WO2020124516A1 - Behavioral decision-making and control system for robot - Google Patents

Abstract

Disclosed is a behavioral decision-making and control system for robot. The system comprises: a first plate (1) provided with a first plate power supply module (11), a processor minimum system module (12), a starting mode selection module (13), a memory module (14), an eMMC storage module (15), a network module (16) and a first plate end module (17) of an inter-plate connector; a second plate (2) connected with the first plate and provided with a second plate power module, a microphone and earphone interface, a HDMI video interface, a LVDS video interface, a LCD video interface, a Camera interface, a SD card interface, a hard disk interface, an ADC interface, a GPIO input interface, a GPIO output interface, a CAN interface, a 12c interface, a USB interface, an OTG interface, a RS232 interface, a RS485 interface, a 100-megabyte internet access, a 1,000-megabytes internet access, a GPD module, a WIFI module, a bluetooth module and a second inter-plate module of the inter-plate connector. The system facilitates the replacement of accessories for the decision-making and control system of a robot, and saves cost.

Description

A robot behavior decision control system Technical field

The present application belongs to the technical field of robot circuits, and particularly relates to a robot behavior decision control system.

Background technique

Most of the embedded robot behavior decision-making control systems in the prior art can only run simple algorithms such as obstacle avoidance, following, and line patrol. For autonomous positioning, autonomous path planning, autonomous navigation and other robot movement control algorithms and pattern recognition, machine learning, etc. Artificial intelligence algorithms are more difficult to run, and at the same time, the interfaces of these circuit boards are not rich enough to conveniently collect a wide variety of sensor signals, and the cost is relatively high, which can no longer meet the rapid development of robot technology.

Therefore, it is desirable to have a technical solution to overcome or at least alleviate at least one of the above-mentioned shortcomings of the prior art.

Summary of the invention

The purpose of this application is to provide a robot behavior decision control system to solve at least one problem in the prior art.

The technical solution of this application is:

A robot behavior decision control system, the robot behavior decision control system includes:

The first board, which is provided with a first board power supply module, a processor minimum system module, a startup mode selection module, a memory module, an eMMC storage module, a network module, and a first board end module of the inter-board connector;

The second board is connected to the first board, and the second board is provided with a second board power supply module, a microphone and headphone interface, an HDMI video interface, an LVDS video interface, an LCD video interface, and a Camera interface , SD card interface, hard disk interface, ADC interface, GPIO input interface, GPIO output interface, CAN interface, I2C interface, USB interface, OTG interface, RS232 interface, RS485 interface, 100M network port, Gigabit network port, GPS module, WIFI module, Bluetooth module and the second board-end module of the board-to-board connector.

Optionally, the first board and the second board are connected by a gold finger connection.

Optionally, the gold finger is located on the first board, and the gold finger slot is located on the second board.

Optionally, the minimum system module of the processor includes:

ARM processor, power supply system, clock system; among them,

The clock system is connected to the ARM processor;

The power supply system is used to provide power and reset signals to the ARM processor, and is connected to the ARM processor.

Optionally, the memory module includes:

Multiple 256M*16bit memory chips, each 256M*16bit memory chip is connected in parallel.

Optionally, the eMMC storage module is connected to the ARM processor.

Optionally, the network module is connected to the network control unit of the ARM processor by using a PHY chip.

Optionally, the second board power supply module includes:

power supply;

A first voltage stabilization module, the input end of the first voltage stabilization module is connected to the power supply;

A second voltage stabilizing module, the input end of the second voltage stabilizing module is connected to the power supply; wherein,

The first voltage stabilizing module is used to convert the voltage delivered by the power supply to a first voltage and supply it to the first board and the second board;

The second voltage stabilizing module is used to convert the voltage delivered by the power supply to a second voltage and supply it to the second board.

Optionally, the first voltage is 5V and the second voltage is 3.3V.

Optionally, the second board power supply module further includes a self-recovery fuse protection circuit;

The power supply is respectively connected to the first voltage stabilizing module and the second voltage stabilizing module through the self-recovery fuse protection circuit.

Optionally, the microphone and headphone interfaces on the second board are 1-channel microphone and headphone interfaces; the HDMI video interface is a 1-channel HDMI video interface; the LVDS video interface is a 2-channel LVDS video interface; and the LCD video interface is a 1-channel LCD Video interface; Camera interface is 1 Camera interface; SD card interface is 1 SD card interface; Hard disk interface is 1 channel hard disk interface; ADC interface is 16 channel ADC interface; GPIO input interface is 8 channel GPIO input interface; GPIO output interface 8-channel GPIO output interface; CAN interface is 2-channel CAN interface; I2C interface is 3-channel I2C interface; USB interface is 5-channel USB interface; OTG interface is 1-channel OTG interface; RS232 interface is 6-channel RS232 interface; RS485 interface is 1 channel RS485 interface; 100M Ethernet port is 1 channel 100M Ethernet port; Gigabit Ethernet port is 1 channel Gigabit Ethernet port; GPS module is 1 GPS module; WIFI module is 1 WIFI module; Bluetooth module is 1 Bluetooth module; and the second board end module of the inter-board connector is a second board end module of the inter-board connector.

This application has at least the following beneficial technical effects:

The robot behavior decision-making control system of the present application has rich peripheral interfaces and strong processing capabilities, can easily realize robot environment information perception, and smoothly run behavior decision algorithms such as autonomous positioning, autonomous path planning, and autonomous navigation. At the same time, because the circuit board adopts the structure mode of the first board plus the second board, it is beneficial to the replacement of the accessory of the robot decision-making and control system, saving costs.

BRIEF DESCRIPTION

FIG. 1 is a schematic diagram of a connection structure of a first board and a second board in a robot behavior decision control system in an embodiment of the present application.

FIG. 2 is a schematic diagram of the connection of the first board in the robot behavior decision control system shown in FIG. 1.

3 is a schematic diagram of the connection of the smallest system module of the processor in the robot behavior decision control system shown in FIG. 1.

4 is a schematic diagram of the connection of the startup mode selection module in the robot behavior decision control system shown in FIG. 1.

FIG. 5 is a schematic diagram of the connection of memory modules in the robot behavior decision control system shown in FIG. 1.

6 is a schematic diagram of the connection of the power supply module of the second board in the robot behavior decision control system shown in FIG. 1.

Reference number

1- First board; 11- First board power supply module; 12- Processor minimum system module; 13- Start mode selection module; 14- Memory module; 15- eMMC storage module; 16- Network module;

2-second board; 201-second board power supply module;

121-ARM processor; 122-power supply system; 1231-system clock; 1232-real-time clock;

131-first resistance; 132-second resistance; 133-switch;

2011-power supply; 2012-first voltage regulation module; 2013-second voltage regulation module; 2014-resettable fuse.

detailed description

In order to make the objectives, technical solutions and advantages of the implementation of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail in conjunction with the drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals indicate the same or similar elements or elements having the same or similar functions throughout. The described embodiments are a part of the embodiments of the present application, but not all the embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application, and should not be construed as limiting the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application. The embodiments of the present application will be described in detail below with reference to the drawings.

In the description of this application, it should be understood that the terms "center", "portrait", "landscape", "front", "rear", "left", "right", "vertical", "horizontal", The orientation or positional relationship indicated by "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, rather than indicating or implying The device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application.

FIG. 1 is a schematic diagram of a connection structure of a first board and a second board in a robot behavior decision control system in an embodiment of the present application.

FIG. 2 is a schematic diagram of the connection of the first board in the robot behavior decision control system shown in FIG. 1.

3 is a schematic diagram of the connection of the smallest system module of the processor in the robot behavior decision control system shown in FIG. 1.

4 is a schematic diagram of the connection of the startup mode selection module in the robot behavior decision control system shown in FIG. 1.

FIG. 5 is a schematic diagram of the connection of memory modules in the robot behavior decision control system shown in FIG. 1.

6 is a schematic diagram of the connection of the power supply module of the second board in the robot behavior decision control system shown in FIG. 1.

The robot behavior decision control system shown in Figures 1 to 6 includes:

The first board 1 is provided with a first board power supply module 11, a processor minimum system module 12, a startup mode selection module 13, a memory module 14, an eMMC storage module 15, a network module 16, and an inter-board connector One board end module 17;

The second board 2, the second board 2 is connected to the first board 1, the second board 2 is provided with a second board power supply module, microphone and headphone jack, HDMI video interface, LVDS video interface, LCD video interface, Camera interface, SD Card interface, hard disk interface, ADC interface, GPIO input interface, GPIO output interface, CAN interface, I2C interface, USB interface, OTG interface, RS232 interface, RS485 interface, 100M network port, Gigabit network port, GPS module, WIFI module , Bluetooth module and the second board end module of the board-to-board connector.

In this embodiment, the first board and the second board are connected by a gold finger connection.

In this embodiment, the gold finger is located on the first board, and the gold finger slot is located on the second board.

In this embodiment, the processor minimum system module includes:

ARM processor 121, power supply system 122, and clock system; wherein, the clock system is connected to the ARM processor; the power supply system is used to provide power and reset signals to the ARM processor, and the power supply system is connected to the ARM processor.

In this embodiment, the memory module includes:

Multiple 256M*16bit memory chips, each 256M*16bit memory chip is connected in parallel.

In this embodiment, the eMMC storage module is connected to the ARM processor.

In this embodiment, the network module is connected to the network control unit of the ARM processor by using a PHY chip.

In this embodiment, the second board power supply module includes:

Power supply 2011;

The first voltage stabilization module 2012, the input end of the first voltage stabilization module is connected to the power supply;

The second voltage regulator module 2013, the input terminal of the second voltage regulator module is connected to the power supply;

The first voltage stabilizing module is used to convert the voltage delivered by the power supply to the first voltage and supply it to the first board and the second board;

The second voltage stabilizing module is used to convert the voltage delivered by the power supply to a second voltage and supply it to the second board.

In this embodiment, the first voltage is 5V and the second voltage is 3.3V.

In this embodiment, the microphone and headphone interfaces on the second board 2 are 1-channel microphone and headphone interfaces; the HDMI video interface is a 1-channel HDMI video interface; the LVDS video interface is a 2-channel LVDS video interface; and the LCD video interface is a 1-channel LCD video interface; Camera interface is 1 Camera interface; SD card interface is 1 SD card interface; Hard disk interface is 1 channel hard disk interface; ADC interface is 16 channel ADC interface; GPIO input interface is 8 channel GPIO input interface; GPIO output Interface is 8-channel GPIO output interface; CAN interface is 2-channel CAN interface; I2C interface is 3-channel I2C interface; USB interface is 5-channel USB interface; OTG interface is 1-channel OTG interface; RS232 interface is 6-channel RS232 interface; RS485 interface It is a 1 channel RS485 interface; 100M Ethernet port is 1 channel 100M Ethernet port; Gigabit Ethernet port is 1 channel Gigabit Ethernet port; GPS module is 1 GPS module; WIFI module is 1 WIFI module; Bluetooth module is 1 A Bluetooth module; and the second board end module of the inter-board connector is a second board end module of the inter-board connector.

The robot behavior decision control system adopts the design of the first board plus the second board, and uses the connector between the boards to connect.

The first board is the processing core of the robot behavior decision control system, including a first board power supply module, an ARM processor minimum system module, a startup mode selection module, a memory module, an eMMC storage module, 1 One 1000M network module, and one board-to-board module with one inter-board connector.

The second board is used to realize the data input and output functions of the robot behavior decision control system, including a second board power supply module, a 1-channel microphone and headphone interface, a 1-channel HDMI video interface, a 2-channel LVDS video interface, and a 1-channel LCD video interface , 1 Camera interface, 1 SD card interface, 1 channel hard disk interface, 16 channel ADC interface, 8 channel GPIO input interface, 8 channel GPIO output interface, 2 channel CAN interface, 3 channel I2C interface, 5 channel USB interface, 1 Channel OTG interface, 6 channel RS232 interface, 1 channel RS485 interface, 1 channel 100M Ethernet port, 1 channel Gigabit Ethernet port, 1 GPS module, 1 WIFI module, 1 Bluetooth module, 1 inter-board connector Second board module.

The connectors between the boards are connected with gold fingers. The gold fingers are located on the first board, and the gold finger slots are located on the second board, as shown in Figure 1.

The power supply module of the first board is implemented by a power management chip. The input voltage of the chip comes from the output of the power supply module of the second board and is connected through a golden finger; the chip outputs the voltage of various different voltage platforms, which are separately provided to the ARM processor and the startup mode. Select modules, memory modules, eMMC storage modules, and 1000M network modules for power supply, as shown in Figure 2.

The minimum system module of the ARM processor is the smallest system unit that the ARM processor can work, including the ARM processor, the power supply system, the clock system and the reset system, and the connection mode is shown in FIG. 3. The power supply system is powered by the power supply module of the first board to power the core and peripherals of the ARM processor; the clock system is divided into a system clock and a real-time clock, both of which are implemented with passive crystals and capacitors, and the connection diagram is also the same, but the crystal is The natural frequency is different. The reset system is realized by the reset signal output by the power supply module of the first board.

The startup mode selection module determines the system startup mode of the ARM processor and determines from which memory the system starts. Specifically, the voltage is divided by resistance, and the 8-channel digital signal is connected to the startup mode configuration pin of the ARM processor through the dip switch. The implementation of the 8-channel high and low levels is the same, and the specific implementation of the 1-channel is as follows Figure 4 shows.

The memory module uses four 256M*16bit memory chips to achieve a 256M*64bit memory space in parallel, which is directly connected to the memory control unit of the ARM processor, as shown in Figure 5.

The eMMC storage module is implemented using an 8GB eMMC directly connected to the eMMC control unit of the ARM processor.

The 1000M network module is realized by using a PHY chip to connect to the network control unit of the ARM processor. The specific connection method is that the ARM processor is connected to the PHY chip, and the PHY chip is connected to the RJ45 network interface, where the RJ45 network interface is located on the second board.

The second board power supply module passes the 12V voltage input from the DC5.5/2.1 interface through the two voltage regulator modules of 5V and 3.3V to generate two different voltage platforms of 5V and 3.3V for each of the first board and the second board The function module supplies power. Both voltage reductions are implemented using a voltage regulator chip. A self-recovery fuse protection circuit is used between the external input interface and the voltage regulator chip. The connection relationship is shown in FIG. 6.

The 1-channel microphone and headphone interface is realized by an audio chip, the ARM processor is connected to the audio chip, and the audio chip is connected to the microphone and headphone integrated seat.

1 channel HDMI video interface, 2 channel LVDS video interface, 1 channel LCD video interface, 1 Camera interface, 1 SD card interface, 1 channel hard disk interface are directly realized by the corresponding control module inside the ARM processor.

The 16-channel ADC interface is implemented by an AD conversion chip. The output terminal of the AD conversion chip is connected to the SPI controller of the ARM processor through the SPI interface, and the input terminal of the AD conversion chip is connected to the 16-way pin header interface.

The 8-channel GPIO input interface is connected to the GPIO interface of the ARM processor after being isolated by 8 photoelectric isolation chips.

The 8-channel GPIO output interface is connected to the GPIO interface of the ARM processor after being isolated by 8 photoelectric isolation chips.

The 2-channel CAN interface is connected to the CAN bus controller of the ARM processor through a CAN bus interface chip.

The 3-channel I2C interface is directly connected to the I2C bus controller of the ARM processor.

There are two ways to implement the 5-channel USB interface, one of which is the USB HUB1 interface from the USB HUB, and the other 4 channels are realized through the USB to 100M network chip. The USB to 100M network chip is connected to the USB HUB3 interface from the USB HUB .

The 1-channel OTG interface is directly connected to the OTG controller of the ARM processor.

The 6-channel RS232 interface is divided into 2 ways to achieve, of which 2 channels are directly connected to the serial port controller of the ARM processor through an RS232 serial port level conversion chip, and the other 4 channels are realized by USB to serial chip, USB to serial chip connection To the USB HUB4 interface of USB HUB.

The 1-channel RS485 interface is connected to the serial port controller of the ARM processor through the RS485 serial port level conversion chip.

The 1-channel 100M network port is realized by a USB to 100M network chip. The USB to 100M network interface chip is connected to the USB HUB3 interface of the USB HUB.

The implementation of the 1-channel Gigabit network port has been described in the network module of the first board.

One GPS module is connected to the serial controller of the ARM processor through the serial port.

One WIFI module is connected to the USB HUB2 interface of USB HUB through the USB port.

One Bluetooth module is connected to the serial port controller of the ARM processor through the serial port.

Beneficial effects of invention

The circuit board has rich peripheral interfaces and powerful processing capabilities, which can easily realize robot environment information perception, and smoothly run behavioral decision algorithms such as autonomous positioning, autonomous path planning, and autonomous navigation. At the same time, because the circuit board adopts the structure mode of the first board and the second board, it is beneficial to the replacement of the accessory of the robot decision-making and control system, saving costs.

The circuit board adopts the design of the first board and the second board. The first board and the second board are connected by a gold finger. The gold finger is located on the first board, and the gold finger slot is located on the second board. The implementation of the first board and the second board are introduced below.

First board implementation

The first board is the processing core of the robot behavior decision control system. The processor uses the ARM processor I.MX6 of NXP company. The first board contains a first board power supply module, an ARM processor minimum system module, a boot mode selection module, a memory module, an eMMC storage module, a 1000M network module, and an inter-board The first board end module of the connector.

The first board power supply module is implemented with the power management chip MMPF0100F0EP supporting I.MX6. The input voltage of this chip comes from the 5V voltage output by the second board power supply module, which is connected by a golden finger; the output of the chip is of various voltage platforms Voltage, respectively power I.MX6 processor, start mode selection module, memory module, eMMC storage module and 1000M network module, as shown in Figure 2.

The minimum system module of the ARM processor is the smallest system unit that the I.MX6 processor can work, including the I.MX6 processor, the power supply system, the clock system, and the reset system. The connection mode is shown in FIG. 3. The power supply system is powered by the power supply module of the first board to power the I.MX6 core and peripherals; the clock system is divided into a system clock and a real-time clock, both of which are implemented by a passive crystal and two 18pf capacitors, but the natural frequency of the crystal is not Similarly, the passive crystal oscillator of the system clock selects a passive crystal oscillator of 24MHZ, and the real-time clock selects a passive crystal oscillator of 32.768HZ. The reset system is realized by the reset signal output by the power supply module of the first board.

The startup mode selection module determines the system startup mode of the I.MX6 processor and determines from which memory the system starts. Specifically, the voltage is divided by the resistance, and the 8-channel digital signal is connected to the startup mode configuration pin of the I.MX6 processor through the dip switch. The implementation of the 8-channel high and low levels is the same, and the specific implementation of 1 channel The method is shown in Figure 4. In Figure 4, the resistance of resistance 1 is 10K, the resistance of resistance 2 is 4.7K, and the power supply voltage is 3.3V.

The memory module uses four 256M*16bit memory chips to achieve a 256M*64bit memory space in parallel. It is directly connected to the memory control unit of I.MX6. The memory chip is selected to implement MT41K128M16JT, as shown in Figure 5.

The eMMC storage module is implemented by using an 8GB eMMC directly connected to the eMMC control unit of I.MX6, and the eMMC memory is selected to implement SDIN5C2-8G.

The 1000M network module is realized by using a PHY chip AR8031 to connect to the network control unit of I.MX6. The specific connection mode is that I.MX6 is connected to AR8031, and AR8031 is connected to the RJ45 network interface, where the RJ45 network interface is located on the second board.

Second board implementation

The second board is used to realize the data input and output functions of the robot behavior decision control system, including a second board power supply module, a 1-channel microphone and headphone interface, a 1-channel HDMI video interface, a 2-channel LVDS video interface, and a 1-channel LCD video interface , 1 Camera interface, 1 SD card interface, 1 channel hard disk interface, 16 channel ADC interface, 8 channel GPIO input interface, 8 channel GPIO output interface, 2 channel CAN interface, 3 channel I2C interface, 5 channel USB interface, 1 Channel OTG interface, 6 channel RS232 interface, 1 channel RS485 interface, 1 channel 100M Ethernet port, 1 channel Gigabit Ethernet port, 1 GPS module, 1 WIFI module, 1 Bluetooth module, 1 inter-board connector Second board module.

The power supply module of the second board uses the two LM22676MR-ADJ voltage stabilizing chips to input the 12V voltage of the DC5.5/2.1 interface. By configuring different resistance values, two different voltage platforms of 5V and 3.3V are generated for the first board and Each functional module of the second board is powered by a self-recovery fuse protection circuit between the external input interface and the voltage stabilizing chip. The connection relationship is shown in FIG. 6.

The 1-channel microphone and headphone interface is realized by the audio chip WM8960GEFL, the I.MX6 processor is connected to the audio chip WM8960GEFL, and the audio chip WM8960GEFL is connected to the microphone and headphone integrated seat.

1 channel HDMI video interface, 2 channel LVDS video interface, 1 channel LCD video interface, 1 Camera interface, 1 SD card interface, 1 channel hard disk interface are directly realized by the corresponding control module inside the I.MX6 processor.

The 16-channel ADC interface is realized by the AD conversion chip AD7490. The output end of the AD7490 is connected to the SPI controller of the I.MX6 processor through the SPI interface, and the input end of the AD7490 is connected to the 16-way pin header interface.

The 8-channel GPIO input interface is isolated by 8 photoelectric isolation chips TLP112 and connected to the GPIO interface of the I.MX6 processor.

The 8-channel GPIO output interface is isolated by 8 photoelectric isolation chips TLP112 and connected to the GPIO interface of the I.MX6 processor.

The 2-channel CAN interface is connected to the CAN bus controller of the I.MX6 processor through a CAN bus interface chip TJA1040T.

The 3-channel I2C interfaces are directly connected to the I2C bus controller of the I.MX6 processor.

There are two ways to implement the 5-channel USB interface, one of which is the USB HUB1 interface of the USB HUB chip USB2514Bi, and the other 4 channels are realized by USB to 100M LAN chip LAN9514. The LAN9514 is connected to the USB HUB3 interface of the USB2514Bi.

The 1-channel OTG interface is directly connected to the OTG controller of the I.MX6 processor.

The 6-channel RS232 interface is divided into 2 ways to achieve, of which 2 channels are directly connected to the serial controller of the I.MX6 processor through an RS232 serial port level conversion chip Max3232, as shown in Figure 13, and the other 4 channels are transferred through USB The serial port chip FTDI4232HL is implemented, and the FTDI4232HL is connected to the USB HUB4 interface of the USB2514Bi.

The 1-channel RS485 interface is connected to the serial controller of the I.MX6 processor through the RS485 serial port level conversion chip Max3485.

The 1-channel 100M network port is realized through the USB to 100M network interface chip LAN9514, which is connected to the USB HUB3 interface of the USB2514Bi.

The implementation of the 1-channel Gigabit network port has been described in the network module of the first board.

One GPS module is implemented by the N0616 module, which is connected to the serial controller of the I.MX6 processor through the serial port.

One WIFI module is realized by RTL8188CUS module, connected to USB HUB2 interface of USB2514Bi through USB port.

One Bluetooth module is realized by BF4030 module, and connected to the serial port controller of I.MX6 processor through the serial port.

The above is only the specific implementation of this application, but the scope of protection of this application is not limited to this, any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in this application, All should be covered within the scope of protection of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. A robot behavior decision control system, characterized in that the robot behavior decision control system includes:

   The first board (1), the first board (1) is provided with a first board power supply module (11), a processor minimum system module (12), a startup mode selection module (13), a memory module (14), eMMC storage module (15), network module (16) and the first board end module (17) of the inter-board connector;

   A second board (2), the second board (2) is connected to the first board (1), the second board (2) is provided with a second board power supply module, a microphone and a headphone jack, HDMI video Interface, LVDS video interface, LCD video interface, Camera interface, SD card interface, hard disk interface, ADC interface, GPIO input interface, GPIO output interface, CAN interface, I2C interface, USB interface, OTG interface, RS232 interface, RS485 interface, 100 Mega network port, Gigabit network port, GPS module, WIFI module, Bluetooth module and second board end module of the inter-board connector.
2. The robot behavior decision control system according to claim 1, wherein the first board and the second board are connected by a golden finger connection.
3. The robot behavior decision control system according to claim 2, wherein the golden finger is located on the first board, and the golden finger slot is located on the second board.
4. The robot behavior decision control system according to claim 3, wherein the processor minimum system module includes:

   ARM processor (121), power supply system (122), clock system; where,

   The clock system is connected to the ARM processor;

   The power supply system is used to provide power and reset signals to the ARM processor, and is connected to the ARM processor.
5. The robot behavior decision control system according to claim 4, wherein the memory module comprises:

   Multiple 256M*16bit memory chips, each 256M*16bit memory chip is connected in parallel.
6. The robot behavior decision control system according to claim 5, wherein the eMMC storage module is connected to the ARM processor.
7. The robot behavior decision control system according to claim 6, wherein the network module is connected to the network control unit of the ARM processor by using a PHY chip.
8. The robot behavior decision control system according to claim 6, wherein the power supply module of the second board comprises:

   Power supply (2011);

   A first voltage stabilization module (2012), an input end of the first voltage stabilization module is connected to the power supply;

   A second voltage stabilization module (2013), an input end of the second voltage stabilization module is connected to the power supply; wherein,

   The first voltage stabilizing module is used to convert the voltage delivered by the power supply to a first voltage and supply it to the first board and the second board;

   The second voltage stabilizing module is used to convert the voltage delivered by the power supply to a second voltage and supply it to the second board.
9. The robot behavior decision control system according to claim 8, wherein the first voltage is 5V and the second voltage is 3.3V.
10. The robot behavior decision control system according to claim 8, wherein the microphone and headphone interfaces on the second board (2) are 1-channel microphone and headphone interfaces; the HDMI video interface is a 1-channel HDMI video interface; LVDS The video interface is a 2-channel LVDS video interface; the LCD video interface is a 1-channel LCD video interface; the Camera interface is a Camera interface; the SD card interface is an SD card interface; the hard disk interface is a 1-channel hard disk interface; the ADC interface is 16 channels ADC interface; GPIO input interface is 8-channel GPIO input interface; GPIO output interface is 8-channel GPIO output interface; CAN interface is 2-channel CAN interface; I2C interface is 3-channel I2C interface; USB interface is 5-channel USB interface; OTG interface is 1 channel OTG interface; RS232 interface is 6 channel RS232 interface; RS485 interface is 1 channel RS485 interface; 100M network port is 1 channel 100M network port; Gigabit network port is 1 channel Gigabit network port; 1 GPS module The GPS module; the WIFI module is a WIFI module; the Bluetooth module is a Bluetooth module; and the second board end module of the inter-board connector is a second board end module of the inter-board connector.

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