CN113225705A - Multi-robot data communication system with customized communication interface - Google Patents
Multi-robot data communication system with customized communication interface Download PDFInfo
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
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Abstract
The invention discloses a multi-robot data communication system with a customized communication interface, which comprises a PCB circuit board and a power supply, wherein the power supply is connected with a power interface V1 on the PCB circuit board through a switch; a central processor chip is arranged on the PCB, and an input/output interface of the central processor chip is respectively connected with the data transmission module P3, the gyroscope P4, the wireless communication module P5, the relay P9 and the plurality of reserved modules; the switch is respectively connected with the data transmission module P3, the gyroscope P4, the wireless communication module P5, the relay P9 and the plurality of reservation modules through the voltage stabilizer. The invention provides a heterogeneous auxiliary robot-oriented generalized data communication system, which can realize mutual communication under the condition that a plurality of heterogeneous auxiliary robots have heterogeneous communication data due to different sensor types and communication protocols. The invention provides a communication platform for the auxiliary robots, and increases the compatibility among various auxiliary robots.
Description
Technical Field
The invention relates to the technical field of multi-robot systems, in particular to a system for realizing unified communication data transmission among heterogeneous auxiliary robots.
Background
With the expansion of the application field and range of the robot, the working environment and task complexity of the robot are gradually increased, especially in the scenes of helping the old and the disabled, a single robot is difficult to complete the working task, and particularly, a plurality of heterogeneous auxiliary robots are required to be mutually matched to effectively complete the continuous life behavior assistance. Therefore, communication among a plurality of heterogeneous auxiliary robots is important, and a method for customizing and unifying communication data is needed to realize information sharing of the heterogeneous auxiliary robots in an interaction process, so that an important basis is provided for interaction between a human and a multi-robot system.
At present, domestic patents and products have no communication system facing a plurality of heterogeneous daily life auxiliary robots. In a communication system of a plurality of heterogeneous daily life auxiliary robots, since the type and the communication protocol of an onboard sensor of each heterogeneous robot are different, the robots cannot communicate with each other, that is, the robots cannot share information with each other.
In the application of various heterogeneous robots in indoor complex environments, system performance and communication modes are interfered due to the influence of factors such as multiple moving targets, illumination and the like. In the context of helping the elderly and disabled, a greater variety of sensor data is required for the robots to communicate with each other. Meanwhile, a plurality of isomerization auxiliary robots and different users need to acquire the mutual pose information of the robots, and the users operate the heart rate, the electromyographic signals and the like of the robots, so that a single communication method cannot be realized.
Disclosure of Invention
The invention aims to provide a multi-robot data communication system with a customized communication interface, which realizes the data sharing of bioelectricity signals, position information, orientation information and the like of various structuralized auxiliary robots in the interaction process of a user and the robots. The compatibility of various auxiliary robots is improved, and an application platform is provided for the multi-robot cooperation system.
In order to achieve the purpose, the invention provides the following technical scheme: a multi-robot data communication system with customized communication interfaces comprises a PCB circuit board and a power supply, wherein the power supply is connected with a power supply interface V1 on the PCB circuit board through a switch; the PCB is provided with a central processor chip, a transmission module P3, a gyroscope P4, a wireless communication module P5, a relay P9 and a plurality of reserved modules, and an input/output interface of the central processor chip is respectively connected with the data transmission module P3, the gyroscope P4, the wireless communication module P5, the relay P9 and the plurality of reserved modules;
the switch is respectively connected with the data transmission module P3, the gyroscope P4, the wireless communication module P5, the relay P9 and the plurality of reserved modules through the voltage stabilizer; the data transmission module P3 is connected with the serial port of the heterogeneous auxiliary robot, and the wireless communication module P5 is connected with the control center and other robots through electric signals.
Compared with the prior art, the invention has the beneficial effects that: at present, domestic communication systems for a plurality of isomerization auxiliary robots are not available, and the plurality of isomerization auxiliary robots cannot communicate with each other when simultaneously executing tasks. The invention provides a universal data communication system for heterogeneous auxiliary robots, which can realize communication among a plurality of heterogeneous auxiliary robots under the condition that communication data are heterogeneous due to different sensor types and communication protocols of the heterogeneous auxiliary robots. The invention provides a communication platform for the auxiliary robots, and increases the compatibility among various auxiliary robots.
A plurality of sensor serial ports are reserved in the communication system, when other types of sensors need to be added to a robot connected with the communication system, the sensors can be plugged in the communication system at any time, so that the data types collected by the communication system are more flexible, the problem that the robot cannot import data due to the fact that new functions are added subsequently is well solved, and the expansibility of the communication system is improved.
Drawings
Fig. 1 is a block diagram of a generalized data communication system oriented to heterogeneous auxiliary robots according to the present invention.
Fig. 2 is a connection diagram of each pin of the single chip microcomputer STM32F407ZGT 6.
Fig. 3a and 3b are connection diagrams of double rows 25 x 2 of pins and pins of each module of the single chip microcomputer.
FIG. 4 is a circuit diagram of the LED lamp connection of the present invention.
Fig. 5a is a connection circuit diagram of the reservation module P1 according to the present invention.
Fig. 5b is a circuit diagram of the UWB positioning system connection of the present invention.
Fig. 5c is a circuit diagram of the data transmission module P3 according to the present invention.
Fig. 5d is a circuit diagram of the gyroscope P4 according to the present invention.
Fig. 5e is a circuit diagram of the wireless communication module P5 according to the present invention.
Fig. 5f is a circuit diagram of the heart rate detection module according to the present invention.
Fig. 5g is a circuit diagram of the buzzer P8 according to the present invention.
Fig. 5h is a circuit diagram of the relay P9 according to the present invention.
FIG. 6a is a circuit diagram of the first voltage regulator LM1117 according to the present invention.
FIG. 6b is a circuit diagram of a second voltage regulator LM1117 according to the present invention.
FIG. 6c is a circuit diagram of a voltage regulator 7805 according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present invention provides a technical solution: a multi-robot data communication system with customized communication interfaces comprises a PCB circuit board, wherein a chip, a data transmission module P3, a gyroscope P4, a wireless communication module P5, a buzzer P8, a relay P9 and a plurality of LED lamps are respectively arranged on the PCB circuit board; a switch is communicated between the power interface of the PCB and the VCC power supply; the PCB circuit board is also provided with a plurality of reserved modules.
The type of chip is STM32F407ZGT6 with 25 x 4 pins, corresponding to a dual row 25 x 2 pin card, where the pins of each module on the PCB board are connected to the chip in the connection of fig. 3. The chip STM32F407ZGT6 can process different types of received data in a centralized manner, can convert different types of data into the same system, and can convert the original data into information which is easy to understand for operators and transmit the information to a control center through a wireless communication module.
The data transmission module P3 can connect the invention with the heterogeneous auxiliary robot serial port through the interface, thereby collecting the robot running state data and the carrying sensor data.
The data transmission module P3 has 4 pins, and pin No. 1 is connected with VCC5 port; pin No. 2 is connected with Charr _ TXD and corresponds to a PB11 pin of the chip; pin No. 3 is connected with Charr _ RXD and corresponds to a PB10 pin of the chip; pin No. 4 is grounded. Wherein, the No. 2 pin and the No. 3 pin are connected with the isomerization auxiliary robot, the No. 2 pin transmits data, and the No. 3 pin receives data. (for example, the wheelchair robot motion data and the onboard sensor data are collected, the wheelchair robot serial port is connected with the wheelchair robot through a P3 interface, the interface has 4 pins, the pin 1 is connected with a VCC5 port, the pin 2 is connected with Charr _ TXD, the pin 3 is connected with Charr _ RXD, and the pin 4 is grounded.)
The type of the gyroscope P4 is MPU9250, and data such as the angle, acceleration and course angle of the module and a robot thereof can be measured. The gyroscope is internally integrated with a 3-axis gyroscope, a 3-axis accelerometer and a 3-axis magnetometer, and performs data interaction with a chip STM32F407ZGT6 through a sensor circuit bus interface to measure three-axis steering angle, angular velocity, acceleration and robot course angle data of the robot.
4 pins are totally arranged in the gyroscope P4, and the No. 1 pin is connected with a second 3.3v voltage stabilizer; pin 2 is connected with Gyro _ TXD and corresponds to pin PA1 of the chip; the No. 3 pin is connected with Gyro _ RXD and corresponds to a PA0 pin of the chip; pin No. 4 is grounded. Wherein, pin No. 2 and pin No. 3 are connected with the gyroscope, pin No. 2 transmits data, and pin No. 3 receives data.
The wireless communication module P5 is a 2.4 gzzigbee wireless communication module. The communication module is used for carrying out bidirectional data interaction with a multi-robot control center and other robots after customizing communication protocols of the collected robot data, airborne sensor data and airborne sensor data. Because the data transmitted between the heterogeneous robots have differences, the communication object characteristics are combined to complete the customized communication protocol and the data encoding and decoding processes. After the generalization processing is carried out, the data are transmitted to a multi-robot control center and other isomerization auxiliary robots in a wireless transmission mode, and the communication of the multiple isomerization auxiliary robots is realized.
The wireless communication module P5 has 4 pins, and the pin No. 1 is connected with the first 3.3v voltage stabilizer; the No. 2 pin is connected with Zee _ TXD; the pin No. 3 is connected with Zee _ RXD and corresponds to a PC12 pin of the chip; pin No. 4 is grounded. Wherein, pin 2 and pin 3 are connected with the 2.4GZigbee wireless communication module, pin 2 transmits data, and pin 3 receives data.
The buzzer P8 has 3 pins, and the pin No. 1 is connected with a first 3.3v voltage stabilizer; pin 2 is connected to BEEP, corresponding to PB9 pin of the chip; pin No. 3 is grounded. Where pin number 2 receives the BEEP signal. The buzzer P8 can give out alarm sound when the system is abnormal. When the transmission data fails or an abnormality occurs in the system, the singlechip controls the buzzer to make a sound so as to know the operation condition of the system through the sound.
The relay P9 is used for playing the role of automatic regulation and protection circuit, 4 pins are used in total, and pin No. 1 is connected with a second 3.3v voltage stabilizer; pin 2 is connected to UP, corresponding to PC10 pin of the chip; pin No. 3 is connected with DOWN and corresponds to a PC11 pin of the chip; pin No. 4 is grounded.
The reservation module P1, the reservation module P2, the reservation module P7 and the data transmission module P3 are all connected with a switch through a 5v voltage stabilizer. The model of the 5v voltage stabilizer is 7805-5v, and the output 5v voltage is connected with the reservation module P1, the reservation module P2, the reservation module P7 and the data transmission module P3 through a VCC5 port.
The 7805-5V voltage regulator is used to convert a dc input voltage VCC to a 5V dc output voltage to power other electrical components. The regulator circuit and components are disposed on a PCB circuit board.
The wireless communication module P5 and the buzzer P8 are connected to the switch by a first 3.3v regulator. The first 3.3V voltage stabilizer is model LM1117, and its output 3.3V voltage connects the wireless communication module P5 and the buzzer P8 through the 3V3_1 port.
The gyroscope P4, the relay P9 and the LED lamp are connected with the switch through a second 3.3v voltage stabilizer. The second 3.3V voltage stabilizer is LM1117, and the output 3.3V voltage is connected with the gyroscope P4, the relay P9 and the LED lamp through a 3V3_2 port.
The number of the LED lamps is 4, and the 4 LED lamps are connected in parallel to the port 3V3_ 2. The 4 LED lamps are respectively connected with PB5, PB6, PB7 and PB8 sockets. Which is used to show whether the communication was successful. If the LED lamp flickers once every 0.1s, the system communication is normal.
The number of the reserved module interfaces is 3, and the reserved module interfaces are respectively a reserved module P1, a reserved module P2 and a reserved module P7.
The reserved module P1 has 4 pins, and the No. 1 pin is connected with a VCC5 port; pin 2 is connected with USART6_ TXD and corresponds to PA7 pin of the chip; pin 3 is connected with USART6_ RXD corresponding to PA6 pin of the chip; pin No. 4 is grounded. If other types of sensors are added, the No. 2 and No. 3 pins are connected with the sensors, the No. 2 pin transmits data, and the No. 3 pin receives data.
The reserved module P2 has 4 pins, and the No. 1 pin is connected with a VCC5 port; pin 2 is connected to Local _ TXD, corresponding to pin PA3 of the chip; pin 3 is connected with Local _ RXD and corresponds to PA2 pin of the chip; pin No. 4 is grounded. When the module is connected with a positioning module, the No. 2 pin and the No. 3 pin are connected with the UWB positioning tag, the No. 2 pin transmits data, and the No. 3 pin receives data.
The reserved module P7 has 6 pins, and pins 1, 2 and 3 are connected with a VCC5 port; pin No. 4 has no connection object, and pin No. 5 is connected to Dig _ out, corresponding to pin PE0 of the chip; pin number 6 is grounded.
The reserved interface of the system can be connected with a UWB positioning system, and the position of the positioning label is accurately calculated by combining a Kalman filtering algorithm, so that the indoor position information of the isomerization auxiliary robot can be obtained in real time.
The reserved interface of the system can be connected with a heart rate detection module and connected with a sensor for measuring the heart rate of the user, and the heart rate data of the user can be transmitted into a chip, so that the communication between the user and the isomerization auxiliary robot is realized. Or the module is used for collecting the electromyographic signals of a user, and the electromyographic signal data to be collected is transmitted to the singlechip of the system through the module and is used for processing and analyzing the signals.
According to the invention, a plurality of sensor interfaces are reserved, and if the current sensor interface cannot meet the requirement of collecting novel data types, the interface can be connected with a novel sensor at any time so as to collect various data information, so that the expansibility of the system is greatly improved.
The data transmission module is used for connecting a serial port of the isomerization auxiliary robot, and meanwhile, the system is required to be fixed on the body of the isomerization auxiliary robot, so that the pose information of the isomerization auxiliary robot is synchronous with the system, namely the position information and the orientation information of the system are the information corresponding to the isomerization auxiliary robot. Meanwhile, the invention can receive various data collected by the isomerization auxiliary robot through serial port communication, such as data of speed and direction control of an omnidirectional moving chassis, distance of ultrasonic sensors around the chassis and the like.
The working process of the invention is as follows: the switch is turned to OFF position, and the data transmission module is connected and fixed on the isomerization auxiliary robot, after that, the rest modules are connected with the respective sensors according to the connection mode, and the connection mode of the data transmission port and the data receiving port is noticed to prevent the circuit board from being damaged. And finally, the VCC port is connected into a 12V direct-current voltage source, and the GND port is grounded. The invention starts to work when the switch is turned ON, the universal data of each different structure auxiliary robot and the user can be visually displayed in the control center, and each different structure auxiliary robot can obtain the mutual information, so that the interaction can be better realized and the mutual communication can be realized. The operator can control all data in real time in the control center, and can effectively and quickly process and analyze the data in the next step.
The specific functions are as follows:
(function one) expansibility: the system of the invention carries a plurality of sensors on board and reserves a plurality of sensor interfaces, thus having stronger expansion capability. In the interaction process of a user and the robot, heart rate signals and position information of the user, data of the speed and the direction of a chassis of each heterogeneous auxiliary robot, data of the distance around the chassis, data of the acceleration and the course angle direction of the robot and the like can be collected and transmitted to a main control system, and after unified processing and customized communication protocols of the main control system, the data are transmitted to a multi-robot control center and other heterogeneous auxiliary robots through an infinite transmission module.
(function two) customized communication protocol: various data of the connected robot and the user can be obtained by connecting various sensors of different types, and according to the data types, the system can generate customized communication protocols for the data, so that a basis is provided for mutual interaction of multiple robots and control of a multiple robot system.
(function three) multi-heterogeneous robot communication: the invention is connected to each isomerization auxiliary robot in the mode, aiming at the problem that the communication data are different due to different communication protocols and different sensor types of each isomerization robot, the invention combines the customized communication protocol of the invention to realize the mutual communication of the data of a plurality of isomerization auxiliary robots through the wireless communication module, thereby obtaining the mutual position and orientation information of the robots and the information of users.
Examples
Taking the communication between the system of the invention and some auxiliary robot with omni wheels as an example, firstly, the system of the invention is connected with a serial port of the robot, and a communication protocol is customized by combining the robot mechanism, a control system and a sensor type, wherein the communication protocol format of the control panel of the robot is controlled by sending instructions according to the invention as follows:
invention system → robot control board
Wherein,
enable (Enable bit)
: 0 Motor driven Command invalid (Motor free State)
: 1 Motor drive Command effective (Motor movement according to Direction, Speed command)
Direction (Direction)
: 0 direction of rotation of the motor CCW, i.e. counter-clockwise
: 1 direction of rotation CW of the motor, i.e. clockwise
Speed (Motor Speed)
：0～255(8bit 0x00～0xFF)
Lowest speed at 0 hour and maximum speed at 255 hours
Table UP (robot height ascending adjustment)
: 0 no action
: 1 raising the handrail
Table DOWN (robot height descending adjustment)
: 0 no action
: 1 the handrail descends
Setting a communication rule: the system sends data in the above format to the robot every 100 milliseconds. If the machine does not receive the above-described formatted data sent from the system for more than 500 milliseconds, the robot motor will be shut down. The FCS is a frame check code, which is the result of performing an exclusive or operation from the Start code to the end of all data (i.e., data before the FCS).
After the robot control board transmits the robot body data to the system, the robot motion data, the robot installation sensor data and the inventive system sensor data are combined to generate a customized communication protocol. The protocol is used for transmitting unified overall data to the multi-robot control center and other heterogeneous auxiliary robots in a wireless transmission mode, and achieving overall communication of a multi-robot system and communication among heterogeneous robots. The communication protocol format is as follows:
output format of Out2 is:
"1_ OP:% 1d,% 1d,% 1d,% 1d,% 1d,% 1d,% 1d,% 1d,% 1d \ r \ n", ems, OPE _ MODE, SPEED _ MODE, PB _ SW, JOYSW _ X, JOYSW _ Y, JOYSW _ Z, TBL _ UP, TBL _ DN, operation information functioning as a transmission switch:
the output format of Out3 is:
"2_ SN,% 4d,% 4d,% 4d,% 4d,% 4d,% 4df \ r \ n", FR, FL, RR, LL, BR, BL, and functions to transmit the output signals of the six different-direction ultrasonic sensors embedded in the robot body.
FR, FL, RR, LL, BR, BL are right front, left front, right, left, right back, left back directions, respectively.
The output format of Out4 is:
the 3_ RS, +4d,% +4d,% +4d,% +4d \ r \ n ", FR, FL, BR, BL, are used for sending the rotation information of the front right motor, the front left motor, the rear right motor and the rear left motor in the robot body.
The output format of Out5 is:
the robot comprises a robot body, a sensor control system and a controller, wherein the sensor control system comprises a controller and a controller, wherein the controller is used for controlling the sensor control system to control the sensor control system. RF, RC, RB, LF, LC, LB are right front, right middle, right back, left front, left middle, left back, respectively.
The output format of Out6 is:
"5_ PS, +5d,% +5d,% +5d,% +5d,% +5d,% +5d \ r \ n", acc _ x, acc _ y, acc _ z, gyro _ x, gyro _ y, gyro _ z, which is used to measure the output signal of each robot attitude by the gyroscope in the system of the present invention:
| acc_x | acceleration X-axis, i.e. X-axis Acceleration |
| acc_y | Acceleration Y-axis, i.e. Y-axis Acceleration |
| acc_z | Acceleration Z-axis, i.e. Z-axis Acceleration |
| gyro_x | Angular speed X-axis, i.e. X-axis angle |
| gyro_y | Angular speed Y-axis, i.e. Y-axis angle |
| gyro_z | Angular speed Z-axis, i.e. Z-axis angle |
By the invention, the motion information of the robot body, the information of the self-carried sensor, the external sensor and the onboard sensor of the robot can be integrated, a communication protocol is unified, and the information can be conveniently transmitted to a central control system and other robot systems.
Claims (10)
1. A multi-robot data communication system with customized communication interfaces, comprising: the system comprises a PCB circuit board and a power supply, wherein the power supply is connected with a power supply interface V1 on the PCB circuit board through a switch; the PCB is provided with a central processor chip, a transmission module P3, a gyroscope P4, a wireless communication module P5, a relay P9 and a plurality of reserved modules, and an input/output interface of the central processor chip is respectively connected with the data transmission module P3, the gyroscope P4, the wireless communication module P5, the relay P9 and the plurality of reserved modules;
the switch is respectively connected with the data transmission module P3, the gyroscope P4, the wireless communication module P5, the relay P9 and the plurality of reserved modules through the voltage stabilizer; the data transmission module P3 is connected with the serial port of the heterogeneous auxiliary robot, and the wireless communication module P5 is connected with the control center and other robots through electric signals.
2. The multi-robot data communication system with customized communication interface as recited in claim 1, wherein: the model of the central processor chip is STM32F407ZGT 6;
the data transmission module P3 has 4 pins, and pin No. 1 is connected with VCC5 port; pin No. 2 is connected with Charr _ TXD and corresponds to a PB11 pin of the chip; pin No. 3 is connected with Charr _ RXD and corresponds to a PB10 pin of the chip; the No. 4 pin is grounded; the No. 2 pin and the No. 3 pin are connected with the isomerization auxiliary robot, the No. 2 pin transmits data, and the No. 3 pin receives data;
the type of the gyroscope P4 is MPU9250, a 3-axis gyroscope, a 3-axis accelerometer and a 3-axis magnetometer are integrated in the gyroscope P4, data interaction is carried out through a sensor circuit bus interface and a chip, and the data interaction is used for measuring three-axis steering angle, angular velocity, acceleration and robot course angle data of the robot; 4 pins are totally arranged in the gyroscope P4, and the No. 1 pin is connected with the voltage stabilizer; the No. 2 pin is connected with Gyro _ TXD and corresponds to a PA1 pin of the central processor chip; the No. 3 pin is connected with Gyro _ RXD and corresponds to a PA0 pin of the chip; the No. 4 pin is grounded;
the wireless communication module P5 is a 2.4GZigbee wireless communication module; the wireless communication module P5 has 4 pins, and the No. 1 pin is connected with the voltage stabilizer; the No. 2 pin is connected with Zee _ TXD; the pin No. 3 is connected with Zee _ RXD and corresponds to a PC12 pin of the chip; the No. 4 pin is grounded;
4 pins are totally arranged in the relay P9, and the No. 1 pin is connected with the voltage stabilizer; pin 2 is connected to UP, corresponding to PC10 pin of the chip; pin No. 3 is connected with DOWN and corresponds to a PC11 pin of the chip; pin No. 4 is grounded.
3. The multi-robot data communication system with customized communication interface as recited in claim 1, wherein: the number of the reserved module interfaces is 3, and the reserved module interfaces are respectively a reserved module P1, a reserved module P2 and a reserved module P7;
the reserved module P1 has 4 pins, and the pin No. 1 is connected with the voltage stabilizer; pin 2 is connected with USART6_ TXD and corresponds to PA7 pin of the chip; pin 3 is connected with USART6_ RXD corresponding to PA6 pin of the chip; the No. 4 pin is grounded;
the reserved module P2 has 4 pins, and the pin No. 1 is connected with the voltage stabilizer; pin 2 is connected to Local _ TXD, corresponding to pin PA3 of the chip; pin 3 is connected with Local _ RXD and corresponds to PA2 pin of the chip; the No. 4 pin is grounded;
the reserved module P7 has 6 pins, and pins 1, 2 and 3 are connected with the voltage stabilizer; pin No. 4 has no connection object, and pin No. 5 is connected to Dig _ out, corresponding to pin PE0 of the chip; pin number 6 is grounded.
4. The multi-robot data communication system with customized communication interface as recited in claim 1, wherein: the input/output interface of the central processor chip is respectively connected with the buzzer P8 and the plurality of LED lamps; the switch is respectively connected with the buzzer P8 and the LED lamps through the voltage stabilizer.
5. The multi-robot data communication system with customized communication interface as recited in claim 4, wherein: the buzzer P8 has 3 pins, and the pin No. 1 is connected with the voltage stabilizer; pin 2 is connected to BEEP, corresponding to PB9 pin of the chip; the No. 3 pin is grounded and used for giving out an alarm sound when the system is abnormal;
the number of the LED lamps is 4, and the 4 LED lamps are connected in parallel with the voltage stabilizer; the 4 LED lamps are respectively connected with PB5, PB6, PB7 and PB8 sockets of the chip.
6. The multi-robot data communication system with customized communication interface as recited in claim 3, wherein: the reservation module P1, the reservation module P2, the reservation module P7 and the data transmission module P3 are all connected with a switch through a 5v voltage stabilizer;
the model of the 5v voltage stabilizer is 7805-5v, and the 5v voltage stabilizer is connected with the reservation module P1, the reservation module P2, the reservation module P7 and the data transmission module P3 through a VCC5 port.
7. The multi-robot data communication system with customized communication interface as recited in claim 5, wherein: the wireless communication module P5 and the buzzer P8 are connected with a switch through a first 3.3v voltage stabilizer; the first 3.3V voltage stabilizer is LM1117, and the first 3.3V voltage stabilizer is connected with the wireless communication module P5 and the buzzer P8 through a 3V3_1 port.
8. The multi-robot data communication system with customized communication interface as recited in claim 4, wherein: the gyroscope P4, the relay P9 and the LED lamp are connected with the switch through a second 3.3v voltage stabilizer; the model of the second 3.3V voltage stabilizer is LM1117, and the second 3.3V voltage stabilizer is connected with the gyroscope P4, the relay P9 and the LED lamp through a 3V3_2 port.
9. The multi-robot data communication system with customized communication interface as recited in claim 1, wherein: the system further comprises a UWB positioning system, wherein the UWB positioning system is connected with the reservation module and used for acquiring indoor position information of the isomerization auxiliary robot in real time.
10. The multi-robot data communication system with customized communication interface as recited in claim 1, wherein: still include heart rate detection module, heart rate detection module connects and reserves the module for carry out the communication between user and the isomerization auxiliary robot.
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