Controller and robot system

Abstract

The utility model discloses a controller and a robot system, the controller comprises a basic control module and at least one expansion interface, and the basic control module is connected with the at least one expansion interface through a communication bus; the basic control module is used for controlling basic functions of the robot; the expansion interface is used for expanding the newly added function module; and the newly-added function module is used for controlling newly-added functions of the robot. Therefore, the basic functions of the robot can be realized by using the basic control module with lower configuration, so that the cost of the controller is reduced. And a user can expand the newly-added function module through the expansion interface according to actual requirements, so that the application performance requirement of the controller is increased through mutual cooperation of the newly-added function module and the basic control module, the newly-added function of the robot is achieved, and the configuration flexibility of the controller is improved.

Description

Technical Field

[0001] The present application relates to the technical field of robot controller architecture, and more specifically, to a controller and a robot system. Background Art

[0002] Centralized controllers are usually pre-deployed with larger computing power and more interfaces, that is, high-performance processors are pre-configured and various processing functions of the processors are implemented through software upgrades. However, since some hardware interfaces and acceleration units cannot be predicted in advance, centralized controllers lack configuration flexibility. Utility Model Content

[0003] In view of the above problems, the present application proposes a controller and a robot system, which can effectively improve the flexibility of the controller configuration and effectively reduce the cost of the controller.

[0004] In the first aspect, the present application provides a controller, which includes: a basic control module and at least one expansion interface, wherein: the basic control module is connected to at least one expansion interface through a communication bus; the basic control module is used to control the basic functions of the robot; the expansion interface is used to expand a new function module; the new function module is used to control the new functions of the robot.

[0005] In a second aspect, the present application also provides a robot system, which includes: a robot and the above-mentioned controller.

[0006] The technical solution provided by the present application, the controller includes: a basic control module and at least one expansion interface, wherein: the basic control module is connected to at least one expansion interface through a communication bus; the basic control module is used to control the basic functions of the robot; the expansion interface is used to expand the new function module; the new function module is used to control the new functions of the robot. Therefore, the basic functions of the robot can be realized with a basic control module with a lower configuration to reduce the cost of the controller. And the user can expand the new function module through the expansion interface according to actual needs, so that the application performance requirements of the controller can be increased through the cooperation between the new function module and the basic control module, thereby realizing the new functions of the robot and improving the flexibility of the controller configuration. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, not all embodiments. Based on the embodiments of the present application, all other embodiments and drawings obtained by ordinary technicians in this field without creative work are within the scope of protection of the present utility model.

[0008] Figure 1 It is a structural schematic diagram of a robot system provided in an embodiment of the present application.

[0009] Figure 2 It is a structural schematic diagram of a controller provided in an embodiment of the present application.

[0010] Figure 3 It is a structural schematic diagram of another controller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0011] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0012] In the following description, reference is made to "some embodiments", which describes a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict. In the following description, reference is made to the term "multiple" to mean at least two.

[0013] In the following description, the terms "first\second" involved are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that "first\second" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0014] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0015] With the development of industrial automation technology, the application performance requirements of robots are increasing. For example, robots need more accurate and faster visual positioning, more accurate product defect detection, more efficient data communication, human-computer interaction and other application performance requirements. However, these application performance requirements often require more advanced control technology, communication and detection technology, such as visual detection technology based on artificial intelligence (AI) models, 5th Generation Mobile Communication Technology (5G), fieldbus technology that considers functional safety and high real-time performance, etc.

[0016] It is understandable that the introduction of new control, communication and detection technologies will introduce new application performance requirements for the robot's main control system. For example, when introducing visual detection technology based on artificial intelligence (AI) models, the main control system needs to adopt new processor architectures such as graphics processing units (GPUs) / tensor processing units (TPUs), and needs to use dedicated baseband chips or modules, as well as application-specific integrated circuits (Application-Specific Integrated Circuit. A piece of custom-designed hardware in a chip, ASICs) or protocol stacks. Therefore, in order to introduce new application performance requirements, the robot's main control system needs to provide additional processing modules, and provide corresponding power supplies and external interfaces.

[0017] In the related art, the robot's main control system usually adopts a centralized controller. The centralized controller generally deploys a large computing power and a large number of interfaces in advance, that is, a high-performance processor is configured in advance and various processing functions of the processor are realized through software upgrades. On the one hand, the need to configure a higher processor leads to a higher cost of the controller. On the other hand, since some hardware interfaces and acceleration units cannot be predicted in advance, the centralized controller lacks configuration flexibility.

[0018] In order to improve the above-mentioned problems, the present application provides a controller and a robot system, wherein the controller includes: a basic control module and at least one expansion interface, wherein: the basic control module is connected to at least one expansion interface through a communication bus; the basic control module is used to control the basic functions of the robot; the expansion interface is used to expand a new function module; and the new function module is used to control the new functions of the robot.

[0019] Therefore, the basic functions of the robot can be realized with a basic control module with a lower configuration, so as to reduce the cost of the controller. Moreover, the user can add new function modules through the expansion interface according to actual needs, so as to increase the application performance requirements of the controller through the cooperation between the new function modules and the basic control modules, thereby realizing the new functions of the robot and improving the flexibility of the controller configuration.

[0020] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0021] See also Figure 1 , Figure 1 Schematic diagram of a robot system provided in an embodiment of the present application. Figure 1 As shown, Figure 1 The robot system 100 includes a robot 110 and a controller 120 .

[0022] The robot 110 is an intelligent machine that can work semi-autonomously or fully autonomously. The robot 110 can perform tasks such as operation or movement according to the execution instructions generated by the controller 120. The robot 110 includes at least one joint, and the joint of the robot 110 is a connection between two connecting rods, and the two connecting rods can move relative to each other. Each joint can enable the robot 110 to have a degree of freedom of movement. The movement provided by each joint can enable the robot 110 to be positioned at a specific position.

[0023] The controller 120 is used to generate corresponding execution instructions according to the control instructions, and control the robot 110 to perform operations corresponding to the basic functions or new functions through the execution instructions. Figure 2 , Figure 2 1 is a schematic diagram of a controller provided in an embodiment of the present application. The controller 120 includes: a basic control module 121 and at least one expansion interface 122, wherein:

[0024] The basic control module 121 is used to control the basic functions of the robot 110 , the expansion interface 122 is used to expand the new function module 123 , and the new function module 123 is used to control the new functions of the robot 110 .

[0025] The basic control module 121 is connected to at least one expansion interface 122 via a communication bus, so that the basic control module 121 and the newly added function module 123 are connected via the communication bus, thereby realizing information interaction between the basic control module 121 and the newly added function module 123 .

[0026] For example, when the basic control module 121 detects a control instruction, the basic control module 121 sends a processing request corresponding to the target new function corresponding to the control instruction to the new function module 123 through the communication bus, so that the new function module 123 generates control information according to the processing request.

[0027] For another example, the newly added function module 123 transmits the control information to the basic control module 121 through the communication bus, so that the communication data is transmitted at high speed between the basic control module 121 and the newly added function module 123. For example, the basic control module 121 can generate an execution instruction according to the control information, and then control the operation of the robot 110 according to the execution instruction.

[0028] Among them, the expansion interface 122 and the newly added function module 123 are in a corresponding relationship with each other. That is, one newly added function module 123 can be connected through one expansion interface 122. In other words, the present application does not limit the number of expansion interfaces 122, and the controller 120 can reserve more expansion interfaces 122 for expanding new functions, that is, for connecting different newly added function modules 123.

[0029] In some implementations, when the number of expansion interfaces 122 is limited, the controller 120 can be connected to the newly added function modules 123 that are currently needed by disconnecting other newly added function modules 123 that are not needed temporarily.

[0030] The basic control module 121 and the new function module 123 are connected via a communication bus, which facilitates faster interaction between the basic control module 121 and the new function module 123. In some embodiments, the basic control module 121 and the expansion interface 122 are connected via a high-speed internal communication protocol.

[0031] To ensure the bandwidth and real-time performance of data communication between the basic control module 121 and the expansion interface 122 , in some implementations, the basic control module 121 and the expansion interface 122 may also be connected via the Peripheral Component Interconnect Express (PCL-E) standard.

[0032] In some embodiments, the basic control module 121 and the expansion interface 122 may also be connected via a gigabit network. In some embodiments, the basic control module 121 and the expansion interface 122 may also be connected via Ethernet Control Automation Technology (EtherCAT). It is understood that the present application does not limit the communication connection mode between the basic control module 121 and the expansion interface 122, and the user may flexibly adjust the communication connection mode between the basic control module 121 and the expansion interface 122 according to actual needs.

[0033] The basic functions are functions of realizing high-performance control and human-machine interaction of the robot 110 by the basic control module 121. In some implementations, the basic functions include robot trajectory planning function, robot motion control function, user program parsing function, robot configuration management function, safety control function, and the like.

[0034] The robot trajectory planning function is to plan the robot's moving trajectory for the basic control module 121, so that the robot 110 moves according to the moving trajectory (composed of a plurality of trajectory coordinates) to complete the corresponding work. For example, the basic control module 121 controls the robot 110 to move along a straight line.

[0035] The robot motion control function is to control the movement of the robot 110 by the basic control module 121. For example, the basic control module 121 controls the robot 110 to move an object from position A to position B. The user program parsing function is to parse the user's programming for the robot 110 to perform corresponding operations, so as to obtain lower-level instructions for placing some machine-line interfaces.

[0036] The robot configuration management function is to configure the parameters of the robot 110. For example, certain control modes of the robot are configured. The safety control function is to prevent the robot 110 from colliding with obstacles, users and other objects in the environment.

[0037] The newly added functions are extended functions of the controller 120. For example, the function combination of the robot is divided according to the user application scenario, thereby defining various extended functions so that the robot 110 can complete the functions required by the user application scenario.

[0038] In some embodiments, the newly added functions include 3D vision, 2D vision, CC-Link, sixth-generation wireless network technology, and a robot control platform based on artificial intelligence (AI). Among them, 3D vision and 2D vision are used to realize the recognition and processing of 2D or 3D images and the positioning of objects, so as to provide a target trajectory for the action planning of the robot 110 through the basic control module 121.

[0039] The control and communication link system (CC-Link) and the sixth-generation wireless network technology provide more efficient data communication for the robot system 100.

[0040] Since the basic control module 121 only needs to complete some basic functions, the basic control module 121 can be configured with a processor with lower performance, etc., thereby reducing the cost of the controller 120. When it is necessary to introduce more advanced requirements to the controller 120, a new function module 123 can be added and connected to the expansion interface 122 to establish a connection between the new function module 123 and the basic control module 121.

[0041] The newly added function module 123 generates control information and transmits the control information to the basic control module 121 through the communication bus. The basic control module 121 then generates execution instructions according to the control information to control the robot 110 to complete the corresponding operation. In other words, the newly added function module 123 processes the part with greater computing power, and then transmits the processed results (for example, the processed robot control instructions, detection data, space coordinates, process status values, etc.) to the basic control module 121, and the basic control module 121 completes the part with less computing power according to the processed results.

[0042] Exemplarily, in the visual control of the robot, the new function module 123 (eg, a visual module) identifies the object coordinates, and the new function module 123 transmits the object coordinates to the basic control module 121 via the communication bus, and the basic control module 121 controls the robot 110 to move to the object coordinates.

[0043] Furthermore, in some embodiments, the basic control module 121 is used to detect control instructions, and when the function corresponding to the control instruction does not belong to the basic function, determine the target new function corresponding to the control instruction, and send a processing request to the new function module 123 corresponding to the target new function through the communication bus.

[0044] The control instruction may be issued by the user. For example, when the user needs to control the robot 110 to perform visual control, the user may trigger the robot 110 to enter visual control through a mobile device or a remote controller. In some embodiments, the control instruction may also be a control instruction executed in the code by the controller 120 during the process of controlling the robot 110 to work according to the code in the memory.

[0045] When the basic control module 121 detects or receives a control instruction, the basic control module 121 first determines whether the function corresponding to the control instruction belongs to the basic function, that is, the basic control module 121 determines whether the function corresponding to the control instruction is implementable by the basic control module 121. When it is determined that the basic control module 121 cannot implement the function corresponding to the control instruction, the basic control module 121 determines the target new function corresponding to the control instruction, that is, the basic control module 121 determines the new function module 123 that can implement the function corresponding to the control instruction.

[0046] When the basic control module 121 determines the newly added function module 123 of the function corresponding to the control instruction, the basic control module 121 generates a processing request according to the control instruction, and transmits the processing request to the corresponding newly added function module 123 through the communication bus.

[0047] In contrast, the new function module 123 receives the processing request sent from the basic control module 121, generates control information according to the processing request, and sends the control information to the basic control module 121. The control information is the result processed by the new function module 123 (for example, processed robot control instructions, detection data, space coordinates, process status values, etc.).

[0048] In other embodiments, after the new function module 123 receives the processing request sent from the basic control module 121, the new function module 123 generates control information according to the processing request and sends the control information to the robot 110. So that the robot 110 performs the corresponding work according to the control information. In other words, the robot 110 can directly communicate with the new function module 123, so that the new function module 123 can directly control the work of the robot 110.

[0049] In contrast, the basic control module 121 receives the control information sent by the new function module 123, and the basic control module 121 generates an execution instruction according to the control information, and controls the robot according to the execution instruction. For example, the new function module 123 is a visual module, and the visual module recognizes the object coordinates. The new function module 123 transmits the object coordinates to the basic control module 121 through the communication bus, and the basic control module 121 generates a movement instruction to move to the object coordinates according to the object coordinates, and controls the robot 110 to move to the object coordinates according to the movement instruction. In other words, the robot 110 can communicate with the new function module 123 through the basic control module 121, so that the new function module 123 and the basic control module 121 cooperate with each other, and then control the robot 110 to complete the corresponding operation.

[0050] Further, in some embodiments, see Figure 3 , Figure 3 is a schematic diagram of the structure of another controller provided in an embodiment of the present application. Figure 3 As shown, Figure 3 The basic control module 121 includes a basic power supply, a basic unit and a basic interface, wherein the basic power supply is connected to the basic unit and the basic interface respectively, the basic interface is connected to the basic unit, and the basic unit is connected to the expansion interface 122 .

[0051] The basic power supply is used to supply power to the basic unit and the basic interface so that the basic unit and the basic interface can work normally. The basic unit is used to receive the control information sent by the new function module 123 through the expansion interface 122, to generate an execution instruction according to the control information, and transmit the execution instruction to the basic interface, and the basic interface then outputs the execution instruction to the robot so that the robot performs the operation corresponding to the execution instruction.

[0052] That is, the basic unit is used to implement the basic functions of the robot 110, that is, the basic unit is used for high-performance control and human-machine interaction functions of the robot 110. In some embodiments, the basic unit includes at least one of a motion control unit, a sequence control unit, a programming parsing unit, and a robot configuration unit.

[0053] Among them, the motion control unit is used to realize the movement of the robot 110. For example, the motion control unit controls the robot 110 to move from position A to position B. The sequence control unit is used to realize the robot 110 to work according to a certain step sequence. The programming parsing unit is used to parse the user's programming for the robot 110 to perform corresponding operations, so as to obtain instructions for some machine-line interfaces at a lower level. The robot configuration unit is used to configure the parameters of the robot 110. For example, some control modes of the robot are configured.

[0054] It is understandable that the present application does not limit the functions corresponding to the basic units, and users can flexibly define the functions corresponding to the basic units according to actual needs.

[0055] In some implementations, the basic interface may also be used to provide interfaces required for basic applications of the robot 110 , such as control of the robot 110 , human-machine interaction, and digital IO.

[0056] In some embodiments, the basic unit includes a connection subunit, a processing subunit and an execution subunit. The connection subunit is respectively connected to any one of the at least one extension interface and the processing subunit, the processing subunit is connected to the execution subunit, and the execution subunit is connected to the basic interface.

[0057] Among them, the connection subunit is used to obtain control information; the processing subunit is used to generate control parameters according to the control information and send the control parameters to the execution subunit; the execution subunit is used to generate execution instructions according to the control parameters.

[0058] The newly added function module 123 passes the control information to the connection subunit through at least one extension interface connected to the newly added function module 123. The connection subunit sends the received control information to the processing subunit. The processing subunit generates working parameters according to the control information and sends the working parameters to the execution subunit. The execution subunit encapsulates the working parameters into execution instructions and sends the execution instructions to the robot through the corresponding basic interface so that the robot completes the corresponding function.

[0059] In some embodiments, the connection subunit may be a control backplane board (CBB). The connection subunit is connected to the processing subunit, the execution subunit, and the newly added function module 123 for signal transmission. The connection subunit is used to receive control information sent by the newly added function module 123, so that the subsequent processing subunit and the execution subunit perform corresponding operations on the control information, so as to achieve the cooperation between the newly added function module 123 and the basic control module, thereby enabling the robot to complete the corresponding newly added function.

[0060] In some embodiments, the processing subunit may be an integrated control board (ICB). The processing subunit is used to receive control information sent by the input unit to generate working parameters according to the control information. For example, the processing subunit generates working parameters corresponding to the robot joint motion according to the robot kinematics or dynamics or high-level robot commands, and then sends the control parameters to the execution subunit.

[0061] In some embodiments, the execution subunit may be an integrated power board (IPB). The execution subunit is used to drive the inverter (the driving inverter of the robot motor) to drive the corresponding motor of the robot, thereby driving the movement of the robot. The execution subunit is also used to brake the control circuit of the robot, that is, to brake the robot by controlling the holding brake of the robot. The execution subunit is also used to execute the safe torque transfer shutdown function according to the control parameters issued by the processing subunit.

[0062] In some embodiments, the basic control module 121 further includes a digital I / O board (DIOB). The digital I / O board provides data input and output of preset bytes (e.g., 16 bits). The digital I / O board implements data output and input through an internal open architecture (Control Automation Technology, EtherCAT) to transmit execution signals to the robot.

[0063] The robot 110 is connected to the basic unit through the basic interface to receive the execution instruction sent from the basic unit through the basic interface, and then performs the corresponding operation according to the execution instruction. The basic unit is connected to the new function module 123 through the expansion interface 122 to receive the control information sent by the new function module 123.

[0064] Furthermore, in some implementations, the newly added function module 123 includes a newly added function unit and a newly added power supply, wherein: the newly added power supply is connected to the newly added function unit, and the newly added function unit is connected to the basic unit via the expansion interface 122 .

[0065] When the basic unit detects a control instruction, the basic unit sends a processing request corresponding to the target new function corresponding to the control instruction to the new function unit through the communication bus through the expansion interface 122, so that the new function unit generates control information according to the processing request and sends the control information to the basic unit through the expansion interface 122.

[0066] Specifically, the newly added power supply is used to supply power to the newly added functional unit so that the newly added functional unit can work normally. The newly added functional unit is used to generate control information according to the processing request to send the control information to the basic control module.

[0067] Different newly added functional units are used to implement the corresponding extended functions of the controller 120. In some embodiments, the newly added functional unit may be an extension module of a graphics processing unit (GPU). In some embodiments, the newly added functional unit may be an extension module of a graphics processing unit (GPU).

[0068] In some embodiments, the newly added functional unit includes at least one of a visual processing extension unit, a communication extension unit, and a control processing extension unit. The visual processing extension unit is used to perform recognition processing and object positioning on a two-dimensional or three-dimensional image to provide extended functions such as a target trajectory for the robot 110 motion planning. The communication extension unit is used to provide more efficient data communication between the robot 110, the basic unit, and the newly added functional unit. The control processing extension unit is used to provide more advanced control.

[0069] In some embodiments, the newly added functional unit may be a three-dimensional visual functional unit, a two-dimensional visual functional unit, a control and communication link system (Control & Communication Link, CC-Link) communication unit, a sixth-generation wireless network technology communication unit, and a robot control platform based on artificial intelligence (Artificial Intelligence, AI) and other functional expansion modules.

[0070] Furthermore, in some implementations, the newly added functional unit includes a memory, a processor, and an internal communication interface, wherein: the internal communication interface is connected to the corresponding expansion interface via a communication bus, and the processor is respectively connected to the memory and the internal communication interface.

[0071] One expansion interface on the controller corresponds to one type, one kind or one newly added functional module. In other embodiments, one expansion interface on the controller can also be used to connect different types, different kinds or different newly added functional modules.

[0072] The internal communication interface is used to receive a processing request from the basic control module and send the processing request to the processor. Accordingly, the processor receives the processing request, generates control information according to the processing request, and sends the control information to the internal communication interface. Accordingly, the internal communication interface receives the control information and sends the control information to the basic control module.

[0073] In some embodiments, the memory may use corresponding volatile storage and non-volatile storage according to the actual needs of the user (e.g., storage speed, storage capacity, or service life). For example, the volatile storage may be a static random access memory (SRAM) or a double data rate (DDR). For another example, the non-volatile storage may be a solid state drive, an embedded multi media card (eMMC), or a non-volatile flash memory technology (Nor Flash, NOR).

[0074] In some implementations, the processor may have requirements for operation speed and parallelism according to the functions corresponding to the newly added functional units. For example, the processor may be a microcontroller unit (MCU), a field programmable gate array (FPGA), or a graphics processing unit (GPU).

[0075] Furthermore, in some embodiments, the newly added functional unit further includes a newly added interface, and the newly added interface is connected to the processor. The newly added interface is used to connect to the acquisition device to receive the original data information sent by the acquisition device; the processor unit is used to generate control information according to the processing request and the original data information.

[0076] Among them, the acquisition equipment can be a three-dimensional industrial camera, a two-dimensional industrial camera, a programmable logic controller (PLC) with a communication link system (Control & Communication Link, CC-Link) interface, and an external wireless device with a wireless communication technology interface, etc.

[0077] In some implementations, the basic control module 121 has a built-in network switch, and the newly added function module 123 is connected to the network switch, so that the newly added function module 123 and the basic control module 121 share resources, thereby further improving the flexibility of the controller 120 .

[0078] Exemplarily, the robot 110 can be connected to the basic control module 121 and the new function module 123 at the same time through a network switch to load the web server-based on the basic control module 121 and the new function module 123, thereby realizing a flexible combination of the human-machine interface (HMI) on the robot 110 body and the human-machine interface (HMI) on the new function module 123, thereby further improving the flexibility of the controller 120.

[0079] It is understandable that the communication between the basic control module 121 and the new functional module 123 is not limited to being connected directly through the network or through a network switch. In some embodiments, the basic control module 121 and the new functional module 123 can also be connected using a high-speed serial computer expansion bus standard (peripheral component interconnect express, PCIe).

[0080] In other implementations, the basic control module 121 and the newly added function module 123 may also exchange data via serial communication or shared memory.

[0081] A controller and a robot system provided in an embodiment of the present application include: a basic control module and at least one expansion interface, wherein: the basic control module is connected to at least one expansion interface through a communication bus; the basic control module is used to control the basic functions of the robot; the expansion interface is used to expand the new function module; the new function module is used to control the new functions of the robot. Thus, the basic functions of the robot can be realized with a basic control module with a lower configuration to reduce the cost of the controller. And the user can expand the new function module through the expansion interface according to actual needs, so as to increase the application performance requirements of the controller through the cooperation between the new function module and the basic control module, thereby realizing the new functions of the robot and improving the flexibility of the controller configuration.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A controller, characterized in that: It includes a basic control module and at least one expansion interface, wherein: The basic control module is respectively connected to the at least one expansion interface via a communication bus; The basic control module is used to control the basic functions of the robot; The expansion interface is used to expand the newly added functional modules; The newly added function module is used to control the newly added functions of the robot.

2. The controller according to claim 1, characterized in that: The basic control module includes a basic power supply, a basic unit and a basic interface, wherein: The basic power supply is connected to the basic unit and the basic interface respectively, and the basic unit is connected to any one of the at least one extended interface and the basic interface respectively; The basic power supply is used to supply power to the basic unit and the basic interface; The basic unit is used to generate an execution instruction according to control information; the control information is generated by the newly added function module to control the robot; The basic interface is used to connect to the robot, and the basic interface is used to output the execution instruction to the robot so that the robot executes the operation corresponding to the execution instruction.

3. The controller according to claim 2, characterized in that: The basic unit includes a connection subunit, a processing subunit and an execution subunit, wherein: The connecting subunit is respectively connected to any one of the at least one extended interface and the processing subunit, the processing subunit is connected to the executing subunit, and the executing subunit is connected to the basic interface; The connection subunit is used to obtain the control information; The processing subunit is used to generate a control parameter according to the control information, and send the control parameter to the execution subunit; The execution subunit is used to generate an execution instruction according to the control parameter.

4. The controller according to claim 2, characterized in that: The basic unit includes at least one of a motion control unit, a sequence control unit, a programming parsing unit and a robot configuration unit.

5. The controller according to claim 1, characterized in that: The basic control module is used to detect the control instruction, and when the function corresponding to the control instruction does not belong to the basic function, determine the target new function corresponding to the control instruction, and send a processing request to the new function module corresponding to the target new function through the communication bus; The newly added functional module is used to generate control information according to the processing request and control the robot according to the control information.

6. The controller according to claim 5, characterized in that: The newly added function module includes a newly added function unit and a newly added power supply, wherein: The newly added power supply is respectively connected to the newly added functional unit and any one of the at least one extended interface, the newly added functional unit is connected to a corresponding extended interface of the at least one extended interface, and the newly added power supply is used to supply power to the newly added functional unit and any one of the at least one extended interface; The newly added functional unit is used to generate the control information according to the processing request, so as to send the control information to the basic control module.

7. The controller according to claim 6, characterized in that: The newly added functional unit includes a memory, a processor and an internal communication interface, wherein: The internal communication interface is connected to the corresponding expansion interface via a communication bus, and the processor is connected to the memory and the internal communication interface respectively; The internal communication interface is used to receive the processing request from the basic control module; The processor is used to generate the control information according to the processing request; The internal communication interface is also used to send the control information to the basic control module.

8. The controller according to claim 7, characterized in that: The newly added functional unit further includes a newly added interface, the newly added interface is connected to the processor, and the newly added interface is used to connect to the acquisition device to receive the original data information sent by the acquisition device; The processor is used to generate the control information according to the processing request and the original data information.

9. The controller according to claim 6, characterized in that: The newly added functional unit includes at least one of a visual processing expansion unit, a communication expansion unit and a control processing expansion unit.

10. The controller according to claim 5, characterized in that: The newly added function module controls the robot according to the control information, including: The newly added function module is used to send the control information to the basic control module; The basic control module is used to generate an execution instruction according to the control information and control the robot according to the execution instruction.

11. The controller according to any one of claims 1 to 10, characterized in that: The basic control module has a built-in network switch, and the newly added function module is connected to the network switch.

12. A robot system, characterized in that: include: A robot and a controller as claimed in any one of claims 1 to 11.

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