Control system and robot

Abstract

The invention discloses a control system and a robot, and the system comprises a shutdown unit which is used for outputting a shutdown signal; the first power supply unit is connected with the shutdown unit and the control unit and is used for providing first power supply voltage for the control unit, and the provided first power supply voltage is gradually reduced to zero after the shutdown signal is received; the control unit is used for outputting a control signal to the driving chip, so that the driving chip controls the working state of the load; a first delay unit and a second power supply unit, the first delay unit is connected with the shutdown unit and the second power supply unit, and the first delay unit is used for receiving the shutdown signal and transmitting the shutdown signal to the second power supply unit after delaying the shutdown signal; and the second power supply unit is connected with the driving chip and is used for providing a second power supply voltage for the driving chip, and after the second power supply unit receives the delayed shutdown signal, the provided second power supply voltage is gradually reduced to zero. According to the invention, the risk of burnout of the driving circuit caused by unstable driving signals can be avoided.

Description

Technical Field

[0001] The present application relates to the technical field of drive circuit control, and in particular to a control system and a robot. Background Art

[0002] At present, in electronic devices equipped with drive circuits, drive signals are generally output to the drive circuits through drive chips, and the output voltage or power of the drive circuits is controlled by the drive signals, while the drive chips are controlled by the control unit in the electronic devices through control signals. However, when the drive chip is powered by low voltage, the drive signal output by the drive chip will be unstable, which may easily cause the drive circuit to burn out. Summary of the invention

[0003] In view of this, the present application provides a control system and a robot, which are used to avoid the risk of burning the driving circuit due to the unstable driving signal of the driving chip. The technical solution of the present application is as follows: The first aspect of the present application provides a control system, including: a shutdown unit for outputting a shutdown signal; a first power supply unit, connected to the shutdown unit and a control unit, for providing a first power supply voltage for the control unit, and the first power supply voltage provided by the first power supply unit gradually decreases to zero after receiving the shutdown signal; the control unit is used to output a control signal to a driver chip so that the driver chip controls the working state of a load; a first delay unit and a second power supply unit, the first delay unit is connected to the shutdown unit and the second power supply unit, the first delay unit is used to receive the shutdown signal and transmit the shutdown signal to the second power supply unit after delay; the second power supply unit is connected to the driver chip, for providing a second power supply voltage for the driver chip, and the second power supply voltage provided by the second power supply unit gradually decreases to zero after receiving the shutdown signal after the delay.

[0004] In one embodiment of the present application, the moment when the first power supply voltage drops to zero is the first moment, and the moment when the first delay unit transmits the shutdown signal after the delay is the second moment, and the first moment is earlier than the second moment.

[0005] In one embodiment of the present application, the moment when the first power supply voltage drops to zero is the first moment, the moment when the second power supply voltage drops to equal the minimum operating voltage of the driver chip is the third moment, and the first moment is earlier than the third moment.

[0006] In an embodiment of the present application, before the first moment, the second supply voltage is greater than the minimum operating voltage.

[0007] In an embodiment of the present application, the shutdown unit outputs the shutdown signal to the first power supply unit and the first delay unit simultaneously.

[0008] In an embodiment of the present application, the shutdown unit includes a key circuit, the key circuit includes a switch, and when the switch is turned on, the key circuit outputs the shutdown signal.

[0009] In one embodiment of the present application, the first power supply includes a first power management chip, the second power supply includes a second power management chip, the first power chip and the second power chip are both connected to a battery, the first power management chip is used to convert the power of the battery into the first supply voltage, and the second power management chip converts the power of the battery into the second supply voltage.

[0010] In one embodiment of the present application, the first delay unit includes at least one delay circuit selected from the group consisting of an RC delay circuit, a 555 delay circuit, and a CMOS delay circuit.

[0011] The second aspect of the present application provides a robot, including a battery, a load, a drive circuit, a drive chip, a control unit and the control system, wherein the battery is connected to the drive circuit, and the drive circuit is connected to the drive chip and the load; the battery is used to provide electrical energy to the drive circuit; the drive circuit is used to receive the drive signal of the drive chip to convert the electrical energy into the power supply voltage required by the load.

[0012] In one embodiment of the present application, the control unit is a main controller of the robot.

[0013] In an embodiment of the present application, the driving circuit includes a power switch, and the driving signal is used to control the on and off of the power switch.

[0014] In one embodiment of the present application, the control unit is used to output the control signal to the driver chip, and the driver chip is used to output the drive signal to the drive circuit when receiving the control signal; the control unit stops outputting the control signal when the first supply voltage is zero, and stops outputting the drive signal to the drive circuit when the driver chip does not receive the control signal.

[0015] It can be understood that the control system of the embodiment of the present application, by setting a first delay unit between the shutdown unit and the second power supply unit, the shutdown signal output after the shutdown unit is triggered causes the first power supply voltage of the first power supply unit to be powered off immediately, and the shutdown signal is transmitted to the second power supply unit after the delay through the first delay unit, so that the second power supply voltage of the second power supply unit starts to power off after the delay, until the second power supply voltage is reduced to zero to stop the driver chip from working, so that the control unit has completely stopped outputting the control signal before the driver chip stops working, so that the driver chip no longer outputs the driving signal during the power-off process of the second power supply voltage, thereby avoiding the second supply voltage being too low during the power-off process, resulting in unstable driving signals output by the driver chip, and avoiding the risk of burning the driving circuit due to unstable driving signals. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic block diagram of a control system of a driver chip provided in an embodiment of the present application.

[0017] Figure 2 It is a circuit diagram of a key circuit provided in an embodiment of the present application.

[0018] Figure 3 This is a schematic diagram of a power-off timing of a first power supply voltage and a second power supply voltage provided in an embodiment of the present application.

[0019] Figure 4 This is another schematic diagram of power-off timing of a first power supply voltage and a second power supply voltage provided in an embodiment of the present application.

[0020] Figure 5 It is a schematic block diagram of a control system of another driver chip provided in an embodiment of the present application.

[0021] Figure 6 This is a schematic diagram of a power-on timing of a first power supply voltage and a second power supply voltage provided in an embodiment of the present application.

[0022] Figure 7 This is another schematic diagram of power-on timing of a first power supply voltage and a second power supply voltage provided in an embodiment of the present application.

[0023] Figure 8 It is a schematic block diagram of a robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] It should be noted that in the embodiments of the present application, "at least one" refers to one or more, and "more than one" refers to two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0025] It should also be noted that the method disclosed in the embodiments of the present application or the method shown in the flowchart includes one or more steps for implementing the method. Without departing from the scope of the claims, the execution order of multiple steps can be interchanged with each other, and some of the steps can also be deleted.

[0026] At present, in electronic devices provided with drive circuits, a drive signal is generally output to the drive circuit through a drive chip, so as to control the output of the voltage or power of the drive circuit through the drive signal, and the drive chip is controlled by a control unit in the electronic device through a control signal. However, when the drive chip is powered by low voltage, the drive signal output by the drive chip will be unstable, which may easily cause the drive circuit to burn out, especially when the electronic device is shut down and powered off, the power supply voltage of the control unit and the drive chip will be gradually reduced to zero. As a result, when the power supply voltage of the drive chip is too low, the control signal of the control unit is still received, and an unstable drive signal is output to the drive circuit, which is more likely to cause the drive circuit to burn out.

[0027] The present application provides a control system of a driver chip and a robot, which are used to avoid the risk of burning the driver circuit due to an unstable driving signal of the driver chip.

[0028] Please refer to Figure 1 , Figure 1 This is a schematic block diagram of a control system provided in an embodiment of the present application, wherein the control system 100 includes a shutdown unit 110 , a first power supply unit 120 , a first delay unit 130 and a second power supply unit 140 .

[0029] In the embodiment of the present application, an electronic device provided with a control system 100 includes a control unit 101, a driving chip 102, and a driving circuit 103. In the electronic device, the driving chip 102 is connected to the driving circuit 103, and the driving chip 102 is used to output a driving signal to the driving circuit 103 when receiving a control signal, so that the driving circuit 103 supplies power to the load and controls the working state of the load. The control unit 101 is connected to the driving chip 102, and the control unit 101 is used to output a control signal to the driving chip 102. Among them, the driving circuit 103 includes a switch tube, the driving signal includes a pulse width modulation signal, and the driving chip 102 is used to adjust the pulse width in the pulse width modulation signal according to the control signal to adjust the voltage or power supplied by the driving circuit 103, so as to meet the voltage demand or power demand of the load. For example, when the electronic device is a lawn mower robot, the load can be the motor of the lawn mower robot. When the driving chip 102 adjusts the voltage or power supplied by the driving circuit 103, the working parameters such as the speed or power of the motor of the lawn mower robot can be adjusted, thereby changing the working state of the motor.

[0030] Among them, in the control system 100, the shutdown unit 110 is connected to the first power supply unit 120 and the first delay unit 130, and the first power supply unit 120 is connected to the control unit 101. The control unit 101 is connected to the driver chip 102. The first delay unit 130 is connected to the second power supply unit 140, and the second power supply unit 140 is connected to the driver chip 102. When the driver chip 102 works normally, the first power supply unit 120 is used to provide the first power supply voltage to the control unit 101, and the second power supply unit 140 is used to provide the second power supply voltage to the driver chip 102. The control unit 101 enters the working state when receiving the first power supply voltage, and outputs the above control signal to the driver chip 102. The driver chip 102 receives the second power supply voltage and enters the working state, and generates and outputs the drive signal to the drive circuit 103 according to the control signal.

[0031] When it is necessary to stop the driving circuit 103 from supplying power to the load, the driving chip 102 can be controlled to enter the shutdown state, and the shutdown unit 110 in the control system 100 can be triggered first, and the shutdown unit 110 is used to output a shutdown signal to the first power supply unit 120 and the first delay unit 130. The shutdown unit 110 outputs the shutdown signal to the first power supply unit 120 and the first delay unit 130 at the same time.

[0032] In some embodiments, the shutdown unit 110 includes a key circuit 111 , and the key circuit 111 includes a switch K1 . When the switch K1 is turned on, the key circuit 111 outputs a shutdown signal to the first power supply unit 120 and the first delay unit 130 .

[0033] For example, Figure 2As shown, the key circuit 111 includes a switch K1, a resistor R1, a voltage-stabilizing diode D1 and a diode D2. The first end of the resistor R1 is used to receive the power supply voltage Vin, and the second end of the resistor R1 is connected to the first end of the switch K1. The cathode of the voltage-stabilizing diode D1 is connected to the second end of the resistor R1, and the second end of the voltage-stabilizing diode D1 is grounded. The second end of the switch K1 is connected to the anode of the diode D2, and the cathode of the diode D2 is used to output a shutdown signal. That is, the voltage-dividing signal obtained after the resistor R1 divides the power supply voltage is the shutdown signal. After the switch K1 is turned on, the shutdown signal is output through the diode D2. The voltage-stabilizing diode D1 is used to clamp the voltage of the shutdown signal, and the diode D2 is used to prevent other power supplies from backflowing into the power supply voltage Vin from the key circuit 111.

[0034] After receiving the shutdown signal from the shutdown unit 110, the first power supply unit 120 immediately controls the first power supply voltage to gradually decrease to zero. The moment when the first power supply voltage decreases to zero is the first moment, and the control unit 101 stops outputting control signals and stops working at the first moment. When the control signal stops being output to the driver chip 102, the driver chip 102 will stop outputting the drive signal.

[0035] After receiving the shutdown signal, the first delay unit 130 transmits the shutdown signal to the second power supply unit 140 after delay. After receiving the shutdown signal at the second moment, the second power supply unit 140 controls the second supply voltage to gradually decrease to zero to stop the driver chip 102. The moment when the first delay unit transmits the delayed shutdown signal is the second moment.

[0036] It can be understood that the embodiment of the present application sets a first delay unit 130 between the shutdown unit 110 and the second power supply unit 140. After the shutdown unit 110 is triggered, the shutdown signal output causes the first power supply voltage of the first power supply unit 120 to be powered off immediately, and the shutdown signal is transmitted to the second power supply unit 140 after a delay through the first delay unit 130, so that the second power supply voltage of the second power supply unit 140 starts to power off after a delay, until the second power supply voltage is reduced to zero and the driver chip 102 stops working. Therefore, the control unit 101 completely stops outputting control signals before the driver chip 102 starts to power off, so that the driver chip 102 no longer outputs drive signals during the power-off process of the second power supply voltage, thereby avoiding the second supply voltage being too low during the power-off process, resulting in unstable drive signals output by the driver chip 102, and avoiding the risk of burning the drive circuit 103 due to unstable drive signals.

[0037] When the driving chip 102 does not receive a control signal, it can output a high level signal or a low level signal to the driving circuit 103 , and the driving circuit 103 stops working when it receives a high level signal or a low level signal.

[0038] In some embodiments, the first supply voltage is reduced to zero after a first period of time, and the delay period of the first delay unit 130 is greater than the first period of time, so as to ensure that after the control unit 101 stops outputting the control signal, the second supply voltage is controlled to gradually decrease to turn off the driver chip 102, so that the driver chip 102 stops outputting the drive signal during the gradual power-off of the second supply voltage, thereby better avoiding the driver chip 102 from outputting an unstable drive signal when the second supply voltage is gradually powered off to below the minimum operating voltage of the driver chip 102, thereby avoiding the driver circuit 103 from being affected by an unstable drive signal and causing components to burn out.

[0039] The above-mentioned first power supply 120 includes a first power management chip, and the second power supply 140 includes a second power management chip. The first power chip and the second power chip are both connected to the battery. The first power management chip is used to convert the power of the battery into a first supply voltage, and the second power management chip converts the power of the battery into a second supply voltage.

[0040] Please refer to Figure 3 , Figure 3 A schematic diagram of a power-off timing of a first power supply voltage and a second power supply voltage provided in an embodiment of the present application, wherein the second power supply voltage V2 is greater than the first power supply voltage V1.

[0041] Among them, the first power supply voltage V1 starts to power off at time T0, that is, at time T0, the first power supply unit 120 receives a shutdown signal, controls the first power supply voltage V1 to gradually decrease, and decreases to zero at the first moment T1, so that the control unit 101 stops outputting control signals and stops working.

[0042] The second power supply voltage V2 starts to be powered off at the second moment T2 , that is, at the second moment T2 the second power supply unit 140 receives a shutdown signal after a delay of t1 , and controls the second power supply voltage V2 to gradually decrease until it reaches zero.

[0043] In the embodiment of the present application, the above-mentioned first moment T1 is earlier than the second moment T2, thereby ensuring that the second power supply unit 140 controls the second power supply voltage V2 to be powered off at the second moment T2 after the control unit 101 stops outputting the control signal at moment T1, so that the driver chip 102 will not output a driving signal during the entire process of the second power supply voltage gradually decreasing to zero, thereby better preventing the driver chip 102 from outputting an unstable driving signal to the driving circuit 103, and protecting the driving circuit 103 from being burned by the unstable driving signal.

[0044] Please refer to Figure 4 , Figure 4 Another schematic diagram of power-off timing of the first power supply voltage and the second power supply voltage provided in an embodiment of the present application. Figure 3 v3 is the lowest operating voltage of the driver chip 102. When the second power supply voltage V2 received by the driver chip 102 is equal to or lower than the lowest operating voltage v3, the driver chip 102 will output an unstable driving signal.

[0045] In the embodiment of the present application, the above-mentioned first moment T1 is earlier than the third moment T3, and the third moment T3 is the moment when the second power supply voltage V2 is reduced to be equal to the minimum operating voltage v3. Before the first moment T1, the second power supply voltage V2 is greater than the minimum operating voltage v3, so that the control unit 101 stops outputting the control signal before the second power supply voltage V2 drops to the minimum operating voltage v3, thereby preventing the driver chip 102 from outputting an unstable drive signal to the drive circuit 103, and before the second power supply voltage V2 drops to the minimum operating voltage v3, the driver chip 102 can keep outputting the drive signal, so that the drive circuit 103 can be shut down smoothly.

[0046] Please refer to Figure 5 , Figure 5 A schematic block diagram of another control system of a driver chip provided in an embodiment of the present application, wherein Figure 1 Compared with the control system 100 shown in FIG. Figure 4 The control system 100 shown further includes a startup unit 150 and a second delay unit 160 .

[0047] In the embodiment of the present application, the power-on unit 150 is connected to the second power supply unit 140 and the second delay unit 160, and the second delay unit 160 is connected to the first power supply unit 120. The first power supply unit 120 outputs the first power supply voltage from zero during the power-on process, and gradually increases the first power supply voltage so that the first power supply voltage reaches the first target value, which is the rated power supply voltage value of the control unit 101. Similarly, the second power supply unit 140 outputs the second power supply voltage from zero during the power-on process, and gradually increases the second power supply voltage so that the second power supply voltage reaches the second target value, which is the rated power supply voltage value of the driver chip 102.

[0048] The power-on unit 150 is used to output a power-on signal. That is, when the drive circuit 103 needs to be started to supply power to the load, the control system 100 can be used to control the drive chip 102 to enter a working state, and the power-on unit 150 in the control system can be triggered first, and the power-on unit 150 outputs a power-on signal to the second delay unit 160 and the second power supply unit 140 after being triggered.

[0049] In some embodiments, the power-on unit 150 may also include a key circuit, which includes a switch. When the switch is turned on, the key circuit outputs a power-on signal to the second power supply unit 140 and the second delay unit 160 .

[0050] The second power supply unit 140 is used to increase the second supply voltage after receiving the power-on signal, and the fourth moment after the second time period is the second target value, so that the driver chip 102 completely enters the normal working state at the fourth moment, and can output a stable driving signal to the driving circuit 103 after receiving the control signal.

[0051] The second delay unit 160 is used to receive the power-on signal and delay it to the fifth moment to forward it to the first power supply unit 120. The first power supply unit 120 is used to increase the first supply voltage after receiving the power-on signal until it reaches the first target value, so that the control unit 101 delays outputting the control signal to the driver chip 102.

[0052] It can be understood that the embodiment of the present application sets a second delay unit 160 between the power-on unit 150 and the first power supply unit 120. The power-on signal output after the power-on unit 150 is triggered causes the second power supply voltage of the second power supply unit 140 to be powered on immediately, so that the driver chip 102 is ready to output a stable driving signal at the fourth moment. The power-on signal is transmitted to the first power supply unit 120 after the delay to the fifth moment through the second delay unit 160, so that the first power supply voltage of the first power supply unit 120 is delayed to the fifth moment before starting to power on, until the first power supply voltage is increased to the first target value so that the control unit 101 starts to work, so that the control unit 101 outputs the control signal after the driver chip 102 has been powered on and stabilized, so that the driver chip 102 will not output an unstable driving signal during the power-on process, thereby avoiding the second power supply voltage being too low during the power-on process, resulting in an unstable driving signal output by the driver chip 102, and avoiding the risk of burning the driving circuit 103 due to the unstable driving signal.

[0053] In some embodiments, the delay time of the second delay unit 160 is greater than the above-mentioned second time, so as to ensure that after the second power supply voltage received by the driver chip 102 is the second target value, the first power supply voltage is controlled to start to increase and power on gradually, so that the driver chip 102 can receive the control signal output by the control unit 101 after stably working, and output a stable driving signal to the driving circuit 103, so that the driving circuit 103 can operate safely.

[0054] In the embodiment of the present application, the first delay unit 130 and the second delay unit 160 include at least one of an RC delay circuit, a 555 delay circuit and a CMOS delay circuit (CMOS, Complementary Metal-Oxide-Semiconductor). The RC delay circuit includes a resistor and a capacitor, and the charging time of the capacitor is controlled by the resistor, and the charging process of the capacitor is delayed to achieve the delay of the shutdown signal and the power-on signal. Among them, the shutdown signal and the power-on signal can be high-level signals with different amplitudes.

[0055] Please refer to Figure 6 , Figure 6 A schematic diagram of a power-on timing of a first power supply voltage and a second power supply voltage provided in an embodiment of the present application, wherein the second target value of the second power supply voltage V1 when powered on is greater than the first target value of the first power supply voltage V2 when powered on.

[0056] Among them, the second supply voltage V2 starts to power on at time T0, that is, at time T0, the second power supply unit 140 receives a power-on signal, controls the second supply voltage V1 to gradually increase from zero, and increases to the second target value at the fourth time T4, so that the driver chip 102 can work normally and output a stable driving signal.

[0057] The first power supply voltage V1 starts to power on at the fifth moment T5 , that is, at the fifth moment T5 the first power supply unit 120 receives a power-on signal after a delay of t2 , and controls the first power supply voltage V1 to gradually increase from zero until it reaches the first target value.

[0058] In the embodiment of the present application, the fourth moment T4 is earlier than the fifth moment T5, thereby ensuring that the first power supply unit 120 controls the first supply voltage V1 to be powered on at the fifth moment T5 only after the driver chip 102 is ready to output a stable driving signal at the fourth moment T4, so that the driver chip 102 can output a stable driving voltage after receiving the control signal of the control unit 101, so that the driving circuit 103 can operate safely and stably.

[0059] Please refer to Figure 7 , Figure 7 Another schematic diagram of power-on timing of a first power supply voltage and a second power supply voltage provided in an embodiment of the present application. Figure 3 v3 is the lowest operating voltage of the driver chip 102. When the second power supply voltage V2 received by the driver chip 102 is equal to or lower than the lowest operating voltage v3, the driver chip 102 will output an unstable driving signal.

[0060] In this embodiment of the present application, the sixth moment T6 is earlier than the fifth moment T5. The sixth moment T6 is the moment when the second power supply voltage V2 is increased to be equal to the minimum operating voltage v3. After the fifth moment T5, the second power supply voltage V2 is greater than the minimum operating voltage v3, so that after the driver chip 102 runs stably and can output a stable driving signal, the control unit 101 starts to power on and output a control signal, so that the driving circuit 103 can receive a stable driving signal to work normally.

[0061] Please refer to Figure 8 , Figure 8 The schematic block diagram of a robot provided in an embodiment of the present application is shown in FIG. 1 , wherein the robot 10 comprises a control system 100 , a control unit 101 , a driving chip 102 and a driving circuit 103 of any of the above embodiments, and also comprises a load 104 and a battery 105 .

[0062] The control system 100 includes a shutdown unit 110, a first power supply unit 120, a first delay unit 130, and a second power supply unit 140. The shutdown unit 110 is connected to the first power supply unit 120 and the first delay unit 130, the first power supply unit 120 is connected to the control unit 101, and the control unit 101 is connected to the driver chip 102. The first delay unit 130 is connected to the second power supply unit 140, and the second power supply unit 140 is connected to the driver chip 102. The control unit 101 can be the main controller of the robot 10, or it can also be one of the MCUs (Microcontroller Units) of the robot 10, which is not limited here.

[0063] The battery 105 is connected to the driving circuit 103, and the driving circuit 103 is connected to the driving chip 102 and the load 104. The battery 105 is used to provide electric energy to the driving circuit 103. The driving circuit 103 is used to receive the driving signal of the driving chip 102, so as to convert the electric energy into the power supply voltage required by the load 104, and transmit it to the load 104.

[0064] In some embodiments, the first power supply unit 120 includes a first power management chip, and the second power supply unit 140 includes a second power management chip. The first power chip and the second power chip are respectively connected to the battery 105 and receive electrical energy, and convert the electrical energy into a first supply voltage and a second supply voltage.

[0065] The driving circuit 103 includes a power switch, and the driving signal is used to control the on and off of the power switch, that is, to control the on and off frequency and duty cycle, so as to control the output power of the driving circuit 103 .

[0066] The control unit 101 is used to output a control signal to the driver chip 102, and the driver chip 102 is used to output a driving signal to the driving circuit 103 when receiving the control signal. The control unit 101 stops outputting the control signal when the first power supply voltage is zero, and the driver chip 102 stops outputting the driving signal to the driving circuit 103 when it does not receive the control signal.

[0067] It is understood that the beneficial effects of the robot 10 in the embodiment of the present application can refer to the beneficial effects of the control system 100 in the above embodiment, which will not be repeated here. In some embodiments, the robot 10 is a lawn mowing robot, and the load 104 is a motor of the lawn mowing robot.

[0068] The embodiments described above are merely preferred embodiments of the present application and are not intended to limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements made to the technical solutions of the present application by ordinary technicians in this field should fall within the protection scope determined by the claims of the present application.

Claims

1. A control system, characterized in that: include: A shutdown unit, used for outputting a shutdown signal; A first power supply unit, connected to the shutdown unit and the control unit, and configured to provide a first power supply voltage for the control unit, wherein after receiving the shutdown signal, the first power supply voltage provided by the first power supply unit is gradually reduced to zero; The control unit is used to output a control signal to the driver chip so that the driver chip controls the working state of the load; A first delay unit and a second power supply unit, wherein the first delay unit is connected to the shutdown unit and the second power supply unit, and the first delay unit is used to receive the shutdown signal and transmit the shutdown signal to the second power supply unit after delay; The second power supply unit is connected to the driving chip, and is used to provide a second power supply voltage for the driving chip. After receiving the delayed shutdown signal, the second power supply voltage provided by the second power supply unit gradually decreases to zero.

2. The control system according to claim 1, characterized in that: The moment when the first power supply voltage drops to zero is the first moment, and the moment when the first delay unit transmits the shutdown signal after the delay is the second moment. The first moment is earlier than the second moment.

3. The control system according to claim 1, characterized in that: The moment when the first power supply voltage drops to zero is the first moment, and the moment when the second power supply voltage drops to be equal to the lowest operating voltage of the driver chip is the third moment. The first moment is earlier than the third moment.

4. The control system according to claim 3, characterized in that: Before the first moment, the second supply voltage is greater than the minimum operating voltage.

5. The control system according to claim 1, characterized in that: The shutdown unit outputs the shutdown signal to the first power supply unit and the first delay unit simultaneously.

6. The control system according to claim 1, characterized in that: The shutdown unit includes a key circuit, which includes a switch. When the switch is turned on, the key circuit outputs the shutdown signal.

7. The control system according to claim 1, characterized in that: The first power supply includes a first power management chip, and the second power supply includes a second power management chip. The first power chip and the second power chip are both connected to a battery. The first power management chip is used to convert the power of the battery into the first supply voltage, and the second power management chip converts the power of the battery into the second supply voltage.

8. The control system according to any one of claims 1 to 7, characterized in that: The first delay unit includes at least one of an RC delay circuit, a 555 delay circuit and a CMOS delay circuit.

9. A robot, characterized in that: The device comprises a battery, a load, a driving circuit, a driving chip, a control unit and a control system according to any one of claims 1 to 8, wherein the battery is connected to the driving circuit, and the driving circuit is connected to the driving chip and the load; The battery is used to provide electrical energy to the driving circuit; The driving circuit is used to receive the driving signal of the driving chip to convert the electric energy into the supply voltage required by the load.

10. The robot according to claim 9, characterized in that: The control unit is the main controller of the robot.

11. The robot according to claim 9, characterized in that: The driving circuit includes a power switch, and the driving signal is used to control the on and off of the power switch.

12. The robot according to claim 9, characterized in that: The control unit is used to output the control signal to the driving chip, and the driving chip is used to output the driving signal to the driving circuit when receiving the control signal; The control unit stops outputting the control signal when the first power supply voltage is zero, and stops outputting the drive signal to the drive circuit when the drive chip does not receive the control signal.

Images