A robot domain controller and robot hardware system based on a modular system

Abstract

This utility model discloses a robot domain controller and robot hardware system based on a modular system. The robot domain controller includes a core computing module and a carrier board integrating the following functional circuits: a multi-rate Ethernet interface circuit, a wireless communication module interface, a storage device interface, an audio output interface with integrated power amplifier circuitry, an onboard inertial measurement unit (IMU), and a converged expansion interface. The converged expansion interface is used to connect to external expansion boards to provide robot-specific buses and signals. Adopting the above technical solution can improve integration, interface adaptability, product design level, and reduce costs.

Description

Technical Field

[0001] This utility model relates to the field of robotics, specifically to a robot domain controller and robot hardware system based on a modular system. Background Technology

[0002] Currently, most robot domain controllers use development boards that have issues with interfaces, functionality, size, and cost, which are far from meeting the needs of existing robots.

[0003] The existing technology has the following specific technical defects:

[0004] (1) Interface mismatch and poor scalability: The interface configuration of general development boards (such as CAN, RS485, RS232, high-power audio output, multi-channel high-speed Ethernet, etc.) is fixed and universal, which cannot fully adapt to the specific connection requirements of different robot forms (such as wheeled, legged, and robotic arms) for sensors, actuators, and communication modules. Developers often need to connect a large number of external adapter boards and expansion docks, resulting in a bloated system structure and reduced reliability.

[0005] (2) Non-product-oriented design: The development board focuses on functional verification and prototype development. Its size, mounting holes, heat dissipation design and electrical components (such as power modules) selection are not optimized for the structure, space and working conditions of the robot product, making it difficult to directly integrate into the final product.

[0006] (3) High cost: The aforementioned high-end general-purpose development boards are expensive, and many additional expansion accessories need to be purchased to meet the needs of robot functions, which greatly increases the overall hardware cost of the robot system and is not conducive to mass production and market promotion.

[0007] (4) Low resource utilization: Some interfaces or functions on the development board may be idle in specific robot application scenarios, but users still need to pay for them, resulting in a waste of resources.

[0008] Therefore, the industry urgently needs a highly customizable, interface-rich, plug-and-play, and cost-optimized domain controller for robots to directly meet the design, production, and application needs of commercialized robots. Utility Model Content

[0009] The purpose of this invention is to solve the problems of poor interface compatibility, low system integration, non-product-oriented design, and high overall cost of existing robot domain controllers.

[0010] To address the aforementioned issues, this utility model discloses a robot domain controller based on a modular system, comprising a core computing module and a carrier board integrating the following functional circuits: a multi-rate Ethernet interface circuit, a wireless communication module interface, a storage device interface, an audio output interface with integrated power amplifier circuitry, an onboard inertial measurement unit (IMU), and a converged expansion interface; the converged expansion interface is used to connect to an external expansion board to provide a robot-specific bus and signals.

[0011] Understandably, by pre-integrating the complete set of interfaces required by the robot, and with integrated aggregated expansion interfaces enabling the robot controller to connect to the vast majority of robot sensors and actuators in a "plug-and-play" manner, the integration difficulty of the robot hardware system is greatly simplified, thus solving the interface compatibility problem. Furthermore, by centralizing the dispersed expansion functions onto a custom carrier board, the system structure is compact and reliable, meeting the space, heat dissipation, and reliability requirements of robot products. It can be directly used as a component for mass production and assembly in the final product, achieving high integration and productization. It also avoids purchasing multiple independent development boards and expansion accessories, reducing the cost per board through large-scale customization, and significantly reducing the overall material cost (BOM cost) and assembly cost of the robot's core hardware system, thereby significantly reducing the total system cost. Moreover, onboard integration shortens the signal path, reduces the number of connectors and cables, and reduces the risk of signal attenuation and poor contact, thereby improving communication quality and the overall electromagnetic compatibility (EMC) and reliability of the system.

[0012] According to another specific embodiment of the present invention, the aggregated expansion interface is used to connect a functional expansion board, and the aggregated expansion interface allows for the expansion of at least 10 CAN buses and at least 6 serial communication interfaces.

[0013] According to another specific embodiment of the present invention, the aggregated expansion interface includes a first FPC interface and a second FPC interface; the electrical definition of the first FPC interface supports the expansion of multiple CAN buses; the electrical definition of the second FPC interface supports the expansion of at least three signals from multiple RS485, RS232, TTL serial ports, GPIO, PWM and ADC.

[0014] Understandably, by innovatively using the first FPC interface and the second FPC interface for functional aggregation and extension, the robot domain controller is able to provide aggregation and extension functions.

[0015] According to another specific embodiment of the present invention, the first FPC interface is a 40-pin interface, through which an external expansion board can provide no less than 14 CAN FD bus channels; the second FPC interface is a 24-pin interface.

[0016] According to another specific embodiment of the present invention, the multi-rate Ethernet interface circuit includes at least one of the following: one 10Gbps interface, one 2.5Gbps interface, and one 1Gbps interface; the wireless communication module interface and the storage device interface are both M.2 interfaces.

[0017] According to another specific embodiment of this utility model, the core computing module is an AI chip control module.

[0018] According to another specific embodiment of the present invention, the multi-rate Ethernet interface circuit includes an Ethernet physical layer chip PHY, and the AI ​​chip control module drives the multi-rate Ethernet interface circuit to communicate through its own PCIE interface and RGMII interface.

[0019] According to another specific embodiment of the present invention, the AI ​​chip control module is connected to the wireless communication module, which provides a wireless communication module interface; the AI ​​chip control module is connected to the storage module, which provides a storage device interface.

[0020] This utility model also discloses a robot hardware system, including a robot domain controller based on a modular system as described in any of the above embodiments.

[0021] According to another specific embodiment of the present invention, the robot hardware system further includes a CAN bus expansion board connected through a first FPC interface and a main control signal baseboard connected through a second FPC interface. Attached Figure Description

[0022] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0023] Figure 1 A schematic diagram of a robot domain controller based on a modular system is shown.

[0024] Figure 2 A schematic diagram of another robot domain controller based on a modular system is shown.

[0025] Figure 3 A schematic diagram of another robot domain controller based on a modular system is shown.

[0026] Figure 4 A tree-like functional diagram is shown.

[0027] Figure 5 Another tree-like functional diagram is shown.

[0028] Figure 6 A schematic diagram of a robot hardware system is shown. Detailed Implementation

[0029] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. Although the description of this utility model will be presented in conjunction with preferred embodiments, this does not mean that the features of this utility model are limited to this embodiment. On the contrary, the purpose of describing the utility model in conjunction with the embodiments is to cover other options or modifications that may be derived based on the claims of this utility model. To provide a deep understanding of this utility model, many specific details will be included in the following description. This utility model may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of this utility model, some specific details will be omitted in the description. It should be noted that, without conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0030] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the utility model product is usually placed in during use. They are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the utility model.

[0031] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0032] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "provided with," "set up," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0033] like Figure 1As shown, this utility model application provides a robot domain controller based on a modular system (SoM). The robot domain controller includes a core computing module and a carrier board integrating the following functional circuits: a multi-rate Ethernet interface circuit, a wireless communication module interface, a storage device interface, an audio output interface with integrated power amplifier circuitry, an onboard inertial measurement unit (IMU), and a converged expansion interface. The converged expansion interface is used to connect to external expansion boards to provide robot-specific buses and signals. Furthermore, the multi-rate Ethernet interface circuit provides Ethernet bandwidth under the control of the core computing module; the wireless communication module interface provides wireless communication under the control of the core computing module; the storage device interface transmits stored data under the control of the core computing module; and the onboard IMU provides measurement data to the core computing module.

[0034] Understandably, by pre-integrating the complete set of interfaces required by the robot, and with integrated aggregated expansion interfaces enabling the robot controller to connect to the vast majority of robot sensors and actuators in a "plug-and-play" manner, the integration difficulty of the robot hardware system is greatly simplified, thus solving the interface compatibility problem. Furthermore, by centralizing the dispersed expansion functions onto a custom carrier board, the system structure is compact and reliable, meeting the space, heat dissipation, and reliability requirements of robot products. It can be directly used as a component for mass production and assembly in the final product, achieving high integration and productization. It also avoids purchasing multiple independent development boards and expansion accessories, reducing the cost per board through large-scale customization, and significantly reducing the overall material cost (BOM cost) and assembly cost of the robot's core hardware system, thereby significantly reducing the total system cost. Moreover, onboard integration shortens the signal path, reduces the number of connectors and cables, and reduces the risk of signal attenuation and poor contact, thereby improving communication quality and the overall electromagnetic compatibility (EMC) and reliability of the system.

[0035] Understandably, through innovative interface integration and system architecture design, a high degree of integration and performance optimization of the robot hardware system can be achieved.

[0036] (1) Introduction to the core computing module.

[0037] In some embodiments of this application, the core computing module is an AI chip control module. For example, the AI ​​chip control module can be any modular computing platform with powerful AI computing capabilities and providing abundant high-speed interfaces (such as PCIe, USB, GMS, etc.). For instance, the AI ​​chip control module can include, but is not limited to, the NVIDIA Orin platform, Qualcomm's core module, Horizon Robotics' core module, etc., as long as the interface integration scheme of this application's embodiments is implemented on its carrier board; no limitations are imposed here.

[0038] (2) An introduction to the aggregation extension interface.

[0039] In some embodiments of this application, the aggregated expansion interface is used to connect to a functional expansion board, allowing for the expansion of at least 10 CAN buses and at least 6 serial communication interfaces. Exemplarily, the aggregated expansion interface includes a first FPC interface and a second FPC interface; the electrical definition of the first FPC interface supports the expansion of multiple CAN buses; the electrical definition of the second FPC interface supports the expansion of at least three signals selected from RS485, RS232, TTL serial ports, GPIO, PWM, and ADC. In some implementations, the first FPC interface is a 40-pin interface, through which an external expansion board can provide at least 14 CANFD buses; the second FPC interface is a 24-pin interface. It is understood that the number and arrangement of pins on the two FPC interfaces can be adjusted according to the actual expansion board design.

[0040] Specifically, for the 40-pin first FPC interface, interface expansion can be achieved via PCIe. This is defined as a set of PCIe-compatible expansion interfaces used to connect a dedicated "electrical interface expansion board." This expansion board can further expand to 14 CAN FD buses, meeting the networking needs of numerous CAN devices such as robot joint motors and sensors. This design physically isolates the high-current, multi-node CAN network from the main controller, improving system stability.

[0041] The 24-pin second FPC interface can be defined as a general-purpose signal interface for connecting to the robot's "main control baseboard." This interface centrally outputs 4 RS485 channels, 2 RS232 channels, 2 TTL UART channels, multiple GPIOs (for digital input / output), PWM signals, and an ADC channel. This design consolidates low-speed serial communication and general-purpose control signals into a compact interface, simplifying the internal wiring of the machine.

[0042] (3) The multi-rate Ethernet interface circuit is introduced.

[0043] In some embodiments of this application, the multi-rate Ethernet interface circuit includes at least one of the following: one 10Gbps interface, one 2.5Gbps interface, and one 1Gbps interface.

[0044] In some implementations, the robot domain controller may include a high-speed network communication subsystem. This subsystem integrates one 10Gbps, one 2.5Gbps, and one 1Gbps Ethernet physical layer chip (PHY), driven by the PCIe and RGMII interfaces of an AI chip control module (e.g., an Orin module). This combination understandably meets the robot's needs for simultaneous high-bandwidth sensing data (such as LiDAR and multi-camera) transmission, medium-speed device network communication, and low-speed management network connectivity, replacing multiple external switches or network interface cards (NICs).

[0045] (4) The wireless communication module interface and the storage device interface are introduced.

[0046] In some embodiments of this application, the AI ​​chip control module can be connected to a wireless communication module, which provides a wireless communication module interface; the AI ​​chip control module can also be connected to a storage module, which provides a storage device interface. Both the wireless communication module interface and the storage device interface are M.2 interfaces. The wireless communication module can be a WiFi module, a Bluetooth module, or a combined WiFi and Bluetooth module.

[0047] In some implementations, a self-developed PCIe WiFi / Bluetooth module (such as the RTL8852 chip) can be connected via an M.2 Key M interface to achieve wireless communication. Alternatively, a storage module (such as an NVMe SSD) can be connected via an M.2 Key M interface (supporting PCIe 4x) to provide high-speed local storage. Both are directly integrated into the carrier board, saving space and ensuring a reliable connection.

[0048] (5) The audio output interface with integrated power amplifier circuit and the onboard inertial measurement unit (IMU) are introduced.

[0049] In some implementations, the robot domain controller can integrate an audio codec and a Class D amplifier chip with a maximum output power of 18W to provide high-fidelity audio power output through the audio output interface. In this case, it can directly drive the built-in speakers of a medium-sized robot without the need for an external amplifier.

[0050] For onboard inertial measurement units (IMUs): a 6-axis IMU (gyroscope + accelerometer) can be directly connected via the SPI interface to provide the robot with attitude and motion perception, with low data latency and good synchronization.

[0051] For example, Figure 2 According to some embodiments of this application, another robot domain controller based on a modular system (SoM) is provided. Reference Figure 2The interface corresponding to FPC-0.5MM-40P is the first FPC interface. FPC-0.5MM-40P indicates that this interface is an FPC interface with a pin pitch of 0.5 mm and 40 pins. This first FPC interface can be used to connect to a baseboard or expansion board. Figure 2 The document also explains that PCIe 4.0 4LANE can also be used to expand CAN, USB, Ethernet, etc.

[0052] refer to Figure 2 The interface corresponding to FPC-0.5MM-24P is the second FPC interface. FPC-0.5MM-24P indicates that this interface is an FPC interface with a pin pitch of 0.5 mm and 24 pins. This second FPC interface can be used to connect to a baseboard or expansion board, and can support the expansion of 2 CAN signals, 4 UART signals, 2 IO signals, 1 SPI signal, and 1 USB 2.0 signal. Figure 2 The interface corresponding to the 1Gb Ethernet indicated is one 1Gb Ethernet interface, the interface corresponding to the 10Gb Ethernet indicated is one 10Gb Ethernet interface, and the interface corresponding to the 2.5Gb Ethernet indicated is one 2.5Gb Ethernet interface. Figure 2 The USB 3.1*2 TYPE-C interface and the USB 3.1*2 TYPE-A interface shown can be used as a storage device interface, a wireless communication module interface, and an audio output interface. They can also be used for other functions, which will not be elaborated here. Figure 2 The robot domain controller also includes a debug serial port, a reserved interface, a debug button, a power supply interface, a programming USB interface, and a MINI HDMI interface.

[0053] In addition, Figure 2 The robot domain controller shown is 140mm x 140mm in size, which is very small and saves space in the robot. Furthermore, it is understood that in other embodiments, the robot domain controller may also be of other sizes, which will not be elaborated here.

[0054] It is understood that the carrier board size and mounting hole positions of the robot domain controller provided in this application embodiment can be optimized according to the internal space of common robots, resulting in a compact structure. It also adopts a wide voltage input power module and is designed with multiple high-efficiency DC-DC power circuits to provide stable and clean power for AI chip control modules (such as Orin modules) and various peripheral interfaces, adapting to the robot battery power supply environment.

[0055] Understandably, some embodiments of this application provide a dedicated domain controller that uses an AI chip control module as the core computing hub, deeply customizing and highly integrating various necessary hardware interfaces around typical robot application scenarios. The domain controller provided in some embodiments of this application adopts a modular architecture of "core computing layer + interface extension layer." The core computing layer is a modular, standard AI chip control module, providing powerful AI computing power. The interface extension layer is a self-designed carrier board. The core innovation of this carrier board lies in the integrated and optimized design of the five functional interfaces required by the robot: communication, perception, storage, interaction, and extension. This solves the technical problems of poor interface adaptability, low system integration, non-productized design, and high overall cost that exist in existing general-purpose computing platforms used as robot domain controllers. Understandably, when a robot hardware system deploys a robot domain controller based on a modular system, the innovative interface integration and system architecture design achieve a high degree of integration and performance optimization of the robot hardware system.

[0056] Figure 3 According to some embodiments of this application, a robot domain controller based on a modular system is also provided. Taking an AI chip control module (e.g., the NVIDIA Jetson AGX Orin platform) as an example, the more detailed internal connections of the robot domain controller are further illustrated. Figure 3As shown, the AI ​​chip control module can receive a 12V voltage input. Furthermore, the AI ​​chip control module may include, but is not limited to, three USB 3.1 ports, three USB 2.0 ports, a USB 2.0 programming port, an HDMI port, an I2S port, four UART ports (numbered 1, 2, 3, and 5), an RTC port, RST, PWR_ON, and REC ports, an FPC connection to the baseboard, a PCIe C1 port (one lane), a PCIe C2 port (one lane), a PCIe C3 port (two lanes), a PCIe C4 port (four lanes), a PCIe C5 port (four lanes), a CSI 0 port, a CSI 1 port, ..., a CSI 7 port (each CSI 0-CSI 7 port is one lane), a CAN x2 port (two CAN ports), and an RGMII port. The USB 3.1 interface can be Type-C. It can also connect to a HUB 3.1 X4 module, which configures its four downstream ports as two Type-A interfaces (Type A*2), one M.2 Key E slot for a WiFi / Bluetooth module, and one FPC interface for connecting to the baseboard. The HUB 3.1 X4 module can also be configured with four Type-A interfaces. The USB 2.0 programming interface can be configured as a Type-A interface. The HDMI interface can connect to a MINI HDMI module. The I2S interface can connect to an audio codec (e.g., ALC5640), which is then connected to an amplifier (e.g., 18W) and an electronic connector (e.g., HX254-2P). The I2S interface can also connect to a GH 1.25 audio input module. The UARTX4 interface connects to the DEBUG header. The RTC interface connects to the battery holder. The RST, PWR_ON, and REC interfaces connect to buttons. PCIe C1 can connect to an Ethernet controller chip. PCIe C2 is compatible with an FPC module, which can provide 14-channel CAN signal output. PCIe C3 can connect to a WiFi / Bluetooth module. PCIe C4 can connect to an Ethernet physical layer chip (PHY). PCIe C5 can connect to an M.2 solid-state drive (M.2 SSD). CSI 0-CSI 7 are reserved for future CSI FPC expansion. The RGMII interface can connect to a 1000Mbps network card.

[0057] According to embodiments of this application, an exemplary tree-like functional diagram is also provided. For example... Figure 4 As shown, for a robot domain controller, its core computing module (e.g., an AI chip control module) can provide USB 2.0, USB 3.1, PCIe, CSI, SPI, TTL, HDMI, and RGMII interfaces. The USB 2.0 USB0 channel can be used for OTG, programming, and debugging, and is Type-C. The USB 2.0 USB1 channel connects to the baseboard and can be connected to a 7-port USB hub for interface expansion. The USB 2.0 USB2 channel can be connected to a 4-port USB hub for interface expansion. The USB 2.0 USB3 channel can be connected to a 4-port USB hub for interface expansion. The USB 3.1 USB0 channel can be paired with Type-C. The USB 3.1 USB1 channel can be connected to a 4-port USB 3.0 hub (HUB1) for interface expansion. The USB 3.1 USB2 channel can be connected to a 4-port USB 3.0 hub (HUB2) for interface expansion. The PCIe 1 lane supports Ethernet communication, while the PCIe 4 lane is compatible with M.2 solid-state drives (SSDs). The PCIe 1 lane also serves as a reserved expansion slot for mini PCIe. The CSI interface is configured with four ports, each with four lanes (4x4 lanes). TTL interfaces connect to the backplane, and HDMI interfaces are brought out externally via a mini HDMI connector to provide a mini HDMI interface. Furthermore, Figure 4 The TYPE A and MINI PCIe interfaces highlighted in red indicate the compatible interface types for each USB port. Furthermore, Figure 5 Another tree-structured functional diagram also provides information on the voltage of the robot domain controller. Specifically, the robot domain controller supports a direct 12V power supply and also supports a 24V input that is stepped down to 12V. After receiving the 12V main power supply, the robot domain controller undergoes a secondary step-down through the onboard power system to generate 5V and 3.3V voltages, which power the USB interface, the AI ​​chip control module (such as the AGX Orin module in the diagram), and various peripherals and functional interfaces. Furthermore, for some I / O interfaces or Ethernet interfaces, the 5V needs to be stepped down again to obtain 0.7V, 2V, and 1.8V, etc.

[0058] This utility model also discloses a robot hardware system, including a robot domain controller based on a modular system as described in any of the above embodiments. For example, including the above... Figure 1 , Figure 2 as well as Figure 3 The robot domain controller shown is part of a modular system.

[0059] According to another specific embodiment of the present invention, for a robot hardware system, when the aggregation expansion interface of the robot domain controller includes a first FPC interface and a second FPC interface, the robot hardware system includes a CAN bus expansion board connected through the first FPC interface and a main control signal baseboard connected through the second FPC interface.

[0060] For example, refer to Figure 6 As shown, the robot hardware system provided in this application embodiment may include, for example, Figure 1 , Figure 2 or Figure 3 The robot domain controller shown is based on a modular system. When the aggregation expansion interface of the robot domain controller includes a first FPC interface and a second FPC interface, the robot hardware system also includes a CAN bus expansion board connected to the first FPC interface and a main control signal baseboard connected through the second FPC interface.

[0061] Understandably, when a robot hardware system is deployed with a modular robot domain controller, the robot hardware system can achieve high integration and performance optimization through innovative interface integration and system architecture design.

[0062] Although the present invention has been illustrated and described with reference to certain preferred embodiments, those skilled in the art should understand that the above description is a further detailed explanation of the present invention in conjunction with specific embodiments, and should not be construed as limiting the specific implementation of the present invention to these descriptions. Those skilled in the art can make various changes in form and detail, including some simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. A robot domain controller based on a modular system, characterized in that, The robot domain controller includes a core computing module and a carrier board that integrates the following functional circuits: a multi-rate Ethernet interface circuit, a wireless communication module interface, a storage device interface, an audio output interface with integrated power amplifier circuitry, an onboard inertial measurement unit (IMU), and a converged expansion interface; the converged expansion interface is used to connect to an external expansion board to provide robot-specific buses and signals.

2. The robot domain controller according to claim 1, characterized in that, The aggregated expansion interface is used to connect to the functional expansion board, and the aggregated expansion interface allows for the expansion of at least 10 CAN bus channels and at least 6 serial communication interfaces.

3. The robot domain controller according to claim 1, characterized in that, The aggregated expansion interface includes a first FPC interface and a second FPC interface; the electrical definition of the first FPC interface supports the expansion of multiple CAN buses; the electrical definition of the second FPC interface supports the expansion of at least three signals from RS485, RS232, TTL serial port, GPIO, PWM and ADC.

4. The robot domain controller according to claim 3, characterized in that, The first FPC interface is a 40-pin interface, through which the external expansion board can provide no less than 14 CAN FD bus channels; the second FPC interface is a 24-pin interface.

5. The robot domain controller according to claim 1, characterized in that, The multi-rate Ethernet interface circuit includes at least one of the following: one 10Gbps interface, one 2.5Gbps interface, and one 1Gbps interface; the wireless communication module interface and the storage device interface are both M.2 interfaces.

6. The robot domain controller according to claim 1, characterized in that, The core computing module is an AI chip control module.

7. The robot domain controller according to claim 6, characterized in that, The multi-rate Ethernet interface circuit includes an Ethernet physical layer chip (PHY), and the AI ​​chip control module drives the multi-rate Ethernet interface circuit to communicate through its own PCIe interface and RGMII interface.

8. The robot domain controller according to claim 6, characterized in that, The AI ​​chip control module is connected to the wireless communication module, which provides an interface for the wireless communication module; the AI ​​chip control module is connected to the storage module, which provides an interface for the storage device.

9. A robot hardware system, characterized in that, Including a robot domain controller based on a modular system as described in any one of claims 1-8.

10. The robot hardware system according to claim 9, characterized in that, The aggregation expansion interface in the robot domain controller includes a first FPC interface and a second FPC interface. The robot hardware system includes a CAN bus expansion board connected through the first FPC interface and a main control signal baseboard connected through the second FPC interface.

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