Communication system of a robot, method and robot

Abstract

The application relates to a communication system, method and robot of a robot. The system comprises a system-level controller, a microcontroller and at least one communication module integrated in the same communication board of the robot, the system-level controller being connected with the microcontroller and the at least one communication module respectively; the system-level controller is used for communicating with an external server of the robot through the at least one communication module; the system-level controller is also used for sending a control signal to the microcontroller; and the microcontroller is used for receiving the control signal sent by the system-level controller and controlling a main controller in the robot based on the control signal. The communication system provided by the application can improve the reliability of the communication of the robot.

Description

Technical Field

[0001] This application relates to the field of robot control, and in particular to a robot communication system, method and robot. Background Technology

[0002] In robot communication system design, to support multi-mode communication and high-precision synchronization, FPGA (Field-Programmable Gate Array) chips are often introduced to handle dedicated communication protocols or implement interface expansion. Independent RF transceivers and channel links are configured to complete signal transmission, reception, and processing for various communication standards, along with various auxiliary circuits and connecting devices. This architecture significantly increases the number of system hardware components, complicates circuit layout, and involves numerous inter-module cable connections, resulting in a complex robot communication system structure and lower communication reliability. Summary of the Invention

[0003] Based on this, this application addresses the aforementioned technical problems by providing a communication system, method, and robot that can improve communication reliability.

[0004] In a first aspect, this application provides a communication system for a robot, the system comprising a system-level controller, a microcontroller, and at least one communication module integrated on the same communication board in the robot, wherein the system-level controller is connected to the microcontroller and at least one communication module respectively;

[0005] The system-level controller is used to communicate with an external server of the robot via at least one communication module; the system-level controller is also used to send control signals to the microcontroller.

[0006] The microcontroller is used to receive control signals sent by the system-level controller and to control the main controller in the robot based on the control signals.

[0007] In the aforementioned robot communication system, the system-level controller, microcontroller, and at least one communication module are integrated into the same communication board of the robot to realize robot communication and control. Through the high integration of various hardware, the number of independent functional modules inside the robot and their external physical connections can be directly reduced, simplifying the overall structure of the communication system. This reduces potential failure points such as discrete components, connectors, and external cables, lowers the risk of connection failure, achieves centralized and stable communication and control, and improves the reliability of robot communication.

[0008] In an alternative embodiment of the first aspect, the system-level controller is further configured to send a control signal based on the wake-up signal to the microcontroller upon receiving a wake-up signal via at least one communication module; the microcontroller is further configured to wake up the main controller in the robot based on the control signal.

[0009] In this optional embodiment, the reception and parsing of the wake-up signal and the hardware power control are decoupled from the system wake-up. This eliminates the need for a high-power system-level controller to continuously monitor the bus and consume power, and also eliminates the need for a real-time microcontroller to handle complex network protocols, thus achieving a balance between low standby power consumption and fast and reliable response.

[0010] In an optional embodiment of the first aspect, the microcontroller is further configured to control the power supply of the peripheral device corresponding to the robot to power off when the robot enters a sleep state; the microcontroller is further configured to control the power supply of the peripheral device corresponding to the robot to power on when a control signal is received.

[0011] In this optional embodiment, system-level wake-up control and peripheral device power management are implemented through a microcontroller. The independent power switch control that is scattered on various peripherals is centralized under the microcontroller for unified management, which simplifies the design of the robot power distribution network, reduces the number of power control lines, reduces wiring complexity and potential failure points, thereby improving the reliability and maintainability of the power management subsystem in the robot.

[0012] In an optional embodiment of the first aspect, at least one communication module includes a wireless communication module and a wired communication module; the system-level controller is further configured to obtain an upgrade package from an external server via the wireless communication module, and perform an upgrade based on the upgrade package if the upgrade package passes verification; the system-level controller is further configured to send the upgrade package to the main controller in the robot via the physical layer interface in the wired communication module if the upgrade package passes verification, so that the main controller can perform an upgrade based on the upgrade package; the system-level controller is further configured to send a control signal including the upgrade package to the microcontroller if the upgrade package passes verification; the microcontroller is further configured to perform an upgrade based on the upgrade package in the control signal upon receiving the control signal.

[0013] In this optional embodiment, the communication board is used as the upgrade hub. The system-level controller obtains the upgrade package from the external server through the wireless communication module and performs security verification and efficient distribution within the robot through the physical layer interface in the wired communication module. This enables efficient collaborative upgrades between the system-level controller, microcontroller, and main controller, ensuring the reliability and security of the upgrade process.

[0014] In an optional embodiment of the first aspect, the robot's communication system further includes a storage module disposed on a communication board, the storage module being connected to a system-level controller; the system-level controller is further configured to store upgrade packages obtained through the wireless communication module into the storage module, and read upgrade packages from the storage module for verification.

[0015] In this optional embodiment, the system-level controller can first store the upgrade package in the local storage module and then perform reading and verification. This can reduce the adverse effects of unexpected termination of the upgrade process due to network jitter or interruption, and improve the robustness and success rate of the upgrade.

[0016] In an optional embodiment of the first aspect, at least one communication module includes a wireless communication module; the system-level controller is further configured to send a time synchronization signal to a main controller in the robot, so that the main controller can perform time synchronization, upon obtaining a time synchronization signal through the wireless communication module; the system-level controller is further configured to send a control signal obtained based on the time synchronization signal to a microcontroller, upon obtaining a time synchronization signal through the wireless communication module; the microcontroller is further configured to perform time synchronization based on the control signal.

[0017] In this optional embodiment, the system-level controller acts as the time source, simultaneously initiating time synchronization with both the main controller and the microcontroller, ensuring the singularity and authority of the time reference, and achieving high-precision global time synchronization for the robot.

[0018] In an alternative embodiment of the first aspect, at least one communication module includes a wireless communication module connected to an antenna via an IPEX connector. The wireless communication module is used for communication between the system-level controller and an external server, as well as for positioning of the robot.

[0019] In this optional embodiment, the wireless communication module connects to the antenna via an IPEX connector and integrates positioning functionality, which can greatly reduce the number of independent functional modules and interconnecting cables within the robot, thereby simplifying the communication system structure and reducing costs and failure rates.

[0020] In an alternative embodiment of the first aspect, the communication board is located at the head position of the robot.

[0021] In this optional embodiment, the communication board is placed at the head of the robot, which can reduce the impact of signal obstruction, ensure the stability of the antenna platform, and achieve better communication quality.

[0022] Secondly, this application also provides a robot communication method, applied to any of the communication systems described above, comprising:

[0023] The system-level controller communicates with the robot's external server based on at least one communication module.

[0024] Send control signals to the microcontroller through the system-level controller;

[0025] The microcontroller receives control signals from the system-level controller and uses these signals to control the main controller in the robot.

[0026] Thirdly, this application also provides a controller, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the methods described above.

[0027] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described above.

[0028] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method described in any of the above aspects.

[0029] Sixthly, this application also provides a robot that includes the communication system described in any of the foregoing aspects.

[0030] Regarding the beneficial effects of any of the technical solutions in the second to sixth aspects mentioned above, refer to the beneficial effects of the corresponding technical solutions in the first aspect; repeated examples will not be listed here. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of an optional structure of the robot's communication system in one embodiment;

[0033] Figure 2 This is a schematic diagram of an optional communication method for a robot in one embodiment;

[0034] Figure 3 Another schematic diagram shows an optional structure of the robot's communication system in one embodiment;

[0035] Figure 4 This is a schematic diagram of an optional internal structure of the controller in one embodiment. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application.

[0037] The terms "first," "second," etc., used in this application may be used to describe various elements, but these elements are not limited by these terms. These terms are used only to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0038] In one exemplary embodiment, such as Figure 1 As shown, a communication system 100 for a robot is provided. The communication system 100 includes a system-level controller 1001, a microcontroller 1002 and at least one communication module 1003 integrated on the same communication board in the robot. The system-level controller 1001 is connected to the microcontroller 1002 and the at least one communication module 1003 respectively.

[0039] The system-level controller 1001 is used to communicate with an external server of the robot through at least one communication module 1003; the system-level controller 1001 is also used to send control signals to the microcontroller 1002.

[0040] The microcontroller 1002 is used to receive control signals sent by the system-level controller 1001 and to control the main controller in the robot based on the control signals.

[0041] The Terminal Access Unit (TAU) is a multifunctional electronic module integrated into the robot body. It physically integrates multiple previously scattered functional units onto a single circuit board or packaged module, simplifying the robot's internal structure and reducing interconnecting cables. The TAU is not simply a collection of communication interfaces, but a heterogeneous computing and communication platform integrating main control computing, multi-mode communication, power management, storage, and network switching. Through its integrated design, it can replace the communication system architecture of independent communication modules and control units scattered throughout the robot's body. In some embodiments, the TAU can be located in the robot's head, mid-torso, back, or shoulders.

[0042] The system-level controller 1001 and the microcontroller 1002 are processing units with different functional focuses in the communication board. The system-level controller 1001 can be used for external communication, application protocol processing, and high-level management; the microcontroller 1002 can be used for internal control, real-time response, and power / peripheral management.

[0043] The system-level controller 1001 can run a complete operating system, handle network protocol stacks (such as TCP (Transmission Control Protocol) / IP (Internet Protocol)), connect to cloud servers, and run time synchronization services. For example, the system-level controller 1001 can periodically access a network time protocol server on the Internet through its integrated 5G (Fifth Generation Mobile Communication Technology) module to obtain accurate UTC (Coordinated Universal Time) time, providing a time reference for the entire robot system. In some embodiments, the system-level controller 1001 may include at least one of a System on Chip (SoC), an Application Processor (AP), or an FPGA with a processor core.

[0044] The microcontroller 1002 features strong real-time performance and fine-grained power management, supporting direct and rapid interaction with external devices via interfaces such as GPIO (General Purpose Input / Output), SPI (Serial Peripheral Interface), and CAN (Controller Area Network). For example, the microcontroller 1002 can enable or disable the power supply of peripherals such as the robot head screen and light board by controlling the level of GPIO pins according to instructions issued by the system-level controller 1001. In some embodiments, the microcontroller 1002 may include at least one of a microcontroller (MCU), a DSP (Digital Signal Processor) or a CPLD (Complex Programmable Logic Device) dedicated to real-time control, or a programmable logic array.

[0045] The communication module 1003 is a hardware functional unit that implements one or more specific communication standards, such as wireless or wired communication functions. The communication module 1003 is used to receive and send information. The communication module 1003 may include at least one of the following modules: 5G / 4G (The 4th Generation Mobile Communication Technology), WIFI (Wireless Fidelity), Bluetooth, GNSS (Global Navigation Satellite System). In some embodiments, the communication module 1003 may also include at least one of the following: a low-power wide-area network module (such as LoRa (Long Range Radio), NB-IoT (Narrowband Internet of Things)), an ultra-wideband module (UWB), a dedicated short-range communications module (DSRC), an infrared communication module, or a wired communication module (such as a gigabit / 10-gigabit Ethernet PHY chip). For example, for industrial inspection robots, a LoRa module can be integrated into the communication board to enable long-distance, low-power data transmission in complex factory environments.

[0046] Control signals are signals transmitted between robot controllers to trigger state transitions, transmit instructions, or synchronize information. Control signals can include at least one of various forms, such as data, messages, interrupts, or level changes, and their form can depend on the communication bus used. Control signals can be specifically encoded data packets transmitted on the data bus, a level transition on a dedicated interrupt request (IRQ) signal line, a flag set via shared memory, or a structured message transmitted via a message queue. For example, when the entire robot needs to be woken up, the system-level controller 1001 can send a specific data frame or trigger an interrupt signal to the microcontroller 1002 via the SPI bus; this is a control signal. Subsequently, the microcontroller 1002 can send another set of preset wake-up messages to the main controller in the robot via the CAN bus; this is also a control signal.

[0047] In some embodiments, the control signal may include at least one of various data such as wake-up instructions, upgrade instructions, mode switching commands (e.g., switching from normal mode to safe mode), sensor data acquisition instructions, fault status reports, heartbeat keep-alive messages, and resource allocation requests. For example, when the system controller 1001 detects a network anomaly, it may send a "switch to backup communication link" control signal to the microcontroller 1002.

[0048] The main controller, located outside the communication board within the robot body, is responsible for the computation and control unit that executes the robot's core motion control, global task scheduling, and high-level decision-making functions. The main controller is the ultimate planner and executor of the robot's tasks. It receives input from the communication board (which carries external commands and environmental information), combines it with the robot's own sensor data (such as vision, force, and joint encoders), performs real-time calculations, and outputs precise control commands to the actuators (such as motors and hydraulic valves). For example, the main controller can determine the trajectory of each step the robot takes and the movement path of the arm when grasping an object. The data exchanged between the main controller and the microcontroller 1002 belongs to the robot's internal control signals. This includes both external-to-internal commands (such as remotely issued task start and emergency stop) and internal-to-external status reports (such as the main controller informing the communication board of its current computing load and battery status so that the communication strategy can be adjusted). In some embodiments, the main controller can be connected to the microcontroller 1002 within the communication board via a CAN bus to form a distributed control network. The main controller is not part of the communication system but rather a key external device served and controlled by that communication system. For example, complex calculations such as robot arm joint control and gait generation can be performed by the main controller.

[0049] The internal interconnection between the system-level controller 1001 and the microcontroller 1002 can be implemented using at least one of SPI, I2C (Inter-Integrated Circuit), UART (Universal Asynchronous Receiver Transmitter), parallel bus, or dual-port RAM (Random Access Memory). The system-level controller 1001 and the communication module 1003 can be connected via at least one of high-speed serial interfaces such as PCIe (Peripheral Component Interconnect Express) and USB (Universal Serial Bus), or SPI, I2C, and UART. The microcontroller 1002 and the main controller can be connected via at least one of CAN bus, Ethernet, RS-485 (Recommended Standard 485), or LIN (Local Interconnect Network) bus.

[0050] Optionally, the system-level controller 1001 can actively initiate or passively respond to communication with an external server through at least one communication module 1003 to achieve data acquisition and synchronization, and content download. For example, the system-level controller 1001 can periodically send requests to a network time protocol server through the communication module 1003 and receive precise time data packets returned by the server for calibrating its own clock. As another example, the system-level controller 1001 can receive upgrade notifications from an external OTA (Over-the-Air) server through the communication module 1003, then initiate a download request via a high-speed wireless network (such as 5G), and perform upgrade processing based on the downloaded upgrade package.

[0051] The system-level controller 1001 can also send control signals to the microcontroller 1002 to achieve robot control tasks through the collaboration of the system-level controller 1001 and the microcontroller 1002. The microcontroller 1002 can receive control signals from the system-level controller 1001 and execute corresponding logic according to the signal type of the control signal, thereby controlling the robot's main controller. For example, after parsing and judging the received control signal, the microcontroller 1002 can generate new control instructions and send them to the main controller in the robot body through the cross-board communication bus. For instance, when the system-level controller 1001 receives an "emergency area intrusion" alarm signal from an external security monitoring system through the UWB module in the communication module 1003, the system-level controller 1001 can generate a highest-priority "emergency pause" control signal and send it to the microcontroller 1002 through a high-speed UART. After receiving the signal, the microcontroller 1002 sends a low-level active emergency stop signal to the robot's main controller directly through a hardwired emergency stop signal line (such as a dedicated GPIO) without going through complex protocol conversion. This causes the robot's main controller to trigger the braking program instantly, thereby achieving extremely low-latency control from external perception to internal action.

[0052] In the aforementioned robot communication system, the system-level controller, microcontroller, and at least one communication module are integrated into the same communication board of the robot to realize robot communication and control. Through the high integration of various hardware, the number of independent functional modules inside the robot and their external physical connections can be directly reduced, simplifying the overall structure of the communication system. This reduces potential failure points such as discrete components, connectors, and external cables, lowers the risk of connection failure, achieves centralized and stable communication and control, and improves the reliability of robot communication.

[0053] In an exemplary embodiment, the system-level controller is further configured to send a control signal based on the wake-up signal to the microcontroller upon receiving a wake-up signal via at least one communication module; the microcontroller is further configured to wake up the main controller in the robot based on the control signal.

[0054] The wake-up signal is sent via a communication link and is used to trigger the robot to switch from a low-power sleep state to a normal operating state. For example, in a remote monitoring scenario, if the cloud management platform needs to upgrade the robot's firmware, after the administrator clicks "Wake up device" on the cloud management platform, the platform can generate a data packet containing the robot's serial number and wake-up command, which is then sent via the internet and the robot's 5G link. This data packet is the wake-up signal.

[0055] For example, the system-level controller can continuously monitor its communication interface. When the communication module receives external data, the system-level controller can parse and verify that external data. For instance, the system-level controller can check whether the destination address of the external data matches the local machine and verify whether its instruction code is a valid "wake-up" instruction, thus ensuring that only valid wake-up requests specific to the local machine are responded to. After confirming the wake-up signal is valid, the system-level controller can generate an internal control signal based on the wake-up signal. This control signal is designed for communication with the microcontroller; for example, it can be a specific command word or message frame sent via the SPI (Serial Peripheral Interface) bus. The system-level controller can send the generated control signal to the microcontroller via its dedicated communication link (such as the SPI bus). After receiving the control signal from the system-level controller, the microcontroller can parse it and, based on the signal content, send a wake-up instruction message to the robot's main controller via a communication bus (such as the CAN bus). This causes the main controller to exit its sleep mode, initialize its hardware and software, and thus resume the operation of the entire system.

[0056] In this exemplary embodiment, the reception and parsing of the wake-up signal and hardware power control are decoupled from system wake-up. This eliminates the need for a high-power system-level controller to continuously monitor the bus and consume power, and also eliminates the need for a real-time microcontroller to handle complex network protocols, thus achieving a balance between low standby power consumption and fast and reliable response.

[0057] In one exemplary embodiment, the microcontroller is further configured to power down the power supply of the peripheral device corresponding to the robot when the robot enters a sleep state; the microcontroller is also configured to power on the power supply of the peripheral device corresponding to the robot when a control signal is received.

[0058] The sleep state is a low-power standby mode that the robot enters to reduce overall power consumption. In sleep state, the robot's main motion functions and some high-power computing functions are suspended, but core communication and wake-up functions remain on standby. The peripheral power supply is a power enable control signal output by the microcontroller through its general-purpose input / output interface (GPIO). This power enable control signal can be used to control the on / off state of the power supply circuits for the robot's peripherals. The peripherals controlled by the peripheral power supply may include, but are not limited to, at least one of the following: the display screen on the robot's head, light panels for status indication or interaction, and some peripheral circuits of the system-level controller.

[0059] For example, when the robot enters a sleep state, after the microcontroller confirms the need to enter sleep mode, it can execute a preset power management program to iterate through the power enable GPIO ports of each peripheral it manages and sequentially set the output signal to the "off" state (e.g., pull low). When the GPIO signal changes, the corresponding power switch circuit cuts off the power to peripherals such as the head screen and light panel, thereby enabling precise power-off of non-core components of the head during system-level sleep mode, reducing the standby power consumption of these components during sleep. After receiving a control signal based on the wake-up signal from the system-level controller, the microcontroller can control the relevant GPIO ports to set the output signal to the "on" state (e.g., pull high), thereby interacting with the external power switch circuit through the GPIO port to re-energize the circuits supplying power to peripherals such as the head screen and light panel. These peripherals then start up or resume operation after receiving power.

[0060] In this exemplary embodiment, system-level wake-up control and peripheral device power management are implemented through a microcontroller. The independent power switch control distributed across various peripherals is centralized under the microcontroller for unified management, which simplifies the design of the robot power distribution network, reduces the number of power control lines, lowers the complexity of wiring and potential failure points, thereby improving the reliability and maintainability of the power management subsystem in the robot.

[0061] In one exemplary embodiment, at least one communication module includes a wireless communication module and a wired communication module; the system-level controller is further configured to obtain an upgrade package from an external server via the wireless communication module, and perform an upgrade based on the upgrade package if the upgrade package passes verification; the system-level controller is further configured to send the upgrade package to the main controller in the robot via the physical layer interface in the wired communication module if the upgrade package passes verification, so that the main controller can perform an upgrade based on the upgrade package; the system-level controller is further configured to send a control signal including the upgrade package to the microcontroller if the upgrade package passes verification; the microcontroller is further configured to perform an upgrade based on the upgrade package in the control signal upon receiving the control signal.

[0062] The wireless communication module, integrated on the communication board, is a hardware unit used to enable wireless communication between the robot and external networks or devices. Its core function is to establish and maintain a wireless communication link. The wireless communication module can implement various wireless communication protocols, including but not limited to at least one of the following: 4G / 5G cellular networks for wide-area mobile communication, WiFi for local high-speed data access, Bluetooth for short-range device pairing, and GNSS for global positioning. The wired communication module, also integrated on the communication board, is a hardware interface unit used to achieve high-speed, reliable, and stable data communication with other components inside the robot via a physical medium (such as a network cable). Its main function is to provide a deterministic, high-bandwidth internal data transmission channel. For example, the wired communication module may include a Gigabit Ethernet physical layer interface (PHY), which allows the communication board to connect to internal nodes such as the robot's main controller via an Ethernet cable, forming a local area network within the robot.

[0063] An upgrade package is a file package containing a collection of data used to update or replace robot system software, firmware, or configuration. The data content of an upgrade package may include the new version of executable code, configuration files, verification information (such as hash values), and necessary metadata. Upgrade packages can be obtained from an external server of the robot and downloaded via the wireless communication module.

[0064] For example, the system-level controller can actively pull or receive upgrade packages pushed by an external server via a wireless communication module (5G or WiFi). The system-level controller can verify the obtained upgrade package, such as by verifying the digital signature, to confirm that the upgrade package is complete, valid, and applicable to the current robot system. After confirming that the upgrade package has passed verification, the system-level controller can perform the upgrade based on the upgrade package. The first robot can also send the upgrade package directly to the robot's main controller at high speed and reliably via the physical layer interface (such as Gigabit Ethernet PHY) in the wired communication module. After receiving the upgrade package, the main controller can initiate its own upgrade process based on the upgrade package. The first robot can also send a control signal containing the upgrade package or upgrade instructions to the microcontroller. For example, the first robot can send a control signal containing the upgrade package to the microcontroller via an internal communication bus (such as an SPI bus). After receiving the control signal, the microcontroller can parse the upgrade package and initiate its own upgrade process.

[0065] In this exemplary embodiment, the communication board is used as the upgrade hub. The system-level controller obtains the upgrade package from the external server through the wireless communication module and performs security verification and efficient distribution within the robot through the physical layer interface in the wired communication module. This enables efficient collaborative upgrades between the system-level controller, microcontroller, and main controller, ensuring the reliability and security of the upgrade process.

[0066] In one exemplary embodiment, the robot's communication system further includes a storage module located on the communication board, the storage module being connected to the system-level controller; the system-level controller is also used to store upgrade packages obtained through the wireless communication module into the storage module, and to read upgrade packages from the storage module for verification.

[0067] The storage module is a hardware component integrated on the communication board for non-volatile data storage. It provides a local, secure cache area for upgrade packages obtained from the network, decoupling the download and upgrade execution processes. For example, the storage module may include at least one of embedded storage chips, standardized solid-state storage devices, or storage media connected via a standard interface. Embedded storage chips may include eMMC (Embedded MultiMedia Card) or UFS (Universal Flash Storage); standardized solid-state storage devices may include SSD (Solid State Disk).

[0068] Optionally, the system-level controller can store the received upgrade package in the physical storage unit of the storage module. For example, the system-level controller can store the upgrade package in the storage module via a data path between itself and the storage module, either simultaneously or after receiving the upgrade package. This storage can be achieved through an eMMC interface, a PCIe (Peripheral Component Interconnect Express) link, a USB bus, or an SPI bus. The system-level controller can then read the upgrade package from the storage module for upgrades. For example, the system-level controller can initiate a read after the upgrade package is fully stored, or it can perform the read when the robot enters an idle state, receives an upgrade command, or meets other preset conditions (such as power connection). In some embodiments, after reading the upgrade package from the storage module, the system-level controller can perform a verification operation. Verification may include at least one of integrity verification, authenticity and security verification, and compatibility verification. If the upgrade package read from the storage module passes verification, the system-level controller can initiate subsequent upgrade and distribution processing.

[0069] In this exemplary embodiment, the system-level controller can first store the upgrade package in the local storage module and then perform reading and verification. This can reduce the adverse effects of unexpected termination of the upgrade process due to network jitter or interruption, and improve the robustness and success rate of the upgrade.

[0070] In an exemplary embodiment, at least one communication module includes a wireless communication module; the system-level controller is further configured to send a time synchronization signal to the main controller in the robot, so that the main controller can perform time synchronization, upon obtaining a time synchronization signal through the wireless communication module; the system-level controller is further configured to send a control signal obtained based on the time synchronization signal to the microcontroller, upon obtaining a time synchronization signal through the wireless communication module; the microcontroller is further configured to perform time synchronization based on the control signal.

[0071] The time synchronization signal is used to establish a unified and accurate time reference within the robot. This signal can be emitted from the system-level controller, which acts as the master clock, and synchronized cascadingly through a network (such as Ethernet) to various controllers and sensors within the robot (e.g., the main controller, secondary controllers, etc.), ensuring consistency and comparability of time stamps for event recordings, sensor sampling, and data processing across all devices. The time synchronization signal can also originate from an external Network Time Protocol (NTP) server. The system-level controller can periodically access these servers via wireless communication modules (5G / WiFi) to obtain accurate Coordinated Universal Time (UTC) information.

[0072] Optionally, the system-level controller can periodically access an external NTP server via a wireless communication module (5G or WiFi) to obtain UTC time. The system-level controller can configure itself as the master clock in the Precision Time Protocol (PTP) network and generate a time synchronization signal conforming to the PTP / gPTP standard format based on the acquired UTC time. The system-level controller can then directly send the generated time synchronization signal to the main controller in the robot via a high-speed wired network (such as Gigabit Ethernet) for time synchronization. For example, the main controller can run a PTP / gPTP slave clock client internally, which can receive the time synchronization signal, calculate network latency according to the protocol, and adjust its own local clock to achieve time synchronization with the system-level controller. In some embodiments, after completing its own synchronization, the main controller can also distribute time information to lower-level sensors and actuators (such as LiDAR (Light Detection and Ranging), switches, etc.) via a CAN bus, thus forming a unified time reference system rooted in the system-level controller and covering all key components of the robot.

[0073] The system-level controller also needs to ensure time synchronization with the microcontroller it works closely with. Since the microcontroller may not directly access the PTP network or may have limited processing power, the system-level controller can process or convert the time synchronization signal into a control signal that the microcontroller can recognize and execute. For example, this control signal could be a specific instruction data packet containing a calibrated timestamp, sent via the SPI bus. Upon receiving this control signal, the microcontroller can parse the time information within it and calibrate its own internal clock accordingly, thus achieving time synchronization with the system-level controller.

[0074] In this exemplary embodiment, the system-level controller acts as the time source, simultaneously initiating time synchronization with both the main controller and the microcontroller, ensuring the singularity and authority of the time reference and achieving high-precision global time synchronization for the robot.

[0075] In one exemplary embodiment, at least one communication module includes a wireless communication module connected to an antenna via an IPEX pedestal. The wireless communication module is used for communication between the system-level controller and an external server, as well as for positioning of the robot.

[0076] The wireless communication module is not solely for data transmission; it integrates external communication and self-positioning capabilities into a single hardware entity, reducing the need for separate communication and positioning modules. The IPEX connector establishes a high-frequency, low-loss electrical connection between the communication board and the external antenna. Optionally, radio signals from satellites can be captured and processed by the wireless communication module, generating positioning data which is then output to the system-level controller for robot positioning. In some embodiments, the wireless communication module connects to the antenna via the IPEX connector, such as via an IPEX 4 connector.

[0077] In this exemplary embodiment, the wireless communication module connects to the antenna via an IPEX connector and integrates positioning functionality, which can greatly reduce the number of independent functional modules and interconnecting cables within the robot, thereby simplifying the communication system structure and reducing costs and failure rates.

[0078] In one exemplary embodiment, the communication board is located at the head of the robot. In this exemplary embodiment, placing the communication board at the head of the robot reduces signal obstruction, ensures the stability of the antenna platform, and achieves better communication quality.

[0079] In one exemplary embodiment, such as Figure 2 As shown, a robot communication method is provided, which is applied to the communication system of the robot described above, and includes the following steps S201 to S203. Wherein:

[0080] Step S201: Communicate with the robot's external server via a system-level controller based on at least one communication module.

[0081] Step S202: Send control signals to the microcontroller through the system-level controller.

[0082] Step S203: The microcontroller receives the control signal sent by the system-level controller and controls the main controller connected to the microcontroller in the robot based on the control signal.

[0083] The robot's communication system includes a system-level controller, a microcontroller, and at least one communication module integrated on the same communication board of the robot. The system-level controller is connected to the microcontroller and the communication module respectively, and they work together to realize the robot's communication, control and management.

[0084] For example, the system-level controller, as the core hub for the robot's interaction with the outside world, can invoke one or more connected communication modules to establish connections and exchange data with external servers. For instance, the system-level controller can communicate with the robot's external server through communication modules to download OTA upgrade packages or obtain time synchronization signals. When the system-level controller needs to trigger a system action based on received external instructions or its internal logic, it can generate corresponding control signals and send them to the microcontroller. For example, the system-level controller can send these control signals to the microcontroller through a dedicated internal communication interface (such as an SPI bus), thereby enabling control functions such as waking up and upgrading the microcontroller. Upon receiving the control signals from the system-level controller, such as when the microcontroller receives control signals from the system-level controller via the SPI bus, it can control the main controller in the robot based on these signals. For example, the microcontroller can parse the control signals, identify the instruction type and parameters, and execute specific control operations on the main controller based on these instructions and parameters.

[0085] In the aforementioned robot communication method, the system-level controller, microcontroller, and at least one communication module are integrated into the same communication board of the robot to realize robot communication and control. Through the high integration of various hardware, the number of independent functional modules inside the robot and their external physical connections can be directly reduced, simplifying the overall structure of the communication system. This reduces potential failure points such as discrete components, connectors, and external cables, lowers the risk of connection failure, realizes centralized and stable communication and control, and improves the reliability of robot communication.

[0086] This application also provides an application scenario in which the above-described robot communication system and method are applied. Specifically, the application of the robot's communication system and method in this scenario is as follows:

[0087] like Figure 3 As shown, the communication board (TAU) is the core communication and control hub integrated into the robot's head. It provides power (e.g., 24V DC input) to the entire TAU communication system via the Powerin module, serving as the energy source for the communication system. The communication board includes a SOC module for primary control, an MCU for microcontroller, and at least one communication module. The communication module includes a WIFI / BT (Bluetooth) module and a PHY. The communication system also includes an EMMC for storage.

[0088] For Ethernet communication links, the communication line includes ETH (Ethernet) → (1000base-TX twisted pair cable) → PHY (Physical Layer) → RGMII (Reduced Gigabit Media Independent Interface) bus → SOC module. The ETH receives external Ethernet data and transmits it to the PHY via a standard 1000base-TX twisted pair cable (4 pairs, supporting gigabit speeds). The PHY performs physical layer processing on the Ethernet signal (encoding, clock synchronization, level conversion) and then forwards the data to the SOC module via the RGMII high-speed bus. Data sent by the SOC module can also be converted to physical layer signals by the PHY and transmitted to the external network via the twisted pair cable.

[0089] For the storage link, the communication line includes SOC module → SDIO (Secure Digital Input Output) bus → eMMC (Embedded Multi-Media Card). The SOC sends read and write commands to the eMMC via the SDIO bus (a high-speed interface based on SPI extension) to access stored data (such as loading system firmware and reading / writing configuration files).

[0090] For wireless communication links, the communication line includes: SOC module → (PCIe bus) → WIFI module → RF (Radio Frequency) signal + IPEX (Integrated Passive Electronic Component) connector → antenna. The SOC module sends control commands (such as WiFi connection, 5G registration, Bluetooth pairing) to the WIFI module via PCIe (high-speed serial bus) and transmits data (such as OTA upgrade packages, location data). The WIFI module converts digital signals into radio frequency signals (WiFi / BT RF×3, 5G / GNSS RF×5), which are transmitted to the external antenna via the IPEX connector to achieve signal transmission and reception.

[0091] For the control link, the communication line includes SOC module → (SPI / I2C bus) → MCU → (CAN bus + CAN transceiver) → CAN bus → main controller. The SOC module sends control signals (such as wake-up, upgrade, and power management commands) to the MCU via the SPI or I2C bus and receives status feedback from the MCU (such as peripheral status and system faults). The MCU communicates with the robot's main controller and other CAN devices (such as sensors and drivers) via the CAN bus (converted to differential levels by the CAN transceiver) to achieve low-level device control.

[0092] The communication system provided in this application allows a single communication unit (TAU) within a robot to implement 4G / 5G, Bluetooth, WIFI, GNSS, and other functions. Compared to placing the communication unit in the chest or limbs, placing it in the head minimizes signal obstruction, ensures antenna platform stability, achieves better communication quality, and enables efficient OTA upgrades across the entire system. The robot can use the TAU to implement Bluetooth, WIFI, GNSS, 5G, and other functions. The communication unit utilizes the IPEX 4th generation connector as the antenna connector, allowing for miniaturization and placement in the robot's head while ensuring communication stability. The architecture employing a collaborative approach between the SOC module and a dedicated communication module optimizes resource allocation, reduces redundant functionalities, and consequently lowers overall hardware material costs and system power consumption. The MCU is used for control and communication functions, communicating with the robot's controller via a CAN bus to build a distributed control network. The MCU also manages the power supply to the robot's head screen, SOC module, and LED panels.

[0093] When the robot enters sleep mode, the TAU can send GPIO signals through the MCU to control the power enable signals of peripheral devices, thereby powering them down. When a wake-up signal is received from WIFI or 5G, the SOC module is woken up first. Then, the SOC module wakes up the MCU via the SPI bus. On one hand, the MCU wakes up the robot's main controller via the CAN bus; on the other hand, the MCU controls the power enable signals of peripheral devices via GPIO, thereby powering them on. Throughout this process, the MCU acts as the central hub, performing wake-up control of other controllers and power management operations such as powering on and off peripheral devices.

[0094] The SOC module can work with the Wi-Fi / BT module in the communication module to achieve 5G, GNSS, WIFI, and Bluetooth functions. Among them, the GNSS positioning accuracy can reach the centimeter level, providing precise support for the robot's positioning and navigation.

[0095] The entire robot system can download a complete system upgrade package from the server via 5G or WIFI. The upgrade package is first securely stored in a designated partition of the EMMC. The SOC module verifies and unpacks the upgrade package. After confirming that the upgrade package is complete and error-free, the SOC module sends the upgrade package to the MCU via the SPI bus and simultaneously distributes it to the main controller in the robot at high speed and reliably via Gigabit Ethernet. The MCU and SOC module can start the upgrade after receiving the upgrade package.

[0096] The robot can synchronize its time using the SOC module as the sole clock source. For example, the SOC module can periodically access a Network Time Protocol (NTP) server via its network connection (5G / WiFi) to obtain precise UTC time. Subsequently, the SOC module, acting as the system's master clock, publishes a synchronization clock signal to the robot's internal network (including the MCU and the network-accessible main controller) through the PTP service. Upon receiving the synchronization signal, the MCU in the main controller can further distribute it to lower-level devices within the robot via the CAN bus, thus establishing a unified time reference from the cloud to the robot's end effector. Through the division of labor and collaboration between the MCU and the SOC module, centralized OTA upgrades, and a global clock synchronization mechanism, the robot system's communication efficiency, management convenience, upgrade reliability, and data consistency are improved. This makes it suitable for scenarios such as intelligent service robots and industrial robots with high real-time and collaborative requirements.

[0097] The communication system integrates key hardware such as MCU, SOC module, WIF / BT module, EMMC and PHY. The components work together to achieve stable and efficient multi-mode communication, providing reliable communication support for the robot's operation in complex environments.

[0098] The robot communication system provided in this application integrates multiple communication, positioning, management, and control functions into a single head communication board, eliminating the need for additional hardware circuits such as FPGA chips, channel links, and transceivers. This simplifies the communication system structure, reduces system complexity and cost, minimizes potential failure points, lowers power consumption, and improves system reliability. Furthermore, the robot can connect to various peripherals via Bluetooth and Wi-Fi, with Wi-Fi supporting both STA and AP modes, meeting diverse application scenarios and enhancing system adaptability and scalability. In addition, integrating multiple communication functions such as 5G, Wi-Fi, Bluetooth, GNSS, and Ethernet onto a single head communication board significantly reduces the number of internal modules and cable connections, simplifying the overall structural design and facilitating optimized and lightweight head space design for robots (especially humanoid robots). Moreover, to ensure the consistency of system logs, sensor data, and timestamps, synchronization can be directly achieved with sensors and chips such as Lidar, SOC, MCU, and switches via the gPTP protocol. This simplifies the time synchronization system structure, improves transmission efficiency and accuracy, and enables global time synchronization of the system.

[0099] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0100] In one exemplary embodiment, a controller is provided, the internal structure of which can be shown in the following diagram. Figure 4As shown, the controller includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media to run. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a robot communication method.

[0101] Those skilled in the art will understand that Figure 4 The structure shown is a block diagram of a partial structure related to the solution of this application, and does not constitute a limitation on the controller applied thereto by the solution of this application. The specific controller may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0102] In one exemplary embodiment, a controller is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0103] In one exemplary embodiment, a robot is provided that includes the communication system described in the above system embodiments.

[0104] In one exemplary embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above-described method embodiments.

[0105] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0106] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0107] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program mentioned can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0108] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0109] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A communication system for a robot, characterized in that, The system includes a system-level controller, a microcontroller, and at least one communication module integrated on the same communication board in the robot. The system-level controller is connected to the microcontroller and the at least one communication module, respectively. The system-level controller is used to communicate with an external server of the robot through the at least one communication module; the system-level controller is also used to send control signals to the microcontroller; The microcontroller is used to receive the control signals sent by the system-level controller, and to control the main controller connected to the microcontroller in the robot based on the control signals.

2. The system according to claim 1, characterized in that, The system-level controller is further configured to send a control signal based on the wake-up signal to the microcontroller when a wake-up signal is received through the at least one communication module; The microcontroller is also used to wake up the main controller connected to the microcontroller in the robot based on the control signal.

3. The system according to claim 2, characterized in that, The microcontroller is also used to control the power supply of the peripheral devices corresponding to the robot to shut down when the robot enters a sleep state; The microcontroller is also used to control the power supply of the peripheral device corresponding to the robot to power on when the control signal is received.

4. The system according to claim 1, characterized in that, The at least one communication module includes a wireless communication module and a wired communication module; The system-level controller is also configured to obtain an upgrade package from the external server via the wireless communication module, and perform an upgrade based on the upgrade package if the upgrade package passes verification. The system-level controller is also used to send the upgrade package to the main controller in the robot through the physical layer interface in the wired communication module when the upgrade package passes the verification, so that the main controller can perform the upgrade based on the upgrade package; The system-level controller is also configured to send a control signal including the upgrade package to the microcontroller if the upgrade package passes verification. The microcontroller is also configured to perform an upgrade based on the upgrade package in the control signal upon receiving the control signal.

5. The system according to claim 1, characterized in that, The system also includes a storage module located on the communication board, and the storage module is connected to the system-level controller; The system-level controller is also used to store the upgrade package obtained through the wireless communication module into the storage module, and to read the upgrade package from the storage module for verification.

6. The system according to claim 1, characterized in that, The at least one communication module includes a wireless communication module; The system-level controller is also used to send the time synchronization signal to the main controller in the robot when the time synchronization signal is obtained through the wireless communication module, so that the main controller can perform time synchronization. The system-level controller is also configured to send a control signal based on the time synchronization signal to the microcontroller when a time synchronization signal is obtained through the wireless communication module; The microcontroller is also used for time synchronization based on the control signal.

7. The system according to claim 1, characterized in that, The at least one communication module includes a wireless communication module, which is connected to an antenna via an IPEX connector. The wireless communication module is used for the system-level controller to communicate with the external server and for positioning the robot.

8. The system according to any one of claims 1 to 7, characterized in that, The communication board is located at the head of the robot.

9. A communication method for a robot, characterized in that, Applied to the communication system as described in any one of claims 1 to 8, the method comprises: The system-level controller communicates with the robot's external server based on the at least one communication module. The system-level controller sends control signals to the microcontroller. The microcontroller receives the control signals sent by the system-level controller and controls the main controller connected to the microcontroller in the robot based on the control signals.

10. A robot, characterized in that, Includes the communication system as described in any one of claims 1 to 8.

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