Power supply system of controller and mobile robot with power supply system

Abstract

The utility model provides a power supply system of a controller and a mobile robot with the power supply system, the power supply system comprises a main power supply Vin, and the power supply system also comprises a backup power supply circuit which is connected with the main power supply Vin to receive and store electric energy and is provided with an output pin VchgUPS; the detection circuit is connected with the main power supply Vin to detect whether the main power supply Vin is powered off, when the main power supply Vin works normally, the detection circuit outputs a low level, and when the main power supply Vin is powered off, the detection circuit outputs a high level; the switching circuit comprises an MOS tube Q1 and an MOS tube Q2, the MOS tube Q1 is connected with the detection circuit, the MOS tube Q2 is connected with the backup power supply circuit, when the detection circuit outputs a low level, the MOS tube Q1 and the MOS tube Q2 are cut off, when the detection circuit outputs a high level, the MOS tube Q1 and the MOS tube Q2 are conducted, and after an output pin VchgUPS of the self-backup power supply circuit receives an output voltage, a power supply voltage is output through an output pin VUPS. After the technical scheme is adopted, the whole power supply system is low in cost and high in economical efficiency and practicability.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of backup power supply especially relates to a power supply system of controller and have the mobile robot of this power supply system. BACKGROUND

[0002] In the controller of the equipment using the mobile power supply, for example, mobile robot, the main power supply used is generally a large capacity battery (for example, DC 24V or DC 48V), and the main power supply is powered by the main power supply. When the following situations occur: shutdown operation is performed on the equipment, the battery power is insufficient and the abnormal power failure, some important field data information needs to be stored in time and reliably, so that the control system of the equipment can be correctly restored to the working state before power failure after power-on. Therefore, in order to realize the power failure holding mechanism, the main power supply needs to be seamlessly switched to the backup power supply, and the backup power supply is powered to the data holding circuit to ensure that it completes the protection of field data information in sufficient time.

[0003] The commonly used data holding circuit uses a battery as a backup power supply. Due to the chemical reaction principle, the battery has the disadvantages of narrow working voltage range, limited number of repeated cycles, and short service life due to rapid charging.

[0004] Therefore, it is necessary to design a power supply system with backup power supply that can respond quickly, and when the main battery power supply is powered off, the backup power supply can be used to protect important field data information in time. SUMMARY

[0005] In order to overcome the above technical defects, the utility model discloses a kind of power supply system of controller and have the mobile robot of this power supply system, entire power supply system cost is low, and economy and practicality are strong.

[0006] The utility model discloses a kind of power supply system of controller, including main power Vin, and the power supply system further includes:

[0007] Backup power supply circuit, with main power Vin is connected to receive and store electric energy, and has an output foot Vchg_UPS;

[0008] Detection circuit, with main power Vin is connected to detect whether main power Vin is powered off, when main power Vin normally works, detection circuit outputs low level, when main power Vin is powered off, detection circuit outputs high level;

[0009] The switching circuit comprises MOS transistor Q1 and MOS transistor Q2, MOS transistor Q1 is connected with the detection circuit, MOS transistor Q2 is connected with the backup power supply circuit, when the detection circuit outputs low level, MOS transistor Q1 and MOS transistor Q2 are cut off, when the detection circuit outputs high level, MOS transistor Q1 and MOS transistor Q2 are turned on, and the output voltage is received from the output pin Vchg_UPS of the backup power supply circuit and then output from an output pin V_UPS to supply the voltage.

[0010] Preferably, the backup power supply circuit comprises:

[0011] The charging chip U1 has an input pin IN and an output pin OUT, the input pin IN is connected with the main power supply Vin, and the output pin OUT is connected with the output pin Vchg_UPS;

[0012] The capacitor C1 has one end grounded and the other end connected with the output pin OUT, and the capacitor C1 is charged by the charging chip U1 receiving the power from the main power supply Vin.

[0013] Preferably, the charging chip U1 further comprises a state pin STAT, a charging current control pin ISET and a control enable pin nCE, wherein the control enable pin nCE is grounded;

[0014] The backup power supply circuit further comprises:

[0015] The resistor R1 has one end connected with the output pin OUT;

[0016] The resistor R2 has one end connected with the other end of the resistor R1 and the other end grounded;

[0017] The resistor R3 has one end connected with the main power supply Vin;

[0018] The resistor R4 has one end connected with the charging current control pin ISET and the other end grounded;

[0019] The light emitting diode D1 has its anode connected with the other end of the resistor R3 and its cathode connected with the state pin STAT.

[0020] Preferably, the detection circuit comprises:

[0021] The voltage source Vcc2;

[0022] The comparator U2 has its non-inverting input end connected with the voltage source Vcc2, its inverting input end connected with the main power supply Vin and its output end connected with the switching circuit;

[0023] When the main power supply Vin works normally, the comparator U2 outputs low level to the switching circuit;

[0024] When the main power Vin is powered off, the comparator U2 outputs a high level to the switching circuit.

[0025] Preferably, the detection circuit further comprises:

[0026] a resistor R5, one end of which is connected to the voltage source Vcc2;

[0027] a resistor R6, one end of which is connected to the other end of the resistor R5, and the other end of which is grounded;

[0028] a resistor R7, one end of which is connected to the main power Vin, and the other end of which is connected to the negative phase input end;

[0029] a resistor R8, one end of which is connected to the negative phase input end, and the other end of which is grounded.

[0030] Preferably, the detection circuit further comprises:

[0031] a capacitor C2, one end of which is connected to the negative phase input end, and the other end of which is grounded;

[0032] a capacitor C3, one end of which is connected to the voltage source Vcc2, and the other end of which is grounded;

[0033] a resistor R9, one end of which is connected to the voltage source Vcc2, and the other end of which is connected to the output end;

[0034] and the comparator U2 is connected to the voltage source Vcc2 and is powered by the voltage source Vcc2.

[0035] Preferably, the MOS transistor Q1 is an N-channel MOS transistor, the gate of the MOS transistor Q1 is connected to the output end of the detection circuit, and the source is grounded;

[0036] the MOS transistor Q2 is a P-channel MOS transistor, the gate of the MOS transistor Q2 is connected to the drain of the MOS transistor Q1, the source is connected to the output pin Vchg_UPS, and the drain is connected to the output pin V_UPS.

[0037] Preferably, the switching circuit further comprises:

[0038] a resistor R10, one end of which is connected to the gate of the MOS transistor Q1, and the other end of which is grounded;

[0039] a resistor R11, one end of which is connected to the drain of the MOS transistor Q1, and the other end of which is connected to the gate of the MOS transistor Q2;

[0040] a resistor R12, one end of which is connected to the output pin Vchg_UPS, and the other end of which is connected to the gate of the MOS transistor Q2.

[0041] Preferably, the capacitor C1 is a farad capacitor.

[0042] The utility model discloses still disclose a kind of mobile robots, including controller, still including the power supply system as described above, and the power supply system is connected with controller.

[0043] After the above technical scheme is adopted, compared with prior art, the following beneficial effects are obtained:

[0044] 1. By the use of farad capacitor and charging chip, stable charging function, charging enable control function, charging current size limitation and charging state indication function can be realized;

[0045] 2. Charging circuit structure is simple, function is comprehensive, charging speed is adjustable, and working state indication is simple and clear;

[0046] 3. Detection circuit can accurately generate main power voltage drop alarm signal, so as to realize the quick and accurate response of power supply circuit;

[0047] 4. Farad capacitor has wide working voltage range, and the number of repeated cycles reaches hundreds of thousands, and the influence on fast charging is very small;

[0048] 5. Detection circuit mainly uses comparator chip to form single-limit comparator with inverting terminal input, and detection result is simple and reliable. BRIEF DESCRIPTION OF DRAWINGS

[0049] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application, and are incorporated herein for purposes of explanation and are not intended to limit the application. In the drawings:

[0050] Figure 1 To meet the circuit schematic diagram of power supply system in a preferred embodiment of the utility model;

[0051] Figure 2 To meet the change relation between signal between main power Vin, charging voltage output pin Vchg_UPS, charging current Iout and state indication from starting charging to charging completion in a preferred embodiment of the utility model;

[0052] Figure 3 To meet the transmission characteristic diagram between input voltage and output voltage of positive phase input terminal of comparator in a preferred embodiment of the utility model;

[0053] Figure 4 To meet the change relation diagram between output voltage of comparator and power supply voltage V_UPS in a preferred embodiment of the utility model. DETAILED DESCRIPTION

[0054] The advantages of the utility model are further described below in combination with the accompanying drawings and specific embodiments.

[0055] The exemplary embodiments will be described in detail herein with reference to the attached drawings. In the following description, like reference numerals refer to like elements throughout the description. The following exemplary embodiments are described in the context of implementations described herein. They are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0056] The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. As used in the description of the present disclosure and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0057] It will be understood that, although the terms first, second, third, etc. can be used herein to describe various information, these terms are not intended to denote a particular order or hierarchy. These terms are used merely for the sake of convenience so as to distinguish one from another. For example, a first information can be termed a second information, and similarly, a second information can also be termed a first information, without departing from the scope of the present disclosure. As used herein, the word "if' can be construed to mean "when" or "upon" or "in response to determining" depending on the context.

[0058] In the description of the present disclosure, it needs to be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present disclosure.

[0059] In the description of the present disclosure, unless otherwise specified and limited, it needs to be explained that the terms "mounting", "connecting", "connection" should be understood in a broad sense, for example, it can be mechanical connection or electrical connection, or the communication between the two elements, or direct connection, or indirect connection through intermediate medium, and the specific meaning of the above terms can be understood by the person skilled in the art according to the specific circumstances.

[0060] In the following description, the suffixes such as "module", "part", or "unit" used to represent elements are only for the convenience of description of the present disclosure, and do not have a specific meaning by themselves. Therefore, "module" and "part" can be used interchangeably.

[0061] Referring to Figure 1 , a circuit schematic diagram of a power supply system of the controller in a preferred embodiment of the present application is shown, in which embodiment the power supply system comprises a main power supply Vin, and when the main power supply Vin is powered off, it will automatically and quickly switch to a backup power supply. Specifically, the power supply system further comprises: a backup power supply circuit having an independent voltage source, such as a battery, a capacitor (preferably a farad capacitor) or the like, which can provide electrical energy, connected to the main power supply Vin to receive and store electrical energy, in other words, when the main power supply Vin is working normally, in addition to supplying power to the controller, it will also supply power to the backup power supply in the backup power supply circuit to charge it.

[0062] The backup power supply circuit has an output pin Vchg_UPS, which will be switched to when the main power supply Vin is powered off, to continue to supply power. The detection circuit is connected to the main power supply Vin and is used to detect whether the main power supply Vin is powered off, for example, by detecting the voltage of the main power supply Vin, when the main power supply Vin is working normally, it means that the voltage of the main power supply Vin is high, and when the main power supply Vin is powered off, it means that the voltage of the main power supply Vin is low, but in the present application, the detection circuit is configured, for example, using a comparator, a logic circuit or the like, when the main power supply Vin is working normally, the detection circuit outputs a low level, and when the main power supply Vin is powered off, the detection circuit outputs a high level, thereby forming a unidirectional detection circuit with an inverted terminal input.

[0063] The switching circuit comprises MOS transistor Q1 and MOS transistor Q2, MOS transistor Q1 is connected to the detection circuit, and MOS transistor Q2 is connected to the backup power supply circuit, when the detection circuit outputs a low level, MOS transistor Q1 and MOS transistor Q2 are configured to be cut off, so that the voltage output of the backup power supply circuit is disconnected, and the controller is still powered by the main power supply Vin; when the detection circuit outputs a high level, MOS transistor Q1 and MOS transistor Q2 are turned on, the voltage output of the backup power supply circuit is turned on, so that after the output pin Vchg_UPS of the backup power supply circuit receives the output voltage from the backup power supply, an output pin V_UPS outputs a supply voltage.

[0064] With the above configuration, after the voltage of the main power supply Vin drops, it quickly responds and switches to the backup power supply to continuously supply power to the controller.

[0065] In a preferred embodiment, the backup power supply circuit comprises: a charging chip U1 having an input pin IN and an output pin OUT, the input pin IN is connected with the main power supply Vin, the input pin IN receives power from the main power supply Vin, and the output pin OUT is connected with the output pin Vchg_UPS; and a capacitor C1, one end of the capacitor C1 is grounded, and the other end of the capacitor C1 is connected with the output pin OUT, the capacitor C1 is charged by the charging chip U1 receiving power from the main power supply Vin, and the capacitor C1 provides backup power when the main power supply Vin is powered off.

[0066] The charging chip U1 provides power for the capacitor C1 on one hand, and controls the charging process on the other hand. Specifically, the charging chip U1 further comprises a state pin STAT, a charging current control pin ISET and a control enable pin nCE, wherein the control enable pin nCE is grounded, and the following elements are further configured on the periphery of the charging chip U1: a resistor R1, one end of the resistor R1 is connected with the output pin OUT; a resistor R2, the resistor R2 is divided with the resistor R1, one end of the resistor R2 is connected with the other end of the resistor R1, and the other end of the resistor R2 is grounded; a resistor R3, the resistor R3 is used as a current limiting resistor, one end of the resistor R3 is connected with the main power supply Vin; a resistor R4, the resistor R4 is used as a charging current control, one end of the resistor R4 is connected with the charging current control pin ISET, and the other end of the resistor R4 is grounded; and a light emitting diode D1, the anode of the light emitting diode D1 is connected with the other end of the resistor R3, and the cathode of the light emitting diode D1 is connected with the state pin STAT. After the above configuration, the output voltage of the output pin Vchg_UPS is divided by the resistor R1 and the resistor R2, and the output voltage of the output pin Vchg_UPS is , wherein Vref is the reference voltage of the charging chip U1, and the reference voltage can be obtained from the data manual of the charging chip U1.

[0067] The resistor R1 and the resistor R2 together constitute a feedback voltage divider. The control enable pin nCE is a control enable pin for the charging function of the charging chip U1, and is configured as a low-level effective pin. Since the control enable pin nCE is directly grounded, the charging chip U1 is always in an enabled state. The charging current control pin ISET is a charging current setting pin, and the size of the charging current can be controlled by controlling the charging current control pin ISET, so as to determine the charging speed of the capacitor C1. The charging current , wherein Kiset is a charging factor, and Riset is a charging current setting resistor, i.e. the resistor R4. That is, the size of the resistor R4 determines the size of the charging current, and the size of the charging current determines the speed of the charging.

[0068] The state pin STAT is connected to the negative pole of the light emitting diode D1, and then the positive pole of D1 is connected to the resistor R3 in series for current limiting to the main power Vin. When the state pin STAT is low, it means that the Vchg_UPS voltage has reached the required voltage, for example, a preset voltage, and the required voltage can be 95%-99% of the preset voltage. At this time, the diode D1 is bright, and the capacitor C1 no longer needs to be charged (the main power Vin no longer supplies power to the charging chip U1). When the state pin STAT is high, it means that the charging is in progress, and at this time the light emitting diode D1 is not bright. Referring to Figure 2 , the change relationship between the main power Vin, the charging voltage output pin Vchg_UPS, the charging current Iout, and the state indication between signals in the process from starting charging to completing charging is shown.

[0069] On the other hand, referring to Figure 1 , the detection circuit includes: a voltage source Vcc2; a comparator U2, the positive input end of the comparator U2 is connected to the voltage source Vcc2, the negative input end is connected to the main power Vin, and the output end is connected to the switching circuit; when the main power Vin works normally, the comparator U2 outputs low level to the switching circuit; when the main power Vin drops, the comparator U2 outputs high level to the switching circuit. More preferably, the detection circuit further includes: a resistor R5, one end of which is connected to the voltage source Vcc2; a resistor R6, one end of which is connected to the other end of the resistor R5, and the other end is grounded; a resistor R7, one end of which is connected to the main power Vin, and the other end is connected to the negative input end; a resistor R8, one end of which is connected to the negative input end, and the other end is grounded. After having the above configuration, the voltage Un of the main power Vin after being divided by the resistor R7 and the resistor R8 is connected to the negative input end of the comparator U2, the working power of the comparator U2 is provided by the voltage source Vcc2, and the voltage Up after being divided by the resistor R5 and the resistor R6 is connected to the positive input end of the comparator, then the voltage Up is the reference voltage, and the capacitor C2 plays a role in reducing the noise effect.

[0070] According to the characteristics of the virtual short and virtual open of the input end of the comparator U2, the voltage Un = Up, and because Un = , Up= , so that , thus, At this time, the Vin value of the above formula is the threshold voltage Vth of the comparator, and . By adjusting the resistance values of the resistor R5, the resistor R6, the resistor R7, and the resistor R8, the size of the threshold voltage Vth can be freely adjusted. Referring to Figure 3 , by configuring the threshold voltage Vth, when the main power Vin drops to the threshold voltage Vth, the output end Vout2 of the comparator U2 flips from low level to high level.

[0071] Conversely, when the main power Vin rises to the threshold voltage Vth, the output terminal Vout2 of the comparator U2 changes from high level to low level. Further, the detection circuit further comprises: a capacitor C2, one end of which is connected to the negative input terminal, and the other end of which is grounded; a capacitor C3, one end of which is connected to the voltage source Vcc2, and the other end of which is grounded; and a resistor R9, one end of which is connected to the voltage source Vcc2, and the other end of which is connected to the output terminal. The output terminal Vout2 of the comparator U2 is pulled up to the voltage source Vcc2 through the resistor R9. The capacitor C3 is connected between the voltage source Vcc2 and the ground, and can be connected to the ground pin Gnd2 of the comparator U2, thereby playing a decoupling role.

[0072] On the other hand, the MOS transistor Q1 is an N-channel MOS transistor, the gate of the MOS transistor Q1 is connected to the output terminal of the detection circuit, and the source is grounded; the MOS transistor Q2 is a P-channel MOS transistor, the gate of the MOS transistor Q2 is connected to the drain of the MOS transistor Q1, the source is connected to the output pin Vchg_UPS, and the drain is connected to the output pin V_UPS. Further, the switching circuit further comprises: a resistor R10, one end of which is connected to the gate of the MOS transistor Q1, and the other end of which is grounded; a resistor R11, one end of which is connected to the drain of the MOS transistor Q1, and the other end of which is connected to the gate of the MOS transistor Q2; and a resistor R12, one end of which is connected to the output pin Vchg_UPS, and the other end of which is connected to the gate of the MOS transistor Q2. With the above configuration, referring to Figure 4 When the output terminal Vout2 of the comparator U2 is at low level (the main power Vin is normally working), the MOS transistor Q1 is turned off, at this time, the gate voltage Vg of the P-channel MOS transistor Q2 is at high level, and the voltage between the source and the gate is less than the turn-on voltage Vgs(th) of the MOS transistor Q2, thereby causing the MOS transistor Q2 to be turned off, at this time, the backup power supply is not powered.

[0073] When the output terminal Vout2 of the comparator U2 is at high level (the main power Vin is powered off), the MOS transistor Q1 is turned on, at this time, the gate voltage Vg of the P-channel MOS transistor Q2 is at low level, and the voltage between the source and the gate of the MOS transistor Q2 is greater than the turn-on voltage Vgs(th) of the MOS transistor Q2, thereby causing the MOS transistor Q2 to be turned on. Therefore, the supply voltage V_UPS output by the output pin V_UPS is Vchg_UPS - Vsd, wherein Vchg_UPS is the voltage across the capacitor C1, and Vsd is the turn-on voltage drop of the MOS transistor Q2. At this time, the supply voltage V_UPS output by the output pin V_UPS is the backup power supply for supplying the data retention circuit in the controller to work, and the main power Vin no longer supplies power to the data retention circuit in the controller.

[0074] It should be noted that when the main power Vin works normally, it directly outputs power to the data retention circuit, only when the main power Vin drops, the voltage across the capacitor C1 is switched to supply power to the data retention circuit, that is, the main power Vin and the super capacitor capacitor C1 belong to parallel power supply relationship, and only one is used at any time. Under this configuration, the voltage across the capacitor C1 will not be in a state of being quickly consumed in the state of supplying power to the data retention circuit.

[0075] The utility model discloses still a kind of mobile robot, including controller, still including the power supply system as described above, power supply system is connected with controller, when main power Vin power failure, backup power supply is supplied to data retention circuit.

[0076] It should be noted that the embodiments of the present application have good implementation, and are not intended to limit the present application in any form. Any skilled person in the art can modify or modify the above-mentioned technical content to equivalent effective embodiments, as long as it does not deviate from the technical solution of the present application. Any modification or equivalent change and modification of the above-mentioned technical essence of the present application are still within the scope of the present application.

Claims

1. A power supply system for a controller comprising a main power source Vin, characterized in that, The power supply system further comprises: a backup power supply circuit connected with the main power supply Vin to receive and store power, and having an output pin Vchg_UPS; a detection circuit connected with the main power supply Vin to detect whether the main power supply Vin is powered off, the detection circuit outputting a low level when the main power supply Vin is normally working, and outputting a high level when the main power supply Vin is powered off; a switching circuit comprising MOS tubes Q1 and Q2, the MOS tube Q1 being connected with the detection circuit, the MOS tube Q2 being connected with the backup power supply circuit, the MOS tubes Q1 and Q2 being turned off when the detection circuit outputs a low level, and the MOS tubes Q1 and Q2 being turned on when the detection circuit outputs a high level, and outputting a power supply voltage from the output pin Vchg_UPS of the backup power supply circuit through an output pin V_UPS; the backup power supply circuit comprises: a charging chip U1 having an input pin IN and an output pin OUT, the input pin IN being connected with the main power supply Vin, and the output pin OUT being connected with the output pin Vchg_UPS; a capacitor C1, one end of the capacitor C1 being grounded, and the other end being connected with the output pin OUT, the capacitor C1 being charged by the charging chip U1 receiving power from the main power supply Vin; the charging chip U1 further comprises a state pin STAT, a charging current control pin ISET and a control enable pin nCE, wherein the control enable pin nCE is grounded; the backup power supply circuit further comprises: a resistor R1, one end of the resistor R1 being connected with the output pin OUT; a resistor R2, one end of the resistor R2 being connected with the other end of the resistor R1, and the other end being grounded, to jointly constitute a feedback voltage divider; a resistor R3, one end of the resistor R3 being connected with the main power supply Vin; a resistor R4, one end of the resistor R4 being connected with the charging current control pin ISET, and the other end being grounded; a light emitting diode D1, the anode of the light emitting diode D1 being connected with the other end of the resistor R3, and the cathode being connected with the state pin STAT.

2. The power supply system of claim 1, wherein, the detection circuit comprises: a voltage source Vcc2; a comparator U2, the non-inverting input end of the comparator U2 being connected with the voltage source Vcc2, the inverting input end being connected with the main power supply Vin, and the output end being connected with the switching circuit; the comparator U2 outputs a low level to the switching circuit when the main power supply Vin is normally working; the comparator U2 outputs a high level to the switching circuit when the main power supply Vin is powered off.

3. The power supply system of claim 2, wherein, the detection circuit further comprises: a resistor R5, one end of the resistor R5 being connected with the voltage source Vcc2; a resistor R6, one end of the resistor R6 being connected with the other end of the resistor R5, and the other end being grounded; a resistor R7, one end of the resistor R7 being connected with the main power supply Vin, and the other end being connected with the inverting input end; a resistor R8, one end of the resistor R8 being connected with the inverting input end, and the other end being grounded.

4. The power supply system of claim 3, wherein, the detection circuit further comprises: a capacitor C2, one end of the capacitor C2 being connected with the inverting input end, and the other end being grounded; a capacitor C3, one end of which is connected to the voltage source Vcc2 and the other end of which is grounded; a resistor R9, one end of which is connected to the voltage source Vcc2 and the other end of which is connected to the output terminal; and the comparator U2 is connected to the voltage source Vcc2 and is powered by the voltage source Vcc2.

5. The power supply system according to claim 1, wherein the MOS transistor Q1 is an N-channel MOS transistor, the gate of the MOS transistor Q1 is connected to the output terminal of the detection circuit, and the source is grounded; the MOS transistor Q2 is a P-channel MOS transistor, the gate of the MOS transistor Q2 is connected to the drain of the MOS transistor Q1, the source is connected to the output terminal Vchg_UPS, and the drain is connected to the output terminal V_UPS.

6. The power supply system of claim 5, wherein, The switching circuit further comprises: a resistor R10, one end of which is connected to the gate of the MOS transistor Q1 and the other end of which is grounded; a resistor R11, one end of which is connected to the drain of the MOS transistor Q1 and the other end of which is connected to the gate of the MOS transistor Q2; a resistor R12, one end of which is connected to the output terminal Vchg_UPS and the other end of which is connected to the gate of the MOS transistor Q2.

7. The power supply system of claim 1, wherein, The capacitor C1 is a farad capacitor.

8. A mobile robot comprising a controller, characterized in that The power supply system according to any one of claims 1-7 is further connected to the controller.

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