Humanoid robot and power and communication system therefor

Abstract

The application discloses a humanoid robot and a power supply and communication system thereof, and belongs to the technical field of humanoid robots.The power supply and communication system comprises a chest module, a crotch module and a left leg module and a right leg module.The chest module comprises a main control board and a power supply management module connected with the main control board.The main control board comprises a controller, and the controller comprises a control master station.The crotch module comprises a coupler.The left leg module comprises a plurality of left leg joints.The right leg module comprises a plurality of right leg joints.The power supply management module supplies power to the plurality of left leg joints and the plurality of right leg joints through the coupler, and the control master station communicates with the plurality of left leg joints and the plurality of right leg joints through the coupler.The crotch module is arranged between the chest module and the leg module, so that the connecting line from the chest to the leg does not need to cross the waist and hip movement area, thereby reducing the length of the connecting line between the chest and the leg, facilitating the wiring between the chest and the leg and the later maintenance.The application can be widely applied to the technical field of humanoid robots.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot technology, and in particular to a humanoid robot and its power supply and communication system. Background Technology

[0002] Humanoid robots typically include structural areas such as the head, chest cavity, waist, pelvis, left and right legs, and left and right arms. Compared to wheeled platforms, fixed robotic arms, or quadruped robots, humanoid robots have spatial constraints and motion envelopes that more closely resemble those of the human body.

[0003] Currently, the drawbacks of humanoid robots are that there are too many or too long connecting lines between the various components, which makes assembly and maintenance difficult. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, one object of this invention is to provide a humanoid robot and its power supply and communication system, which can reduce the number or length of connecting wires between the various components of the humanoid robot, facilitating assembly and maintenance.

[0005] The technical solution adopted in this invention is: In a first aspect, the present invention provides a power supply and communication system for a humanoid robot, the power supply and communication system comprising: a chest cavity module, including a main control board and a power management module connected to the main control board, the main control board including a controller, the controller including a control master station; a crotch module, including a coupler; a left leg module, including multiple left leg joints; and a right leg module, including multiple right leg joints; wherein the power management module supplies power to the multiple left leg joints and the multiple right leg joints through the coupler, and the control master station communicates with the multiple left leg joints and the multiple right leg joints through the coupler.

[0006] Furthermore, the coupler includes a power distribution circuit, which comprises: a bus input terminal connected to the power management module; a left leg bus output terminal for supplying power to the plurality of left leg joints; and a right leg bus output terminal for supplying power to the plurality of right leg joints. The left leg bus output terminal is divided into at least two left leg branches, which supply power to the plurality of left leg joints respectively, with the plurality of left leg joints in each left leg branch connected in series for power supply. The left leg bus output terminal is also divided into at least two right leg branches, which supply power to the plurality of right leg joints respectively, with the plurality of right leg joints in each right leg branch connected in series for power supply.

[0007] Furthermore, the coupler also includes a primary capacitor buffer unit and a pre-charge current limiting unit, which are disposed between the bus input terminal and the output terminal of the left leg bus and the output terminal of the right leg bus; the left leg joint or the right leg joint includes a secondary capacitor buffer unit, the input terminal of which is connected to the output terminal of the left leg bus or the output terminal of the right leg bus, and the output terminal of which is connected to the distal joint among the plurality of left leg joints or the plurality of right leg joints.

[0008] Furthermore, the coupler includes a communication distribution circuit. The control master station is an EtherCAT master station. Each left leg joint includes a left leg EtherCAT slave station, and the multiple left leg EtherCAT slave stations are connected in series. Each right leg joint includes a right leg EtherCAT slave station, and the multiple right leg EtherCAT slave stations are connected in series. The communication distribution circuit includes: an EtherCAT input terminal connected to the EtherCAT master station; a first EtherCAT branch circuit with its input terminal connected to the EtherCAT input terminal and its output terminal connected to the first left leg EtherCAT slave station; and a second EtherCAT branch circuit with its input terminal connected to the EtherCAT input terminal and its output terminal connected to the first right leg EtherCAT slave station.

[0009] Furthermore, the communication distribution circuit also includes a third EtherCAT branch circuit, with its input terminal connected to the EtherCAT input terminal and its output terminal connected to the inertial measurement unit, which is powered by the low-voltage conversion unit of the coupler.

[0010] Furthermore, it also includes a head module that transmits visual and / or display data to the main control board via a SerDes communication link.

[0011] Furthermore, the controller also includes a deserializer and / or a serializer. The SerDes communication link includes a visual data uplink and / or a display data downlink. The visual data uplink uses the deserializer to receive uplink visual data sent by the head module, and the display data downlink uses the serializer to send downlink display data to the head module.

[0012] Furthermore, it also includes: an arm module, comprising an arm capacitor buffer unit and multiple arm joints, wherein the arm capacitor buffer unit is disposed between the coupler and the first arm joint, and the multiple arm joints are powered by one or more power sources.

[0013] Furthermore, it also includes a fan, integrated on the drive board of the joint module of the left or right leg joint.

[0014] Secondly, the present invention provides a humanoid robot, characterized in that it includes the power supply and communication systems as described above.

[0015] The beneficial effects of this invention are: This invention incorporates a crotch module between the thoracic cavity module and the leg module. This crotch module serves as a transition area from the robot's thoracic cavity to its legs, eliminating the need for the connection line between the thoracic cavity and legs to cross the hip and waist movement area. This reduces the length of the connection line between the thoracic cavity and legs, facilitating wiring and subsequent maintenance.

[0016] Furthermore, the present invention divides the leg bus output terminal into two leg branches, each leg branch supplying power to several series-connected joint modules. In this way, all joint modules do not need to be connected to the leg bus output terminal, which can reduce the length of the power supply harness.

[0017] Furthermore, this invention employs a SerDes communication link to transmit visual and / or display data between the head module and the main control board, which enables high-speed data transmission while reducing the number of communication cables. Attached Figure Description

[0018] Figure 1 This is a structural block diagram of one embodiment of the humanoid robot of the present invention; Figure 2 This is a structural block diagram of the first embodiment of the power supply and communication system for the humanoid robot of the present invention; Figure 3 This is a structural block diagram of the first part of a second embodiment of the power supply and communication system for the humanoid robot of the present invention; Figure 4 This is a structural block diagram of the second part of a second embodiment of the power supply and communication system for the humanoid robot of the present invention; Figure 5 This is a structural block diagram of the third part of the second embodiment of the power supply and communication system of the humanoid robot of the present invention; Figure 6 This is a structural block diagram of the third embodiment of the power supply and communication system of the humanoid robot of the present invention; Figure 7 yes Figure 6 A structural block diagram of an embodiment of communication between the head module 5 and the main control board 11; Figure 8 This is a structural block diagram of the fourth embodiment of the power supply and communication system for the humanoid robot of the present invention. Detailed Implementation

[0019] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0020] To facilitate understanding of the structure of each part of the humanoid robot proposed in this application, please refer to... Figure 1 , Figure 1 This is a structural block diagram of one embodiment of the humanoid robot of the present invention. Figure 1 As shown, the humanoid robot of this invention includes a head, chest cavity, groin, left arm, right arm, left leg, and right leg. The chest cavity serves as the center of the humanoid robot, with the head, groin, left arm, and right arm connected to it, and the left and right legs connected to the groin. The power supply and communication systems described below are distributed across various parts of the humanoid robot.

[0021] Example 1

[0022] Please see Figure 2 , Figure 2 This is a structural block diagram of the first embodiment of the power supply and communication system for the humanoid robot of the present invention. Figure 2 As shown, the power supply and communication system includes a chest cavity module 1, a crotch module 2, a left leg module 3, and a right leg module 4. The chest cavity module 1 is located inside the chest cavity of the humanoid robot, the crotch module 2 is located inside the crotch of the humanoid robot, the left leg module 3 is located in the left leg of the humanoid robot, and the right leg module 4 is located in the right leg of the humanoid robot.

[0023] The thoracic module 1 includes a main control board 11 and a power management module 12 connected to the main control board 11.

[0024] The main control board is used to perform motion control, status management, or upper-level task scheduling. The main control board 11 includes a controller 111, which includes a control master station (not shown in the figure). The controller 111 can be a System-on-a-Chip (SOC).

[0025] The power supply management module 12 is used to complete battery or external power supply access, bus protection, power-on sequence, charging interface management and status monitoring; the power supply management module 12 can be a power management unit (PMU). The PMU connects to the battery pack, charging interface, power switch, emergency stop switch and bus protection circuit.

[0026] The control master station is used to exchange process data with joint drivers, couplers, and IMUs accessed via various real-time communication branches. The control master station can be of various types, such as EtherCAT, POWERLINK, and MECHATROLINK.

[0027] The crotch module 2 includes a coupler 21. The coupler 21 can be a circuit board that integrates power distribution circuitry and communication distribution circuitry. Alternatively, the coupler 21 can be configured to include two circuit boards, one for power distribution and the other for communication distribution circuitry.

[0028] Coupler 21 can adopt a box-type structure, a bare plate with a protective cover structure, or an embedded pelvic structural component structure. The box-type is suitable for mass production models, the bare plate with a protective cover is suitable for R&D prototypes, and the embedded pelvic structural component is suitable for compact robots. Regardless of the mechanical form adopted, the busbar connector and the communication connector should avoid the hip joint rotation envelope, and a wire harness stress relief structure should be provided at the connector outlet.

[0029] The left leg module 3 includes multiple left leg joints, and the right leg module 4 includes multiple right leg joints. For ease of design and installation, the left leg module 3 and the right leg module 4 can adopt the same design.

[0030] Preferably, the plurality of left leg joints includes a first to a sixth left leg joint, wherein the first to third left leg joints are three hip joints, the fourth left leg joint 34 is a knee joint, and the fifth left leg joint 35 and the sixth left leg joint 36 are two ankle joints. The structure of the plurality of right leg joints is the same as that of the plurality of right leg joints.

[0031] The power management module 12 supplies power to multiple left leg joints and multiple right leg joints through the coupler 21, while the control master station 13 communicates with multiple left leg joints and multiple right leg joints through the coupler 21.

[0032] It is worth noting that in this embodiment, the main wiring harness is arranged downwards from the chest cavity along the internal structural components of the torso and terminates at coupler 21 in the pelvic or groin area. The main wiring harness includes a bus power line and a communication line, and may also include an emergency stop line, a safety enable line, a protective grounding line, and a wake-up line if necessary. Since the main wiring harness is shunt at the groin coupler 21, multiple long-distance wiring harnesses are no longer led out from the chest cavity to the left and right legs respectively.

[0033] In this embodiment, a crotch module 2 is provided between the chest cavity module 1 and the leg modules 3 and 4. The crotch module 2 serves as a transition area from the robot's chest cavity to its legs, so that the connection line from the chest cavity to the legs does not need to cross the waist and hip movement area. This reduces the length of the connection line between the chest cavity and the legs, making it easier to connect the chest cavity and the legs and to carry out subsequent maintenance.

[0034] Example 2

[0035] The legs of the humanoid robot include multiple joints. To reduce the wiring harnesses for the left and right legs, a second embodiment of this application is proposed. Please refer to [further details omitted]. Figures 3 to 5 , Figure 3 This is a structural block diagram of a second embodiment of the power supply and communication system for the humanoid robot of the present invention. Figure 3 and Figure 2 The difference is that the coupler 21 includes a power distribution circuit 211 and a communication distribution circuit 212.

[0036] It should be noted that in this embodiment, the control master station is an EtherCAT master station.

[0037] like Figure 3 As shown, the power distribution circuit 211 includes: a bus input terminal 2111, a left leg bus output terminal 2112, a right leg bus output terminal 2113, a pre-charge current limiting unit 2114, and a first-stage capacitor buffer unit 2115.

[0038] The bus input terminal 2111 is connected to the power supply management module 12 and obtains the input voltage from the power supply management module 12.

[0039] The left leg bus output terminal 2112 is used to supply power to multiple left leg joints. The right leg bus output terminal 2113 is used to supply power to multiple right leg joints.

[0040] Inside the coupler 21, the connector at the bus input end 2111 connects to the main cable bundle in the chest cavity, and the connectors at the left leg bus output end 2112 and the right leg bus output end 2113 face the left and right hips or the inner channels of the thighs, respectively. The connectors can be set with different key positions, colors, housing sizes or locking methods to reduce the risk of mis-insertion during assembly.

[0041] The pre-charge current limiting unit 2114 and the first-stage capacitor buffer unit 2115 are disposed between the bus input terminal 2111 and the left leg bus output terminal 2112 and the right leg bus output terminal 2113.

[0042] The primary capacitor buffer unit 2115 includes at least one withstand voltage capacitor, a discharge resistor, a temperature sampling point, a voltage sampling point, and a fixing component. The primary capacitor buffer unit 2115 provides energy buffering for the overall dynamic load of the left and right legs. During left and right leg start-stop, squatting-stand, foot support switching, or regenerative braking conditions, the primary capacitor buffer unit 2115, in conjunction with the downstream secondary or segmented capacitor buffer board, reduces the impact of peak current on the battery and bus terminals, and reduces the risk of remote undervoltage, bus rise, driver overvoltage protection, or undervoltage reset errors caused by long-distance series power supply.

[0043] The left leg bus output terminal 2112 is divided into at least two left leg branches, which supply power to the plurality of left leg joints respectively. The plurality of left leg joints in each left leg branch are connected in series for power supply. The left leg bus output terminal 2113 is divided into at least two right leg branches, which supply power to the plurality of right leg joints respectively. The plurality of right leg joints in each right leg branch are connected in series for power supply.

[0044] Each leg joint includes a leg joint module, and each leg joint module includes an Ethercat slave station. The leg joint module is used to receive communication commands from the Ethercat master station. These communication commands include communication parameters such as target position, velocity, torque, or current commands, to drive the leg joint module to perform actions, thereby controlling the leg work of the humanoid robot.

[0045] In a preferred embodiment, such as Figure 4 As shown, the left leg bus output terminal 2112 is divided into two left leg branches. The first left leg branch is connected to the first left leg joint module 311, the first left leg joint module 311 is connected to the second left leg joint module 321, and the second left leg joint module 321 is connected to the third left leg joint module 331. The second left leg branch is connected to the fourth left leg joint module 341, the fifth left leg joint module 351 is connected to the fourth left leg joint module 341, and the sixth left leg joint module 361 is connected to the fifth left leg joint module 351.

[0046] The electrical structure and wiring of the right leg joint are the same as those of the left leg joint, and will not be described again here.

[0047] like Figure 3 As shown, the communication distribution circuit 212 includes: an EtherCAT input terminal 2121, a first EtherCAT branch circuit 2122, and a second EtherCAT branch circuit 2123. The EtherCAT input terminal 2121 is connected to the EtherCAT master station of the controller 111. The input terminals of the first EtherCAT branch circuit 2122 and the second EtherCAT branch circuit 2123 are respectively connected to the EtherCAT input terminal 2121.

[0048] like Figure 5 As shown, the output of the first EtherCAT branch circuit 2122 is connected to the first left-leg EtherCAT slave station 3111, and the multiple left-leg EtherCAT slave stations are connected in series. Specifically, the first left-leg EtherCAT slave station 3111 is connected to the first EtherCAT branch circuit 2122, the second left-leg EtherCAT slave station 3211 is connected to the first left-leg EtherCAT slave station 3111, the third left-leg EtherCAT slave station 3311 is connected to the second left-leg EtherCAT slave station 3211, the fourth left-leg EtherCAT slave station 3411 is connected to the third left-leg EtherCAT slave station 3311, the fifth left-leg EtherCAT slave station 3511 is connected to the fourth left-leg EtherCAT slave station 3411, and the sixth left-leg EtherCAT slave station 3611 is connected to the fifth left-leg EtherCAT slave station 3511.

[0049] The communication structure and connection method of the right leg joint are the same as those of the left leg joint, and will not be described again here.

[0050] The multiple left-leg EtherCAT slave stations and multiple right-leg EtherCAT slave stations communicate with the EtherCAT master station respectively, and receive control commands from the controller 111 to drive the multiple left-leg joint modules and multiple right-leg joint modules to work, thereby driving the left-leg joints and right-leg joints to work.

[0051] Preferably, one of the left leg EtherCAT slave stations and one of the right leg EtherCAT slave stations are connected to an inertial measurement unit (IMU) (not shown in the figure), which is powered by the low-voltage converter of the coupler 21. The inertial measurement unit is used to collect operating parameters such as angular velocity, acceleration, or attitude state of the robot's legs.

[0052] When the inertial measurement unit (IMU) has only one EtherCAT interface, it does not connect to any left-leg EtherCAT slave station or any right-leg EtherCAT slave station. The communication distribution circuit also includes a third EtherCAT branch circuit, with its input connected to the EtherCAT input and its output connected to the IMU, which is powered by the low-voltage converter unit of the coupler.

[0053] It should be noted that different topologies can be selected for the multiple left leg shutdowns and the multiple right leg joints, depending on the robot's structure. For models with ample space and high reliability requirements, a star topology can be used for power supply and communication at the hip, knee, and ankle. For models with limited space, daisy-chain connections can be used for joints below the knee. For models with high hip power but limited ankle space, a hybrid structure of independent hip branches and series connections between lower leg segments can be used.

[0054] Optionally, such as Figure 8 As shown, both the left leg module 3 and the right leg module 4 include a two-stage capacitor buffer unit (not shown). The input terminal of the two-stage capacitor buffer unit is connected to the left leg bus output terminal 2112 or the right leg bus output terminal 2113 of the coupler 21, and the output terminal is connected to the distal joint of the plurality of left leg joints or the plurality of right leg joints, such as the knee joint.

[0055] The secondary capacitor buffer unit is installed near the knee joint actuator, on the upper leg support, or at the power supply inlet of the joint below the knee. The secondary capacitor buffer unit should not be suspended in the middle of the flexible cable harness, but rather fixed to a rigid or semi-rigid structure to avoid subjecting the capacitors and solder joints to continuous mechanical stress.

[0056] Optionally, the low-voltage output terminal and IMU interface of the low-voltage conversion unit are located near the center of the pelvis.

[0057] In this embodiment, the leg bus output is divided into two leg branches, and each leg branch supplies power to several joint modules connected in series. In this way, all joint modules do not need to be connected to the leg bus output, which can reduce the length of the power supply harness.

[0058] Secondly, communication is established between the EtherCAT slave station located on the left (right) joint and the EtherCAT master station located on the thoracic module. During operation, the EtherCAT master station sends target position, velocity, torque, or current commands of the joint modules to the EtherCAT slave station to control the movement of the left and right legs. Within the same EtherCAT cycle, each joint module returns position, velocity, current, temperature, and error codes to the EtherCAT master station; the IMU returns angular velocity, acceleration, or attitude status to the EtherCAT master station; the coupler returns bus voltage, branch current, pre-charge status, low-voltage output status, and temperature status to the EtherCAT master station, allowing the main control board 11 to analyze the returned parameters and issue subsequent control commands.

[0059] Furthermore, this embodiment provides power to the IMU locally and integrates it into the same EtherCAT real-time communication system, enabling attitude data and leg joint status data to have consistent control cycle identifiers, reducing the workload of cross-channel time alignment and software compensation.

[0060] Example 3

[0061] The humanoid robot also includes a head, which needs to communicate with the chest cavity; for this purpose, a third embodiment of this application is proposed. Please refer to... Figure 6 , Figure 6 This is a structural block diagram of the third embodiment of the power supply and communication system for the humanoid robot of the present invention. (See diagram below.) Figure 6 As shown, the power supply and communication system also includes a head module 5.

[0062] It should be noted that the head module 5 transmits visual and / or display data to the main control board 11 via the SerDes communication link, which can reduce the number of communication harnesses between the head module 5 and the chest module 1.

[0063] like Figure 7 As shown, the controller 111 includes a deserializer 1111 and a serializer 1112. The head module includes a head controller 51, a screen driver 52, a screen 53, a first camera 54, a second camera 55, and a third camera 56. The head controller 51 includes a MAX96715 serializer 511 and a deserializer 512. In other embodiments, the number of cameras is not limited to three; it can also be one, two, or more.

[0064] The SerDes communication link includes a visual data uplink. The head controller 51 uploads visual data acquired from three cameras to the controller 111 via the MAX96715 serializer 511 and deserializer 1111.

[0065] Preferably, the SerDes communication link also includes a display data downlink. The controller 111 transmits the downlink display data to the screen 54 via the serializer 1112, the deserializer 512, and the screen driver 53.

[0066] In this embodiment, a SerDes communication link is used to achieve communication between the head module and the main control board, which enables high-speed data transmission while reducing the number of communication cables. This embodiment uses the SerDes communication link to converge visual and display signals into a small number of high-speed cables. Compared to existing technologies that use HDMI cables to transmit visual and display data, this reduces the number of neck cables, connector pins, and bending stiffness, improving the ease of head module assembly and disassembly, and enhancing the reliability of high-speed signals.

[0067] In other embodiments, the screen driver 52 and the head controller 51 may be integrated on a single chip.

[0068] Example 4

[0069] The humanoid robot also includes two arms, for which a fourth embodiment of this application is proposed. See also... Figure 8 , Figure 8 This is a structural block diagram of the fourth embodiment of the power supply and communication system for the humanoid robot of the present invention. (See diagram below.) Figure 8 As shown, the power supply and communication system of the humanoid robot also includes a left arm module and a right arm module.

[0070] Each arm module includes multiple arm joints and an arm capacitor buffer unit. These multiple arm joints include shoulder joint 1, shoulder joint 2, shoulder joint 3, elbow joint 4, elbow joint 5, wrist joint 6, and wrist joint 7. The arm capacitor buffer unit is disposed between the coupler and the first arm joint (shoulder joint 1). The arm capacitor buffer unit includes at least one capacitor. The function of the arm capacitor buffer unit is to absorb or release local energy during rapid movements of the shoulder, elbow, and wrist joints, reducing the transient impact of arm movements on the thoracic matrix.

[0071] It should be noted that the multiple arm joints can be powered by one or more power sources. In a seven-degree-of-freedom arm with a small load and limited range of motion, the multiple arm joints can be powered by one power source. In an arm with a large load, large range of motion, or where remote voltage drop needs to be controlled, the first few joints can be powered by one power source and the last few joints by another power source. For example, the first three joints can be powered by one power source and the last four joints by another power source.

[0072] The power supply method for the arm joints is configured with corresponding circuit structures during production based on the electrical characteristics required by the humanoid robot.

[0073] In addition, the power supply and communication system of this embodiment also includes multiple fans, each integrated into the drive board of the joint module of the left or right leg joint. Since the space at each joint is limited by the wiring, the fan start / stop control is integrated locally on the drive board of the joint module, allowing for convenient wiring control of the fan's start / stop.

[0074] Example 5

[0075] The present invention also includes a humanoid robot that includes the power supply and communication systems described in the above embodiments.

[0076] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A power supply and communication system for a humanoid robot, characterized in that, include: A thoracic module includes a main control board and a power management module connected to the main control board. The main control board includes a controller, and the controller includes a control master station. Crotch module, including coupler; The left leg module includes multiple left leg joints; The right leg module includes multiple right leg joints; The power supply management module supplies power to the plurality of left leg joints and the plurality of right leg joints through the coupler. At the same time, the control master station communicates with the plurality of left leg joints and the plurality of right leg joints through the coupler.

2. The power supply and communication system according to claim 1, characterized in that, The coupler includes a power distribution circuit, the power distribution circuit comprising: The bus input terminal is connected to the power supply management module; The left leg bus output terminal is used to supply power to the plurality of left leg joints; The right leg bus output terminal is used to supply power to the plurality of right leg joints; The output terminal of the left leg bus is divided into at least two left leg branches, which supply power to the plurality of left leg joints respectively, and the plurality of left leg joints in each left leg branch are connected in series for power supply. The output terminal of the left leg bus is divided into at least two right leg branches, which supply power to the plurality of right leg joints respectively. The plurality of right leg joints in each right leg branch are connected in series for power supply.

3. The power supply and communication system according to claim 2, characterized in that, The coupler further includes a primary capacitor buffer unit and a pre-charge current limiting unit, which are disposed between the bus input terminal and the output terminal of the left leg bus and the output terminal of the right leg bus; the left leg joint or the right leg joint includes a secondary capacitor buffer unit, the input terminal of which is connected to the output terminal of the left leg bus or the output terminal of the right leg bus, and the output terminal of which is connected to the distal joint among the plurality of left leg joints or the plurality of right leg joints.

4. The power supply and communication system according to claim 1, characterized in that, The coupler includes a communication distribution circuit. The control master station is an EtherCAT master station. Each left leg joint includes a left leg EtherCAT slave station, and the multiple left leg EtherCAT slave stations are connected in series. Each right leg joint includes a right leg EtherCAT slave station, and the multiple right leg EtherCAT slave stations are connected in series. The communication distribution circuit includes: The EtherCAT input terminal is connected to the EtherCAT master station; The first EtherCAT branch circuit has its input terminal connected to the EtherCAT input terminal and its output terminal connected to the first left leg EtherCAT slave station. The second EtherCAT branch circuit has its input terminal connected to the EtherCAT input terminal and its output terminal connected to the first right leg EtherCAT slave station.

5. The power supply and communication system according to claim 4, characterized in that, The communication distribution circuit also includes a third EtherCAT branch circuit, with its input terminal connected to the EtherCAT input terminal and its output terminal connected to the inertial measurement unit. The inertial measurement unit is powered by the low-voltage conversion unit of the coupler.

6. The power supply and communication system according to claim 1, characterized in that, Also includes: The head module transmits visual and / or display data to the main control board via the SerDes communication link.

7. The power supply and communication system according to claim 6, characterized in that, The controller includes a deserializer and / or a serializer, and the SerDes communication link includes a visual data uplink and / or a display data downlink. The visual data uplink uses the deserializer to receive uplink visual data sent by the head module, and the display data downlink uses the serializer to send downlink display data to the head module.

8. The power supply and communication system according to claim 1, characterized in that, Also includes: The arm module includes an arm capacitor buffer unit and multiple arm joints. The arm capacitor buffer unit is disposed between the coupler and the first arm joint. The multiple arm joints are powered by one or more power sources.

9. The power supply and communication system according to claim 1, characterized in that, Also includes: The fan is integrated into the drive board of the joint module of the left or right leg joint.

10. A humanoid robot, characterized in that, Includes the power supply and communication system as described in any one of claims 1 to 9.

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