CN110867912A - Power management system and method for optimizing quiescent current - Google Patents
Power management system and method for optimizing quiescent current Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0068—Battery or charger load switching, e.g. concurrent charging and load supply
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05F—SYSTEMS FOR REGULATING ELECTRIC OR MAGNETIC VARIABLES
- G05F1/00—Automatic systems in which deviations of an electric quantity from one or more predetermined values are detected at the output of the system and fed back to a device within the system to restore the detected quantity to its predetermined value or values, i.e. retroactive systems
- G05F1/10—Regulating voltage or current
- G05F1/46—Regulating voltage or current wherein the variable actually regulated by the final control device is dc
- G05F1/56—Regulating voltage or current wherein the variable actually regulated by the final control device is dc using semiconductor devices in series with the load as final control devices
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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Abstract
The invention discloses a power management system for optimizing quiescent current, which comprises a battery, a power management module, a microcontroller and a load, wherein the battery is connected with the power management module; the microcontroller and the load are integrated together, or the microcontroller and the load are arranged separately; the power management module comprises a switch circuit, an LDO voltage-stabilizing power supply circuit and a battery power supply circuit; the microcontroller comprises a voltage acquisition unit and a switch control unit; the voltage acquisition unit is used for acquiring the voltage value of the battery; the switch control unit is used for receiving the battery voltage value acquired by the voltage acquisition unit, comparing the battery voltage value with a preset threshold voltage, and generating a control signal according to a comparison result; the switch circuit controls the LDO voltage-stabilizing power supply circuit to supply power to the load or the battery power supply circuit to supply power to the load according to the control signal output by the switch control unit. The power management system for optimizing the quiescent current can keep smaller quiescent current in the full-voltage range and prolong the endurance life of low-power-consumption products.
Description
Technical Field
The invention relates to a power management system for optimizing quiescent current and a power management method for optimizing quiescent current.
Background
The quiescent current of the microcontroller is an important parameter of the endurance life of a low-power-consumption product powered by a battery, and the smaller the quiescent current of the microcontroller is, the longer the endurance life of the product using the microcontroller is; otherwise, the shorter the length. For a low-power-consumption product with working current of only one or two hundred uA, the LDO voltage-stabilizing power supply circuit is an ideal selection scheme, and has the advantages of high efficiency, low noise, small occupied space and small quiescent current.
The LDO voltage stabilization power supply circuit mainly comprises a series adjusting tube, a sampling resistor and a comparison amplifier, wherein sampling voltage is added at the inverting input end of the comparison amplifier and is compared with reference voltage added at the non-inverting input end, and the difference value of the sampling voltage and the reference voltage is amplified by the comparison amplifier to control the voltage drop of the series adjusting tube, so that the output voltage is stabilized. When outputting the voltage UoutWhen the voltage is reduced, the difference value between the reference voltage and the sampling voltage is increased, the driving current output by the comparison amplifier is increased, and the voltage drop of the series regulating tube is reduced, so that the output voltage is increased. On the contrary, if the output voltage exceeds the required set value, the front driving current output by the comparison amplifier is reduced, so that the output voltage is reduced, and the output voltage correction is continuously performed in the power supply process. This regulation characteristic of the LDO regulator supply circuit determines its following use limitations: when the input voltage of the LDO is larger than the output voltage of the LDO, the quiescent current of the LDO is very small and is maintained at the uA level; when the input voltage of the LDO is less than or equal to the output voltage of the LDO, the quiescent current of the LDO is 5-10 times that of the LDO under the first condition, and the reason is that: when the input voltage is less than or equal to the output voltage, the comparison amplifier can quickly amplify an error signal between the output feedback voltage and the reference voltage, and the error signal is amplified to be output through the series regulating tube to try to improve the output voltage.
The LDO voltage stabilization power supply circuit with the use limitation is applied to a low-power-consumption product powered by a battery, and can not keep smaller quiescent current in a full-voltage range.
Disclosure of Invention
The invention aims to provide a charging system for optimizing quiescent current, which can keep smaller quiescent current in a full-voltage range and prolong the endurance life of a low-power-consumption product.
In order to solve the technical problem, the invention provides a power management system for optimizing quiescent current, which comprises a battery, a power management module, a microcontroller and a load, wherein the battery is connected with the power management module; the microcontroller and the load are integrated together, or the microcontroller and the load are arranged separately;
the power management module comprises a switch circuit, an LDO voltage-stabilizing power supply circuit and a battery power supply circuit;
the microcontroller comprises a voltage acquisition unit and a switch control unit; the voltage acquisition unit is used for acquiring the voltage value of the battery; the switch control unit is used for receiving the battery voltage value acquired by the voltage acquisition unit, comparing the battery voltage value with a preset threshold voltage, and generating a control signal according to a comparison result;
the switch circuit controls the LDO voltage stabilization power supply circuit to supply power to a load or controls the battery power supply circuit to supply power to the load according to the control signal output by the switch control unit.
In a preferred embodiment of the present invention, the switching circuit controls the LDO regulated power supply circuit to supply power to the load when the voltage value of the battery is greater than the threshold voltage; and when the voltage value of the battery is less than or equal to the threshold voltage, the switch circuit controls the battery power supply circuit to supply power to the load.
In a preferred embodiment of the present invention, the switching circuit further includes a first switch K1 and a second switch K2, and the first switch and the second switch are independently turned on or off; the first switch is connected between the anode of the battery and the input end of the LDO voltage-stabilizing power supply circuit in series or between the output end of the LDO voltage-stabilizing power supply circuit and a load in series; the second switch is connected between the anode of the battery and the load in series.
In a preferred embodiment of the present invention, the switching circuit further comprises a single-pole double-throw switch having a first switch contact and a second switch contact associated with the working states, the first switch contact is connected in series between the positive electrode of the battery and the input end of the LDO regulated power supply circuit or between the output end of the LDO regulated power supply circuit and the load; and the second switch contact is connected between the positive electrode of the battery and a load in series.
In a preferred embodiment of the present invention, the voltage acquisition unit further comprises a first sampling resistor R1 and a second sampling resistor R2, and the first sampling resistor and the second sampling resistor are connected in series and then integrally connected between the positive electrode and the negative electrode of the battery; and a node A of the first sampling resistor and the second sampling resistor which are connected in series is connected with the input end of the voltage acquisition unit.
In a preferred embodiment of the present invention, the voltage collecting unit periodically collects the battery voltage, and the collecting period is 1-5 min.
In order to solve the above technical problem, the present invention further provides a power management method for optimizing quiescent current, which is used for supplying power to a load, and comprises the following steps,
the voltage acquisition unit acquires a voltage value Vi of the battery;
the switch control unit receives the battery voltage value Vi acquired by the voltage acquisition unit, compares the battery voltage value Vi with a preset threshold voltage Vr, and generates a control signal according to a comparison result;
the switch circuit controls the LDO voltage-stabilizing power supply circuit to supply power to the load or the battery power supply circuit to supply power to the load according to the control signal output by the switch control unit: when the voltage value Vi of the battery is larger than the preset threshold voltage Vr, the switching circuit controls the LDO voltage-stabilizing power supply circuit to supply power to the load; and when the voltage value Vi of the battery is less than or equal to the preset threshold voltage Vr, the switch circuit controls the battery power supply circuit to supply power to the load.
In a preferred embodiment of the present invention, the switching circuit further comprises a single-pole double-throw switch having a first switch contact and a second switch contact associated with the working states, the first switch contact is connected in series between the positive electrode of the battery and the input end of the LDO regulated power supply circuit or between the output end of the LDO regulated power supply circuit and the load; and the second switch contact is connected between the positive electrode of the battery and a load in series.
In a preferred embodiment of the present invention, the switching circuit further includes a first switch K1 and a second switch K2, and the first switch and the second switch are independently turned on or off; the first switch is connected between the anode of the battery and the input end of the LDO voltage-stabilizing power supply circuit in series or between the output end of the LDO voltage-stabilizing power supply circuit and a load in series; the second switch is connected between the anode of the battery and the load in series.
In a preferred embodiment of the present invention, the voltage collecting unit periodically collects the battery voltage, and the collecting period is 1-5 min.
The power management system for optimizing the quiescent current uses two power supply modes of direct battery power supply and LDO conversion power supply to replace the traditional single power supply mode of LDO conversion power supply to supply power to a load, and adjusts the current power supply mode according to the actual voltage value of the battery: when the voltage value of the battery is greater than the preset threshold voltage, the battery supplies power to the load after being converted by the LDO voltage-stabilizing power supply circuit; when the voltage value of the battery is less than or equal to the preset threshold voltage, the battery directly supplies power to the load, and after the battery is used, the power management system can keep smaller quiescent current in a full-voltage range, so that the endurance life of a low-power-consumption product is prolonged.
The power supply management method for optimizing the quiescent current ensures that a charging product can keep smaller quiescent current in a full-voltage range, and prolongs the endurance life of a low-power-consumption product.
Drawings
FIG. 1 is a circuit schematic of a power management system in a preferred embodiment of the invention;
FIG. 2 is a schematic circuit diagram of a power management system in a second embodiment of the invention;
FIG. 3 is a schematic circuit diagram of a power management system for a load powered by a battery after being converted by an LDO regulator power supply circuit according to a preferred embodiment of the present invention;
fig. 4 is a circuit schematic of a power management system in which a battery power circuit powers a load in a preferred embodiment of the invention.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Example one
As shown in fig. 1-2, the present embodiment discloses a power management system for optimizing quiescent current, which includes a battery, a power management module, a microcontroller, and a load, wherein the battery is connected to the power management module; according to the actual use requirement, the microcontroller and the load are integrated together or are arranged separately and independently.
The power management module comprises a switch circuit, an LDO voltage-stabilizing power supply circuit and a battery power supply circuit.
Specifically, the input end of the LDO voltage-stabilizing power supply circuit is connected to the positive electrode of the battery, and the output end thereof is connected to the load; the input end of the battery power supply circuit is connected with the anode of the battery, and the output end of the battery power supply circuit is connected with the load. With this design, the load can have two power supply modes:
in the first power supply mode, a battery supplies power to a load after being converted by the LDO voltage-stabilizing power supply circuit;
and a second power supply mode: the battery directly supplies power to the load through the battery power supply circuit.
In addition, when the microcontroller and the load are integrated, the battery power supply circuit or the LDO voltage stabilization power supply circuit supplies power to the load and also supplies power to the operation of the microcontroller; when the microcontroller and the load are arranged independently, the battery power supply circuit or the LDO voltage stabilization power supply circuit supplies power to the load.
The microcontroller comprises a voltage acquisition unit and a switch control unit; specifically, the voltage acquisition unit is used for acquiring a voltage value Vi of the battery and transmitting the acquired voltage value Vi of the battery to the switch control unit, and a preset threshold voltage Vr is stored in the switch control unit. In the technical scheme of the embodiment, the preset threshold voltage Vr is a voltage value related to the LDO regulated power supply circuit. In this embodiment, the LDO regulated power supply circuit includes a low dropout linear regulator LDO, and the predetermined threshold voltage Vr is equal to V1+ V2.
Wherein, V1 is the difference between the input and output voltages of the low dropout regulator LDO, and once the model of the low dropout regulator LDO is selected, the difference between the input and output voltages V1 is a fixed value.
In addition, once the model of the low dropout regulator LDO is selected, the voltage value of the stable output is a constant value Vo, that is, the voltage value Vo of the stable output is a known parameter of the low dropout regulator LDO, for example, the factory parameters of a low dropout regulator LDO include a quiescent current 5uA and an output voltage 3.6V, where 3.6V is the voltage value Vo of the stable output of the LDO.
The formula Vr is V1+ V2, where V2 is Vo described above, and is the constant voltage of the low dropout regulator LDO corresponding to the selected model.
The switch control unit compares the voltage value Vi of the battery with the threshold voltage Vr and generates a control signal according to the comparison result, and the switch circuit controls the LDO voltage stabilization power supply circuit to supply power to a load or controls the battery power supply circuit to supply power to the load according to the control signal output by the switch control unit.
Specifically, when Vi > Vr, the switching circuit controls the LDO regulated power supply circuit to supply power to the load, and enters a first power supply mode as shown in fig. 3: the battery supplies power to the load after being converted by the LDO voltage-stabilizing power supply circuit.
When Vi is less than or equal to Vr, the switch circuit controls the battery power supply circuit to supply power to the load, and the second power supply mode shown in the figure 4 is entered: the battery directly supplies power to the load through the battery power supply circuit.
In the first power supply mode, the quiescent current of the power management system is: the low dropout linear regulator LDO quiescent current + switching circuit quiescent current + voltage acquisition unit quiescent current.
In the second middle power supply mode, the quiescent current of the power management system is: and the quiescent current of the switching circuit + the quiescent current of the voltage acquisition unit.
Compared with the traditional single power supply mode, the power supply mode switched by the two power supply modes can save 30-40 uA of quiescent current in a full-voltage range, and is favorable for prolonging the endurance life of a low-power-consumption product.
As shown in table 1, the voltage range of the battery is 2.5V to 4.2V, and V2 of the low dropout regulator LDO is 3.6V, and the quiescent current distribution in the full voltage range of the power management system in the embodiment is as follows:
as shown in table 2, the quiescent current distribution of the power management system in the conventional power supply mode under the same conditions in the full voltage range is:
comparing table 1 and table 2, the power management system in the technical scheme of the embodiment can keep a smaller quiescent current in a full voltage range, and prolong the endurance life of a low-power-consumption product after use.
In a preferred embodiment of the present invention, the switch circuit includes a first switch K1 and a second switch K2; the first switch is connected in series between the anode of the battery and the input end of the LDO voltage-stabilizing power supply circuit or between the output end of the LDO voltage-stabilizing power supply circuit and a load; the second switch is connected in series between the anode of the battery and the load. When the first switch K1 is turned on and the second switch K2 is turned off, the current power supply mode of the microcontroller is the first power supply mode; when the second switch K2 is turned on and the first switch K1 is turned off, the current power supply mode of the microcontroller is the second power supply mode.
In addition, in the practical use process, the on or off of the switch I or the switch II is delayed, when the on delay of the on switch is longer than the off delay of the off switch, the power supply of the microcontroller cannot be continuous, the instant power-off condition exists, and the instant power-off of the microcontroller can bring fatal influence to a chip. In the first power supply mode (power supply via the LDO regulated power supply circuit): firstly, turning on a second switch K2, and then turning off a first switch K1; in a second, medium power mode (power supplied via the battery supply circuit): the first switch K1 is turned on first, and the second switch K2 is turned on last, so that the microcontroller is powered continuously.
As another technical solution of the present invention, in a situation that the microcontroller is not continuously powered, the switch circuit includes a single-pole double-throw switch, the single-pole double-throw switch has a first switch contact and a second switch contact which are associated with each other in working states, the first switch contact is connected in series between a positive electrode of the battery and an input end of the LDO regulated power supply circuit, or between an output end of the LDO regulated power supply circuit and a power supply input end of the microcontroller; the second switch contact is connected in series between the positive pole of the battery and the power input end of the microcontroller. When the first switch contact is conducted and the second switch contact is disconnected, the current power supply mode of the microcontroller is a first power supply mode; and when the second switch contact is switched on and the first switch contact is switched off, the current power supply mode of the microcontroller is the second power supply mode.
The voltage acquisition unit is used for acquiring the voltage value of the battery, and the voltage acquisition unit periodically acquires the voltage of the battery, wherein the acquisition period is 1-5 min.
The voltage acquisition unit comprises a first sampling resistor R1 and a second sampling resistor R2, and the first sampling resistor and the second sampling resistor are connected in series and then integrally connected between the positive electrode and the negative electrode of the battery; and a series node A of the first sampling resistor and the second sampling resistor is connected with the input end of the voltage acquisition unit.
On the other hand, in the technical scheme of the embodiment, two power supply modes of the microcontroller are dynamically adjustable, and on the premise that components are not replaced, one set of power management system can be matched with various scenes for use.
Example two
The embodiment discloses a power management method for optimizing quiescent current, which uses the power management system in the first embodiment to charge a microcontroller, and the components of the power management system are shown in the first embodiment, which are not described herein again, and the method for performing power management by using the power management system specifically includes the following steps,
collecting a voltage value Vi of a battery;
comparing the voltage value Vi of the battery with a preset threshold voltage Vr;
when the voltage value Vi of the battery is larger than the preset threshold voltage Vr, the switching circuit controls the LDO voltage-stabilizing power supply circuit to supply power to a load, and the battery supplies power to the load after being converted by the LDO voltage-stabilizing power supply circuit;
when the voltage value Vi of the battery is smaller than or equal to the preset threshold voltage Vr, the switch circuit controls the battery power supply circuit to supply power to the load, and the battery directly supplies power to the load.
The battery supplies power to the load after being converted by the LDO voltage stabilization power supply circuit, and the battery directly supplies power to the load, and the implementation and switching process of the two power supply modes are the same as those described in the first embodiment, and are not described again here.
The power supply management method for optimizing the quiescent current ensures that a charging product can keep smaller quiescent current in a full-voltage range, and prolongs the endurance life of a low-power-consumption product.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (10)
1. A power management system for optimizing quiescent current, comprising: the intelligent power supply comprises a battery, a power supply management module, a microcontroller and a load, wherein the battery is connected with the power supply management module; the microcontroller and the load are integrated together, or the microcontroller and the load are arranged separately;
the power management module comprises a switch circuit, an LDO voltage-stabilizing power supply circuit and a battery power supply circuit;
the microcontroller comprises a voltage acquisition unit and a switch control unit; the voltage acquisition unit is used for acquiring the voltage value of the battery; the switch control unit is used for receiving the battery voltage value acquired by the voltage acquisition unit, comparing the battery voltage value with a preset threshold voltage, and generating a control signal according to a comparison result;
the switch circuit controls the LDO voltage stabilization power supply circuit to supply power to a load or controls the battery power supply circuit to supply power to the load according to the control signal output by the switch control unit.
2. The quiescent current optimized power management system of claim 1, wherein: when the voltage value of the battery is greater than the threshold voltage, the switching circuit controls the LDO voltage-stabilizing power supply circuit to supply power to the load; and when the voltage value of the battery is less than or equal to the threshold voltage, the switch circuit controls the battery power supply circuit to supply power to the load.
3. The quiescent current optimized power management system of claim 1, wherein: the switch circuit comprises a first switch (K1) and a second switch (K2), and the first switch and the second switch are independently turned on or off; the first switch is connected between the anode of the battery and the input end of the LDO voltage-stabilizing power supply circuit in series or between the output end of the LDO voltage-stabilizing power supply circuit and a load in series; the second switch is connected between the anode of the battery and the load in series.
4. The quiescent current optimized power management system of claim 1, wherein: the switching circuit comprises a single-pole double-throw switch, the single-pole double-throw switch is provided with a first switching contact and a second switching contact which are related to working states, and the first switching contact is connected between the positive pole of the battery and the input end of the LDO voltage-stabilizing power supply circuit in series or between the output end of the LDO voltage-stabilizing power supply circuit and a load in series; and the second switch contact is connected between the positive electrode of the battery and a load in series.
5. The quiescent current optimized power management system of claim 1, wherein: the voltage acquisition unit comprises a first sampling resistor (R1) and a second sampling resistor (R2), and the whole of the first sampling resistor and the second sampling resistor which are connected in series is connected between the positive pole and the negative pole of the battery; and a node A of the first sampling resistor and the second sampling resistor which are connected in series is connected with the input end of the voltage acquisition unit.
6. A quiescent current optimized power management system according to claim 1 or 5, characterized by: the voltage acquisition unit periodically acquires the voltage of the battery, and the acquisition period is 1-5 min.
7. A power management method for optimizing quiescent current for powering a load, comprising: comprises the following steps of (a) carrying out,
the voltage acquisition unit acquires a voltage value Vi of the battery;
the switch control unit receives the battery voltage value Vi acquired by the voltage acquisition unit, compares the battery voltage value Vi with a preset threshold voltage Vr, and generates a control signal according to a comparison result;
the switch circuit controls the LDO voltage-stabilizing power supply circuit to supply power to the load or controls the battery power supply circuit to supply power to the load according to the control signal output by the switch control unit: when the voltage value Vi of the battery is larger than the preset threshold voltage Vr, the switching circuit controls the LDO voltage-stabilizing power supply circuit to supply power to the load; and when the voltage value Vi of the battery is less than or equal to the preset threshold voltage Vr, the switch circuit controls the battery power supply circuit to supply power to the load.
8. The method for power management with optimized quiescent current of claim 7, wherein: the switch circuit comprises a first switch K1 and a second switch K2, wherein the first switch and the second switch are independently turned on or off; the first switch is connected between the anode of the battery and the input end of the LDO voltage-stabilizing power supply circuit in series or between the output end of the LDO voltage-stabilizing power supply circuit and a load in series; the second switch is connected between the anode of the battery and the load in series.
9. The method for power management with optimized quiescent current of claim 7, wherein: the switching circuit comprises a single-pole double-throw switch, the single-pole double-throw switch is provided with a first switching contact and a second switching contact which are related to working states, and the first switching contact is connected between the positive pole of the battery and the input end of the LDO voltage-stabilizing power supply circuit in series or between the output end of the LDO voltage-stabilizing power supply circuit and a load in series; and the second switch contact is connected between the positive electrode of the battery and a load in series.
10. The method for power management with optimized quiescent current of claim 7, wherein: the voltage acquisition unit periodically acquires the voltage of the battery, and the acquisition period is 1-5 min.
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| CN201810986700.0A CN110867912A (en) | 2018-08-28 | 2018-08-28 | Power management system and method for optimizing quiescent current |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114675697A (en) * | 2020-12-25 | 2022-06-28 | 圣邦微电子（北京）股份有限公司 | Internal power supply management circuit |
| WO2023143527A1 (en) * | 2022-01-28 | 2023-08-03 | 浙江白马科技有限公司 | Power supply management circuit, function module, autonomous operation device and control system |
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2018
- 2018-08-28 CN CN201810986700.0A patent/CN110867912A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114675697A (en) * | 2020-12-25 | 2022-06-28 | 圣邦微电子（北京）股份有限公司 | Internal power supply management circuit |
| CN114675697B (en) * | 2020-12-25 | 2024-04-16 | 圣邦微电子（北京）股份有限公司 | Internal power supply management circuit |
| WO2023143527A1 (en) * | 2022-01-28 | 2023-08-03 | 浙江白马科技有限公司 | Power supply management circuit, function module, autonomous operation device and control system |
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