Control system and robot

Abstract

The application discloses a control system and a robot, and relates to the technical field of control systems, and particularly relates to a control system and a robot. The control system comprises a shutdown unit, a first power supply unit, a control unit, a first delay unit and a second power supply unit. The shutdown unit 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 a first power supply voltage for the control unit. After receiving the shutdown signal, the provided first power supply voltage gradually decreases to zero. The control unit is used for outputting a control signal to a driving chip, so that the driving chip controls the working state of a load. The first delay unit is connected with the shutdown unit and the second power supply unit. 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. 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. After receiving the delayed shutdown signal, the provided second power supply voltage gradually decreases to zero. The application can avoid the risk of burning the driving circuit caused by the instability of the driving signal.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of driving circuit control, and particularly relates to a control system and a robot. BACKGROUND

[0002] At present, in electronic equipment provided with a driving circuit, a driving chip is generally used to output a driving signal to the driving circuit, and the driving signal is used to control the output of voltage or power of the driving circuit, and the driving chip is controlled by a control unit in the electronic equipment through a control signal. However, when the driving chip is powered at a low voltage, the driving signal output by the driving chip is unstable, which can easily cause the driving circuit to burn out. SUMMARY

[0003] In view of this, the present application provides a control system and a robot, which are used to avoid the risk of burning out of the driving circuit caused by unstable driving signals of the driving chip. The technical scheme of the present application is as follows.

[0004] The first aspect of the present application provides a control system, comprising: a shutdown unit, configured to output a shutdown signal; a first power supply unit, connected with the shutdown unit and a control unit, configured to provide a first power supply voltage for the control unit, and the first power supply unit gradually reduces the first power supply voltage to zero after receiving the shutdown signal; the control unit is configured to output a control signal to a driving chip, so that the driving chip controls the working state of a 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 configured to receive the shutdown signal and transmit the shutdown signal after delay to the second power supply unit; the second power supply unit is connected with the driving chip, and is configured to provide a second power supply voltage for the driving chip, and the second power supply unit gradually reduces the second power supply voltage to zero after receiving the shutdown signal after delay.

[0005] In an embodiment of the present application, the first time when the first power supply voltage is reduced to zero is a first time, and the second time when the first delay unit transmits the shutdown signal after delay is a second time, and the first time is earlier than the second time.

[0006] In an embodiment of the present application, the first time when the first power supply voltage is reduced to zero is a first time, and the third time when the second power supply voltage is reduced to equal to the minimum running voltage of the driving chip is a third time, and the first time is earlier than the third time.

[0007] In an embodiment of the present application, before the first time, the second power supply voltage is greater than the minimum running voltage.

[0008] 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.

[0009] In an embodiment of the present application, the shutdown unit comprises a key circuit, and the key circuit comprises a switch. When the switch is turned on, the key circuit outputs the shutdown signal.

[0010] In an embodiment of the present application, the first power supply comprises a first power management chip, and the second power supply comprises a second power management chip. The first power management chip and the second power management chip are connected to a battery. The first power management chip is configured to convert power of the battery into the first supply voltage, and the second power management chip is configured to convert power of the battery into the second supply voltage.

[0011] In an embodiment of the present application, the first delay unit comprises at least one of an RC delay circuit, a 555 delay circuit, and a CMOS delay circuit.

[0012] The second aspect of the present application provides a robot, comprising a battery, a load, a driving circuit, a driving chip, a control unit, and the control system. The battery is connected to the driving circuit, and the driving circuit is connected to the driving chip and the load. The battery is configured to provide power for the driving circuit. The driving circuit is configured to receive a driving signal of the driving chip to convert the power into a supply voltage required by the load.

[0013] In an embodiment of the present application, the control unit is a main controller of the robot.

[0014] In an embodiment of the present application, the driving circuit comprises a power switch, and the driving signal is configured to control turning on and turning off of the power switch.

[0015] In an embodiment of the present application, the control unit is configured to output the control signal to the driving chip. The driving chip is configured 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 supply voltage is zero. The driving chip stops outputting the driving signal to the driving circuit when not receiving the control signal.

[0016] It can be understood that the control system of the embodiment of the present application sets the first delay unit between the shutdown unit and the second power supply unit, the shutdown signal output after the shutdown unit triggers makes the first power supply voltage of the first power supply unit power off immediately, and the first delay unit makes the shutdown signal transmitted to the second power supply unit after the delay, 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 work of the driving chip, so that the control unit has completely stopped outputting the control signal before the driving chip stops working, so that the driving chip no longer outputs the driving signal in the power-off process of the second power supply voltage, thereby avoiding the risk of burning the driving circuit caused by the unstable driving signal output by the driving chip due to the too low second power supply voltage in the power-off process. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a schematic block diagram of a control system of a driving chip provided by the embodiment of the present application.

[0018] Figure 2 is a circuit schematic diagram of a key circuit provided by the embodiment of the present application.

[0019] Figure 3 is a power-off timing diagram of a first power supply voltage and a second power supply voltage provided by the embodiment of the present application.

[0020] Figure 4 is another power-off timing diagram of a first power supply voltage and a second power supply voltage provided by the embodiment of the present application.

[0021] Figure 5 is another schematic block diagram of a control system of a driving chip provided by the embodiment of the present application.

[0022] Figure 6 is a power-on timing diagram of a first power supply voltage and a second power supply voltage provided by the embodiment of the present application.

[0023] Figure 7 is another power-on timing diagram of a first power supply voltage and a second power supply voltage provided by the embodiment of the present application.

[0024] Figure 8 is a schematic block diagram of a robot provided by the embodiment of the present application. DETAILED DESCRIPTION

[0025] It should be noted that the "at least one" in the embodiments of the present application means one or more, and "multiple" means two or more than two. The "and / or" describes the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B can represent: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth" and the like (if any) in the specification and claims of the present application and the drawings are used to distinguish similar objects, and are not used to describe a specific order or sequence.

[0026] In addition, it should 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, and the execution order of the multiple steps can be interchanged with each other without departing from the scope of the claims, and some steps can also be deleted.

[0027] At present, in electronic devices provided with a driving circuit, a driving chip generally outputs a driving signal to the driving circuit to control the output of voltage or power of the driving circuit through the driving signal, and the driving chip is controlled by a control unit in the electronic device through a control signal. However, the driving chip will cause the driving signal output by the driving chip to be unstable when powered at a low voltage, which is easy to cause the driving circuit to burn out, especially when the electronic device is powered off, the power supply voltage of the control unit and the driving chip will adopt a power-down strategy of gradually reducing to zero, so that when the power supply voltage of the driving chip is too low, the driving chip still receives the control signal of the control unit, and outputs the unstable driving signal to the driving circuit, which is more likely to cause the driving circuit to burn out.

[0028] The present application provides a control system of a driving chip and a robot, which is used to avoid the risk of burning out of the driving circuit caused by the unstable driving signal of the driving chip.

[0029] Please refer to Figure 1 , Figure 1 A schematic block diagram of a control system provided in the embodiments of the present application is shown, 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.

[0030] In the embodiment of the present application, the electronic device provided with the control system 100 comprises a control unit 101, a driving chip 102 and a driving circuit 103. In the electronic device, the driving chip 102 is connected with the driving circuit 103, and the driving chip 102 is configured to output a driving signal to the driving circuit 103 when receiving a control signal, so as to make the driving circuit 103 supply power to a load and control the working state of the load. The control unit 101 is connected with the driving chip 102, and the control unit 101 is configured to output the control signal to the driving chip 102. The driving circuit 103 comprises a switch tube, and the driving signal comprises a pulse width modulation signal. The driving chip 102 is configured to adjust the pulse width in the pulse width modulation signal according to the control signal, so as to adjust the voltage or power supplied by the driving circuit 103, thereby meeting the voltage requirement or power requirement of the load. For example, when the electronic device is a lawn mowing robot, the load can be a motor of the lawn mowing robot. When the driving chip 102 adjusts the voltage or power supplied by the driving circuit 103, the working parameters such as the rotating speed or power of the motor of the lawn mowing robot can be adjusted, and thus the working state of the motor is changed.

[0031] In the control system 100, the shutdown unit 110 is connected with the first power supply unit 120 and the first delay unit 130, the first power supply unit 120 is connected with the control unit 101, the control unit 101 is connected with the driving chip 102, the first delay unit 130 is connected with the second power supply unit 140, and the second power supply unit 140 is connected with the driving chip 102. When the driving chip 102 works normally, the first power supply unit 120 is configured to provide a first power supply voltage for the control unit 101, and the second power supply unit 140 is configured to provide a second power supply voltage for the driving chip 102. When receiving the first power supply voltage, the control unit 101 enters a working state and outputs the control signal to the driving chip 102. When receiving the second power supply voltage, the driving chip 102 enters a working state and generates and outputs the driving signal to the driving circuit 103 according to the control signal.

[0032] When it is required to stop the driving circuit 103 from supplying power to the load, the driving chip 102 can be controlled to enter an off state. First, the shutdown unit 110 in the control system 100 can be triggered, and the shutdown unit 110 is configured 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.

[0033] In some embodiments, the shutdown unit 110 comprises a key circuit 111, and the key circuit 111 comprises a switch K1. When the switch K1 is turned on, the key circuit 111 outputs the shutdown signal to the first power supply unit 120 and the first delay unit 130.

[0034] For example, as shown in FIG. 1, the key circuit 111 comprises a switch K1, and the switch K1 is connected with the shutdown unit 110. When the switch K1 is turned on, the shutdown unit 110 outputs the shutdown signal to the first power supply unit 120 and the first delay unit 130. 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 negative electrode 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 positive electrode of the diode D2, and the negative electrode of the diode D2 is used to output the shutdown signal. That is, the voltage division signal obtained by voltage division of the power supply voltage by the resistor R1 is the shutdown signal, and the shutdown signal is output through the diode D2 after the switch K1 is turned on. 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 supply from flowing into the power supply voltage Vin from the key circuit 111.

[0035] The first power supply unit 120 controls the first supply voltage to start gradually reducing to zero immediately after receiving the shutdown signal reaching the shutdown unit 110. The time when the first supply voltage reduces to zero is the first time, and the control unit 101 stops outputting the control signal and stops working at the first time. When the control unit 101 stops outputting the control signal to the driving chip 102, the driving chip 102 will stop outputting the driving signal.

[0036] The first delay unit 130 transmits the shutdown signal to the second power supply unit 140 after delaying the shutdown signal after receiving the shutdown signal. The second power supply unit 140 controls the second supply voltage to start gradually reducing to zero to stop the driving chip 102 from working after receiving the shutdown signal at the second time. The time when the first delay unit transmits the delayed shutdown signal is the second time.

[0037] It can be understood that, by arranging the first delay unit 130 between the shutdown unit 110 and the second power supply unit 140, the shutdown signal output after the shutdown unit 110 is triggered makes the first supply voltage of the first power supply unit 120 immediately power off, and the first delay unit 130 makes the shutdown signal transmitted to the second power supply unit 140 after being delayed, so that the second supply voltage of the second power supply unit 140 starts to power off after being delayed, and the second supply voltage reduces to zero to stop the driving chip 102 from working, so that the control unit 101 has completely stopped outputting the control signal before the driving chip 102 starts to power off, so that the driving chip 102 no longer outputs the driving signal during the power off process of the second supply voltage, thereby avoiding the instability of the driving signal output by the driving chip 102 due to the too low second supply voltage during the power off process, and avoiding the risk of burning the driving circuit 103 caused by the instability of the driving signal.

[0038] The driving chip 102 can output a high-level signal or a low-level signal to the driving circuit 103 when it does not receive the control signal, and the driving circuit 103 stops working when it receives the high-level or low-level signal.

[0039] In some embodiments, the first power supply voltage is reduced to zero after a first time duration, and the time duration of the first delay unit 130 is greater than the first time duration, so as to ensure that the second power supply voltage starts to gradually decrease to turn off the driving chip 102 after the control unit 101 stops outputting the control signal, and the driving chip 102 stops outputting the driving signal during the gradual power-down of the second power supply voltage, thereby better avoiding the driving chip 102 from outputting unstable driving signals when the second power supply voltage gradually decreases to below the minimum operating voltage of the driving chip 102, and further avoiding the components of the driving circuit 103 from being burned due to the unstable driving signals.

[0040] The 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 management chip and the second power management chip are connected to the battery. The first power management chip is configured to convert the power supply of the battery into the first power supply voltage, and the second power management chip is configured to convert the power supply of the battery into the second power supply voltage.

[0041] Please refer to Figure 3 , Figure 3 A power-down timing diagram of the first power supply voltage and the second power supply voltage is provided for the embodiments of the present application. The second power supply voltage V2 is greater than the first power supply voltage V1.

[0042] The first power supply voltage V1 starts to power down at time T0, that is, the first power supply unit 120 receives the shutdown signal at time T0, and controls the first power supply voltage V1 to gradually decrease to zero at time T1, so that the control unit 101 stops outputting the control signal and stops working.

[0043] The second power supply voltage V2 starts to power down at time T2, that is, the second power supply unit 140 receives the shutdown signal after the time delay t1 at time T2, and controls the second power supply voltage V2 to gradually decrease to zero.

[0044] In the embodiments of the present application, the first time T1 is earlier than the second time T2, so that the second power supply unit 140 controls the second power supply voltage V2 to power down at time T2 only after the control unit 101 stops outputting the control signal at time T1, so that the driving chip 102 does not output the driving signal during the entire process of gradually reducing the second power supply voltage to zero, and further better avoids the driving chip 102 from outputting unstable driving signals to the driving circuit 103, thereby protecting the driving circuit 103 from being burned due to the unstable driving signals.

[0045] Please refer to Figure 4 , Figure 4 Another power-down timing diagram of the first power supply voltage and the second power supply voltage is provided for the embodiments of the present application.Figure 3 v3 is the lowest operating voltage of the driving chip 102, and when the second supply voltage V2 received by the driving chip 102 is equal to or lower than the lowest operating voltage v3, the driving chip 102 will output unstable driving signals.

[0046] In the embodiment of the present application, the first time T1 is earlier than the third time T3, and the third time T3 is the time when the second supply voltage V2 decreases to the lowest operating voltage v3. Before the first time T1, the second supply voltage V2 is greater than the lowest operating voltage v3, so that the control unit 101 stops outputting the control signal before the second supply voltage V2 decreases to the lowest operating voltage v3, avoiding the driving chip 102 outputting unstable driving signals to the driving circuit 103, and before the second supply voltage V2 does not decrease to the lowest operating voltage v3, the driving chip 102 can maintain outputting the driving signal, so that the driving circuit 103 can be smoothly powered off.

[0047] Please refer to Figure 5 , Figure 5 Another schematic block diagram of a control system of a driving chip provided by the embodiment of the present application is shown, wherein, compared with the control system 100 shown in Figure 1 the difference is that, Figure 4 the control system 100 shown in also includes a startup unit 150 and a second delay unit 160.

[0048] In the embodiment of the present application, the startup unit 150 is connected with the second power supply unit 140 and the second delay unit 160, and the second delay unit 160 is connected with the first power supply unit 120. Among them, the first power supply unit 120 outputs the first supply voltage from zero in the process of starting power-on, and gradually increases the first supply voltage, so that the first supply voltage reaches the first target value, and the first target value is the rated supply voltage value of the control unit 101. Similarly, the second power supply unit 140 outputs the second supply voltage from zero in the process of starting power-on, and gradually increases the second supply voltage, so that the second supply voltage reaches the second target value, and the second target value is the rated supply voltage value of the driving chip 102.

[0049] Among them, the startup unit 150 is used to output a startup signal. That is, when it is needed to start the driving circuit 103 to supply power to the load, the driving chip 102 can be controlled to enter the working state through the above-mentioned control system 100, and first the startup unit 150 in the control system can be triggered, and the startup unit 150 outputs the startup signal to the second delay unit 160 and the second power supply unit 140 after being triggered.

[0050] In some embodiments, the startup unit 150 can also include a key circuit, and the key circuit includes a switch. When the switch is turned on, the key circuit outputs the startup signal to the second power supply unit 140 and the second delay unit 160.

[0051] The second power supply unit 140 is configured to increase the second supply voltage after receiving the start-up signal, and reach the second target value at the fourth time point after the second time duration, so that the driving chip 102 completely enters the normal working state at the fourth time point, and can output stable driving signals to the driving circuit 103 after receiving the control signal.

[0052] The second delay unit 160 is configured to receive the start-up signal and forward the start-up signal to the first power supply unit 120 at the fifth time point. The first power supply unit 120 is configured to increase the first supply voltage after receiving the start-up signal, and reach the first target value, so that the control unit 101 delays outputting the control signal to the driving chip 102.

[0053] It can be understood that, in the embodiment of the present application, the second delay unit 160 is arranged between the start-up unit 150 and the first power supply unit 120. The start-up signal output by the start-up unit 150 after triggering makes the second supply voltage of the second power supply unit 140 immediately power up, so that the driving chip 102 is ready to output stable driving signals at the fourth time point. The second delay unit 160 makes the start-up signal transmitted to the first power supply unit 120 at the fifth time point after delay, so that the first supply voltage of the first power supply unit 120 starts to power up at the fifth time point after delay, and reaches the first target value, so that the control unit 101 starts to work. Therefore, the control unit 101 outputs the control signal after the driving chip 102 has powered up and stabilized, so that the driving chip 102 does not output unstable driving signals during the power-up process, thereby avoiding the situation that the second supply voltage is too low during the power-up process, which causes the driving chip 102 to output unstable driving signals, and avoiding the risk that unstable driving signals burn out the driving circuit 103.

[0054] In some embodiments, the delay time of the second delay unit 160 is greater than the second time duration, so as to ensure that the second supply voltage received by the driving chip 102 reaches the second target value, and then the first supply voltage starts to increase and gradually powers up, so that the driving chip 102 receives the control signal output by the control unit 101 after stable working, and outputs stable driving signals to the driving circuit 103, thereby ensuring the safe operation of the driving circuit 103.

[0055] 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 controls the charging time of the capacitor through the resistor, delays the charging process of the capacitor, and thus realizes the delay of the power-off signal and the power-on signal. The power-off signal and the power-on signal can be high-level signals with different amplitudes.

[0056] Please refer to Figure 6 , Figure 6 The present application provides a power-on timing diagram of a first power supply voltage and a second power supply voltage. The second target value of the second power supply voltage V1 is greater than the first target value of the first power supply voltage V2.

[0057] The second power supply voltage V2 starts to power on at T0, that is, the second power supply unit 140 receives the power-on signal at T0, and controls the second power supply voltage V1 to gradually rise from zero to the second target value at the fourth time T4, so that the driving chip 102 can already normally work and output stable driving signals.

[0058] The first power supply voltage V1 starts to power on at the fifth time T5, that is, the first power supply unit 120 receives the power-on signal after the delay t2 at the fifth time T5, and controls the first power supply voltage V1 to gradually rise from zero to the first target value.

[0059] In the embodiment of the present application, the fourth time T4 is earlier than the fifth time T5, so as to ensure that the driving chip 102 has already prepared to output stable driving signals at the fourth time T4, and then the first power supply unit 120 controls the first power supply voltage V1 to power on at the fifth time T5, so that the driving chip 102 can output stable driving voltage after receiving the control signal of the control unit 101, and the driving circuit 103 can safely and stably work.

[0060] Please refer to Figure 7 , Figure 7 The present application provides another power-on timing diagram of a first power supply voltage and a second power supply voltage. In the present application, Figure 3 v3 in the above formula is the minimum running voltage of the driving chip 102, and when the second power supply voltage V2 received by the driving chip 102 is equal to or lower than the minimum running voltage v3, the driving chip 102 will output unstable driving signals.

[0061] In the embodiment, the sixth time T6 is earlier than the fifth time T5, the sixth time T6 is the time when the second supply voltage V2 increases to the minimum operating voltage v3, and the second supply voltage V2 is greater than the minimum operating voltage v3 after the fifth time T5, so that the driving chip 102 can output stable driving signals after stable operation, and the control unit 101 starts to power on and output control signals, so that the driving circuit 103 can receive stable driving signals for normal work.

[0062] Please refer to Figure 8 , Figure 8 A schematic block diagram of a robot is provided in the embodiment. The robot 10 includes the control system 100, the control unit 101, the driving chip 102, and the driving circuit 103 of any of the above embodiments, and further includes a load 104 and a battery 105.

[0063] 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 driving 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 driving chip 102. The control unit 101 can be a main controller of the robot 10, or can also be one MCU (Microcontroller Unit) of the robot 10, which is not limited here.

[0064] 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 power for the driving circuit 103. The driving circuit 103 is used to receive the driving signal of the driving chip 102, to convert the power into the supply voltage required by the load 104, and to transmit to the load 104.

[0065] 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 power, and convert the power into the first supply voltage and the second supply voltage.

[0066] The driving circuit 103 includes a power switch, and the driving signal is used to control the conduction and turn-off of the power switch, that is, to control the frequency and duty cycle of the conduction and turn-off, so as to control the output power of the driving circuit 103.

[0067] The control unit 101 is configured to output a control signal to the driving chip 102, and the driving chip 102 is configured to output a driving signal to the driving circuit 103 upon receiving the control signal. The control unit 101 stops outputting the control signal when the first power supply voltage is zero, and the driving chip 102 stops outputting the driving signal to the driving circuit 103 when the control signal is not received.

[0068] It can be understood that the robot 10 of the embodiments of the present application has the beneficial effects of the control system 100 of the foregoing embodiments, which will not be described herein again. In some embodiments, the robot 10 is a mowing robot, and the load 104 is a motor of the mowing robot.

[0069] The above-described embodiments 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 to the technical solutions of the present application made by those of ordinary skill in the art shall fall within the protection scope of the present application as defined by the claims.

Claims

1. A control system, characterized in that, include: The power-off unit is used to output a power-off signal; A first power supply unit is connected to the shutdown unit and the control unit, and is used to provide a first power supply voltage to the control unit. After receiving the shutdown signal, the first power supply unit gradually reduces the first power supply voltage to zero. The control unit is used to output control signals 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 are provided. The first delay unit is connected to the power-off unit and the second power supply unit. The first delay unit is used to receive the power-off signal and transmit the power-off signal to the second power supply unit after delaying it. The second power supply unit is connected to the driver chip and is used to provide a second power supply voltage to the driver 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 as described in 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 delayed power-off signal is the second moment. The first moment is earlier than the second moment.

3. The control system as described in claim 1, characterized in that, The moment when the first supply voltage drops to zero is the first moment, and the moment when the second supply voltage drops to the minimum operating voltage of the driver chip is the third moment. The first moment is earlier than the third moment.

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

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

6. The control system as described in claim 1, characterized in that, The power-off unit includes a button circuit, which includes a switch. When the switch is turned on, the button circuit outputs the power-off signal.

7. The control system as described in 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. Both the first power management chip and the second power management chip are connected to a battery. The first power management chip is used to convert the power supply of the battery into the first supply voltage, and the second power management chip converts the power supply 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 the following delay circuits: an RC delay circuit, a 555 delay circuit, and a CMOS delay circuit.

9. A robot, characterized in that, The system includes a battery, a load, a drive circuit, a drive chip, a control unit, and a control system as described in any one of claims 1 to 8, 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 power to the drive circuit; The driving circuit is used to receive the driving signal from the driving chip to convert the electrical energy into the power supply voltage required by the load.

10. The robot as described in claim 9, characterized in that, The control unit is the main controller of the robot.

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

12. The robot as described in claim 9, characterized in that, 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 it receives the control signal; The control unit stops outputting the control signal when the first power supply voltage is zero, and the drive chip stops outputting the drive signal to the drive circuit when it does not receive the control signal.

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