Multi-stage power consumption control method and device for unmanned equipment based on operating system

Abstract

The invention discloses an unmanned equipment multistage power consumption control method and device based on an operating system, and the method comprises the steps: monitoring the battery voltage and the battery index of unmanned equipment in real time, and calculating the electric quantity of a battery; when the electric quantity of the battery is lower than a first threshold, turning off a clock and a power supply of the unused peripheral equipment based on the current working scene feature; when the electric quantity of the battery is lower than a second threshold, the service time of the peripheral is shortened according to the task execution condition; when the electric quantity of the battery is lower than a third threshold, controlling the whole operating system to perform overall frequency reduction; when the electric quantity of the battery is lower than a fourth threshold, sequentially closing the peripheral equipment and the NPU according to a power consumption sequence from high to low according to a pre-generated power consumption information table; and when the electric quantity of the battery is lower than a fifth threshold, the unmanned equipment is controlled to enter a rescue mode, so that the operation system can intelligently sense an application scene and automatically carry out power consumption linkage control under the condition that application software does not need to participate, the power consumption control effect is more ideal, and the flexibility is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned equipment power consumption control, and in particular relates to a multi-level power consumption control method and device for unmanned equipment based on an operating system. BACKGROUND

[0002] At present, unmanned equipment (for example: unmanned aerial vehicles, robots, etc.) widely relies on batteries as a power supply method. However, the improvement rate of battery energy density is relatively slow, which seriously affects the continuous operation ability of unmanned equipment in long-time inspection, mapping and rescue tasks.

[0003] With the continuous improvement of the intelligence level of unmanned equipment, the related technology has a sharp increase in demand for high-performance sensors, real-time data transmission and artificial intelligence computing capability. Although the implementation of these advanced functions greatly improves the intelligence level and autonomous decision-making ability of the equipment, at the same time, it also leads to a significant increase in power consumption. Therefore, how to effectively control power consumption while ensuring high-performance computing and multi-functional expansion of the equipment has become a core challenge in the current development and application promotion of unmanned equipment technology.

[0004] The existing power consumption control technology of unmanned equipment includes:

[0005] (1) Using CPU sleep wake-up mechanism for power consumption control. However, this method cannot well control the power consumption of high-performance sensors and transmission equipment and other devices with high power consumption, resulting in unsatisfactory power consumption control.

[0006] (2) Combining the current operation of the user for power consumption control. However, this method needs to define the possible operation scenarios in advance, and the flexibility is poor.

[0007] (3) Application software controls peripherals. However, this power consumption control method requires high information coordination between different applications, and the application needs to directly operate hardware and peripherals, which requires high knowledge and skills of the developer. SUMMARY

[0008] Therefore, the present application provides a multi-level power consumption control method and device for unmanned equipment based on an operating system to solve the problems of poor power consumption control effect and low flexibility in the prior art.

[0009] In order to achieve the above purpose, the present application provides the following technical solutions:

[0010] In a first aspect, a multi-level power consumption control method for unmanned equipment based on an operating system includes:

[0011] Step 1: Real-time monitoring of the battery voltage and battery indicators of the unmanned device, and calculating the battery power according to the battery voltage and battery indicators;

[0012] Step 2: Determine whether the battery power is lower than the first threshold, if the battery power is lower than the first threshold, calculate the current working scene characteristics according to the operating system running state, and query the pre-generated working scene information table according to the current working scene characteristics, and according to the query result, turn off the clock and power of the peripheral device not used in the current working scene;

[0013] Step 3: Determine whether the battery power is lower than the second threshold, if the battery power is lower than the second threshold, query the peripheral device corresponding to the operating system task-out and task-in from the pre-generated device access information table, and according to the task-out, turn off the clock and power of the corresponding peripheral device, and according to the task-in, turn on the clock and power of the corresponding peripheral device;

[0014] Step 4: Determine whether the battery power is lower than the third threshold, if the battery power is lower than the third threshold, control the whole operating system to reduce the frequency as a whole;

[0015] Step 5: Determine whether the battery power is lower than the fourth threshold, if the battery power is lower than the fourth threshold, according to the pre-generated power consumption information table, in order of power consumption from high to low, turn off the peripheral device and NPU in turn;

[0016] Step 6: Determine whether the battery power is lower than the fifth threshold, if the battery power is lower than the fifth threshold, control the unmanned device to enter the rescue mode.

[0017] As a preferred, in step 2, the working scene information table is generated by collecting the operating system running state during the operation of the operating system.

[0018] As a preferred, the operating system running state includes CPU task running time proportion, task peripheral IO access frequency, CPU task initiating NPU task and NPU occupation.

[0019] As a preferred, the information in the working scene information table includes current working scene characteristics, required IO device and whether NPU is required.

[0020] As a preferred, in step 2, the current working scene characteristics are calculated by vector method.

[0021] As a preferred, in step 3, the device access information table is generated by real-time monitoring of peripheral interface access during the operation of the operating system, according to the peripheral device and access task information.

[0022] As preferred, in step 3, the device access information table is provided with an aging time, and the device access information exceeding the aging time is deleted.

[0023] As preferred, in step 5, the power consumption information table is generated by collecting all peripheral power consumptions through a system interface or a special measurement interface during the operation of the operating system, and sorting all peripheral power consumptions according to the size.

[0024] As preferred, in step 6, in the rescue mode, the operating system enters a sleep state, periodically wakes up to start the positioning and communication device to send positioning information, and then enters the sleep state again after the positioning information is sent.

[0025] In a second aspect, a multi-level power consumption control device based on an operating system for an unmanned device includes:

[0026] A battery capacity calculation module is configured to monitor the battery voltage and battery index of the unmanned device in real time, and calculate the battery capacity according to the battery voltage and battery index.

[0027] A scene power consumption control module is configured to determine whether the battery capacity is lower than a first threshold, and if the battery capacity is lower than the first threshold, calculate the current working scene feature according to the operating system running state, query the pre-generated working scene information table according to the current working scene feature, and according to the query result, close the clock and power supply of the peripheral device not used in the current working scene.

[0028] A task power consumption control module is configured to determine whether the battery capacity is lower than a second threshold, and if the battery capacity is lower than the second threshold, query the peripheral device corresponding to the tasks called out and the tasks called in of the operating system from the pre-generated device access information table, and according to the tasks called out, close the clock and power supply of the corresponding peripheral device, and according to the tasks called in, open the clock and power supply of the corresponding peripheral device.

[0029] An overall power consumption control module is configured to determine whether the battery capacity is lower than a third threshold, and if the battery capacity is lower than the third threshold, control the overall frequency reduction of the entire operating system.

[0030] A peripheral power consumption control module is configured to determine whether the battery capacity is lower than a fourth threshold, and if the battery capacity is lower than the fourth threshold, according to the pre-generated power consumption information table, sequentially close the peripheral device and NPU in the order from high to low power consumption.

[0031] An extreme power consumption control module is configured to determine whether the battery capacity is lower than a fifth threshold, and if the battery capacity is lower than the fifth threshold, control the unmanned device to enter a rescue mode.

[0032] Compared with the prior art, the present application has at least the following beneficial effects:

[0033] The application provides a multi-level power consumption control method for unmanned equipment based on an operating system, which comprises the following steps: monitoring the battery voltage and battery index of the unmanned equipment in real time and calculating the battery power; when the battery power is lower than a first threshold, the clock and power supply of the peripheral equipment not in use are turned off based on the current working scene characteristics; when the battery power is lower than a second threshold, the use time of the peripheral equipment is reduced according to the task execution; when the battery power is lower than a third threshold, the overall frequency of the operating system is controlled to be reduced; when the battery power is lower than a fourth threshold, the peripheral equipment and NPU are turned off in turn according to the power consumption information table generated in advance in the order from high to low; and when the battery power is lower than a fifth threshold, the unmanned equipment is controlled to enter the rescue mode. The method realizes that the operating system can intelligently perceive the application scene and automatically perform the power consumption linkage control without the participation of application software, so that the power consumption control effect is more ideal and the flexibility is high. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more intuitively illustrate the prior art and the application, the following exemplary drawings are given. It should be understood that the specific shapes, structures shown in the drawings should not be regarded as the limiting conditions for the implementation of the application; for example, based on the technical concept disclosed in the application and the exemplary drawings, those skilled in the art can easily make routine adjustments or further optimization to some units (components) in terms of increase / decrease / attribute division, specific shape, positional relationship, connection mode, size ratio relationship, etc.

[0035] Figure 1 A multi-level power consumption control method for unmanned equipment based on an operating system is provided for the embodiment one of the application. DETAILED DESCRIPTION

[0036] The application will be further described in detail below with reference to the accompanying drawings.

[0037] In the description of the application: unless otherwise specified, the meaning of "multiple" is two or more. The terms "first", "second", "third" and the like in the application are intended to distinguish the objects referred to, and do not have special technical connotations (for example, should not be understood as emphasizing importance or order, etc.). The expressions such as "include", "contain", "have" and the like also mean "not limited to" (some units, components, materials, steps, etc.).

[0038] The terms such as "upper", "lower", "left", "right", "intermediate" and the like in the application are generally indications of the relative positional relationship for the purpose of intuitive understanding by referring to the drawings, and are not absolute limitations on the positional relationship in the actual product.

[0039] Embodiment one

[0040] Please refer to Figure 1The embodiment provides a multi-level power consumption control method for an unmanned device based on an operating system, and comprises the following steps:

[0041] S1: Real-time monitoring of the battery voltage and battery indicators of the unmanned device, and calculation of the battery power based on the battery voltage and the battery indicators;

[0042] Specifically, the battery power is calculated by real-time monitoring of the battery voltage and other indicators of the battery of the unmanned device.

[0043] S2: Determining whether the battery power is lower than a first threshold, if the battery power is lower than the first threshold, calculating the current working scene feature based on the operating system running state, and querying the pre-generated working scene information table based on the current working scene feature, and shutting down the clock and power supply of the peripheral device not used in the current working scene according to the query result;

[0044] Specifically, when the battery power is lower than the first threshold, if the intelligent power consumption control function is used, the scene-based power consumption control is performed. The scene-based power consumption control comprises: calculating the feature of the current working scene, and querying the pre-generated working scene information table, and shutting down the clock and power supply of all peripheral devices (including NPU) not used in the current scene according to the query result.

[0045] In the embodiment, the working scene information table is pre-generated by collecting the operating system running state. Specifically, the operating system running state is collected during the operating system running process, and the working scene is perceived based on the operating system running state. The collected operating system running state comprises: the running time proportion of each task on the CPU, the access frequency of the task to the peripheral IO, the CPU task initiating the NPU task and the NPU occupation, and the like. Based on the above running state information, a working scene feature is calculated, and the current working scene feature, the required IO device and whether the NPU is required and the like are recorded to form a complete working scene information table.

[0046] It should be noted that the essence of the working scene perception is to construct a feature of the current working scene through some key indicators (CPU occupancy, IO access data, NPU access and the like) during the operating system running, which is used for subsequent rapid identification and matching of the working scene. Taking a drone as an example: the working scene comprises a flight scene, a hovering scene, a target recognition and tracking scene, a take-off and landing scene, a machine-mounted computing task execution scene and the like. The working scene feature calculation and matching can adopt a vector method, and different indicators are normalized as components of a vector, and subsequent feature matching is performed by calculating the similarity of the vector.

[0047] S3: judging whether the battery power is lower than a second threshold, if the battery power is lower than the second threshold, querying the peripheral device corresponding to the task switched out and the task switched in from the pre-generated device access information table, and according to the task switched out, closing the clock and power supply of the corresponding peripheral device, and according to the task switched in, opening the clock and power supply of the corresponding peripheral device;

[0048] Specifically, when the battery power is lower than the second threshold, if the intelligent power consumption control function is used, the task-based power consumption control is performed. The task-based power consumption control includes: querying the device corresponding to the task switched out by the device access information table, closing the clock and power supply of the device, and saving the device configuration information into the task context; querying the device corresponding to the task switched in by the device access information table, opening the clock and power supply of the device, and restoring the configuration information of the corresponding device from the task context. In order to prevent the key task from being affected, the key task can be added to the configuration list to prevent the device from being operated during the task switching.

[0049] In the embodiment, the device access information table is pre-generated by monitoring the peripheral interface access in real time and according to the peripheral device and access task information. Specifically: during the operation of the operating system, the access of the peripheral interface is continuously monitored in the operating system kernel, the peripheral device node and the corresponding access task information are obtained, and are recorded to the device access information table. The device access information table records the correspondence between the peripheral and the task using the peripheral, and prepares for the accurate control of the power consumption of the peripheral according to the task.

[0050] It should be noted that the device access information table is provided with an aging time, and the device access information exceeding the aging time will be deleted.

[0051] S4: judging whether the battery power is lower than a third threshold, if the battery power is lower than the third threshold, controlling the whole operating system to reduce the frequency as a whole;

[0052] Specifically, when the battery power is lower than the third threshold, the whole frequency reduction will be performed, including the working frequency of the CPU and the NPU.

[0053] S5: judging whether the battery power is lower than a fourth threshold, if the battery power is lower than the fourth threshold, according to the pre-generated power consumption information table, the peripheral device and the NPU are sequentially closed in the order of high to low power consumption;

[0054] Specifically, when the battery power is lower than the fourth threshold, the peripheral level power consumption control will be performed. The peripheral and the NPU are sequentially closed in the order of high to low power consumption by querying the power consumption information table.

[0055] In this embodiment, the power consumption information table is generated by monitoring the power consumption of the peripheral device through a system interface or a special measurement interface during the operation of the operating system, and obtaining the power consumption of the peripheral device. The operating system sorts the obtained power consumption of the peripheral device according to the size, thereby generating the power consumption information table, and in the power consumption control, the device with high power consumption is selected from the power consumption information table to reduce the power consumption.

[0056] It should be noted that if the power consumption of the peripheral device has no real-time monitoring interface, the typical power consumption can be set by configuration.

[0057] S6: Determine whether the battery power is lower than the fifth threshold, and if the battery power is lower than the fifth threshold, control the unmanned device to enter the rescue mode.

[0058] Specifically, when the battery power is lower than the fifth threshold, the unmanned device enters the rescue mode. In the rescue mode, the operating system enters the hibernation state, periodically wakes up to start the positioning and communication device to send the positioning information, and then enters the hibernation state again after the positioning information is sent.

[0059] The multi-level power consumption control method of the unmanned device based on the operating system provided in this embodiment first closes the peripheral devices not used based on the working scene, then reduces the use time of the peripheral device according to the task execution, and then reduces the frequency as a whole, and forcibly closes the high-power-consumption peripheral device, until finally entering the rescue mode. In the case where the application software does not need to participate, the operating system can intelligently perceive the application scene and automatically perform the power consumption linkage control, so that the power consumption control effect is more ideal, and the flexibility is high.

[0060] Embodiment two

[0061] The multi-level power consumption control device of the unmanned device based on the operating system provided in this embodiment comprises:

[0062] A battery power calculation module for monitoring the battery voltage and battery index of the unmanned device in real time, and calculating the battery power according to the battery voltage and battery index;

[0063] A scene power consumption control module for determining whether the battery power is lower than the first threshold, and if the battery power is lower than the first threshold, calculating the current working scene feature according to the operating system running state, and querying the pre-generated working scene information table according to the current working scene feature, and closing the clock and power supply of the peripheral device not used in the current working scene according to the query result;

[0064] A task power consumption control module for determining whether the battery power is lower than the second threshold, and if the battery power is lower than the second threshold, querying the peripheral device corresponding to the task called out and the task called in from the pre-generated device access information table, and closing the clock and power supply of the corresponding peripheral device according to the called-out task, and opening the clock and power supply of the corresponding peripheral device according to the called-in task.

[0065] a whole power consumption control module configured to determine whether the battery power is lower than a third threshold, and control the whole operating system to reduce frequency if the battery power is lower than the third threshold;

[0066] a peripheral power consumption control module configured to determine whether the battery power is lower than a fourth threshold, and sequentially turn off peripheral devices and the NPU according to a pre-generated power consumption information table in a descending order of power consumption if the battery power is lower than the fourth threshold;

[0067] a limit power consumption control module configured to determine whether the battery power is lower than a fifth threshold, and control the unmanned device to enter a rescue mode if the battery power is lower than the fifth threshold.

[0068] The specific implementation of each module in the device can be seen from the above description of the method, and will not be repeated here.

[0069] Any combination of the technical features of the above embodiments can be made (as long as the combination of the technical features does not exist contradiction), in order to make the description simple, not all possible combinations of each technical feature in the above embodiments are described; these embodiments which are not explicitly written should also be considered as the scope of the present disclosure.

Claims

1. A multi-level power consumption control method for unmanned equipment based on an operating system, characterized in that, include: Step 1: Monitor the battery voltage and battery indicators of the unmanned equipment in real time, and calculate the battery capacity based on the battery voltage and battery indicators; Step 2: Determine if the battery level is below the first threshold. If the battery level is below the first threshold, calculate the current working scenario characteristics based on the operating system's running status, query the pre-generated working scenario information table based on the current working scenario characteristics, and turn off the clocks and power supplies of peripheral devices not used in the current working scenario based on the query results. Step 3: Determine if the battery level is below the second threshold. If the battery level is below the second threshold, query the pre-generated device access information table to find the peripheral devices corresponding to the outgoing and incoming tasks of the operating system. Turn off the clock and power of the corresponding peripheral device according to the outgoing task, and turn on the clock and power of the corresponding peripheral device according to the incoming task. Step 4: Determine if the battery level is below the third threshold. If the battery level is below the third threshold, control the entire operating system to reduce its frequency. Step 5: Determine if the battery level is below the fourth threshold. If the battery level is below the fourth threshold, shut down peripheral devices and the NPU in descending order of power consumption according to the pre-generated power consumption information table. Step 6: Determine if the battery level is below the fifth threshold. If the battery level is below the fifth threshold, control the unmanned equipment to enter rescue mode.

2. The multi-level power consumption control method for unmanned equipment based on an operating system according to claim 1, characterized in that, In step 2, the work scenario information table is generated by collecting the operating system's running status during the operating system's operation.

3. The multi-level power consumption control method for unmanned equipment based on an operating system according to claim 2, characterized in that, The operating system's running status includes the percentage of time each task spends on the CPU, the frequency of task access to peripheral I / O, the CPU task that initiates the NPU task, and the NPU usage.

4. The multi-level power consumption control method for unmanned equipment based on an operating system according to claim 2, characterized in that, The information in the work scenario information table includes the characteristics of the current work scenario, the required IO devices, and whether an NPU is required.

5. The multi-level power consumption control method for unmanned equipment based on an operating system according to claim 2, characterized in that, In step 2, the current working scene features are calculated using the vector method.

6. The multi-level power consumption control method for unmanned equipment based on an operating system according to claim 1, characterized in that, In step 3, the device access information table is generated by monitoring the access status of peripheral interfaces in real time during the operation of the operating system, based on the peripheral device and access task information.

7. The multi-level power consumption control method for unmanned equipment based on an operating system according to claim 1, characterized in that, In step 3, the device access information table is set with an aging time. Device access information that exceeds the aging time will be deleted.

8. The multi-level power consumption control method for unmanned equipment based on an operating system according to claim 1, characterized in that, In step 5, the power consumption information table is generated by collecting the power consumption of all peripherals through the system interface or a dedicated measurement interface during the operation of the operating system, and sorting all peripheral power consumption according to their magnitude.

9. The multi-level power consumption control method for unmanned equipment based on an operating system according to claim 1, characterized in that, In step 6, the operating system enters a hibernation state in the rescue mode, wakes up periodically, starts the positioning and communication devices to send positioning information, and enters a hibernation state again after the positioning information is sent.

10. A multi-level power consumption control device for unmanned equipment based on an operating system, characterized in that, include: The battery power calculation module is used to monitor the battery voltage and battery indicators of unmanned equipment in real time, and calculate the battery power based on the battery voltage and battery indicators. The scene power consumption control module is used to determine whether the battery power is lower than the first threshold. If the battery power is lower than the first threshold, it calculates the current working scene characteristics based on the operating system running status, queries the pre-generated working scene information table based on the current working scene characteristics, and shuts down the clock and power of peripheral devices not used in the current working scene based on the query results. The task power consumption control module is used to determine whether the battery power is lower than the second threshold. If the battery power is lower than the second threshold, it queries the pre-generated device access information table to find the peripheral devices corresponding to the outgoing and incoming tasks of the operating system. According to the outgoing task, it turns off the clock and power of the corresponding peripheral device, and according to the incoming task, it turns on the clock and power of the corresponding peripheral device. The overall power consumption control module is used to determine whether the battery level is lower than the third threshold. If the battery level is lower than the third threshold, the entire operating system will be controlled to reduce its frequency. The peripheral power consumption control module is used to determine whether the battery level is lower than the fourth threshold. If the battery level is lower than the fourth threshold, the peripheral devices and NPU are shut down in order of power consumption from high to low according to the pre-generated power consumption information table. The extreme power consumption control module is used to determine whether the battery level is below the fifth threshold. If the battery level is below the fifth threshold, the unmanned equipment is controlled to enter the rescue mode.

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