOSFET Q1 (model 2N7002CK). When the microprocessor decides to turn on the LCD, LCDPWREN goes high, causing NEWEN2 to also go high. This voltage is sufficient to turn on Q1, forming a low-resistance path between its drain and source. The drain of Q1 is connected to one end of the coil of relay K1, and the other end of the coil is connected to the 24V power supply. After Q1 turns on, current flows through the relay coil, generating a sufficient magnetic field to attract the armature inside the relay, causing its normally open contact to close. One end of the normally open contact of K1 is connected to the main 24V power rail (VBAT), and the other end is connected to the power input terminal of the LCD through interface J2. Therefore, after the contact closes, 24V power is supplied to the LCD, and the LCD powers on and operates. Conversely, when the microprocessor decides to turn off the LCD, NEWEN2 goes low, Q1 is cut off, the relay coil is de-energized, the armature is reset by the spring, and the normally open contact opens, thus cutting off the power supply to the LCD. Diode D3 (S1M) is a freewheeling diode connected in parallel with the relay coil. Its function is to provide a release path for the induced current generated in the relay coil due to the change in magnetic field at the moment Q1 changes from conducting to cutting off, thereby absorbing the reverse electromotive force spike that may be as high as several hundred volts and protecting the drive transistor Q1 from being damaged.

[0045] For low-voltage loads with relatively small current and high switching frequency requirements, such as 3.3V LED fill lights, a solid-state load switch U3 (model GLF1110) can be used. It is a chip integrating a power MOSFET and control logic. The control signal NEWEN1 (originally LEDPWREN) from the isolation circuit is directly connected to the EN (enable) pin of U3. When NEWEN1 is high, the internal power MOSFET of U3 turns on, transferring the 3.3V voltage (3V3LED) from the VIN pin to the VOUT pin, thus lighting the LED connected via interface J15. When NEWEN1 is low, the MOSFET turns off, and the LED is off. Compared to relays, solid-state load switches offer advantages such as fast switching speed, no mechanical wear, and small size. The input capacitor C15 (22μF) provides a stable input voltage for U3.

[0046] By combining relays and solid-state load switches, this system can achieve flexible and reliable programmed power control based on the voltage level, current magnitude, and switching speed requirements of different external components.

[0047] The CPIO expansion circuit is a collective term for all interfaces and related passive components on the motherboard, and it embodies the system's connectivity and expandability. It safely expands the general-purpose pins of the microprocessor module into a series of standardized, plug-and-play interfaces with clearly defined functions through the aforementioned isolation and switching circuits.

[0048] Please see Figure 8 At its core is the microprocessor interface J12, a 40-pin dual-row socket whose pin arrangement and definitions are fully compatible with the Raspberry Pi's GPIO header. The microprocessor module (Raspberry Pi) can be directly plugged into the J12. The J12's pins are categorized for different functions. For example, pins 3 and 5 (GPIO2 (SDA) and GPIO3 (SCL)) serve as the I2C bus, and pins 8 and 10 (GPIO14 (TXD) and GPIO15 (RXD)) serve as the UART serial bus; these communication bus signals are sent to an isolation circuit. Pins 11, 13, and 15 are defined as various power enable control signals, such as IRPWREN, LCDPWREN, and LEDPWREN; these are also sent to an isolation circuit and ultimately used to control the power switching circuit. Other pins are used to receive feedback signals from external components, such as PIFRONT and PIBACK for receiving signals from the UV sensor, and PILEFT and PIRIGHT for receiving position limit signals from the lead screw motor.

[0049] Please see Figure 5The system includes UV sensor interfaces J8 and J9. These interfaces are used to connect UV flame sensors mounted at the front and rear of the robot. Each interface provides a UV 24V power supply pin (controlled by a power switch circuit), a GND pin, and a signal pin (FRONTIN or BACK_IN). When the sensor detects a specific wavelength of ultraviolet light emitted by the flame, its signal output pin will generate a level change. This signal is pulled up to 3.3V through interface J8 or J9 via resistor R15 or R16 (10kΩ), then sent to an isolation circuit for isolation, and finally read by the microprocessor's GPIO pin.

[0050] Please see Figure 6 The system includes servo interfaces J10 and J11. These interfaces are used to connect components such as the robot's working arm that require servo motors (servo motors). Each interface provides a 5VSE power supply, GND, and SEPWM signal pin. The 5VSE power supply is also controlled by a dedicated power switch circuit, ensuring that the high-current servo motor is powered only when needed. The SEPWM signal pin is directly connected to the output of an isolation circuit, allowing the microprocessor to output a precise PWM (Pulse Width Modulation) signal to control the servo motor to rotate to a specified angle. J11 serves as a functional expansion interface, allowing connection of spare or different types of end effectors, enhancing the robot's task versatility.

[0051] Please see Figure 7 The power output interfaces are J2 and J15. These are purely power output interfaces. J2 outputs a 24V voltage (24V LCD) controlled by the power switch circuit, and J15 outputs a 3.3V voltage (3V LED) controlled by the power switch circuit.

[0052] In summary, the CPIO expansion circuit securely and reliably maps the processor's capabilities to a series of application-specific optimized external component interfaces through a central, standardized microprocessor interface (J12), greatly simplifying the robot's hardware setup process and achieving modularity and plug-and-play functionality. Example

[0053] This invention also provides a microprocessor-based intelligent robot driving method, which is implemented through the aforementioned driving circuit system. The execution flow of this method will be described below using a specific task scenario. Assume a robot task is: to cruise and use a thermal imaging module to locate a heat source, then illuminate it with supplementary lighting and display the thermal image on an LCD screen.

[0054] S100: System Power-On and Power Initialization When an external 24V battery is connected to the drive motherboard via the XT60 interface J1, the system powers on. The two DC-DC buck converters U1 and U2 in the power supply circuit immediately begin operation. U1 converts the 24V voltage to a stable 5V voltage, which is then transmitted through the microprocessor interface J16 (see...). Figure 2 ) and J12 (see Figure 8 Pins 2 and 4 of the U2 chip supply power to the microprocessor module (Raspberry Pi). U2 converts the 24V voltage to a stable 3.3V voltage, which powers the B-side of the isolation chips (U5, U7, etc.) on the motherboard, as well as other low-voltage logic circuits. The microprocessor module starts up after receiving 5V power and begins executing its operating system and applications. After startup, the microprocessor module's own 3.3V power supply (3V3Pi) is also stably output, powering the A-side of the isolation chips. At this point, the system has completed power initialization, the microprocessor module is in a safe and stable operating state, and is ready to control external components via the motherboard. In the initial state, the microprocessor sets all GPIO pins controlling the power of external components (such as LCDPWREN, IRPWREN, LEDPWR_EN) to a low level, so all power switching circuits are off, and all external components are not powered on, achieving the lowest initial power consumption.

[0055] S200: Generation, isolation, and routing of control signals When the application decides to start executing a task, the microprocessor first needs to activate the thermal imaging module.

[0056] S210: The microprocessor binds the GPIO pins to the IRPWREN function at the software level (according to...) Figure 8 The voltage level of pin 11 (GPIO17) changes from low to high (3.3V).

[0057] S220: This 3.3V high-level signal enters the driver motherboard through pin 11 of J12 and is routed to the A-side input pin VI1 of the isolation chip U5.

[0058] S230: The U5 chip performs the thermocouple isolation process. As detailed above, the circuit on side A encodes the high-level signal into a high-frequency pulse train, which is coupled to side B through an internal capacitive isolation barrier. The circuit on side B receives and demodulates the pulse train, restoring a logically identical high-level (3.3V) signal on the output pin VO1 on side B. This new signal is named NEW_EN3, and its level reference is isolated ground, completely isolated from the microprocessor ground.

[0059] For example, assume the rise time of the microprocessor GPIO output signal is 10 nanoseconds (ns). The typical propagation delay of the CA-IS3742 digital isolator is approximately 15 ns. Therefore, the rise time of the NEWEN3 signal will occur approximately 15 ns after the rise time of the IRPWREN signal. This delay is negligible for macroscopic operations such as power on / off control, but the electrical isolation characteristics of the signal are guaranteed. Even if a short circuit occurs in the power supply section of the thermal imaging module at this time, causing the NEWEN3 signal to be pulled to ground or subjected to abnormal high voltage, the fault current cannot flow back to the microprocessor's GPIO17 pin through the isolation barrier of U5.

[0060] S240: The isolated signal NEW_EN3 is routed from the output pin of U5 to the control input of the corresponding power switch circuit by the CPIO expansion circuit.

[0061] S300: Programmable power-on control of external components The isolated control signal NEW_EN3 reaches its corresponding power switch circuit, triggering the power-on of that component.

[0062] For example, assuming the thermal imaging module itself requires a 3.3V power supply, its power switch circuit is implemented by a solid-state load switch similar to U3. The NEWEN3 signal is connected to the EN pin of this load switch. When NEWEN3 goes high, the MOSFET inside the load switch turns on, connecting the stable 3.3V power supply on the motherboard (from U2) to the power interface of the thermal imaging module, and the thermal imaging module powers on and begins initialization.

[0063] At the same time, the application decides to turn on the LCD screen in preparation for displaying the image.

[0064] S310: The microprocessor sets the GPIO pins (pin 13, GPIO27) bound to LCDPWREN to a high level.

[0065] S320: This signal is isolated through another isolation channel (e.g., another channel of U5), generating the isolated control signal NEW_EN2.

[0066] S330: NEW_EN2 was sent to Figure 4 The relay drive circuit shown is used to turn on MOSFET Q1, thereby energizing the coil of relay K1 and closing the contacts.

[0067] S340: The main 24V power supply (VBAT) supplies power to the LCD screen through the closed K1 contact and interface J2. The LCD screen is powered on.

[0068] By combining S200 and S300, the microprocessor can launch the external devices it needs on demand in a safe and controlled manner.

[0069] S400: Two-way isolated communication and data processing After the external component is powered on, the microprocessor needs to interact with it for data.

[0070] For example, the microprocessor communicates with the thermal imaging module via its UART interface (pin 8 TXD, pin 10 RXD).

[0071] S410: The microprocessor sends instructions via UART, such as "request a frame of thermal imaging data". This serial data signal PiTXIR is output from GPIO14 and enters another channel of the isolation chip U5. After isolation, it becomes the IR_TX signal and is correctly received by the UART receiver of the thermal imaging module.

[0072] S420: The thermal imaging module processes this instruction, acquires a frame of thermal imaging data, and serially transmits the data through its UART transmitter. This signal IRRX enters another channel of the isolation chip U5, and after reverse isolation, becomes the PiRX_IR signal, which is received by the microprocessor's GPIO15.

[0073] S430: After receiving a complete data frame, the microprocessor parses and processes it in memory, for example, rendering it into a pseudo-color image. Then, the microprocessor sends the rendered image data to the powered-on LCD screen for display via its display interface (such as DSI or HDMI, which are also brought out via J12 and may require appropriate isolation or level conversion).

[0074] Throughout the process, if the robot arm (servo motor) needs to adjust its posture during robot navigation, the microprocessor will generate a PWM signal on the corresponding GPIO pin (e.g., GPIO12). This SE_PWM signal is also isolated by an isolation circuit before being sent to the J10 interface to precisely control the servo motor's rotation. The large current consumption and electrical noise generated by the servo motor during operation are completely isolated in the B-side power domain and will not affect the stable operation of the A-side microprocessor domain.

[0075] After the task is completed, the microprocessor only needs to set the control pins such as IRPWREN and LCDPWREN back to low level to safely cut off the power supply to each external component through the power switch circuit, so that the system enters a low-power standby state.

[0076] This embodiment details how the system and method provided by the present invention achieve comprehensive, safe, and reliable management and scheduling of robot system resources (power supply and functional components) through the coordinated operation of four core circuits: power supply, isolation, switching, and interface expansion, thereby constructing a robust robot hardware platform.

[0077] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0078] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit described above can be implemented in hardware.

Claims

1. A microprocessor-based intelligent robot drive circuit system, characterized in that, Includes a driver motherboard, the driver motherboard comprising: A power supply circuit is configured to receive an external power supply and generate at least a first stable voltage and a second stable voltage based on the external power supply. The CPIO expansion circuit includes a microprocessor interface and multiple external component interfaces. The microprocessor interface is configured to be detachably electrically connected to a microprocessor module, and the multiple external component interfaces are configured to be electrically connected to multiple robot components. An isolation circuit has an isolated input and an isolated output. The isolated input is electrically connected to the microprocessor interface. The isolation circuit is configured to receive a control signal from the microprocessor module and output an isolated control signal that is logically identical to the control signal but electrically isolated from it. A power switch circuit has a control input terminal, a power input terminal, and a power output terminal. The control input terminal is electrically connected to the isolation output terminal of the isolation circuit. The power input terminal is electrically connected to a voltage output terminal of the power circuit. The power output terminal is electrically connected to at least one external component interface of the CPIO expansion circuit. The power switch circuit is configured to, in response to the isolation control signal, connect or disconnect the path between the power input terminal and the power output terminal.

2. The system according to claim 1, characterized in that, The power supply circuit includes at least one DC-DC buck converter configured to convert the voltage of the external power supply to at least one of the first stable voltage and the second stable voltage.

3. The system according to claim 2, characterized in that, The first stable voltage is 5V, used to power the microprocessor module via the microprocessor interface; the second stable voltage is 3.3V, used to power some low-power components in the isolation circuit and the CPIO expansion circuit.

4. The system according to claim 1, characterized in that, The isolation circuit includes at least one digital isolator chip, which has a capacitive or inductive isolation gate inside, used to block the electrical connection of DC and low-frequency AC while transmitting the control signal.

5. The system according to claim 1, characterized in that, The power switch circuit includes a relay or a solid-state load switch. The isolated control signal is used to control the on / off state of the relay coil, or to control the gate or enable terminal of the solid-state load switch.

6. The system according to claim 1, characterized in that, The CPIO expansion circuit is further configured to route the control signal between the microprocessor interface and the isolated input of the isolation circuit, and to route the isolated control signal between the isolated output of the isolation circuit and the control input of the power switch circuit.

7. The system according to claim 1, characterized in that, The isolation circuit is also configured to receive a feedback signal from a robot component connected to the external component interface, and output an isolated feedback signal that is logically identical to the feedback signal but electrically isolated to the microprocessor interface.

8. The system according to claim 1, characterized in that, The microprocessor interface is a 40-pin socket or pin connector, whose pin definitions correspond to the general input / output pin layout of the Raspberry Pi single-board computer.

9. The system according to claim 1, characterized in that, The external component interfaces include at least one of the following: a servo motor interface for connecting a servo motor, a stepper motor driver interface for connecting a stepper motor, a sensor interface for connecting a sensor, a display interface for connecting an LCD screen, and a fill light interface for connecting a lighting device.

10. An intelligent robot, characterized in that, It includes a microprocessor-based intelligent robot drive circuit system according to any one of claims 1 to 9, a microprocessor module connected to the microprocessor interface in the system, and a robot component connected to the external component interface in the system.

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