CN107196380B

CN107196380B - Robot power management system and robot

Info

Publication number: CN107196380B
Application number: CN201710586998.1A
Authority: CN
Inventors: 贾凯宾
Original assignee: Shenzhen Jubo Intelligent Technology Co ltd
Current assignee: Shenzhen Rubu Technology Co.,Ltd.
Priority date: 2017-07-18
Filing date: 2017-07-18
Publication date: 2020-11-10
Anticipated expiration: 2037-07-18
Also published as: CN107196380A

Abstract

The invention provides a robot power management system which comprises a power supply, a DCDC circuit, a power switch, a power control circuit and a processing chip, wherein the negative electrode of the power supply and the power switch are respectively grounded, the positive electrode of the power supply is connected with the power control circuit, the DCDC circuit and the processing chip in series, the non-grounded end of the power switch is connected with the power control circuit, and the power control circuit is also provided with a voltage output interface used for outputting voltage to a direct current motor. Therefore, the invention utilizes the power supply control circuit to convert the voltage of the serial connection of the batteries into the control signal, the processing chip supplies power according to the signal control system, and the existing processing chip is utilized to realize the power supply management of the serial connection of the batteries. The invention also discloses a robot, which comprises the power management system of any one robot and has the same technical effect.

Description

Robot power management system and robot

Technical Field

The invention relates to the technical field of embedded hardware power management, in particular to a robot power management system and a robot.

Background

At present, intelligent hardware products are developed very rapidly, the types of products are very many, such as mobile phones, flat panels, VRs, intelligent robots, intelligent sound boxes and the like, a part of the products can adopt a form of connecting a plurality of batteries in series to ensure sufficient working voltage and power due to system requirements (such as motors, high-power loudspeakers and the like), most of the hardware platforms of the products are processing chips based on an ARM framework at present, the processing chips are based on the voltage range of a single battery, the voltage resistance is usually only about 0-5.5V, in the prior art, the voltage requirements of a plurality of products are 9V or 12V, if a scheme of connecting a plurality of batteries in series is adopted, the voltage requirements exceed the management range of the processing chips in the prior art on power supply voltage, and the risk of overload and burnout of the processing chips exists.

In summary, how to implement power management for multiple batteries connected in series by using the existing processing chip is a technical problem that needs to be solved by those skilled in the art.

Disclosure of Invention

In view of the above, an object of the present invention is to provide a power management system for a robot and a robot, which can utilize an existing processing chip to implement power management for multiple batteries connected in series. The specific scheme is as follows:

the utility model provides a robot power management system, includes power, DCDC circuit, switch, power control circuit and handles the chip, wherein, the power negative pole with switch ground connection respectively, the power positive pole with power control circuit DCDC circuit with handle the chip and establish ties, switch's non-earthing terminal is connected power control circuit, power control circuit still is equipped with the voltage output interface who is used for to direct current motor output voltage.

Preferably, the power control circuit includes a first switch circuit and a second switch circuit, the first switch circuit is provided with a start signal receiving port connected to the second switch circuit, the first switch circuit is provided with a shutdown signal receiving port connected to the processing chip, and a non-ground terminal of the power switch is connected to the second switch circuit.

Preferably, the robot power management system further includes:

in a system shutdown state, if the power switch is triggered, the second switch circuit sends a starting signal to the starting signal receiving port to control the first switch circuit to be connected with the power supply;

and in a system startup state, if the power switch is triggered, the processing chip sends a shutdown signal to the shutdown signal receiving port to control the first switch circuit to disconnect the power supply.

Preferably, the power management system of robot still includes charging circuit, charging circuit includes third switch circuit, the adapter that charges, charging chip and inductance, wherein, the inductance with after charging chip establishes ties again with third switch circuit connects in parallel in first switch circuit's voltage output end with between the voltage input end of DCDC circuit, charging adapter's the charging voltage input port of charging chip that charges is connected to voltage output port, third switch circuit is equipped with control signal receiving port, in order to receive the control signal that charging chip sent, first switch circuit still includes the adapter access port that charges for receive the adapter access signal that charges.

Preferably, the robot power management system further includes:

in a system shutdown state, if the charging adapter access port receives the charging adapter access signal, the first switch circuit is connected with the power supply, and the charging chip charges the power supply through the inductor;

in a system startup state, if the charging adapter access port receives the charging adapter access signal, the first switch circuit is connected with the power supply, the charging chip sends a control signal to the control signal receiving port to control the third switch circuit to be disconnected, and the charging chip outputs voltage to the DCDC circuit.

Preferably, the charging adapter is connected to the system in a power-on state, the charging chip outputs voltage to the DCDC circuit, if the system load is greater than the charging adapter, the charging chip sends a control signal to the control signal receiving port to control the connection of the third switch circuit, and the charging chip and the power supply power at the same time.

Preferably, the charging circuit further includes one or more of an electrostatic protection device, a first filter circuit, an overvoltage protection circuit and an overcurrent protection circuit connected in series between the charging adapter and the charging chip.

Preferably, the processing chip further includes a charging control interface for sending a charging current adjustment signal to the charging chip according to the temperature of the battery, wherein a second filter circuit is connected in series between the charging control interface and the charging chip.

Preferably, the voltage output interface is provided with an isolation discharge circuit, the isolation discharge circuit includes a fourth switch circuit and a triode circuit, a voltage input end of the fourth switch circuit is connected with a voltage output end of the second switch circuit, a voltage output end of the fourth switch circuit is connected with a base and an emitter of the triode circuit and then outputs a direct current motor control signal, a diode is arranged between a voltage output end of the third switch circuit and the emitter of the triode circuit, a first voltage dividing resistor is arranged between the voltage output end of the third switch circuit and the base of the triode circuit, and a collector of the triode circuit is grounded after being connected with the second voltage dividing resistor in series.

Preferably, the fourth switching circuit is turned off if the electric motor cannot be normally operated according to the dc motor signal.

Preferably, the processing chip further includes an electric quantity detection interface, wherein the electric quantity detection interface is connected to the voltage output end of the first switch circuit after being connected to the fifth switch circuit.

The invention also provides a robot, which comprises the robot power management system.

The invention provides a robot power management system which comprises a power supply, a DCDC circuit, a power switch, a power control circuit and a processing chip, wherein the negative electrode of the power supply and the power switch are respectively grounded, the positive electrode of the power supply is connected with the power control circuit, the DCDC circuit and the processing chip in series, the non-grounded end of the power switch is connected with the power control circuit, and the power control circuit is also provided with a voltage output interface used for outputting voltage to a direct current motor. In the invention, the power supply control circuit is closed, and the power supply is completely cut off; triggering a power switch in a shutdown state, conducting a power control circuit, connecting a power supply into a system, and keeping the system powered on by a processing chip according to a signal; and in the starting state, the power switch is triggered after being started, the power control circuit cuts off the power supply, and the system is powered down. The invention uses a plurality of switch circuits to convert the power supply voltage formed by connecting a plurality of batteries in series into a control signal, and realizes the power supply management of the series connection of the plurality of batteries on the premise of using the existing processing chip.

The invention also discloses a robot, which comprises any one of the robot power management systems and has the same technical effects, and the details are not repeated herein.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a robot power management system according to an embodiment of the present invention;

FIG. 2 is a schematic circuit diagram of an exemplary power management system for a robot according to an embodiment of the present invention;

fig. 3 is a schematic circuit diagram of a power management system of a robot including a charging circuit according to an embodiment of the present invention;

FIG. 4 is a schematic circuit diagram of a specific power management system for a robot including a charging circuit according to an embodiment of the present invention;

fig. 5(1) and fig. 5(2) are schematic circuit diagrams of a charging circuit in a robot power management system using a charging chip BQ24133 according to an embodiment of the present invention;

FIG. 6 is a schematic circuit diagram of a switch circuit in a power management system for a particular robot according to an embodiment of the present invention;

fig. 7 is a schematic circuit diagram of a specific power management system for a robot including a charging control interface according to an embodiment of the present invention;

fig. 8 is a schematic circuit diagram of a charging current regulating circuit implemented by using a charging control interface in a specific robot power management system according to an embodiment of the present invention;

FIG. 9 is a schematic circuit diagram of a specific power management system for a robot including an isolation discharge circuit according to an embodiment of the present invention;

fig. 10 is a schematic circuit diagram of an isolation discharge circuit in a robot power management system according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention provides a robot Power management system, which is shown in fig. 1 and comprises a Power supply Battery, a DCDC circuit DCDC, a Power switch Power Key1, a Power Control circuit Control and a processing chip AP, wherein the negative electrode of the Power supply and the Power switch are respectively grounded, the positive electrode of the Power supply is connected in series with the Power Control circuit, the DCDC circuit and the processing chip, the non-grounded end of the Power switch is connected with the Power Control circuit, and the Power Control circuit is also provided with a voltage output interface for outputting voltage to a direct current motor.

The invention aims to realize the management of a power supply formed by serially connecting a plurality of batteries in series by utilizing the existing processing chip, the existing processing chip is based on the voltage range of a single battery, the voltage resistance is usually only about 0-5.5V, the battery refers to a conventional battery in the common sense, such as a 18650 battery, the voltage of the single battery comprises conventional voltages of 1.5V, 3.2V, 5V and the like, and the specific material of the battery can comprise a nickel-hydrogen battery, a lithium iron phosphate battery or a lithium battery.

It is understood that the present invention refers to a power source formed by connecting more than one battery in series, and of course, there is a special battery, i.e. a single battery has a voltage greater than that of a conventional battery, and since the special battery can be regarded as a series connection of a plurality of conventional batteries, it is within the scope of the present invention to implement power management of the special battery by using the principle of the present invention.

Fig. 2 is a specific embodiment of the present invention, which includes a Power supply Battery, a Power supply control circuit, a DCDC circuit DCDC, a Power Switch Power Key1, and a processing chip AP, wherein the Power supply control circuit includes a first Switch circuit Switch1 and a second Switch circuit Switch2, the first Switch circuit is provided with a start signal receiving port connected to the second Switch circuit, the first Switch circuit is provided with a shutdown signal receiving port connected to the processing chip, and a non-ground terminal of the Power supply Switch is connected to the second Switch circuit; the power supply voltage is VBAT, and the diodes D4, D5 are schottky diodes which function as rectifying and current limiting. Of course, other current limiting rectifier circuits may be used. The DCDC is a buck chip for voltage reduction.

In the shutdown state, the first Switch circuit Switch1 is closed, and the battery and the system are completely cut off, so that the system keeps extremely low leakage current, and the problem of overdischarge of the battery is prevented.

Under the shutdown state, the Power Switch Power key1 is triggered, the second Switch circuit Switch2 is turned on, a startup Signal Button Signal is sent to the startup Signal receiving port, namely the Button Signal is pulled to a high level, the first Switch circuit Switch1 is turned on, the system voltage VSYS is electrified, the processing chip AP detects that the Power on Signal is pulled down, the shutdown Signal Hold Signal is pulled up, and even if the shutdown Signal interface cannot receive the shutdown Signal, the system is enabled to keep the Power-on state all the time.

In the power-on state, the processing chip AP sends a power-off command when detecting that the power Switch power key1 is pressed, the processing chip AP goes through the power-off process, sends a power-off signal Hold signal to the power-off signal receiving port, and turns off the Switch1, so that the system is powered off.

The Hold signal is a signal latched by the processing chip AP and keeps the system powered on; the Button signal is a signal for starting a power switch; the Power on signal is a starting signal sent by the processing chip AP.

It should be noted that, in practical applications, the first Switch circuit Switch1, the second Switch circuit Switch2, the third Switch circuit Switch3, the fourth Switch circuit Switch4 or the fifth Switch circuit Switch5 may be a single Switch component, a Switch circuit composed of logic components, or a processing chip having a Switch control function.

Since in actual use, the power supply is mostly a rechargeable battery, the charging circuit is added to the above embodiment of the present invention.

Referring to fig. 3, the present invention provides a specific embodiment including a charging circuit on the basis of the embodiment in which the power control circuit includes the first switching circuit and the second switching circuit, the charging circuit comprises a third switching circuit Switch3, a charging Adapter, a charging chip Charge IC and an inductor L1, wherein the inductor is connected in series with the charging chip and then connected in parallel with the third switch circuit between the voltage output end of the first switch circuit and the voltage input end of the DCDC circuit, the charging voltage output port of the charging adapter is connected with the charging voltage input port of the charged chip, the third switch circuit is provided with a control signal receiving port, the first switch circuit further comprises a charging adapter access port for receiving a charging adapter access signal.

And when the system is started, the charging adapter is accessed, the charging chip outputs voltage to the DCDC circuit, if the system load is greater than that of the charging adapter, the charging chip sends a control signal to the control signal receiving port to control the connection of the third switch circuit, and the charging chip and the power supply power at the same time.

Because the third Switch circuit Switch3 and the charging chip Charge IC are added in this embodiment, the system startup working state is different from the previous embodiment to a certain extent, that is, the first Switch circuit outputs voltage after being connected with the power supply, and the charging chip sends a control signal for controlling the third Switch circuit to be conducted to the control signal receiving interface so as to output voltage to the DCDC circuit.

In a Power-off state, the Power Switch Power key1 is pressed, the second Switch circuit Switch2 is turned on, the start Signal Button Signal is at a high level, the first Switch circuit Switch1 is turned on, VBAT _ Q has a level, the Charge IC starts to work, the second Switch circuit Switch2 is turned on, the system voltage VSYS starts to be electrified, and the Hold Signal is pulled up when the processing chip AP detects that the Power on Signal is pulled down, so that the system keeps a Power-on state all the time.

In the power-on state, the processing chip AP sends a power-off command when detecting that the power Switch power key1 is pressed, the processing chip AP goes through the power-off process, the Hold signal is released, the Switch1 is closed, and the system is powered off.

In practical application, in order to protect the circuit, the charging circuit further includes one or more of an electrostatic discharge (ESD) protection device, a first filter circuit RC1, an overvoltage protection circuit OVP and an overcurrent protection circuit OCP, which are connected in series between the charging Adapter and the charging chip.

Fig. 4 shows a charging circuit in which an ESD protection device, a first filter circuit RC1, an overvoltage protection circuit OVP, and an overcurrent protection circuit OCP are connected in series.

Fig. 5(1) and 5(2) are specific connection diagrams of the charging circuit using the charging chip BQ24133, but other charging chips may be used. Because of limited space, fig. 5(1) is the left half of the circuit connection diagram, and fig. 5(2) is the right half of the circuit connection diagram, of course, in actual use, components of other specifications may also be used according to actual situations.

Firstly, after the charging adapter is input through a connector J1, the charging adapter firstly passes through an ESD electrostatic protection TVS tube D1, a resistor R14 and a capacitor C26 to jointly form an RC filter circuit, the main function is to filter out insertion transient pulses of the charging adapter and play a role of protecting a rear-stage circuit, the capacitors C5, C7 and C9 filter and reduce the function of capacitor ripples, an N-channel MOS tube Q1 and Q2 form an OVP + OCP protection switch, when overcurrent or overvoltage occurs, the charging chip can turn off Q1 and Q2 to prevent damage to the charging adapter or the rear-stage circuit, a power resistor R1 detects input current, and when the current exceeds a set threshold value, a processing chip U1 is informed to turn off Q1 and Q2.

The xVref is a reference voltage 3.3V output by the charging chip, the Cell is a charging voltage mode configuration pin, the Cell is 1Cell at 0 level, 2Cell at suspension time and 3Cell at 1 level, and the levels are realized by different combinations of resistors R11 and R18; vset is the charging current configuration pin, and the charging current calculation formula is Icharger 5A/V Viset.

The input source of the double Schottky diode D7 has two paths, one path is a charging adapter, the other path is battery voltage VBAT _ Q passing through a switch P channel MOS tube, so that the output of the battery is not direct after the switch is selected, and the purpose of ensuring that the leakage current is lower after the shutdown is achieved.

The P-channel MOS tube Q3 is used for path management, when no charging adapter is inserted, the system takes a point from the battery, when a charging adapter is inserted, the system preferentially takes power from the charging adapter.

The MOS tubes Q4 and Q5 constitute a Switch circuit for cutting off the connection between the battery and the system, and the existence of the part enables the system to have extremely low shutdown leakage current, the enable signal of the Switch has three paths, the AP _ PS _ HOLD path is a latch signal from the processing chip, the V _ ADP is the power supply of the charging adapter, and the Switch is a signal from the startup key.

Referring to fig. 6, in order to better explain the switching circuit, the present invention provides a specific switching circuit in which the first switching circuit Switch1 uses ST-1188UDB and the Power Switch Power Key1 uses SIS502NT 1G.

The double-schottky diode D8 has two inputs, one is a charging adapter power supply V _ ADP, the other is a battery VBATT, the part needs to be always powered to keep the system capable of being started, when a first Switch circuit Switch1, namely SW1, is pressed down, a PNP triode is conducted to Q6, the Switch is in a high level, the battery is connected to the system, the Q8 is used for inverting a Switch signal, pulling down PWRKEY to start the processing chip AP, and pulling up a stored signal AP _ PS _ HOLD to keep the system in a starting state after the processing chip AP runs for about 3S.

Of course, the start delay time of the processing chip AP may be other time, such as 2S pull-up of the stored signal AP _ PS _ HOLD.

In order to better manage the battery charging, so as to adopt different charging circuits at different temperatures, thereby improving the safety of power charging and the service life of the power, referring to fig. 7, the present invention further optimizes the above-mentioned embodiment in which the electrostatic protection device ESD, the first Filter circuit RC1, the overvoltage protection circuit OVP and the overcurrent protection circuit are connected in series, the processing chip further includes a charging control interface for sending a charging current adjusting signal to the charging chip according to the battery temperature, wherein a second Filter circuit Filter is connected in series between the charging control interface and the charging chip.

The second Filter circuit Filter is an RC circuit and rectifies a charging current regulating signal PWM sent by the processing chip into a fixed level.

In the power-off state, the charging Adapter is inserted, the Signal of the charging Adapter is high, the first Switch circuit Switch1 is turned on, the BAT _ Q is powered, and the Charge IC starts to work to Charge the battery. And when the VSYS is electrified, the processing chip AP enters a shutdown charging mode when Power is available, and meanwhile, whether a Power switch Power key1 is pressed down is monitored, if so, the processing chip is started, and if not, the processing chip AP is always in the shutdown charging mode.

The processing chip AP judges whether the system can be charged or not according to the detected temperature Signal NTC Signal of the battery, if the system is in a preset temperature range (such as 0-45 ℃), the charging is started, if the temperature of the battery exceeds the range, the PWM Signal is stopped to be output, and if the charging current control Signal ISET outputs 0V, the charging chip Charge IC closes the charging function so as to ensure the safety and the reliability of the system. In addition, the PWM duty ratio can be dynamically adjusted according to the temperature so as to achieve the function of dynamically adjusting the charging current (such as 0.2C charging at 0-10 ℃ and 0.5C charging at 10-45 ℃).

Referring to fig. 8, a specific charging current regulating circuit implemented by using a charging control interface is shown.

The CHG _ VISET _ PWM is a PWM signal output by the processing chip, different duty ratios can be adjusted, and when the duty ratios are different, VISET voltages are different, so that the charging current of the charging chip is different, and the purpose of conditioning the charging current is achieved. The charging current Ichager and the PWM duty are calculated as follows:

Ichager＝4.7/14.7*1.8*5*duty

＝2.878*duty(A)

when the processing chip detects that the temperature of the battery is out of 0-45 ℃, the PWM duty ratio is controlled to be 0, the charging function is closed, the battery is protected, when the temperature of the battery is detected to be between 0-10 ℃, the battery is charged by 0.2C with low current, and when the temperature of the battery is detected to be between 10-45 ℃, the battery is charged by 0.5C, and the problems of safety and service life of the battery can be solved well.

Because most power management systems relate to the driving of electric motors, such as the vibration function and the movement function of electronic equipment, especially in the field of robots, the driving of the electric motors is very important in power management, and therefore, the system of the invention is designed for a motor circuit of the robot system and an isolation discharge circuit capable of emergently shutting down the motor when the motor is abnormally moved at a voltage output interface end.

Referring to fig. 9, the present invention is optimized on the above-mentioned embodiment that can send the charging current adjusting signal to the charging chip according to the temperature of the battery, the voltage output interface is provided with an isolation discharging circuit, the isolation discharge circuit comprises a fourth switching circuit Switch4 and a triode circuit Q1, wherein a voltage input terminal of the fourth switching circuit is connected to a voltage output terminal of the second switching circuit, the voltage output end of the fourth switch circuit is connected with the base electrode and the emitting electrode of the triode circuit and then outputs a direct current motor control signal, a diode D1 is arranged between the voltage output end of the third switch circuit and the emitter of the triode circuit, and a first voltage dividing resistor R1 is arranged between the voltage output end of the third switch circuit and the base of the triode circuit, and the collector of the triode circuit is grounded after being connected with a second voltage dividing resistor R2 in series.

Compared with the above embodiment, the present embodiment adds the isolation discharge circuit, and the system can turn off the fourth switching circuit Switch4 according to the running condition of the motor when the dc motor cannot normally move according to the dc motor control signal, thereby turning off the motor in an emergency. Meanwhile, when the MOTOR is started, stopped and moves reversely, a reverse electromotive force high voltage V _ MOTOR is easily generated, if the reverse electromotive force V _ MOTOR is reversely connected to a system voltage VSYS, system operation is easily abnormal, and system components are damaged. When the back electromotive force V _ MOTOR-VSYS is greater than 0.7V, the PNP transistor Q1 will be conducted, and the resistor R2 discharges to the ground, and R2 plays a role in regulating the discharge current. When the back electromotive force V _ MOTOR-VSYS is less than 0.7V, the system is not damaged, and the PNP triode Q1 is turned off to save power consumption.

Referring to fig. 10, a specific isolation discharge circuit is shown, but it is understood that components of other specifications may be used in practical applications.

When the MOTOR is started and stopped or the MOTOR is manually rotated, a back electromotive force voltage V _ MOTOR is generated, when the back electromotive force is higher than a system voltage VSYS, a system power supply is abnormal or a system device is damaged, and in order to prevent the problem, a Schottky diode D9 is added to isolate the system power supply VSYS from the MOTOR power supply V _ MOTOR. When V _ MOTOR-VSYS is greater than 0.7V, the PNP transistor Q7 will be turned on, and discharge to ground through the resistor R27, and R27 will regulate the discharge current. When the back electromotive force V _ MOTOR-VSYS is less than 0.7V, the system is not damaged, and the PNP triode Q7 is turned off to save power consumption.

In practical applications, the processing chip further includes a power detection interface, where the power detection interface is connected to the fifth Switch circuit Switch5 and then connected to the first Switch circuit Switch1 near the end of the second Switch circuit Switch 2.

When the system needs to detect the battery power, the processing chip AP turns on the Switch5, and the system detects the battery voltage to calculate the system power. When no power needs to be detected, the Switch5 is closed to save battery power.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The power management method and circuit based on the series connection of multiple batteries provided by the invention are described in detail above, a specific example is applied in the text to explain the principle and the implementation of the invention, and the description of the above embodiment is only used to help understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. A robot power management system is characterized by comprising a power supply, a DCDC circuit, a power switch, a power control circuit and a processing chip, wherein the negative pole of the power supply and the power switch are respectively grounded, the positive pole of the power supply is connected with the power control circuit, the DCDC circuit and the processing chip in series, the non-grounded end of the power switch is connected with the power control circuit, and the power control circuit is also provided with a voltage output interface for outputting voltage to a direct current motor; the power supply control circuit comprises a first switch circuit and a second switch circuit, the first switch circuit is provided with a starting signal receiving port connected with the second switch circuit, the first switch circuit is provided with a shutdown signal receiving port connected with the processing chip, and the non-grounding end of the power supply switch is connected with the second switch circuit; in a system shutdown state, if the power switch is triggered, the second switch circuit sends a starting signal to the starting signal receiving port to control the first switch circuit to be connected with the power supply; and in a system startup state, if the power switch is triggered, the processing chip sends a shutdown signal to the shutdown signal receiving port to control the first switch circuit to disconnect the power supply.

2. The robot power management system of claim 1, further comprising a charging circuit, wherein the charging circuit comprises a third switch circuit, a charging adapter, a charging chip and an inductor, wherein the inductor and the charging chip are connected in series and then connected in parallel with the third switch circuit between a voltage output terminal of the first switch circuit and a voltage input terminal of the DCDC circuit, a charging voltage output port of the charging adapter is connected to a charging voltage input port of the charging chip, the third switch circuit is provided with a control signal receiving port for receiving a control signal sent by the charging chip, and the first switch circuit further comprises a charging adapter access port for receiving a charging adapter access signal.

3. The robotic power management system according to claim 2, further comprising:

4. The robot power management system of claim 3, wherein the charging adapter is connected to the system power on state, the charging chip outputs a voltage to the DCDC circuit, if a system load is greater than the charging adapter, the charging chip sends a control signal to the control signal receiving port to control the connection of the third switch circuit, and the charging chip and the power supply power simultaneously.

5. The robot power management system of claim 4, wherein the charging circuit further comprises any one or more of a static protection device, a first filter circuit, an overvoltage protection circuit and an overcurrent protection circuit connected in series between the charging adapter and the charging chip.

6. The robot power management system of claim 5, wherein the processing chip further comprises a charging control interface for sending a charging current adjusting signal to the charging chip according to a battery temperature, wherein a second filter circuit is connected in series between the charging control interface and the charging chip.

7. The robot power management system according to claim 6, wherein the voltage output interface is provided with an isolated discharge circuit, the isolated discharge circuit includes a fourth switch circuit and a triode circuit, wherein a voltage input terminal of the fourth switch circuit is connected to a voltage output terminal of the second switch circuit, a voltage output terminal of the fourth switch circuit is connected to a base and an emitter of the triode circuit to output the dc motor control signal, a diode is provided between a voltage output terminal of the third switch circuit and the emitter of the triode circuit, a first voltage dividing resistor is provided between the voltage output terminal of the third switch circuit and the base of the triode circuit, and a collector of the triode circuit is grounded after being connected in series with the second voltage dividing resistor.

8. The robot power management system of claim 7, wherein the fourth switching circuit is opened if the electric motor fails to operate normally according to the DC motor signal.

9. The robot power management system of claim 8, wherein the processing chip further comprises a power detection interface, wherein the power detection interface is connected to a voltage output terminal of the first switch circuit after being connected to a fifth switch circuit.

10. A robot comprising the robot power management system of any one of claims 1 to 9.