Control system and robot
By setting a delay unit between the shutdown unit and the second power supply unit to delay the transmission of the power-down control signal, the problem of drive circuit burnout caused by unstable signal of the drive chip under low voltage power supply is solved, and safe shutdown of the equipment is achieved.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- SHENZHEN MAMMOTION INNOVATION CO LTD
- Filing Date
- 2025-12-11
- Publication Date
- 2026-07-30
AI Technical Summary
The driver chip outputs an unstable drive signal when powered by low voltage, which can easily lead to the burnout of the drive circuit, especially when the electronic device is powered off.
By setting a first delay unit between the power-off unit and the second power supply unit, the power-off signal is delayed before being transmitted to the second power supply unit, thereby delaying the power-off of the second power supply voltage until it drops to zero. This ensures that the control unit completely stops outputting control signals before the driver chip stops working, thus avoiding unstable drive signals.
This effectively prevents the driver chip from outputting unstable drive signals during power-down, protecting the drive circuit from being burned out and ensuring safe shutdown of the equipment.
Smart Images
Figure CN2025141891_30072026_PF_FP_ABST
Abstract
Description
Control systems and robots
[0001] This application claims priority to Chinese Patent Application No. 202510113458.6, filed on January 22, 2025, entitled "Control System and Robot", the entire contents of which are incorporated herein by reference. Technical Field
[0002] This application relates to the field of drive circuit control technology, specifically to a control system and a robot. Background Technology
[0003] Currently, in electronic devices equipped with drive circuits, a drive chip typically outputs a drive signal to the drive circuit. This drive signal controls the voltage or power output of the drive circuit, which in turn is controlled by the control unit within the electronic device via control signals. However, when powered by a low voltage supply, the drive chip's output drive signal becomes unstable, potentially leading to the burnout of the drive circuit. Summary of the Invention
[0004] In view of this, this application provides a battery fuel gauge, an electronic device, and a method for determining battery capacity, to improve the accuracy of obtaining the capacity of a target battery. The technical solution of this application is as follows:
[0005] Therefore, this application provides a control system and robot to avoid the risk of burnout of the drive circuit due to unstable drive signals from the drive chip. The technical solution of this application is as follows:
[0006] This application provides a control system comprising: 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 to the control unit, wherein the first power supply voltage provided by the first power supply unit gradually decreases to zero after receiving the shutdown signal; the control unit for outputting a control signal to a driver chip to enable the driver chip to control the operating state of a 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 a delay; the second power supply unit is connected to the driver chip for providing a second power supply voltage to the driver chip, wherein the second power supply voltage provided by the second power supply unit gradually decreases to zero after receiving the delayed shutdown signal.
[0007] In one embodiment of this 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 delayed power-off signal is the second moment, and the first moment is earlier than the second moment.
[0008] In one embodiment of this application, 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 equal the minimum operating voltage of the driver chip is the third moment, and the first moment is earlier than the third moment.
[0009] In one embodiment of this application, before the first moment, the second supply voltage is greater than the minimum operating voltage.
[0010] In one embodiment of this application, the power-off unit simultaneously outputs the power-off signal to the first power supply unit and the first delay unit.
[0011] In one embodiment of this application, 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.
[0012] In one embodiment of this application, the first power source includes a first power management chip, and the second power source includes a second power management chip. Both the first power chip and the second power 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.
[0013] In one embodiment of this application, the first delay unit includes at least one of an RC delay circuit, a 555 delay circuit, and a CMOS delay circuit.
[0014] A second aspect of this application provides a robot, including a battery, a load, a drive circuit, a drive chip, a control unit, and a control system. 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 drive signals from the drive chip to convert the electrical energy into a power supply voltage required by the load.
[0015] In one embodiment of this application, the control unit is the main controller of the robot.
[0016] In one embodiment of this application, the driving circuit includes a power switch, and the driving signal is used to control the power switch to be turned on and off.
[0017] In one embodiment of this 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 it receives the control signal; the control unit stops outputting the control signal when the first power supply voltage is zero, and the driver chip stops outputting the drive signal to the drive circuit when it does not receive the control signal.
[0018] It is understood that the control system of this application embodiment, by setting a first delay unit between the shutdown unit and the second power supply unit, causes the first power supply voltage of the first power supply unit to immediately drop after the shutdown unit is triggered by the shutdown signal output. The first delay unit causes the shutdown signal to be transmitted to the second power supply unit after a delay, so that the second power supply voltage of the second power supply unit starts to drop after a delay until the second power supply voltage drops to zero and the driver chip stops working. Therefore, the control unit completely stops outputting control signals before the driver chip stops working, so that the driver chip no longer outputs drive signals during the second power supply voltage drop process. This avoids the second power supply voltage being too low during the power drop process, which would cause the drive signal output by the driver chip to be unstable, and avoids the risk of burnout of the drive circuit due to unstable drive signal. Attached Figure Description
[0019] Figure 1 is a schematic block diagram of a control system for a driver chip provided in an embodiment of this application.
[0020] Figure 2 is a circuit diagram of a button circuit provided in an embodiment of this application.
[0021] Figure 3 is a schematic diagram of the power-down timing of a first power supply voltage and a second power supply voltage provided in an embodiment of this application.
[0022] Figure 4 is a schematic diagram of the power-down timing of another first power supply voltage and second power supply voltage provided in an embodiment of this application.
[0023] Figure 5 is a schematic block diagram of a control system for another driver chip provided in an embodiment of this application.
[0024] Figure 6 is a schematic diagram of the power-on timing of a first power supply voltage and a second power supply voltage provided in an embodiment of this application.
[0025] Figure 7 is a schematic diagram of the power-on timing of another first power supply voltage and second power supply voltage provided in an embodiment of this application.
[0026] Figure 8 is a schematic block diagram of a robot provided in an embodiment of this application. Detailed Implementation
[0027] It should be noted that in the embodiments of this application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.
[0028] It should also be noted that the methods disclosed in the embodiments of this application or the methods shown in the flowcharts include 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, and some steps can also be deleted.
[0029] Currently, in electronic devices equipped with drive circuits, a drive chip typically outputs a drive signal to the drive circuit to control the voltage or power output of the drive circuit. The drive chip, in turn, is controlled by the control unit within the electronic device via control signals. However, low-voltage power supplies can cause unstable drive signals from the drive chip, easily leading to burnout of the drive circuit. This is especially true when the electronic device is powered off, as the power supply voltage to the control unit and drive chip gradually decreases to zero. Consequently, even with excessively low supply voltage, the drive chip may still receive control signals from the control unit, resulting in unstable drive signals to the drive circuit and increasing the risk of burnout.
[0030] This application provides a control system and robot for a driver chip, which avoids the risk of burnout of the driver circuit due to unstable drive signals of the driver chip.
[0031] Please refer to Figure 1, which is a schematic block diagram of a control system provided in an embodiment of this application. 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.
[0032] In this embodiment, the electronic device equipped with the control system 100 includes a control unit 101, a driver chip 102, and a drive circuit 103. In the electronic device, the driver chip 102 is connected to the drive circuit 103. The driver chip 102 outputs a drive signal to the drive circuit 103 upon receiving a control signal, so that the drive circuit 103 supplies power to the load and controls the load's operating state. The control unit 101 is connected to the driver chip 102 and outputs a control signal to the driver chip 102. The drive circuit 103 includes a switching transistor, and the drive signal includes a pulse width modulation (PWM) signal. The driver chip 102 adjusts the pulse width in the PWM signal according to the control signal to adjust the voltage or power supplied by the drive circuit 103, thereby meeting the load's voltage or power requirements. For example, when the electronic device is a lawnmower robot, the load can be the lawnmower robot's motor. When the driver chip 102 adjusts the voltage or power supplied by the drive circuit 103, the motor's speed or power and other operating parameters can be adjusted, thereby changing the motor's operating state.
[0033] In the control system 100, 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. 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, which is also connected to the driver chip 102. When the driver chip 102 is operating normally, the first power supply unit 120 provides a first power supply voltage to the control unit 101, and the second power supply unit 140 provides a second power supply voltage to the driver chip 102. When the control unit 101 receives the first power supply voltage, it enters the operating state and outputs the aforementioned control signal to the driver chip 102. When the driver chip 102 receives the second power supply voltage, it enters the operating state and generates and outputs a drive signal to the drive circuit 103 according to the control signal.
[0034] When it is necessary to stop the drive circuit 103 from supplying power to the load, the drive chip 102 can be controlled to enter a shutdown state. This can be achieved by first triggering the shutdown unit 110 in the control system 100. The shutdown unit 110 outputs a shutdown signal to the first power supply unit 120 and the first delay unit 130. Specifically, the shutdown unit 110 simultaneously outputs shutdown signals to both the first power supply unit 120 and the first delay unit 130.
[0035] In some embodiments, the power off unit 110 includes a button circuit 111, which includes a switch K1. When the switch K1 is turned on, the button circuit 111 outputs a power off signal to the first power supply unit 120 and the first delay unit 130.
[0036] For example, as shown in Figure 2, the button circuit 111 includes a switch K1, a resistor R1, a Zener diode D1, and a diode D2. The first terminal of resistor R1 receives the power supply voltage Vin, and the second terminal of resistor R1 is connected to the first terminal of switch K1. The cathode of Zener diode D1 is connected to the second terminal of resistor R1, and the second terminal of Zener diode D1 is grounded. The second terminal of switch K1 is connected to the anode of diode D2, and the cathode of diode D2 is used to output a power-off signal. That is, the voltage divided by resistor R1 is the power-off signal. After switch K1 is turned on, the power-off signal is output through diode D2. Zener diode D1 clamps the voltage of the power-off signal, and diode D2 prevents other power sources from backflowing into the power supply voltage Vin from the button circuit 111.
[0037] 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. At the first moment, the control unit 101 stops outputting control signals and stops working. When the control signal output to the driver chip 102 is stopped, the driver chip 102 will stop outputting drive signals.
[0038] After receiving a power-off signal, the first delay unit 130 delays the power-off signal before transmitting it to the second power supply unit 140. Upon receiving the power-off signal at a second time, the second power supply unit 140 controls the second power supply voltage to gradually decrease to zero, causing the driver chip 102 to stop operating. The time at which the first delay unit transmits the delayed power-off signal is referred to as the second time.
[0039] It is understood that, in this embodiment of the application, by setting a first delay unit 130 between the power-off unit 110 and the second power supply unit 140, the power-off signal output after the power-off unit 110 is triggered causes the first power supply voltage of the first power supply unit 120 to immediately power down. The first delay unit 130 then delays the power-off signal before transmitting it to the second power supply unit 140, so that the second power supply voltage of the second power supply unit 140 starts to power down after a delay until the second power supply voltage drops to zero, causing the driver chip 102 to stop working. Therefore, the control unit 101 completely stops outputting control signals before the driver chip 102 starts to power down, so that the driver chip 102 no longer outputs drive signals during the power-down process of the second power supply voltage. This avoids the second power supply voltage being too low during the power-down process, which would cause the drive signal output by the driver chip 102 to be unstable, and avoids the risk of the drive circuit 103 being burned out due to the unstable drive signal.
[0040] When the driver chip 102 does not receive a control signal, it can output a high-level signal or a low-level signal to the driver circuit 103. When the driver circuit 103 receives a high-level signal or a low-level signal, it stops working.
[0041] In some embodiments, the first power supply voltage drops to zero after a first duration, and the delay duration of the first delay unit 130 is longer than the first duration. This ensures that after the control unit 101 stops outputting the control signal, the second power supply voltage is gradually reduced to shut down the driver chip 102. This causes the driver chip 102 to stop outputting the drive signal during the gradual power-down process of the second power supply voltage, thereby better preventing the driver chip 102 from outputting an unstable drive signal when the second power supply voltage gradually drops below the minimum operating voltage of the driver chip 102. This also prevents the driver circuit 103 from being damaged by unstable drive signals and causing component burnout.
[0042] The first power supply 120 includes a first power management chip, and the second power supply 140 includes a second power management chip. Both the first power chip and the second power chip are connected to the battery. The first power management chip is used to convert the power from the battery into a first supply voltage, and the second power management chip converts the power from the battery into a second supply voltage.
[0043] Please refer to Figure 3, which is a schematic diagram of the power-down timing of a first supply voltage and a second supply voltage provided in an embodiment of this application. The second supply voltage V2 is greater than the first supply voltage V1.
[0044] The first power supply voltage V1 starts to power down at time T0. That is, at time T0, the first power supply unit 120 receives a power-off signal and controls the first power supply voltage V1 to gradually decrease. When V1 decreases to zero at the first time T1, the control unit 101 stops outputting control signals and stops working.
[0045] The second power supply voltage V2 starts to power down at the second time T2. That is, at the second time T2, the second power supply unit 140 receives a power-off signal after a delay of t1, and controls the second power supply voltage V2 to gradually decrease until it reaches zero.
[0046] In this embodiment, the first time T1 is earlier than the second time T2, thereby ensuring that after the control unit 101 stops outputting the control signal at time T1, the second power supply unit 140 controls the second power supply voltage V2 to power down at the second time T2. This ensures that the drive chip 102 will not output a drive signal during the entire process of the second power supply voltage gradually decreasing to zero, thereby better preventing the drive chip 102 from outputting an unstable drive signal to the drive circuit 103 and protecting the drive circuit 103 from being burned out by the unstable drive signal.
[0047] Please refer to Figure 4, which is a schematic diagram of the power-down timing of another first supply voltage and second supply voltage provided in an embodiment of this application. In Figure 3, v3 is the minimum operating voltage of the driver chip 102. When the second supply voltage V2 received by the driver chip 102 is equal to or lower than the minimum operating voltage v3, the driver chip 102 will output an unstable drive signal.
[0048] In this embodiment, the first time T1 is earlier than the third time T3. The third time T3 is the moment when the second power supply voltage V2 drops to the minimum operating voltage v3. Before the first time T1, the second power supply voltage V2 is greater than the minimum operating voltage v3, so that the control unit 101 stops outputting control signals before the second power supply voltage V2 drops to the minimum operating voltage v3, thereby preventing the drive chip 102 from outputting unstable drive signals to the drive circuit 103. Before the second power supply voltage V2 drops to the minimum operating voltage v3, the drive chip 102 can continue to output drive signals, so that the drive circuit 103 can be shut down smoothly.
[0049] Please refer to Figure 5, which is a schematic block diagram of another driver chip control system provided in the embodiment of this application. The difference between the control system 100 shown in Figure 1 and the control system 100 shown in Figure 4 is that the control system 100 also includes a power-on unit 150 and a second delay unit 160.
[0050] In this embodiment, 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. During the power-on process, the first power supply unit 120 outputs a first supply voltage from zero and gradually increases it until it reaches a first target value, which is the rated supply voltage of the control unit 101. Similarly, during the power-on process, the second power supply unit 140 outputs a second supply voltage from zero and gradually increases it until it reaches a second target value, which is the rated supply voltage of the driver chip 102.
[0051] The power-on unit 150 is used to output a power-on signal. That is, when it is necessary to start the drive circuit 103 to supply power to the load, the drive chip 102 can be controlled to enter the working state through the control system 100. First, the power-on unit 150 in the control system can be triggered. After the power-on unit 150 is triggered, it outputs a power-on signal to the second delay unit 160 and the second power supply unit 140.
[0052] In some embodiments, the power-on unit 150 may also include a button circuit, which includes a switch. When the switch is turned on, the button circuit outputs a power-on signal to the second power supply unit 140 and the second delay unit 160.
[0053] The second power supply unit 140 is used to increase the second power supply voltage after receiving the power-on signal, and the second target value is set at the fourth moment after the second duration, so that the driver chip 102 can fully enter the normal working state at the fourth moment, and can output a stable drive signal to the driver circuit 103 after receiving the control signal.
[0054] The second delay unit 160 is used to receive the power-on signal and delay it until the fifth moment before forwarding it to the first power supply unit 120. The first power supply unit 120 is used to increase the first power supply voltage after receiving the power-on signal until it reaches the first target value, so that the control unit 101 delays the output of the control signal to the driver chip 102.
[0055] It is understood that, in this embodiment of the application, a second delay unit 160 is set between the power-on unit 150 and the first power supply unit 120. After the power-on unit 150 is triggered, the power-on signal output immediately powers on the second power supply voltage of the second power supply unit 140, so that the driver chip 102 is ready to output a stable drive signal at the fourth moment. The second delay unit 160 delays the power-on signal to be transmitted to the first power supply unit 120 at the fifth moment, so that the first power supply voltage of the first power supply unit 120 is delayed until the fifth moment before it starts to power on. Until the first power supply voltage increases to the first target value and the control unit 101 starts to work, the control unit 101 outputs the control signal only after the driver chip 102 has been powered on and stabilized. This prevents the driver chip 102 from outputting an unstable drive signal during the power-on process, thereby avoiding the risk of the driver chip 102 outputting an unstable drive signal due to the second power supply voltage being too low during the power-on process, and avoiding the risk of the driver circuit 103 being burned out due to the unstable drive signal.
[0056] In some embodiments, the delay duration of the second delay unit 160 is greater than the second duration mentioned above, so 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 increasing and gradually power on, so that the driver chip 102 receives the control signal output by the control unit 101 after it is working stably, and outputs a stable drive signal to the drive circuit 103, thereby enabling the drive circuit 103 to operate safely.
[0057] In this embodiment, the first delay unit 130 and the second delay unit 160 include at least one of the following delay circuits: an RC delay circuit, a 555 timer delay circuit, and a CMOS delay circuit (CMOS, Complementary Metal-Oxide-Semiconductor). The RC delay circuit includes a resistor and a capacitor. The resistor controls the charging time of the capacitor, delaying the charging process to achieve 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 of different amplitudes.
[0058] Please refer to Figure 6, which is a schematic diagram of the power-on timing of a first supply voltage and a second supply voltage according to an embodiment of this application. The second target value for the second supply voltage V1 is greater than the first target value for the first supply voltage V2.
[0059] The second power supply voltage V2 is powered on at time T0. That is, at time T0, the second power supply unit 140 receives the power-on signal and controls the second power supply voltage V1 to gradually increase from zero. At the fourth time T4, it increases to the second target value, so that the driver chip 102 can work normally and output a stable drive signal.
[0060] The first power supply voltage V1 is powered on at the fifth moment T5. That is, at the fifth moment T5, the first power supply unit 120 receives the 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.
[0061] In this embodiment, the fourth time T4 is earlier than the fifth time T5, thereby ensuring that the first power supply unit 120 controls the first power supply voltage V1 to be powered on only after the driver chip 102 is ready to output a stable drive signal at the fourth time T4. This allows the driver chip 102 to output a stable drive voltage after receiving the control signal from the control unit 101, so that the drive circuit 103 can operate safely and stably.
[0062] Please refer to Figure 7, which is a schematic diagram of the power-on timing of another first supply voltage and second supply voltage provided in an embodiment of this application. In Figure 3, v3 is the minimum operating voltage of the driver chip 102. When the second supply voltage V2 received by the driver chip 102 is equal to or lower than the minimum operating voltage v3, the driver chip 102 will output an unstable drive signal.
[0063] In this embodiment, the sixth time T6 is earlier than the fifth time T5. The sixth time T6 is the moment when the second power supply voltage V2 increases to be equal to the minimum operating voltage v3. After the fifth time T5, the second power supply voltage V2 is greater than the minimum operating voltage v3, so that after the drive chip 102 is running stably and can output a stable drive signal, the control unit 101 starts to power on and outputs a control signal, so that the drive circuit 103 can receive a stable drive signal and work normally.
[0064] Please refer to Figure 8, which is a schematic block diagram of a robot provided in an embodiment of this application. The robot 10 includes a control system 100, a control unit 101, a drive chip 102, and a drive circuit 103 as described in any of the above embodiments, and also includes a load 104 and a battery 105.
[0065] 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 a control unit 101, and the control unit 101 is connected to a 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 be one of the MCUs (Microcontroller Units) of the robot 10; this is not limited here.
[0066] Battery 105 is connected to drive circuit 103, which is connected to drive chip 102 and load 104. Battery 105 provides power to drive circuit 103. Drive circuit 103 receives drive signals from drive chip 102, converts electrical energy into the supply voltage required by load 104, and transmits it to load 104.
[0067] 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, converting the electrical energy into a first supply voltage and a second supply voltage.
[0068] The aforementioned drive circuit 103 includes a power switch, and the drive signal is used to control the power switch to turn on and off, that is, to control the frequency and duty cycle of the on and off states, thereby controlling the output power of the drive circuit 103.
[0069] The control unit 101 is used to output control signals to the drive chip 102, and the drive chip 102 is used to output drive signals to the drive circuit 103 when it receives the control signals. The control unit 101 stops outputting control signals when the first supply voltage is zero, and the drive chip 102 stops outputting drive signals to the drive circuit 103 when it does not receive the control signals.
[0070] It is understood that the beneficial effects of the robot 10 in the embodiments of this application can be referred to the beneficial effects of the control system 100 in the foregoing embodiments, and will not be repeated here. In some embodiments, the robot 10 is a lawnmower robot, and the load 104 is the motor of the lawnmower robot.
[0071] The embodiments described above are merely preferred embodiments of this application and are not intended to limit the scope of this application. Any modifications and improvements made by those skilled in the art to the technical solutions of this application without departing from the spirit of this application should fall within the protection scope defined by the claims of this application.
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 chip and the second power 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 electrical energy 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 be turned 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.