Drive system, power-up control method, and robot

Abstract

The application relates to a driving system, a power-on control method and a robot. The driving system comprises a power supply circuit, a sub-control circuit and a main control circuit; the power supply circuit, the sub-control circuit and the main control circuit are sequentially connected, the power supply circuit is used for being connected with an input power supply; the power supply circuit is configured to supply power for the sub-control circuit and the main control circuit after the power supply circuit is powered on, so that the sub-control circuit and the main control circuit are sequentially powered on and started; the power supply circuit and the sub-control circuit are used for being connected with corresponding function circuits, and the power supply circuit is further configured to supply power for the function circuits after the main control circuit and the sub-control circuit normally work. According to the application, the function circuits are powered after the main control circuit and the sub-control circuit normally work, so that the power-on starting and communication initialization of the main control circuit and the sub-control circuit are prevented from being disturbed when the function circuits are powered on, and the main control circuit and the sub-control circuit can be normally started and worked.

Description

Technical Field

[0001] This application belongs to the field of drive system technology, and in particular relates to a drive system, a power-on control method, and a robot. Background Technology

[0002] Currently, existing electronic devices (such as cleaning robots) do not properly classify the various power-consuming modules when they are powered on, and lack reasonable power-on control logic. This may lead to situations where some modules fail to work properly due to multiple modules being powered on simultaneously, or even the high current from the power-on of high-power modules damaging other modules. Summary of the Invention

[0003] The purpose of this application is to provide a drive system, a power-on control method, and a robot, which aims to solve the problem of mutual interference between multiple modules when powered on in traditional electronic devices.

[0004] A first aspect of this application provides a driving system, including: a power supply circuit, a sub-control circuit, and a main control circuit; the power supply circuit, the sub-control circuit, and the main control circuit are connected sequentially; the power supply circuit is used to connect to an input power source, and the input power source is used to provide an input voltage to the power supply circuit; the power supply circuit is configured to supply power to the sub-control circuit and the main control circuit after the power supply circuit is powered on, so that the sub-control circuit and the main control circuit are powered on and started sequentially; the power supply circuit and the sub-control circuit are used to connect to corresponding functional circuits; the power supply circuit is also configured to supply power to the functional circuits after the main control circuit and the sub-control circuits are working normally, and the functional circuits are configured to perform corresponding functions under the control of the sub-control circuit.

[0005] In one embodiment, the sub-control circuit includes a first control unit, which is connected to the power supply circuit and the main control circuit respectively. The first control unit is configured to supply power to the main control circuit after the first control unit is powered on, so that the main control circuit is powered on and started.

[0006] In one embodiment, the sub-control circuit further includes a second control unit and a lower-level machine. The first control unit, the second control unit, and the lower-level machine are all connected to the functional circuit. The second control unit and the lower-level machine are also connected to the main control circuit and the power supply circuit. The first control unit, the second control unit, and the lower-level machine are all configured to control the functional circuit to perform corresponding functions according to the control instructions output by the main control circuit.

[0007] In one embodiment, the power supply circuit includes a power supply control unit, a first voltage conversion unit, a second voltage conversion unit, a first switch unit, and a second switch unit; the input terminals of the first voltage conversion unit and the second voltage conversion unit are both connected to the input power supply; the output terminal of the first voltage conversion unit is connected to the sub-control circuit through the first switch unit to supply power to the sub-control circuit and the main control circuit; the output terminal of the second voltage conversion unit is connected to the functional circuit through the second switch unit to supply power to the functional circuit; the power supply control unit is connected to the first switch unit and the second switch unit respectively to control the on and off states of the first switch unit and the second switch unit.

[0008] In one embodiment, the main control circuit includes a host computer, which is connected to the first control unit, the second control unit, and the slave computer respectively. The host computer is configured to generate and transmit control commands to the first control unit, the second control unit, and the slave computer according to a preset program and received external instructions.

[0009] In one embodiment, the host computer, the first control unit, the second control unit, and the slave computer are connected via a CAN bus.

[0010] A second aspect of this application provides a power-on control method applied to the drive system described above. The power-on control method includes: when the power supply circuit is powered on and started, controlling the power supply circuit to supply power to the sub-control circuit so that the sub-control circuit and the main control circuit are powered on and started sequentially; detecting the operating state and communication state of the main control circuit and the sub-control circuit; and when both the operating state and the communication state are normal, controlling the power supply circuit to supply power to the functional circuit so that the functional circuit is powered on and started.

[0011] A third aspect of this application provides a robot including a functional circuit and a drive system as described above. The robot further includes: a first start-up unit configured to control the power supply circuit to supply power to the sub-control circuit when the power supply circuit is powered on and started, so that the sub-control circuit and the main control circuit are powered on and started sequentially; a detection unit configured to detect the operating state and communication state of the main control circuit and the sub-control circuit; and a second start-up unit configured to control the power supply circuit to supply power to the functional circuit when both the operating state and the communication state are normal, so that the functional circuit is powered on and started.

[0012] In one embodiment, the robot is a cleaning robot, and the functional circuit includes a hub unit, a fan unit, a roller brush unit, a side brush unit, and a lifting push rod unit.

[0013] A fourth aspect of this application provides a robot including a memory and a processor, wherein the memory stores an executable computer program, and the processor invokes and executes the computer program to implement the steps of the power-on control method described above.

[0014] The beneficial effects of this application embodiment compared with the prior art are as follows: when the drive system starts, by separately powering the main control circuit, sub-control circuit and functional circuit, and then powering the functional circuit after the main control circuit and sub-control circuit are working normally, it is possible to avoid interference with the power-on startup and communication initialization of the main control circuit and sub-control circuit when the functional circuit is powered on, thus ensuring that the main control circuit and sub-control circuit can start up and work normally. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the driving system provided in the first embodiment of this application;

[0016] Figure 2 This is a circuit diagram of the driving system provided in the first embodiment of this application;

[0017] Figure 3 A circuit diagram of the sub-control circuit and functional circuit provided in the first embodiment of this application;

[0018] Figure 4 A flowchart of the power-on control method provided in the second embodiment of this application;

[0019] Figure 5 for Figure 4 The flowchart of step S200 of the power-on control method shown is as follows;

[0020] Figure 6 A schematic diagram of the robot provided in the third embodiment of this application;

[0021] Figure 7 This is a schematic diagram of the robot provided in the fourth embodiment of this application.

[0022] The above figures illustrate the following: 10. Power supply circuit; 11. Power supply control unit; 12. First voltage conversion unit; 13. Second voltage conversion unit; 14. First switch unit; 15. Second switch unit; 20. Sub-control circuit; 21. First control unit; 22. Second control unit; 23. Lower-level machine; 30. Main control circuit; 31. Upper-level machine; 40. First start-up unit; 50. Detection unit; 60. Second start-up unit; 71. Memory; 72. Processor; 73. Computer program; 400. Functional circuit; 410. Hub unit; 420. Fan unit; 430. Roller brush unit; 440. Side brush unit; 450. Lifting push rod unit; 500. Input power supply. Detailed Implementation

[0023] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0024] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0025] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0027] Figure 1 A schematic diagram of the driving system provided in the first embodiment of this application is shown. For ease of explanation, only the parts related to this embodiment are shown, and are described in detail below:

[0028] A drive system applicable to a cleaning robot includes: a power supply circuit 10, a sub-control circuit 20, and a main control circuit 30.

[0029] like Figure 1 , Figure 2 As shown, the power supply circuit 10, the sub-control circuit 20, and the main control circuit 30 are connected in sequence. The power supply circuit 10 is connected to the input power supply 500, which provides input voltage to the power supply circuit 10 to power it on and start it up. The power supply circuit 10 is configured to supply power to the sub-control circuit 20 and the main control circuit 30 after it is powered on, so that the sub-control circuit 20 and the main control circuit 30 are powered on and started up in sequence.

[0030] The power supply circuit 10 and the sub-control circuit 20 are used to connect to the corresponding functional circuit 400. The power supply circuit 10 is also configured to supply power to the functional circuit 400 after the main control circuit 30 and the sub-control circuit 20 are working normally. The functional circuit 400 is configured to perform the corresponding function under the control of the sub-control circuit 20.

[0031] When the drive system is connected to the input power supply 500 and the power supply circuit 10 is powered on and started, the sub-control circuit 20 and the main control circuit 30 can be powered on sequentially and supplied separately from the functional circuit 400. This avoids electromagnetic interference between the circuits caused by multiple circuits starting up simultaneously, thus ensuring that the main control circuit 30 and the sub-control circuit 20 can start up and work normally. It also prevents the large current during the power-on startup of the functional circuit 400 from damaging the main control circuit 30 and the sub-control circuit 20. Specifically, when the functional circuit 400 is powered on, it generates a large current with a peak current of approximately 10A. This peak current is much higher than the rated current of the sub-control circuit 20 and the main control circuit 30. When the sub-control circuit 20, the main control circuit 30, and the functional circuit 400 start up simultaneously, this large current can easily affect the startup of the sub-control circuit 20 and the main control circuit 30, and can also cause excessive total current in the power supply circuit 10, leading to damage to the power supply circuit 10.

[0032] In this embodiment, the sub-control circuit 20 includes a first control unit 21, which is connected to the power supply circuit 10 and the main control circuit 30 respectively. The first control unit 21 is configured to supply power to the main control circuit 30 after the first control unit 21 is powered on and started, so that the main control circuit 30 is powered on and started.

[0033] like Figures 1 to 3As shown, in this embodiment, the sub-control circuit 20 further includes a second control unit 22 and a lower-level machine 23. The first control unit 21, the second control unit 22, and the lower-level machine 23 are all connected to the functional circuit 400. The second control unit 22 and the lower-level machine 23 are also connected to the main control circuit 30 and the power supply circuit 10. The first control unit 21, the second control unit 22, and the lower-level machine 23 are all configured to control the functional circuit 400 to perform corresponding functions according to the control commands output by the main control circuit 30.

[0034] It should be noted that since the first control unit 21, the second control unit 22, and the lower-level machine 23 in the sub-control circuit 20 are all directly connected to the power supply circuit 10, the sub-control circuit 20 will be powered on and started before the main control circuit 30. This ensures that both the sub-control circuit 20 and the main control circuit 30 have sufficient power to start, avoiding situations where the power supply circuit 10 provides insufficient current or there is mutual interference between the sub-control circuit 20 and the main control circuit 30, which may occur if the sub-control circuit 20 and the main control circuit 30 start at the same time.

[0035] Specifically, both the first control unit 21 and the second control unit 22 can be power distribution units (PDUs). The peak current of the first control unit 21, the second control unit 22, and the lower-level machine 23 during power-on startup is approximately 0.6A.

[0036] like Figure 2 As shown, in this embodiment, the main control circuit 30 includes a host computer 31, which is connected to the first control unit 21, the second control unit 22, and the slave computer 23. The host computer 31 is configured to generate and transmit control commands to the first control unit 21, the second control unit 22, and the slave computer 23 according to a preset program and received external commands. Specifically, the preset program is stored in the host computer 31, and external commands can be transmitted to the host computer 31 through a human-machine interface panel or communication module connected to the host computer 31. The peak current of the host computer 31 during power-on startup is approximately 1.5A, while the operating current of the host computer 31 is approximately 0.5A.

[0037] Specifically, both the host computer 31 and the slave computer 23 can be high-speed digital signal processors (DSPs), microcontroller units (MCUs), or single-chip microcomputers. The first control unit 21, the second control unit 22, the host computer 31, and the slave computer 23 can all automatically shut down when the input voltage or current is too high to provide overcurrent and overvoltage protection. They can also provide undervoltage warnings through controlled prompting devices (e.g., buzzers and indicator lights) when the input voltage is too low.

[0038] In this embodiment, the host computer 31, the first control unit 21, the second control unit 22, and the slave computer 23 are connected via a Controller Area Network (CAN) bus. When the host computer 31, the first control unit 21, the second control unit 22, and the slave computer 23 are powered on, they can establish stable communication via the CAN bus and the corresponding communication protocol. Because the power-on time with the functional circuit 400 is staggered, the interference during communication establishment between the sub-control circuit 20 and the main control circuit 30 is reduced, improving the success rate of communication establishment. The host computer 31 can also be connected to the power supply circuit 10 to transmit corresponding instructions to the power supply circuit 10 after the main control circuit 30 and the sub-control circuit 20 have successfully powered on and established stable communication, causing the power supply circuit 10 to supply power to the functional circuit 400, i.e., controlling the power-on of the functional circuit 400.

[0039] In this embodiment, the power supply circuit 10 includes a power supply control unit 11, a first voltage conversion unit 12, a second voltage conversion unit 13, a first switching unit 14, and a second switching unit 15.

[0040] Specifically, the power supply control unit 11 can be an MCU or a microcontroller, the first voltage conversion unit 12 and the second voltage conversion unit 13 can be voltage conversion chips, and the first switching unit 14 and the second switching unit 15 can be MOSFETs. The power supply control unit 11 can detect the magnitude of the input voltage, and only activate the first voltage conversion unit 12 and the second voltage conversion unit 13 after the input voltage value meets the preset voltage range. The preset voltage range can be from 19V to 30V.

[0041] The input terminals of both the first voltage conversion unit 12 and the second voltage conversion unit 13 are connected to the input power supply 500. The output terminal of the first voltage conversion unit 12 is connected to the sub-control circuit 20 via the first switching unit 14 for voltage conversion and to supply power to the sub-control circuit 20 and the main control circuit 30. The output terminal of the second voltage conversion unit 13 is connected to the functional circuit 400 via the second switching unit 15 for voltage conversion and to supply power to the functional circuit 400. Specifically, both the first voltage conversion unit 12 and the second voltage conversion unit 13 can generate a 24V voltage based on the input voltage provided by the input power supply 500, and the output power of the second voltage conversion unit 13 is greater than the output power of the first voltage conversion unit 12. The input power supply 500 can be a battery.

[0042] The power supply control unit 11 is connected to the first switch unit 14 and the second switch unit 15 respectively, so as to control the conduction and cutoff of the first switch unit 14 and the second switch unit 15, that is, to control the power-on start of the sub-control circuit 20 and the power-on start of the functional circuit 400.

[0043] This embodiment separates the power supply of the sub-control circuit 20 and the main control circuit 30 from the power supply of the functional circuit 400. This allows the sub-control circuit 20, the main control circuit 30, and the functional circuit 400 to be powered on and started at different times, avoiding electromagnetic interference caused by multiple circuits being powered on simultaneously, which could lead to instability in the operation of the sub-control circuit 20 and the main control circuit 30. It also allows for the configuration of voltage conversion units with appropriate power according to the different electrical parameters of the sub-control circuit 20, the main control circuit 30, and the functional circuit 400, preventing the large current or voltage generated when the high-power functional circuit 400 is powered on and started from affecting the normal operation of the sub-control circuit 20 and the main control circuit 30 or even damaging the sub-control circuit 20 and the main control circuit 30.

[0044] like Figures 1 to 3 As shown, when the drive system is applied to a cleaning robot, in this embodiment, the functional circuit 400 may specifically include a hub unit 410, a fan unit 420, a roller brush unit 430, a side brush unit 440, and a lifting push rod unit 450. The hub unit 410, the fan unit 420, the roller brush unit 430, the side brush unit 440, and the lifting push rod unit 450 respectively include a hub motor, a fan motor, a roller brush motor, a side brush motor, and a lifting push rod motor.

[0045] The hub unit 410 is used to enable the cleaning robot to walk and move; the fan unit 420 can control the corresponding fan to rotate at high speed to form negative pressure for absorbing debris and water; the roller brush unit 430 can combine with the circular roller brush bristles through a reducer to directly contact and clean the ground; the side brush unit 440 can control the combination of circular brush bristles to clean edge objects; the lifting push rod unit 450 can control the rise and fall of the roller brush unit 430. The hub unit 410, fan unit 420, roller brush unit 430, side brush unit 440 and lifting push rod unit 450 are all connected to the second switch unit 15. The hub unit 410, fan unit 420, roller brush unit 430, side brush unit 440 and lifting push rod unit 450 are all configured to be powered on and started when the second switch unit 15 is turned on.

[0046] like Figure 2 , Figure 3As shown, specifically, the hub unit 410 is also connected to the lower-level machine 23, the fan unit 420 is also connected to the second control unit 22, and the roller brush unit 430, the side brush unit 440 and the lifting push rod unit 450 are all connected to the first control unit 21. The first control unit 21, the second control unit 22 and the lower-level machine 23 can control the corresponding functional circuit 400 to achieve the corresponding function according to the control command.

[0047] The hub unit 410 also includes several sensors. The lower-level computer 23 can read the relevant parameters collected by the sensors in the hub unit 410 and feed them back to the upper-level computer 31. This allows the upper-level computer 31 to perform image data processing and path planning, generate and output corresponding control commands, and control the movement of the cleaning robot through the lower-level computer 23 and the hub unit 410. The lower-level computer 23 can also directly control the hub unit 410 based on the relevant parameters collected by the sensors to achieve emergency control of the cleaning robot's movement and avoid accidents such as collisions.

[0048] Figure 4 A flowchart of the power-on control method provided in the second embodiment of this application is shown. For ease of explanation, only the parts relevant to this embodiment are shown, and are described in detail below:

[0049] A power-on control method is applied to a drive system as described in any of the above embodiments.

[0050] Power-on control methods include:

[0051] S100. When the power supply circuit 10 is powered on and started, the power supply circuit 10 is controlled to supply power to the sub-control circuit 20.

[0052] S200 detects the operating and communication status of the main control circuit 30 and the sub-control circuit 20.

[0053] S300. When both the operating state and the communication state are normal, the control power supply circuit 10 supplies power to the functional circuit 400.

[0054] Specifically, in step S100, when the power supply circuit 10 is connected to the corresponding input power supply 500 and powered on, the power supply control unit 11 of the power supply circuit 10 first controls the first switch unit 14 to turn on to supply power to the sub-control circuit 20, so that the sub-control circuit 20 and the main control circuit 30 are powered on and started in sequence.

[0055] It should be noted that after the sub-control circuit 20 and the main control circuit 30 are powered on and started, they can automatically establish communication. By starting the sub-control circuit 20 and the main control circuit 30 in advance, interference to the sub-control circuit 20 and the main control circuit 30 caused by simultaneous startup with the functional circuit 400 can be avoided, thereby enhancing the stability and safety of the sub-control circuit 20 and the main control circuit 30.

[0056] like Figure 5 As shown, step S200 specifically includes steps S210 to S220:

[0057] S210, detect the operating status of the main control circuit 30 and the sub-control circuit 20 respectively.

[0058] S220 detects the communication status between the main control circuit 30 and the sub-control circuit 20.

[0059] When the sub-control circuit 20 and the main control circuit 30 are powered on, they can perform self-tests and detect their respective operating statuses. The main control circuit 30 can also detect the communication status between the sub-control circuit 20 and the main control circuit 30.

[0060] In step S300, when the main control circuit 30 detects that the operating status and communication status of the sub-control circuit 20 and the main control circuit 30 are both normal, the main control circuit 30 (host computer 31) can send a corresponding instruction to the power supply circuit 10 (power supply control unit 11). After receiving the instruction, the power supply control unit 11 controls the second switch unit 15 to be turned on to supply power to the functional circuit 400.

[0061] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0062] Figure 6 A schematic diagram of the robot provided in the third embodiment of this application is shown. For ease of explanation, only the parts related to this embodiment are shown, and are described in detail below:

[0063] A robot includes a functional circuit 400 and a drive system as described in the above embodiment, and further includes a first start unit 40, a detection unit 50 and a second start unit 60.

[0064] The first start-up unit 40 is configured to control the power supply circuit 10 to supply power to the sub-control circuit 20 when the power supply circuit 10 is powered on and started, so that the sub-control circuit 20 and the main control circuit 30 are powered on and started in sequence.

[0065] The detection unit 50 is configured to detect the operating status and communication status of the main control circuit 30 and the sub-control circuit 20.

[0066] The second startup unit 60 is configured to control the power supply circuit 10 to supply power to the functional circuit 400 when both the running state and the communication state are normal, so as to power on and start the functional circuit 400.

[0067] In this embodiment, the robot is a cleaning robot, such as... Figure 2 , Figure 3 As shown, the functional circuit 400 may specifically include a hub unit 410, a fan unit 420, a roller brush unit 430, a side brush unit 440, and a lifting push rod unit 450, as in any of the embodiments described above.

[0068] Figure 7 A schematic diagram of the robot provided in the fourth embodiment of this application is shown. For ease of explanation, only the parts related to this embodiment are shown, and are described in detail below:

[0069] A robot includes a memory 71 and a processor 72. The memory 71 stores an executable computer program 73. When the processor 72 calls and executes the computer program 73, it implements the steps of the power-on control method as described in any of the above embodiments.

[0070] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program 73 instructing related hardware. The computer program 73 can be stored in a computer-readable storage medium, and when executed by the processor 72, it can implement the steps of the various method embodiments described above. The computer program 73 includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content contained in the computer-readable medium may be appropriately added to or subtracted from the content as required by the legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium may not include electrical carrier signals and telecommunication signals.

[0071] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0072] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A drive system, characterized in that, include: Power supply circuit, sub-control circuit and main control circuit; The power supply circuit, the sub-control circuit, and the main control circuit are connected in sequence. The power supply circuit is used to connect to the input power supply, and the input power supply is used to provide input voltage to the power supply circuit. The power supply circuit is configured to supply power to the sub-control circuit and the main control circuit after the power supply circuit is powered on, so that the sub-control circuit and the main control circuit are powered on and started in sequence; The power supply circuit and the sub-control circuit are used to connect with the corresponding functional circuit. The power supply circuit is also configured to supply power to the functional circuit after the main control circuit and the sub-control circuit are working normally. The functional circuit is configured to perform the corresponding function under the control of the sub-control circuit. The sub-control circuit includes a first control unit, which is connected to the power supply circuit and the main control circuit respectively. The first control unit is configured to supply power to the main control circuit after the first control unit is powered on and started, so that the main control circuit is powered on and started. The sub-control circuit further includes a second control unit and a lower-level machine. The first control unit, the second control unit, and the lower-level machine are all connected to the functional circuit. The second control unit and the lower-level machine are also connected to the main control circuit and the power supply circuit. The first control unit, the second control unit, and the lower-level machine are all configured to control the functional circuit to perform corresponding functions according to the control instructions output by the main control circuit.

2. The drive system as described in claim 1, characterized in that, The power supply circuit includes a power supply control unit, a first voltage conversion unit, a second voltage conversion unit, a first switching unit, and a second switching unit; The input terminals of the first voltage conversion unit and the second voltage conversion unit are both connected to the input power supply; the output terminal of the first voltage conversion unit is connected to the sub-control circuit through the first switching unit to supply power to the sub-control circuit and the main control circuit; the output terminal of the second voltage conversion unit is connected to the functional circuit through the second switching unit to supply power to the functional circuit. The power supply control unit is connected to the first switch unit and the second switch unit respectively, for controlling the on and off of the first switch unit and the second switch unit.

3. The drive system as described in claim 1, characterized in that, The main control circuit includes a host computer, which is connected to the first control unit, the second control unit and the slave computer respectively. The host computer is configured to generate and transmit the control commands to the first control unit, the second control unit and the slave computer according to a preset program and received external instructions.

4. The drive system as described in claim 3, characterized in that, The host computer, the first control unit, the second control unit, and the slave computer are connected via a CAN bus.

5. A power-on control method, applied to the drive system as described in any one of claims 1-4, characterized in that, The power-on control method includes: When the power supply circuit is powered on and started, the power supply circuit is controlled to supply power to the sub-control circuit, so that the sub-control circuit and the main control circuit are powered on and started in sequence; Detect the operating status and communication status of the main control circuit and the sub-control circuit; When both the operating state and the communication state are in normal condition, the power supply circuit is controlled to supply power to the functional circuit so that the functional circuit is powered on and started.

6. A robot, characterized in that, The robot further includes functional circuitry and a drive system as described in any one of claims 1-4, and also includes: The first startup unit is configured to control the power supply circuit to supply power to the sub-control circuit when the power supply circuit is powered on and started, so that the sub-control circuit and the main control circuit are powered on and started in sequence; The detection unit is configured to detect the operating status and communication status of the main control circuit and the sub-control circuit; The second startup unit is configured to control the power supply circuit to supply power to the functional circuit when both the operating state and the communication state are in normal condition, so as to power on and start the functional circuit.

7. The robot according to claim 6, characterized in that, The robot is a cleaning robot, and the functional circuit includes a hub unit, a fan unit, a roller brush unit, a side brush unit, and a lifting push rod unit.

8. A robot comprising a memory and a processor, the memory storing an executable computer program, characterized in that, When the processor calls and executes the computer program, it implements the steps of the power-on control method as described in claim 5.

Images