PRO
jstarne1
USA
Asked
— Edited
Here is how I arranged a uninterruptible charging system so your robot does not need to power down or restart in order to charge onboard batteries. Take in mind on my diagram both positive sources batt or ac adapter run through my charging system monitor for batt temp , wattage , charge voltage , current draw (amps being drawn) 
i built one for my big robot design to be automatic,big circuit runs by a small computer and has auto-docking and hook up
your wiring looks good,but
i see you are drawing 9.7 amps at 12.9 volts ,is that with out a load or driving it
batteries i see are 2 12 volts 8.5 amps in parallel ,thats 17 amps total hours is 1.75
and have to add full CPU power witch is much more,plus load on all motors and servo's
a really good test run all motors at 75% and add some load if carrying any items
when i design any robot ,i look for low drop regulators,low current computers that can handle all my programs,i use very low current sensors like the max sonars,work out my digesn to almost no fans
mostly do long testing on power verses temperature,never use a cd rom ,2 main reasons one is when you use it draws current ,second is weight with adds more torque on the motor
also reduce torque on a motors i try to cut on all added weight,low current leds,if using a panel meter go to lcd alot less currenton hard drives standard hard drivess weight more,use alot more current and if bumps or falls gets damaged i use SSD
THERE IS much more i do also,but these are just some good pointers you help you out my buddy
board you have is not bad,dual cores are mostly used by most robot companies ,and one of the ones i use alot too
i think only get 1 hour maybe little more,my system doesnt use a cdrom or hard drive
now usb cd rom does take near 500 ma and hard drive takes about 1 amp total
compare that to SSD only 50 ma,so guessing at just your computer system using USB CD ROM,hard drive full CPU load,plus a little loss on PSU power supply looking at about 4 amps ,maybe 3 1/2
thats just computer part of it,there is a website to put in hard drive or ssd ,cd rom plus computer board plus run at 50% load and full load,its like a calculator and tells you the current output
will look for it
have you done any tests on main drive motors,for load carrying ,batteries,computer,motors frame (robot) sensors,cd rom hard drive plus all else you are adding ,plus are going to have him carry a BEER or drink ,and see if the motors will handle the load,rule of thumb add about 20% more weight then you want to carry,one way is to measure all items going on your robot,including carry items add 20% then find something thats about that we ight like cans of food ,rocks or books ,see if your mot ors w ill handle the load and measure the current of both motors
then your robot be bettter then perfect usuing thses idea's plus save you headaches latter to change and update motors and ,batteries and more
thats my always first step on designing and building a robot