CN113225705A - Multi-robot data communication system with customized communication interface - Google Patents

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

A multi-robot data communication system with customized communication interface

technical field

The invention relates to the technical field of multi-robot systems, in particular to a system for realizing unified communication data transmission between heterogeneous auxiliary robots.

Background technique

With the expansion of the application field and scope of robots, the working environment and task complexity of robots are also gradually increasing. Especially in the scenario of helping the elderly and the disabled, it is difficult for a single robot to complete the work tasks, especially the need for multiple heterogeneous auxiliary robots to interact with each other. Cooperation can effectively complete the continuous life behavior assistance. Therefore, the communication between multiple heterogeneous auxiliary robots is particularly important, and a customized and unified method based on communication data is required to realize the information sharing of various heterogeneous auxiliary robots in the interaction process, and to facilitate the interaction between humans and multi-robot systems. provide an important foundation.

At present, there is no communication system for multiple heterogeneous daily life assistant robots in domestic patents and products. In the communication system of multiple heterogeneous daily life assistance robots, because the airborne sensor types and communication protocols of each heterogeneous robot are different, the robots cannot communicate with each other, that is, the sharing of information between the robots cannot be realized.

In the application of various heterogeneous robots in complex indoor environments, due to the influence of multiple moving targets, illumination and other factors, the system performance and communication methods are disturbed. For the scenarios of helping the elderly and the disabled, more types of sensor data are needed for robots to communicate with each other. At the same time, multiple isomerized auxiliary robots and different users need to collect the position and posture information of the robots, and the users manipulate the heart rate and electromyographic signals of the robots, which cannot be realized by a single communication method.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a multi-robot data communication system with a customized communication interface, which realizes the data sharing of bioelectric signals, position information and orientation information of each isomerized auxiliary robot during the interaction between the user and the robot. Improve the compatibility of various auxiliary robots and provide an application platform for the multi-robot collaborative system.

In order to achieve the above purpose, the present invention provides the following technical solutions: a multi-robot data communication system with a customized communication interface, the system includes a PCB circuit board and a power supply, the power supply is connected to the power supply interface V1 on the PCB circuit board through a switch Connection; the PCB circuit board is provided with a CPU chip, a transmission module P3, a gyroscope P4, a wireless communication module P5, a relay P9 and a plurality of reserved modules, and the input/output interfaces of the CPU chip are respectively connected to the data transmission module P3 , gyroscope P4, wireless communication module P5, relay P9 and multiple reserved modules;

The switch is connected to the data transmission module P3, the gyroscope P4, the wireless communication module P5, the relay P9 and several reserved modules respectively through the voltage regulator; the data transmission module P3 is connected to the serial port of the heterogeneous auxiliary robot, and the wireless communication module P5 is electrically connected. Signals connect the control center and other robots.

Compared with the prior art, the present invention has the beneficial effects that there is currently no communication system for multiple isomerized auxiliary robots in China, and when multiple isomerized robots perform tasks at the same time, they cannot communicate with each other. However, the present invention proposes a generalized data communication system for heterogeneous auxiliary robots, which can realize the communication between multiple heterogeneous auxiliary robots when the communication data is heterogeneous due to the difference of their respective sensor types and communication protocols. communication. The present invention provides a communication platform for the isomerization auxiliary robots, and increases the compatibility between various isomerization auxiliary robots.

A plurality of sensor serial ports are reserved in the communication system of the present invention. When the robot connected by the present invention needs to add other types of sensors, plug and play can be used, and the required sensors can be inserted into the communication system of the present invention at any time, so that the The type of data collected by the communication system is more flexible, which solves the problem that the robot cannot import data after adding new functions, and improves the scalability of the communication system.

Description of drawings

FIG. 1 is a block diagram of a generalized data communication system for heterogeneous auxiliary robots according to the present invention.

FIG. 2 is a connection diagram of each pin of the microcontroller STM32F407ZGT6 of the present invention.

3a and 3b are the pin connection diagrams of the double row 25*2 pins of the single-chip microcomputer of the present invention and each module.

FIG. 4 is a connection circuit diagram of the LED lamp of the present invention.

FIG. 5a is a connection circuit diagram of the reserved module P1 of the present invention.

FIG. 5b is a connection circuit diagram of the UWB positioning system of the present invention.

FIG. 5c is a connection circuit diagram of the data transmission module P3 of the present invention.

FIG. 5d is a connection circuit diagram of the gyroscope P4 of the present invention.

FIG. 5e is a connection circuit diagram of the wireless communication module P5 of the present invention.

FIG. 5f is a connection circuit diagram of the heart rate detection module of the present invention.

FIG. 5g is the connection circuit diagram of the buzzer P8 of the present invention.

FIG. 5h is a circuit diagram of the connection of the relay P9 of the present invention.

Figure 6a is a circuit connection diagram of the first voltage regulator LM1117 of the present invention.

Figure 6b is a circuit connection diagram of the second voltage regulator LM1117 of the present invention.

FIG. 6c is a circuit connection diagram of the voltage regulator 7805 of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts 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 a customized communication interface, comprising a PCB circuit board, which are respectively provided with a chip, a data transmission module P3, and a gyroscope P4 , wireless communication module P5, buzzer P8, relay P9 and multiple LED lights; there is a switch between the power interface of the PCB circuit board and the VCC power supply; the PCB circuit board also has a number of reserved modules.

The type of the chip is STM32F407ZGT6. The chip has 25*4 pins, which correspond to double-row 25*2-pin plug-ins respectively. The pins of each module on the PCB are connected to the chip according to the connection method shown in Figure 3. The chip STM32F407ZGT6 can centrally process different types of data received, convert different types of data into the same system, and also convert the original data into information that is easy for operators to understand and transmit to the control center through the wireless communication module.

The data transmission module P3 can connect the present invention with the serial port of the heterogeneous auxiliary robot through this interface, so as to collect the data of the robot running state and the data of the mounted sensor.

The data transmission module P3 has a total of 4 pins. Pin 1 is connected to the VCC5 port; Pin 2 is connected to Chair_TXD, which corresponds to the PB11 pin of the chip; Pin 3 is connected to Chair_RXD, which corresponds to the PB10 pin of the chip; pin to ground. Among them, pins 2 and 3 are connected to the isomerization auxiliary robot, pin 2 transmits data, and pin 3 receives data. (For example: collect wheelchair robot motion data and airborne sensor data, and connect the present invention with the wheelchair robot serial port through the P3 interface. This interface has 4 pins in total, and pin No. 1 is connected to the VCC5 port; pin No. 2 is connected to Chair_TXD; 3 Pin No. 4 is connected to Chair_RXD; Pin No. 4 is grounded.)

The model of the gyroscope P4 is MPU9250, which can measure the angle, acceleration and heading angle of the module and its robot. The gyroscope is internally integrated with a 3-axis gyroscope, a 3-axis accelerometer and a 3-axis magnetometer. It exchanges data with the chip STM32F407ZGT6 through the sensor circuit bus interface, and is used to measure the robot's three-axis steering angle, angular velocity, acceleration and robot heading angle data. .

The gyroscope P4 has a total of 4 pins, the No. 1 pin is connected to the second 3.3v voltage regulator; the No. 2 pin is connected to Gyro_TXD, which corresponds to the PA1 pin of the chip; the No. 3 pin is connected to Gyro_RXD, which corresponds to the chip's PA0 tube pin; pin 4 is grounded. Among them, pins 2 and 3 are connected to the gyroscope, pin 2 transmits data, and pin 3 receives data.

The wireless communication module P5 is a 2.4G Zigbee wireless communication module. The communication module is used to conduct bidirectional data interaction with the multi-robot control center and other robots after customizing the communication protocol of the collected robot data, airborne sensor data and onboard sensor data. Due to the differences in the data transmitted between heterogeneous robots, it is necessary to combine the characteristics of the communication object to complete the customized communication protocol and data encoding and decoding process. After generalization processing, it is transmitted to the multi-robot control center and other heterogeneous auxiliary robots through wireless transmission, so as to realize the communication of multiple heterogeneous auxiliary robots.

The wireless communication module P5 has a total of 4 pins, pin 1 is connected to the first 3.3v voltage regulator; pin 2 is connected to Zee_TXD; pin 3 is connected to Zee_RXD, which corresponds to the PC12 pin of the chip; pin 4 is grounded . The No. 2 and No. 3 pins are connected to the 2.4G Zigbee wireless communication module, the No. 2 pin transmits data, and the No. 3 pin receives data.

The buzzer P8 has a total of 3 pins, the No. 1 pin is connected to the first 3.3v voltage regulator; the No. 2 pin is connected to BEEP, which corresponds to the PB9 pin of the chip; the No. 3 pin is grounded. Among them, pin 2 receives the BEEP signal. When the system is abnormal, the buzzer P8 can issue an alarm sound. When the transmission of data fails or there is an abnormality in the system, the single-chip microcomputer will control the buzzer to make a sound, so as to know the operation of the system through the sound.

Relay P9 is used to play the role of automatic adjustment and protection circuit. There are 4 pins in total. No. 1 pin is connected to the second 3.3v voltage regulator; No. 2 pin is connected to UP, which corresponds to the PC10 pin of the chip; No. 3 The pin is connected to DOWN, which corresponds to the PC11 pin of the chip; pin 4 is grounded.

The reserved module P1, the reserved module P2, the reserved module P7 and the data transmission module P3 are all connected to the switch through a 5v voltage regulator. The model of the 5v regulator is 7805-5v, and the output 5v voltage is connected to the reserved module P1, the reserved module P2, the reserved module P7 and the data transmission module P3 through the VCC5 port.

The 7805-5v regulator is used to convert the DC input voltage VCC to a 5V DC output voltage to power other electrical components. The voltage regulator circuit and components are provided on the PCB circuit board.

The wireless communication module P5 and the buzzer P8 are connected to the switch through the first 3.3v voltage regulator. The model of the first 3.3v voltage regulator is LM1117, and the output 3.3v voltage is connected to the wireless communication module P5 and the buzzer P8 through the 3V3_1 port.

The gyroscope P4, relay P9 and the LED light are connected to the switch via a second 3.3v regulator. The model of the second 3.3v regulator is the same as LM1117, and the output 3.3v voltage is connected to the gyroscope P4, the relay P9 and the LED light through the 3V3_2 port.

The number of LED lights is 4, and the 4 LED lights are connected in parallel to the 3V3_2 port. The 4 LED lights are connected to the PB5, PB6, PB7 and PB8 sockets respectively. It is used to show whether the communication was successful. If the LED light flashes once every 0.1s, it means the system communication is normal.

The number of reserved module interfaces is 3, which are reserved module P1, reserved module P2 and reserved module P7 respectively.

The reserved module P1 has a total of 4 pins, the No. 1 pin is connected to the VCC5 port; the No. 2 pin is connected to USART6_TXD, which corresponds to the PA7 pin of the chip; the No. 3 pin is connected to USART6_RXD, which corresponds to the chip's PA6 pin; No. 4 pin to ground. If other types of sensors are added, the No. 2 and No. 3 pins are connected to the sensor, the No. 2 pin transmits data, and the No. 3 pin receives data.

The reserved module P2 has a total of 4 pins, the No. 1 pin is connected to the VCC5 port; the No. 2 pin is connected to Local_TXD, which corresponds to the PA3 pin of the chip; the No. 3 pin is connected to Local_RXD, which corresponds to the chip's PA2 pin; No. 4 pin to ground. When the module is connected to the positioning module, the No. 2 pin and No. 3 pin are connected to the UWB positioning label, the No. 2 pin transmits data, and the No. 3 pin receives data.

The reserved module P7 has a total of 6 pins, pins 1, 2 and 3 are connected to the VCC5 port; pin 4 has no connection object, pin 5 is connected to Dig_out, which corresponds to the PE0 pin of the chip; pin 6 is grounded .

The reserved interface of the system of the present invention can be connected to the UWB positioning system, and by combining the Kalman filter algorithm, the position of the positioning tag can be accurately calculated, and the indoor position information of the isomerization auxiliary robot can be obtained in real time.

The reserved interface of the system of the present invention can be connected to the heart rate detection module to connect the sensor for measuring the user's heart rate, and the user's heart rate data can be transmitted to the chip to realize the communication between the user and the isomerized auxiliary robot. Or used to collect the user's EMG signal, and connect the EMG signal sensor through this module to transmit the EMG signal data to be collected to the single-chip microcomputer of the system for signal processing and analysis.

The invention reserves a plurality of sensor interfaces. If the current sensor interface cannot meet the collection of new types of data, the interface can be connected to the new sensor at any time to collect various data information, which greatly improves the expandability of the system.

The data transmission module of the present invention is used to connect the serial port of the isomerization auxiliary robot. At the same time, the system of the invention needs to be fixed on the body of the isomerization auxiliary robot, so that the pose information of the isomerization auxiliary robot is synchronized with the system of the invention, that is, The position information and orientation information of the system of the present invention are the information corresponding to the isomerized auxiliary robot. At the same time, the present invention can receive various data collected by the isomerization auxiliary robot through serial communication, such as the speed of moving the chassis in all directions, the direction control and the distance of ultrasonic sensors around the chassis.

The work flow of the present invention is as follows: first, turn the switch to OFF, and connect and fix the data transmission module of the present invention on the isomerization auxiliary robot. After that, the other modules of the present invention are connected to the When connecting the respective sensors, pay attention to the connection method of the data transmission port and the data receiving port to prevent damage to the circuit board. Finally, connect the VCC port to a 12V DC voltage source, and connect the GND port to ground. Turn the switch to ON, at this time the invention starts to work, the generalized data of each isomerized auxiliary robot and the user can be visually displayed in the control center, and each isomerized auxiliary robot will also obtain each other's information, which is better to realize interact and communicate with each other. Operators can control various 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 1) Scalability: The system of the present invention has a variety of sensors onboard and a variety of sensor interfaces are reserved, and has strong expansion ability. When the user interacts with the robot, the user's heart rate signal, position information, the speed and direction of the chassis of each isomerized auxiliary robot, and the distance data around the chassis, as well as the robot's acceleration and heading angle, etc. data can be collected and processed. After the data is transmitted to the main control system, through the unified processing of the main control system and the customized communication protocol, the data is transmitted to the multi-robot control center and other heterogeneous auxiliary robots through the infinite transmission module.

(Function 2) Customized communication protocol: Various data of the connected robot and user of the present invention can be obtained by connecting a variety of different types of sensors. According to the data type, the system of the present invention can Multi-robot interaction with each other and multi-robot system control provide the basis.

(Function 3) Multi-heterogeneous robot communication: The present invention is connected to each isomerized auxiliary robot in the above-mentioned manner. For different communication protocols of each isomerized robot and different sensor types, different communication data problems are caused. The customized communication protocol realizes the mutual communication of data of multiple heterogeneous auxiliary robots through the wireless communication module, so as to obtain the position, orientation information and user information of the robots.

Example

Taking the communication between the system of the present invention and a certain auxiliary robot with omnidirectional wheels as an example, firstly, the present invention is connected to the serial port of the robot, and the communication protocol is customized in combination with the robot mechanism, control system, and sensor type as an example, wherein the present invention sends an instruction to control The communication protocol format of the robot control board is as follows:

System of the present invention→Robot control board

in,

Enable (enable bit)

: 0 The command of motor drive is invalid (motor free state)

: 1 The command of the motor drive is valid (the motor moves according to the command of Direction and Speed)

Direction (direction bit)

: 0 the rotation direction of the motor CCW, that is, counterclockwise

: 1 The rotation direction of the motor is CW, that is, clockwise

Speed (motor speed)

: 0～255 (8bit 0x00～0xFF)

Lowest speed at 0, maximum speed at 255

table UP (robot height up adjustment)

: 0 no action

: 1 lift plate

table DOWN (Robot Height Down Adjustment)

: 0 no action

: 1 lift plate down

Set communication rules: The system sends data in the above format to the robot every 100 milliseconds. If the machine does not receive the data in the above format sent from the system for more than 500 milliseconds, the robot motor will stop. FCS is a frame check code, which is the result of performing an XOR operation from the Start code to the end of all data (ie, data before FCS).

After the robot control board transmits the data of the robot body to the system of the invention, it combines the robot motion data, the sensor data of the robot installation and the sensor data of the invention system to generate a customized communication protocol. This protocol is used to transmit the unified overall data to the multi-robot control center and other heterogeneous auxiliary robots through wireless transmission, so as to realize the overall communication of the multi-robot system and the communication between the heterogeneous robots. The communication protocol format is as follows:

1. The 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, the function is to send the operation information of the switch:

2. The output format of Out3 is:

"2_SN,％4d,％4d,％4d,％4d,％4d,％4df\r\n",FR,FL,RR,LL,BR,BL, the function is to send ultrasonic waves in six different directions embedded in the robot body the output signal of the sensor.

FR, FL, RR, LL, BR, BL are right front, left front, right, left, right rear, and left rear directions, respectively.

3. The output format of Out4 is:

"3_RS,％+4d,％+4d,％+4d,％+4d\r\n",FR,FL,BR,BL, the function is to send the rotation of the front right, front left, rear right and rear left motors in the robot body information.

4. The output format of Out5 is:

"4_LS,%+4d,%+4d,%+4d,%+4d,%+4d,%+4d\r\n",RF,RC,RB,LF,LC,LB, the function is to send the post installation in The six pressure sensors on the robot output signals. RF, RC, RB, LF, LC, LB are right front, right middle, right rear, left front, left middle, and left rear, respectively.

5. 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, the function is through the system of the present invention The gyroscope in measures the output signal of each attitude of the robot:

acc_x Acceleration X-axis, the X-axis acceleration acc_y Acceleration Y-axis, the Y-axis acceleration acc_z Acceleration Z-axis, that is, Z-axis acceleration gyro_x Angular speed X-axis, which is the X-axis angle gyro_y Angular speed Y-axis, which is the Y-axis angle gyro_z Angular speed Z-axis, that is, the Z-axis angle

Through the invention, the robot body motion information, the robot's own sensor, the external sensor and the invention's onboard sensor information can be integrated, the communication protocol can be unified, and the transmission to the central control system and other robot systems can be facilitated.

Claims (10)

1. a multi-robot data communication system containing a customized communication interface is characterized in that: the system includes a PCB circuit board and a power supply, and the power supply is connected with the power supply interface V1 on the PCB circuit board by a switch; It is provided with a central processing unit chip, a transmission module P3, a gyroscope P4, a wireless communication module P5, a relay P9 and multiple reserved modules. The input/output interfaces of the central processing unit chip are respectively connected to the data transmission module P3, gyroscope P4, wireless Communication module P5, relay P9 and multiple reserved modules; The switch is connected to the data transmission module P3, the gyroscope P4, the wireless communication module P5, the relay P9 and several reserved modules respectively through the voltage regulator; the data transmission module P3 is connected to the serial port of the heterogeneous auxiliary robot, and the wireless communication module P5 is electrically connected. Signals connect the control center and other robots. 2. The multi-robot data communication system containing a customized communication interface according to claim 1, wherein the model of the central processing unit chip is STM32F407ZGT6; The data transmission module P3 has a total of 4 pins. Pin 1 is connected to the VCC5 port; Pin 2 is connected to Chair_TXD, which corresponds to the PB11 pin of the chip; Pin 3 is connected to Chair_RXD, which corresponds to the PB10 pin of the chip; The pins are grounded; the No. 2 and No. 3 pins are connected to the isomerization auxiliary robot, the No. 2 pin transmits data, and the No. 3 pin receives data; The model of the gyroscope P4 is MPU9250. The gyroscope P4 integrates a 3-axis gyroscope, a 3-axis accelerometer, and a 3-axis magnetometer. It exchanges data with the chip through the sensor circuit bus interface, and is used to measure the three-axis steering angle of the robot, Angular velocity, acceleration and robot heading angle data; Gyroscope P4 has a total of 4 pins, No. 1 pin is connected to the voltage regulator; No. 2 pin is connected to Gyro_TXD, corresponding to the PA1 pin of the CPU chip; No. 3 pin is connected Gyro_RXD, corresponding to the chip's PA0 pin; pin 4 is grounded; The wireless communication module P5 is a 2.4G Zigbee wireless communication module; the wireless communication module P5 has a total of 4 pins, the No. 1 pin is connected to the voltage regulator; the No. 2 pin is connected to Zee_TXD; the No. 3 pin is connected to Zee_RXD, which corresponds to the PC12 tube of the chip pin; pin 4 is grounded; Relay P9 has a total of 4 pins, pin 1 is connected to the voltage regulator; pin 2 is connected to UP, corresponding to the PC10 pin of the chip; pin 3 is connected to DOWN, corresponding to the PC11 pin of the chip; feet grounded. 3. The multi-robot data communication system containing customized communication interface according to claim 1, is characterized in that: the quantity of described reserved module interface is 3, and is respectively reserved module P1, reserved module P2 and reserved module P7; The reserved module P1 has a total of 4 pins, the No. 1 pin is connected to the voltage regulator; the No. 2 pin is connected to USART6_TXD, which corresponds to the PA7 pin of the chip; the No. 3 pin is connected to USART6_RXD, which corresponds to the chip's PA6 pin; 4 No. pin is grounded; The reserved module P2 has a total of 4 pins, the No. 1 pin is connected to the voltage regulator; the No. 2 pin is connected to Local_TXD, which corresponds to the PA3 pin of the chip; the No. 3 pin is connected to Local_RXD, which corresponds to the chip's PA2 pin; 4 No. pin is grounded; The reserved module P7 has a total of 6 pins, pins 1, 2, and 3 are connected to the voltage regulator; pin 4 has no connection object, and pin 5 is connected to Dig_out, which corresponds to the PE0 pin of the chip; pin 6 ground. 4. The multi-robot data communication system with a customized communication interface according to claim 1, wherein the input/output interface of the CPU chip is respectively connected to the buzzer P8 and a plurality of LED lights; The voltage regulator is connected with the buzzer P8 and a plurality of LED lights respectively. 5. The multi-robot data communication system containing customized communication interface according to claim 4, is characterized in that: buzzer P8 has 3 pins in total, and No. 1 pin is connected to the voltage stabilizer; No. 2 pin is connected to BEEP , corresponding to the PB9 pin of the chip; pin 3 is grounded, which is used to issue an alarm sound when the system is abnormal; The number of LED lights is 4, and the 4 LED lights are connected to the voltage regulator in parallel; the 4 LED lights are respectively connected to the PB5, PB6, PB7 and PB8 sockets of the chip. 6. The multi-robot data communication system containing a customized communication interface according to claim 3, wherein the reserved module P1, the reserved module P2, the reserved module P7 and the data transmission module P3 are all stabilized by 5v. voltage connection switch; The model of the 5v regulator is 7805-5v, and the 5v regulator is connected to the reserved module P1, the reserved module P2, the reserved module P7 and the data transmission module P3 through the VCC5 port. 7. The multi-robot data communication system with a customized communication interface according to claim 5, wherein the wireless communication module P5 and the buzzer P8 are connected to a switch through the first 3.3v voltage stabilizer; the first 3.3 The model of the v voltage regulator is LM1117, the first 3.3v voltage regulator is connected to the wireless communication module P5 and the buzzer P8 through the 3V3_1 port. 8. The multi-robot data communication system with a customized communication interface according to claim 4, wherein the gyroscope P4, the relay P9 and the LED light are connected to the switch through the second 3.3v voltage stabilizer; the second 3.3 The model of the v regulator is LM1117, and the second 3.3v regulator is connected to the gyroscope P4, the relay P9 and the LED light through the 3V3_2 port. 9. The multi-robot data communication system with a customized communication interface according to claim 1, further comprising a UWB positioning system, the UWB positioning system is connected to a reserved module for obtaining the isomerization assistance in real time Indoor location information of the robot. 10. The multi-robot data communication system with a customized communication interface according to claim 1, further comprising a heart rate detection module, the heart rate detection module is connected to a reserved module for performing user and isomerization Communication between assisted robots.

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