Multi-source sudden stop control system of humanoid robot and humanoid robot

Abstract

The utility model relates to a multi-source emergency stop control system of a humanoid robot and the humanoid robot, and the system comprises a power management board which is integrated with an MCU controller and an emergency stop relay which are connected with each other, a first interface which is connected with the emergency stop relay and is used for accessing a power module, and a second interface which is connected with the MCU controller and is used for accessing an emergency stop switch; and the edge computer is connected with the MCU controller through a third interface, and a network module which is used for receiving external information remotely or remotely and controlling the on-off of the emergency stop relay through the MCU controller is integrated on the edge computer. When the humanoid robot is abnormal, a user can control sudden stop by pressing the sudden stop switch, can remotely control the network module through the remote control handle to achieve sudden stop control, and can remotely control the network module through electronic equipment such as a mobile phone to achieve sudden stop control. The ability of sudden stop control over the robot in various application scenes is achieved, and the reliability of sudden stop control over the humanoid robot is greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of humanoid robots, and in particular to a multi-source emergency stop control system for a humanoid robot and the humanoid robot. Background Art

[0002] Currently in the field of robotics, whether it is an industrial robot or a humanoid robot, because the robot has a certain degree of autonomous movement ability, it can perform tasks according to established programs. However, in the event of program abnormalities or failure of the program or certain components, uncontrollable dangerous situations may occur. In order to ensure the safe use of the robot and prevent the robot from losing control after an abnormal situation occurs, causing damage to the personal safety or property safety of surrounding people.

[0003] The conventional approach is to design a physical emergency stop button on the robot body, or set an emergency stop command switch on a short-range wireless remote control. The internal circuit of the robot body collects and identifies the emergency stop button signal, or receives the wireless remote control signal, and after certain logical judgment, cuts off the internal power supply circuit of the robot to achieve the effect of stopping the mechanical movement of the robot, thereby ensuring the safe use of the robot by humans and having ultimate control over the robot.

[0004] However, the manual emergency stop button installed on the robot itself is not practical when a person is far away, and it cannot be pressed immediately. In special circumstances, even if a person is nearby, the uncontrolled robot may pose a safety threat to the person, making it difficult to press the button accurately or even causing injury during operation. Conventional robot remote controls currently use short-range wireless communication technologies such as Bluetooth and Wi-Fi, which have limited range and cannot effectively control emergency stops in unmanned scenarios. Summary of the Invention

[0005] The embodiments of the present application provide a multi-source emergency stop control system for a humanoid robot and a humanoid robot, so as to solve the problem that the emergency stop control method of a conventional humanoid robot in the related art is difficult to achieve emergency stop control in multiple scenarios.

[0006] A first aspect of an embodiment of the present application provides a multi-source emergency stop control system for a humanoid robot, comprising:

[0007] A power management board, wherein the power management board integrates an MCU controller and an emergency stop relay, a first interface connected to the emergency stop relay and used to access the power module, and a second interface connected to the MCU controller and used to access the emergency stop switch;

[0008] An edge computer is connected to the MCU controller via a third interface, and a network module is integrated on the edge computer for remotely or remotely receiving external information and controlling the on and off of the emergency stop relay via the MCU controller.

[0009] In some embodiments: the power management board also integrates a DCDC module connected to the MCU controller, and the power management board is provided with a fourth interface connected to the DCDC module and used to access the battery module, and the emergency stop relay is connected to the battery module through the fourth interface.

[0010] In some embodiments: the DCDC module includes a first DCDC module and a second DCDC module, the second DCDC module is connected to the edge computer via a third interface, and the second DCDC module is further connected to the motion control computer via the third interface;

[0011] The power management board is provided with a fifth interface connected to the first DCDC module and used to access the limb valve controller, and the motion control computer is connected to the limb valve controller.

[0012] In some embodiments, the MCU controller is connected to a first current sensor for detecting a line current signal between the first DCDC module and the fifth interface, and a second current sensor for detecting a line current signal between the second DCDC module and the third interface.

[0013] In some embodiments: the fourth interface is integrated with a first RS485 interface, the first RS485 interface is connected to the battery module and the MCU controller, and the MCU controller is connected to a voltage and current sensor for detecting the line electrical signal between the fourth interface and the emergency stop relay.

[0014] In some embodiments: the network module is any one or more of a WIFI module, a 3 / 4 / 5G module, a Zigbee module and a Bluetooth module.

[0015] In some embodiments: the power management board is also integrated with a Nb-iot narrowband Internet of Things communication module connected to the MCU controller, and the Nb-iot narrowband Internet of Things communication module is used to receive control instructions from the robot cloud management platform and control the on and off of the emergency stop relay through the MCU controller.

[0016] In some embodiments: a second RS485 interface is integrated on the third interface, and the second RS485 interface is connected to the edge computer and the MCU controller.

[0017] In some embodiments: the network module is wirelessly connected to a remote control device.

[0018] A second aspect of the embodiments of the present application provides a humanoid robot, comprising:

[0019] A humanoid robot body, wherein the humanoid robot body is adapted to be equipped with the multi-source emergency stop control system of the humanoid robot according to any of the above embodiments;

[0020] And a battery module, an emergency stop switch, a limb valve controller, a power module and a motion control computer are installed on the humanoid robot body, the battery module is connected to the fourth interface, the emergency stop switch is connected to the second interface, the limb valve controller is connected to the fifth interface, the power module is connected to the first interface, and the motion control computer is connected to the third interface.

[0021] The beneficial effects of the technical solution provided by this application include:

[0022] An embodiment of the present application provides a multi-source emergency stop control system for a humanoid robot and a humanoid robot. Since the multi-source emergency stop control system of the humanoid robot of the present application is provided with a power management board, the power management board is integrated with an MCU controller and an emergency stop relay that are interconnected, a first interface that is connected to the emergency stop relay and is used to access a power module, and a second interface that is connected to the MCU controller and is used to access the emergency stop switch; an edge computer, which is connected to the MCU controller through a third interface, and the edge computer is integrated with a network module for remotely or remotely receiving external information and controlling the on and off of the emergency stop relay through the MCU controller.

[0023] Therefore, the multi-source emergency stop control system for the humanoid robot of the present application integrates an interconnected MCU controller and an emergency stop relay on the power management board. The MCU controller is connected to the emergency stop switch via a second interface and to the edge computer via a third interface. The MCU controller is used to receive emergency stop control commands from the emergency stop switch and the network module on the edge computer and then perform emergency power-off control on the emergency stop relay. Once the emergency stop relay is disconnected, the power source of the humanoid robot's limbs can be quickly disconnected, completing the emergency stop control of the humanoid robot.

[0024] When a humanoid robot malfunctions, the user can control it by pressing the emergency stop switch if they are near the robot. They can also control the emergency stop by remotely controlling the network module with a remote controller. If the user is not near the robot, they can control the network module remotely with a mobile phone or other electronic device. This application enables the robot to be controlled to stop suddenly in various application scenarios and network environments, greatly improving the reliability of controlling the humanoid robot's emergency stop. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0026] Figure 1 This is a principle block diagram of the multi-source emergency stop control system of the humanoid robot according to an embodiment of the present application.

[0027] Reference numerals:

[0028] 1. Power management board; 2. Second DCDC module; 3. First DCDC module; 4. First current sensor; 5. Second current sensor; 6. Limb valve controller; 7. Motion control computer; 8. Edge computer; 9. 3 / 4 / 5G module; 10. WIFI module; 11. Bluetooth module; 12. Remote control handle; 13. Mobile phone; 14. Wide area network; 15. Robot cloud management platform; 16. MCU controller; 17. Nb-iot narrowband Internet of Things communication module; 18. Emergency stop switch; 19. Power module; 20. Emergency stop relay; 21. Voltage and current sensor; 22. Battery module; 23. First interface; 24. Second interface; 25. Third interface; 26. Fourth interface; 27. Fifth interface. DETAILED DESCRIPTION

[0029] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0030] The embodiments of the present application provide a multi-source emergency stop control system for a humanoid robot and a humanoid robot, which can solve the problem in the related art that the emergency stop control method of a conventional humanoid robot is difficult to achieve emergency stop control in multiple scenarios.

[0031] See also Figure 1 As shown, the first aspect of the embodiment of the present application provides a multi-source emergency stop control system for a humanoid robot, comprising:

[0032] The power management board 1 integrates a first interface 23 interconnecting the MCU controller 16 and the emergency stop relay 20, connected to the emergency stop relay 20 and used to access the power module 19, and a second interface 24 connected to the MCU controller 16 and used to access the emergency stop switch 18. The power module 19 serves as the power source for the humanoid robot. The emergency stop relay 20 supplies power to the power module 19 through the first interface 23. When the MCU controller 16 receives an emergency stop command from the emergency stop switch 18 and controls the emergency stop relay 20 to disconnect the power module 19, the humanoid robot loses power after the power module 19 is deenergized.

[0033] Edge computer 8 is an existing hardware device on the humanoid robot. In this embodiment of the present application, edge computer 8 is connected to MCU controller 16 via third interface 25. Edge computer 8 is integrated with a network module for remotely or remotely receiving external information and controlling the on / off of emergency stop relay 20 via MCU controller 16. The network module is wirelessly connected to a remote control device, which wirelessly sends an emergency stop signal to the network module. The network module receives the emergency stop command from the remote control device and controls the emergency stop relay 20 via MCU controller 16 to disconnect the power module 19.

[0034] The multi-source emergency stop control system for a humanoid robot in this application integrates an interconnected MCU controller 16 and an emergency stop relay 20 on a power management board 1. The MCU controller 16 is connected to the emergency stop switch 18 via a second interface 24 and to the edge computer 8 via a third interface 25. The MCU controller 16 receives emergency stop control commands from the emergency stop switch 18 and the network module on the edge computer 8, and then controls the emergency stop relay 20 to shut off the power. Disconnecting the emergency stop relay 20 quickly disconnects the power source for the humanoid robot's limbs, completing the emergency stop control of the humanoid robot.

[0035] In the embodiment of the present application, when a humanoid robot malfunctions, a user can control the robot to stop by pressing the emergency stop switch 18 if they are near the robot. The user can also remotely control the network module via the remote control handle 12 to achieve the emergency stop. If the user is not near the robot, the user can remotely control the network module via an electronic device such as a mobile phone 13 to achieve the emergency stop. The present application enables the robot to be controlled to stop in a variety of application scenarios and network environments, greatly improving the reliability of controlling the humanoid robot's emergency stop.

[0036] In some alternative embodiments: See Figure 1As shown, an embodiment of the present application provides a multi-source emergency stop control system for a humanoid robot. The power management board 1 of the multi-source emergency stop control system also integrates a DCDC module connected to the MCU controller 16. The power management board 1 is provided with a fourth interface 26 connected to the DCDC module and for accessing the battery module 22. The emergency stop relay 20 is connected to the battery module 22 via the fourth interface 26. The battery module 22 supplies power to the power module 19 through the fourth interface 26 and the emergency stop relay 20.

[0037] The DCDC module includes a first DCDC module 3 and a second DCDC module 2. The second DCDC module 2 is connected to the edge computer 8 via a third interface 25. The second DCDC module 2 is also connected to the motion control computer 7 via the third interface 25. The power management board 1 is provided with a fifth interface 27 connected to the first DCDC module 3 and used to access the limb valve controller 6. The motion control computer 7 is connected to the limb valve controller 6. The first DCDC module 3 is used to independently supply power to the limb valve controller 6, and the second DCDC module 2 supplies power to the motion control computer 7 and the edge computer 8 respectively via the third interface 25.

[0038] The humanoid robot of the present embodiment is hydraulically driven, with power supplied by a battery module 22, after processing by a power management board 1, to components such as the limb valve controllers 6, the power module 19, the motion control computer 7, and the edge computer 8. The power from the battery module 22 is output to the power management board 1 via a fourth interface 26, then to the power module 19 via an emergency stop relay 20. The power is then converted to 24V by a first DC-DC module 3 and a second DC-DC module 2.

[0039] The 24V power output from the first DCDC module 3 is separately supplied to the limb valve controllers 6 via the fifth interface 27. The 24V power output from the second DCDC module 2 is separately supplied to the motion control computer 7 and the edge computer 8 via the third interface 25. The 24V power output from the second DCDC module 2 is further converted to a 3.3V power supply for the MCU controller 16. The humanoid robot described in the embodiments of the present application is a hydraulically driven robot. Cutting off the power to the hydraulic pump of the power module 19 can effectively cut off the power source to the humanoid robot's limbs.

[0040] In some alternative embodiments: See Figure 1As shown, an embodiment of the present application provides a multi-source emergency stop control system for a humanoid robot. The MCU controller 16 of the multi-source emergency stop control system is connected to a first current sensor 4 for detecting the line current signal between the first DCDC module 3 and the fifth interface 27, and a second current sensor 5 for detecting the line current signal between the second DCDC module 2 and the third interface 25. The MCU controller 16 is also connected to a voltage and current sensor 21 for detecting the line electrical signal between the fourth interface 26 and the emergency stop relay 20.

[0041] In this embodiment of the present application, the voltage and current sampling signals of the line between the fourth interface 26 and the emergency stop relay 20 detected by the voltage and current sensor 21 are isolated and input to the MCU controller 16. The line current signal between the first DCDC module 3 and the fifth interface 27 detected by the first current sensor 4 is isolated and input to the MCU controller 16. The line current signal between the second DCDC module 2 and the third interface 25 detected by the second current sensor 5 is directly input to the MCU controller 16. The MCU controller 16 is powered by the 24V power output by the second DCDC module 2, which is further converted to a 3.3V power supply. The second DCDC module 2 controls the closing or opening of the emergency stop relay 20 after I / O signal isolation and amplification.

[0042] In some alternative embodiments: See Figure 1 As shown, the embodiment of the present application provides a multi-source emergency stop control system for a humanoid robot. The fourth interface 26 of the multi-source emergency stop control system is integrated with a first RS485 interface, which is connected to the battery module 22 and the MCU controller 16. The third interface 25 is integrated with a second RS485 interface, which is connected to the edge computer 8 and the MCU controller 16.

[0043] The power management board 1 has two isolated first and second RS485 interfaces. The first RS485 interface connects the battery module 22 and the MCU controller 16, which obtains real-time status information about the battery module 22 during charging and discharging. The second RS485 interface connects the edge computer 8 and the MCU controller 16, which packages and uploads the operating status of the power management board 1 and the battery module 22 to the edge computer 8.

[0044] In some alternative embodiments: See Figure 1As shown, an embodiment of the present application provides a multi-source emergency stop control system for a humanoid robot. The network module of the multi-source emergency stop control system is any one or more of a WiFi module 10, a 3 / 4 / 5G module 9, a Zigbee module, and a Bluetooth module 11. The power management board 1 also integrates an Nb-iot narrowband Internet of Things communication module 17 connected to the MCU controller 16. The Nb-iot narrowband Internet of Things communication module 17 is used to receive control commands from the robot cloud management platform 15 and control the on and off of the emergency stop relay 20 through the MCU controller 16.

[0045] In this embodiment, the power management board 1 is equipped with an Nb-IoT narrowband Internet of Things (NBIOT) communication module 17. This module connects to the robot cloud management platform 15 via the wide area network 14, establishing a network connection to form a first network channel. The uplink of this first network channel uploads real-time operating status information of the power management board 1, while the downlink of this first network channel issues control instructions to the power management board 1 via the robot cloud management platform 15.

[0046] The edge computer 8 of the present embodiment integrates a network module, which is preferably, but not limited to, any one or more of a WiFi module 10, a 3 / 4 / 5G module 9, a Zigbee module, and a Bluetooth module 11. The edge computer 8 collects all operating status information of the power management board 1 via a second RS485 interface. When operating outdoors, it can establish a second connection channel with the wide area network 14 via 5G. When used indoors in a home environment, it establishes a connection channel with the wide area network 14 via 5G and WiFi synchronization. When controlled by a remote control handle 12 or a mobile phone 13, it establishes a connection with the remote control handle 12 or mobile phone 13 via the Bluetooth module 11. Alternatively, a connection channel with the wide area network 14 can be established via the WiFi or 5G network of the mobile phone 13.

[0047] Based on the network connectivity of the power management board 1 and edge computer 8, the remote control handle 12 supporting the humanoid robot, the cloud-based robot management platform 15, and various user mobile terminals such as mobile phones 13, tablets, and PCs, the interconnection capabilities of various links are opened up. NB-IoT links, 5G links, Wi-Fi links, Bluetooth links, and emergency stop switches 18 can play a role in various usage scenarios of the humanoid robot, realizing the control of the emergency stop relay 20 in the power circuit output by the battery module 22, forming a multi-source emergency stop control system.

[0048] For example, when the user is close to the humanoid robot, if the humanoid robot has an abnormality that does not endanger the user, the emergency stop switch 18 can be pressed. The MCU controller 16 detects the emergency stop signal and sends an instruction to cut off the emergency stop relay 20; similarly, if the remote control handle 12 is in the user's hand, the user can press the emergency stop button on the remote control handle 12. After receiving the instruction, the edge computer 8 sends the instruction to the MCU controller 16 through the link formed by the second RS485 interface. The MCU controller 16 further controls the emergency stop relay 20 to cut off the power circuit.

[0049] When the user is far away from the humanoid robot, such as when the user is at work or out, the robot cloud management platform 15 detects that the humanoid robot is in an abnormal state and is out of control. The abnormal information can be pushed to the user's mobile phone 13 through the wide area network 14. After receiving the reminder, the user can quickly send an emergency stop command to the cloud through the mobile phone 13. The cloud sends the command to the power management board 1 or the edge computer 8 through the wide area network 14. After receiving the command, the MCU controller 16 disconnects the emergency stop relay 20 and cuts off the power circuit.

[0050] The low-cost Nb-iot narrowband Internet of Things (IoT) communication module 17, along with the WiFi module 10, 3 / 4 / 5G module 9, Zigbee module, and Bluetooth module 11, implement dual-link backup for the humanoid robot's power management information access to the internet. While the WiFi module 10 and 3 / 4 / 5G module 9 are conveniently integrated into the edge computer 8, the edge computer 8, as the brain of the humanoid robot, undertakes complex computing tasks, and its software system reliability is inferior to that of the MCU controller 16. To avoid the relatively high probability of failure associated with software-based edge computer 8's network connectivity, integrating a low-cost Nb-iot narrowband IoT communication module 17 into the power management board 1 significantly improves the reliability of remote emergency stop functions.

[0051] See also Figure 1 As shown, the second aspect of the embodiment of the present application provides a humanoid robot, comprising:

[0052] A humanoid robot body (not shown), the humanoid robot body being adapted to the multi-source emergency stop control system of the humanoid robot described in any of the above embodiments;

[0053] The battery module 22, emergency stop switch 18, limb valve controller 6, power module 19, and motion control computer 7 are installed on the humanoid robot body. The battery module 22 is connected to the fourth interface 26, the emergency stop switch 18 is connected to the second interface 24, the limb valve controller 6 is connected to the fifth interface 27, the power module 19 is connected to the first interface 23, and the motion control computer 7 is connected to the third interface 25.

[0054] In the description of this application, it should be noted that the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0055] It should be noted that, in this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0056] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.

Claims

1. A multi-source emergency stop control system for a humanoid robot, characterized in that: include: A power management board (1) is integrated with an MCU controller (16) and an emergency stop relay (20) connected to each other, a first interface (23) connected to the emergency stop relay (20) and used to access a power module (19), and a second interface (24) connected to the MCU controller (16) and used to access an emergency stop switch (18); An edge computer (8) is connected to an MCU controller (16) via a third interface (25), and a network module is integrated on the edge computer (8) for remotely or remotely receiving external information and controlling the on / off switching of the emergency stop relay (20) via the MCU controller (16).

2. The multi-source emergency stop control system of a humanoid robot according to claim 1, characterized in that: The power management board (1) is further integrated with a DCDC module connected to the MCU controller (16); the power management board (1) is provided with a fourth interface (26) connected to the DCDC module and used for accessing a battery module (22); the emergency stop relay (20) is connected to the battery module (22) via the fourth interface (26).

3. The multi-source emergency stop control system of a humanoid robot according to claim 2, characterized in that: The DCDC module comprises a first DCDC module (3) and a second DCDC module (2), wherein the second DCDC module (2) is connected to an edge computer (8) via a third interface (25), and the second DCDC module (2) is further connected to a motion control computer (7) via the third interface (25); The power management board (1) is provided with a fifth interface (27) connected to the first DCDC module (3) and used for accessing the limb valve controller (6), and the motion control computer (7) is connected to the limb valve controller (6).

4. A multi-source emergency stop control system for a humanoid robot as claimed in claim 3, characterized in that: The MCU controller (16) is connected to a first current sensor (4) for detecting a line current signal between the first DCDC module (3) and the fifth interface (27), and a second current sensor (5) for detecting a line current signal between the second DCDC module (2) and the third interface (25).

5. The multi-source emergency stop control system for a humanoid robot according to claim 2, characterized in that: The fourth interface (26) is integrated with a first RS485 interface, the first RS485 interface is connected to the battery module (22) and the MCU controller (16), and the MCU controller (16) is connected to a voltage and current sensor (21) for detecting a line electrical signal between the fourth interface (26) and the emergency stop relay (20).

6. The multi-source emergency stop control system for a humanoid robot according to claim 1, characterized in that: The network module is any one or more of a WIFI module (10), a 3 / 4 / 5G module (9), a Zigbee module and a Bluetooth module (11).

7. A multi-source emergency stop control system for a humanoid robot according to claim 1 or 6, characterized in that: The power management board (1) is further integrated with an Nb-iot narrowband Internet of Things communication module (17) connected to the MCU controller (16). The Nb-iot narrowband Internet of Things communication module (17) is used to receive control instructions from the robot cloud management platform (15) and control the on and off of the emergency stop relay (20) through the MCU controller (16).

8. The multi-source emergency stop control system for a humanoid robot according to claim 1, characterized in that: The third interface (25) is integrated with a second RS485 interface, and the second RS485 interface is connected to the edge computer (8) and the MCU controller (16).

9. The multi-source emergency stop control system for a humanoid robot according to claim 1, characterized in that: The network module is wirelessly connected to a remote control device.

10. A humanoid robot, characterized in that: include: A humanoid robot body, wherein the humanoid robot body is adapted to be equipped with the multi-source emergency stop control system of the humanoid robot according to any one of claims 1 to 9; A battery module (22), an emergency stop switch (18), a limb valve controller (6), a power module (19) and a motion control computer (7) are installed on the humanoid robot body, wherein the battery module (22) is connected to the fourth interface (26), the emergency stop switch (18) is connected to the second interface (24), the limb valve controller (6) is connected to the fifth interface (27), the power module (19) is connected to the first interface (23), and the motion control computer (7) is connected to the third interface (25).

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