A low-power consumption control method for a self-propelled device

Abstract

The application discloses a low-power consumption control method for a self-walking device, which comprises the following steps: after the self-walking device enters a standby mode, it is judged whether a user turns off a total power switch of the self-walking device, if not, low-power consumption control is needed; waiting for T0 time, if there is no external instruction, entering low-power consumption mode 1; waiting for T1 time, if there is no external instruction, entering low-power consumption mode 2; waiting for T2 time, if there is no external instruction, entering low-power consumption mode 3; waiting for T3 time, if there is still no external wake-up instruction from the user, entering low-power consumption mode 4, entering hibernation and exiting hibernation at a fixed time; if there is still no wake-up instruction, waiting for T4 time, turning off a wireless communication unit, stopping all units of the self-walking device until the user wakes up the self-walking device by re-powering. The application optimizes the low-power consumption control scheme of the self-walking device, prolongs the standby time of a main power battery and reduces energy consumption.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of self-walking equipment, and particularly relates to a low-power consumption control method for self-walking equipment. BACKGROUND

[0002] Self-walking equipment such as intelligent mowing robots has been widely popularized. In the use scenario, the user can use a remote control device to operate the self-walking equipment to work, and after the work is finished, the user forgets to turn off the switch of the self-walking equipment, and the self-walking equipment is in a standby state for a long time. Most self-walking equipment uses a battery as a power supply, and it is hoped that the battery can last for a long standby time. At present, products generally use the sleep state of each internal unit device to complete, although the standby current can be greatly smaller than the working current, but the total power consumption of these devices cannot be ignored. At the same time, after the self-walking equipment is in the sleep state, the interaction between the self-walking equipment and the user cannot be realized, and the self-walking equipment cannot be awakened through remote control.

[0003] Therefore, it is necessary to optimize the low-power consumption control scheme of the self-walking equipment to prolong the standby time of the main power supply battery and reduce the energy consumption. SUMMARY

[0004] The purpose of the present application is to provide a low-power consumption control method for self-walking equipment to prolong the standby time of the main power supply battery and reduce the energy consumption.

[0005] To achieve the above purpose, the present application adopts the following technical scheme:

[0006] A low-power consumption control method for self-walking equipment, comprising the following steps:

[0007] (1) After the self-walking equipment enters a standby mode, it is judged whether the user turns off the total power switch of the self-walking equipment, and if not, low-power consumption control is needed;

[0008] (2) The self-walking equipment starts timing and waits for T0 time, and if there is no external instruction, the self-walking equipment enters a low-power consumption mode 1;

[0009] (3) The self-walking equipment waits until T1 time, and if there is no external instruction, the self-walking equipment enters a low-power consumption mode 2;

[0010] (4) The self-walking equipment continues to wait until T2 time, and if there is no external instruction, the self-walking equipment enters a low-power consumption mode 3;

[0011] (5) The self-walking equipment waits until T3 time, and if the user still has no external wake-up instruction, the self-walking equipment will enter a low-power consumption mode 4, the self-walking equipment enters sleep and exits sleep at a fixed time to check the wake-up data, and if the user issues a wake-up instruction during the period, the self-walking equipment starts to receive other instructions of the user;

[0012] (6) If there is no wake-up instruction, the self-walking device waits until T4 time, sends a state instruction to the remote control device, and then closes the wireless communication unit, stops all units of the self-walking device, and does not wake up the self-walking device until the user re-energizes the self-walking device.

[0013] In step (2), in the low-power mode 1, the self-walking device closes the action execution unit, closes the second power supply unit for providing power to the action execution unit, and sends a reminder to the user through a continuous sound and light alarm.

[0014] In step (3), in the low-power mode 2, the self-walking device closes the peripheral device, closes the third power supply unit for providing power to the peripheral device, and sends a reminder to the user through a phased sound and light alarm.

[0015] The peripheral device includes a boundary signal receiving unit, a display unit, and a sensor unit.

[0016] In step (4), in the low-power mode 3, the self-walking device closes other functional module units, closes the fourth power supply unit for providing power to the other functional units, and the MCU enters a low-power state. The wireless communication unit sends an alarm instruction to the remote control device to remind the user.

[0017] In step (5), in the low-power mode 4, the self-walking device closes all power supply units through the MCU, only the wireless communication unit is powered by the auxiliary power supply, the wireless communication unit stops sending alarm instructions, starts to enter hibernation, and exits hibernation at a fixed time to check the wake-up data. If the user issues a wake-up instruction, the wireless communication unit temporarily opens the main MOS circuit through the port to wake up the MCU, the self-walking device re-enters the standby mode, and starts to receive other instructions from the user.

[0018] Beneficial effects: The low-power control scheme of the self-walking device is optimized, the standby time of the main power battery is prolonged, and the energy consumption is reduced. After the self-walking device hibernates, the method can realize interaction with the user, and the self-walking device can be awakened through remote control. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is an internal composition block diagram of the self-walking device involved in the present application;

[0020] Figure 2 is a main power supply schematic diagram of the self-walking device involved in the present application;

[0021] Figure 3 is a power supply schematic diagram of the wireless communication unit of the self-walking device involved in the present application;

[0022] Figure 4is a safety work flow chart of the self-walking device involved in the present application;

[0023] Figure 5 is a low-power consumption control method flow chart for the self-walking device of the present application;

[0024] Figure 6 is a working time relationship schematic diagram in the low-power consumption control method for the self-walking device of the present application. DETAILED DESCRIPTION

[0025] The present application will be further explained in combination with the accompanying drawings.

[0026] Reference Figure 1 The self-walking device involved in the present application is composed of a main control unit, a boundary signal receiving unit, a display unit, a sensor unit, an executing action unit, other functional module unit, a power supply unit, a wireless communication unit, a main power supply and an auxiliary power supply. Among them, the boundary signal receiving unit receives the boundary signal in real time, which is used to guide the self-walking device to work within the virtual boundary; the display unit is used to interact with the user, providing the current various data of the self-walking device and various instructions of the user; the sensor unit includes various sensors and their circuits installed on the self-walking device, including but not limited to Hall sensor, acceleration sensor, tilt sensor, ultrasonic sensor, millimeter wave sensor, etc.; the executing action unit includes various motors and their driving circuits, such as walking motor circuit, mowing motor circuit, steering motor circuit and height adjustment motor circuit, etc.; the other functional module unit is the optional function of the self-walking device, including voice circuit, sound and light alarm circuit, etc.; the power supply unit is the heart of the self-walking device, which is used to connect the main power supply and generate various power supplies required for the self-walking device to work; the main power supply includes but is not limited to lithium battery, the auxiliary power supply includes but is not limited to button cell, and the main power supply and the auxiliary power supply can be charged through the charging unit.

[0027] Reference Figure 2 and Figure 3, according to the main power supply schematic diagram and the power supply schematic diagram of the wireless communication unit of the self-walking device. The main power supply BT1 is connected to the self-walking device through a mechanical switch S1, Q1, Q2, R1, R2, R4 and R5 form a main MOS switch circuit, the main MOS circuit can be opened by three control ways, when S1 is closed, R3, C1 and D1 form a pulse signal, the main MOS circuit is opened for a short time, the main power supply voltage P+ generates VCC through the MOS circuit, MCU_POWER is generated by the power supply unit 1, the main control unit works normally, MCU_POWER provides a stable opening voltage for the main MOS through R6 and D2. The main control unit controls the power supply unit 2 to provide power supply for the execution action unit, controls the power supply unit 3 to provide power supply for the boundary signal receiving unit, the display unit and the sensor unit, and controls the power supply unit 4 to provide power supply for other functional units through several MOS switch circuits. When the self-walking device needs to enter low power consumption, the main MOS circuit and the MOS switch circuit can be closed one by one to realize low power consumption.

[0028] When the self-walking device works normally, the wireless communication unit is powered by MCU_POWER through D4, the main control unit is set to low through MCU_IO, and the MOS circuit composed of Q3 and Q4 is closed. When the self-walking device enters low power consumption, the main control unit and the power supply unit stop working, MCU_POWER is powered off, the wireless communication unit is powered by the auxiliary power supply BT2, in order to prolong the power supply time of the auxiliary power supply, R9 and R10 are MΩ level resistors, when the wireless communication unit receives the wake-up instruction of the user, the main MOS circuit can be opened for a short time through the Wireless_IO of the wireless communication unit, after MCU_POWER is normal, the stable opening voltage is provided again, and the self-walking device enters the normal standby state.

[0029] Reference Figure 4 , according to the safety work flow chart of the self-walking device. The user controls the self-walking device to work through a remote control device or a display panel on the self-walking device, the self-walking device starts normal work after receiving the instruction, when the self-walking device encounters an emergency situation in the virtual boundary field, such as no signal, triggering a stop instruction, etc., the self-walking device will enter standby mode in the middle of the field. When the self-walking device finishes work at the end of the working time or triggers the rain protection, the self-walking device returns to the base station for charging, after the self-walking device is charged, the circuit connection between the charging electrode and the self-walking device is cut off, and the self-walking device enters standby mode.

[0030] Reference Figure 5 , according to the low power consumption control method flow chart and the working time relationship schematic diagram in the low power consumption control method of the self-walking device. The low power consumption control method of the self-walking device comprises the following steps:

[0031] (1) After the self-walking device enters standby mode, it is determined whether the user turns off the total power switch of the self-walking device, if not, low-power control is needed;

[0032] (2) The self-walking device starts timing and waits for T0 time, if there is no external instruction, the self-walking device enters low-power mode 1, the self-walking device turns off the execution action unit, turns off the power supply unit 2 for providing power supply for the execution action unit, and sends a reminder to the user through continuous sound and light alarm;

[0033] (3) The self-walking device waits until T1 time, if there is no external instruction, the self-walking device enters low-power mode 2, the self-walking device turns off the external devices such as boundary signal receiving unit, display unit and sensor unit, turns off the power supply unit 3 for providing power supply for the external devices, and sends a reminder to the user through phased sound and light alarm;

[0034] (4) The self-walking device continues to wait until T2 time, if there is no external instruction, the self-walking device enters low-power mode 3, the self-walking device turns off other functional module units, turns off the power supply unit 4 for providing power supply for other functional units, the MCU enters low-power, and the wireless communication unit sends alarm instructions to the remote control device in a timely manner to remind the user;

[0035] (5) The self-walking device waits until T3 time, if the user still has no external wake-up instruction, the self-walking device will enter low-power mode 4, the self-walking device will turn off all power supply units through the MCU, only the wireless communication unit is powered through the auxiliary power supply, the wireless communication unit stops sending alarm instructions, starts to enter hibernation, and exits hibernation in a timely manner to check the wake-up data, if the user issues a wake-up instruction during the period, the wireless communication unit temporarily opens the main MOS circuit through the port to wake up the MCU, and the self-walking device re-enters standby mode and starts to receive other instructions from the user;

[0036] (6) If there is no wake-up instruction all the time, the self-walking device waits until T4 time, sends a status instruction to the remote control device, then turns off the wireless communication unit, and the self-walking device stops all units until the user wakes up the self-walking device through re-powering.

[0037] The following will be described with specific embodiments. Embodiment

[0038] In this embodiment, the self-walking device is a smart lawn mower robot, the average standby power consumption is 120mA, T0=60s, T1=90s, T2=150s, T3=330s, T4=630s,

[0039] When the self-walking device enters the standby mode, it waits for 60s (T0), and then enters the low-power mode 1, and turns off the action execution unit, turns off the power supply unit 2, and sends a reminder to the user through a continuous sound and light alarm, such as a 2s buzzer alarm. In this mode, the average standby power consumption is 80mA, and the holding time is 30s (T2-T0).

[0040] After the low-power mode 1 ends, the self-walking device enters the low-power mode 2, turns off the peripheral devices such as the boundary signal receiving unit, display unit, and sensor unit, turns off the power supply unit 3, and sends a reminder to the user through a phased sound and light alarm, such as a 5s buzzer alarm. In this mode, the average standby power consumption is 30mA, and the holding time is 60s (T2-T1).

[0041] After the low-power mode 2 ends, the self-walking device enters the low-power mode 3, turns off other functional module units, turns off the power supply unit 4, and the MCU enters a low-power state. The wireless communication unit sends an alarm instruction to the remote control device to remind the user. In this mode, the average standby power consumption is 10mA, and the holding time is 180s (T3-T2).

[0042] After the low-power mode 3 ends, the self-walking device enters the low-power mode 4, and the self-walking device turns off all power supply units through the MCU, and only the wireless communication unit is powered by the auxiliary power supply. The wireless communication unit stops sending alarm instructions, and starts to enter hibernation and exit hibernation at regular intervals to check the wake-up data. If the wireless communication unit receives a wake-up instruction during the low-power mode 4, it will briefly turn on the main MOS circuit through the port to wake up the MCU, and the self-walking device will re-enter the standby mode. If there is no wake-up instruction, the self-walking device will send a status instruction to the remote control device at the end of the low-power mode 4, and then turn off the wireless communication unit. The self-walking device stops all units until the user wakes up the self-walking device by re-powering. In this mode, the main power supply has no standby power consumption, the auxiliary power supply has an average standby power consumption of 2mA, and the holding time is 300s (T4-T3).

[0043] The above is only a preferred embodiment of the present application, and it should be noted that those skilled in the art can make several improvements and refinements without departing from the principles of the present application. These improvements and refinements should also be considered within the scope of the present application.

Claims

1. A low-power consumption control method for a self-propelled device, characterized by: The method comprises the following steps: (1) after the self-walking device enters standby mode, it is judged whether the user closes the total power switch of the self-walking device, if not, low-power control is needed; (2) the self-walking device starts timing, waits for T0 time, if there is no external instruction, the self-walking device enters low-power mode 1; In low-power mode 1, the self-walking device closes the executing action unit, closes the second power supply unit for providing power for the executing action unit, and sends a reminder to the user through continuous sound and light alarm; (3) the self-walking device waits until T1 time, if there is no external instruction, the self-walking device enters low-power mode 2; (4) the self-walking device continues to wait until T2 time, if there is no external instruction, the self-walking device enters low-power mode 3; (5) the self-walking device waits until T3 time, if the user still has no external wake-up instruction, the self-walking device will enter low-power mode 4, the self-walking device enters hibernation, and exits hibernation at regular intervals to check wake-up data, if the user sends a wake-up instruction during the period, the self-walking device starts receiving other user instructions; In low-power mode 4, the self-walking device will close all power supply units through the MCU, only the wireless communication unit is powered through the auxiliary power supply, the wireless communication unit stops sending alarm instructions, starts entering hibernation, and exits hibernation at regular intervals to check wake-up data, if the user sends a wake-up instruction during the period, the wireless communication unit temporarily opens the main MOS circuit through the port, wakes up the MCU, the self-walking device reenters standby mode, and starts receiving other user instructions; (6) if there is no wake-up instruction all the time, the self-walking device waits until T4 time, sends a state instruction to the remote control device, closes the wireless communication unit, and the self-walking device stops all units until the user wakes up the self-walking device by re-powering.

2. The low-power consumption control method for a self- walking device according to claim 1, characterized by: In step (3), in low-power mode 2, the self-walking device closes the external device, closes the third power supply unit for providing power for the external device, and sends a reminder to the user through phased sound and light alarm.

3. The low-power consumption control method for a self- walking device according to claim 2, characterized by: The external device comprises a boundary signal receiving unit, a display unit, and a sensor unit.

4. The low-power consumption control method for a self- walking device according to claim 1, characterized by: In step (4), in low-power mode 3, the self-walking device will close other functional module units, close the fourth power supply unit for providing power for the other functional units, the MCU enters low-power, and the wireless communication unit reminds the user by sending alarm instructions to the remote control device at regular intervals.

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