CN112847448B - Electric scissors control method and device, electric scissors and storage medium - Google Patents
Electric scissors control method and device, electric scissors and storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of cutter control, and provides a method and a device for controlling electric scissors, the electric scissors and a storage medium, wherein the method comprises the following steps: when a trigger on the electric scissors moves, detecting the position of the trigger to obtain trigger position information; the trigger position information is converted through the preset position conversion model, the cutting edge position information corresponding to the shear head on the electric scissors is obtained, follow-up control is carried out on the shear head according to the trigger position information and the cutting edge position information, the shear head is made to follow the trigger motion, the defect that the shear head on the existing electric scissors is difficult to accurately follow the motion of a switch device is overcome, the utilization rate of the trigger position information is improved, and the reliability and the accuracy of the shear head following the motion of the trigger are also guaranteed.
Description
Technical Field
The invention relates to the technical field of cutter control, in particular to a method and a device for controlling electric scissors, the electric scissors and a storage medium.
Background
At present, electric scissors include scissors head, switching device and controlling means, controlling means and switching device electric connection just are suitable for and carry out motion control to the scissors head, and when the user exerted switch operation to switching device, switching device input switching signal to controlling means makes controlling means carry out motion control to the scissors head according to switching signal, compares in manual scissors, and electric scissors is because of adopting electric drive mode control scissors head and more laborsaving.
However, depending on factors such as the control method of the switch device and the driving performance of the control device, it is difficult for the scissor head to accurately follow the switch device in the process of controlling the movement of the scissor head by the control device, and the user experiences a variation in the user experience compared to the method in which the manual scissor moves following the user operation.
Disclosure of Invention
In view of the technical defects, the invention provides an electric scissors control method, an electric scissors control device, electric scissors and a storage medium.
The invention provides an electric scissors control method in a first aspect, comprising the following steps:
when a trigger arranged on the electric scissors moves, carrying out position detection on the trigger to obtain trigger position information;
converting the trigger position information through a preset position conversion model to obtain cutting edge position information corresponding to a shear head arranged on the electric shears;
and carrying out follow-up control on the scissor head according to the trigger position information and the cutting edge position information, so that the scissor head moves along with the trigger.
The beneficial effects of the above technical scheme are: trigger in-process is pulled at the user, utilizes the trigger positional information who detects to convert cutting edge positional information, still uses trigger positional information and cutting edge positional information together as the data foundation that carries out follow-up control to the scissors head, has both promoted trigger positional information's utilization ratio, has also guaranteed the scissors head and has followed reliability and the accuracy of trigger motion, helps promoting user experience.
Optionally, the servo-controlling the scissor head according to the trigger position information and the blade position information comprises:
carrying out position recognition on the trigger according to the trigger position information to obtain a recognition result;
determining a speed limit according to the identification result;
converting the blade position information through a preset position ring to obtain a target speed;
and carrying out follow-up control on the scissor head according to the target speed, the limiting speed and the blade position information.
The beneficial effects of the above technical scheme are: the trigger position is used for determining the limiting speed, the blade position information is used for determining the target speed, and the blade position information, the target speed and the limiting speed are used as the basis for follow-up control of the scissor head, so that the utilization rate of the blade position information is improved, and the stability of the scissor head moving along with the trigger is improved.
Optionally, the identifying the position of the trigger according to the trigger position information includes:
judging whether the trigger is in an opening position or not according to the trigger position information, if so, generating an identification result matched with the opening position, and if not, judging whether the trigger is in a closed position or not;
when the trigger is judged to be in the closed position, generating the recognition result matched with the closed position;
when it is determined that the trigger is not in the closed position, the recognition result is generated to fit an intermediate position between the open position and the closed position.
The beneficial effects of the above technical scheme are: the trigger is not in the opening position and is used as the control condition for judging whether the trigger is in the closing position, the trigger is in the opening position, the closing position and the control condition for judging whether the trigger is not in the closing position and is used as the recognition result are respectively judged, the step of recognizing the middle position of the trigger is omitted on the basis of ensuring that the multiple positions of the trigger are recognized, the position recognition efficiency is improved, and the performance of generating the recognition result in a refined mode is improved.
Optionally, the determining the speed limit according to the recognition result includes:
when the identification result represents that the trigger is in the opening position or the closing position, determining a first preset speed as the limiting speed through a preset speed planning model;
and when the identification result represents that the trigger is in the middle position, determining a second preset speed as the limiting speed through the preset speed planning model, wherein the second preset speed is smaller than the first preset speed.
The beneficial effects of the above technical scheme are: through combining with the preset speed planning model according to the recognition result suitable for representing that the trigger is in the opening position or the closing position or the middle position, the limiting speed is finely set, and the accuracy of matching the limiting speed with the position of the trigger is improved.
Optionally, the preset speed plan model is represented as:
wherein f is x Representing said limit speed, V, adapted to said recognition result x max Representing said first preset speed, V min Representing the second preset speed.
The beneficial effects of the above technical scheme are: the preset speed planning model is in a piecewise function form, and is beneficial to simplifying the speed planning mode and improving the speed planning efficiency.
Optionally, said servo-controlling the scissor head according to the target speed, the limit speed, and the blade position information comprises:
and judging whether the target speed is greater than the limiting speed, if so, driving the scissor head to a position matched with the blade position information according to the limiting speed, and if not, driving the scissor head to a position matched with the blade position information according to the target speed.
The beneficial effects of the above technical scheme are: the small speed is selected from the target speed and the limiting speed by judging the size relation between the target speed and the limiting speed, so that the shear head is limited in speed in the process of moving to the position matched with the position information of the cutting edge, the shear head is prevented from jumping in speed, and the accuracy and the stability of the shear head moving along with a trigger are improved.
Optionally, the preset position conversion model is linear.
The beneficial effects of the above technical scheme are: the method is beneficial to simplifying the conversion mode and improving the conversion efficiency.
A second aspect of the present invention provides an electric scissors control apparatus comprising:
the position detection module is suitable for detecting the position of a trigger arranged on the electric scissors when the trigger moves to obtain trigger position information;
the position conversion module is suitable for converting the trigger position information through a preset position conversion model to obtain blade position information corresponding to a scissor head arranged on the electric scissors;
and the follow-up control module is suitable for performing follow-up control on the scissor head according to the trigger position information and the cutting edge position information so as to enable the scissor head to move along with the trigger.
A third aspect of the present invention provides electric shears comprising:
a trigger adapted to move in a trigger stroke;
a scissor head adapted to follow the trigger in a scissor head stroke;
a non-volatile memory adapted to store a computer program;
control means adapted to load and execute the computer program to implement the electric scissors control method according to the first aspect.
A fourth aspect of the present invention provides a computer-readable storage medium configured to be coupled with electric shears and storing at least one instruction or at least one program or set of codes or set of instructions, which is loaded and executed by the electric shears to implement the electric shears control method according to the first aspect.
The electric scissors control method, the electric scissors control device and the computer storage medium provided by the invention respectively have the same beneficial effects as the electric scissors control method, and are not described herein again.
Drawings
Fig. 1 is a schematic flow chart of a method for controlling electric scissors according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of servo control of a scissor head according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a control device for electric scissors according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In order to overcome the defect that the scissor head on the existing electric scissors is difficult to accurately follow the movement of the switch device, referring to fig. 1, the embodiment of the invention provides a control method of electric scissors, which can be applied to a trigger type electric scissors, which can include the scissor head, a trigger and a control device, wherein the control device is suitable for executing all steps in the control method of the electric scissors.
The embodiment of the invention provides an electric scissors control method, which comprises the following steps: when the trigger moves, carrying out position detection on the trigger to obtain trigger position information; converting trigger position information through a preset position conversion model to obtain cutting edge position information corresponding to the shear head; and carrying out follow-up control on the shear head according to the trigger position information and the cutting edge position information to ensure that the shear head moves along with the trigger.
Illustratively, the controlling means includes position sensor, driver, motor and link gear, and position sensor installs on the trigger, and the driver is respectively with position sensor and motor electric connection, and the link gear is installed on the output shaft of motor, and the scissors head is installed on the link gear, and for example, position sensor is hall switch, and the link gear comprises components such as nut and the lead screw of installing on the nut.
Illustratively, when the trigger is at rest, the trigger is in the open position, the voltage signal output by the position sensor is zero, the driver does not start the motor, the motor does not drive the scissor head through the linkage mechanism because of being at rest, and the scissor head is also at rest.
For example, when the user pulls the trigger, the trigger may be gradually moved from the open position to the closed position, i.e., the trigger stroke, and the position sensor converts the mechanical displacement amount of the trigger during the movement into a voltage signal, i.e., a trigger position signal, and inputs the voltage signal to the driver.
Exemplarily, the driver samples and filters the trigger position signal to obtain a sampled signal, and performs numerical value conversion on the sampled signal to obtain a sampled value, wherein the sampled value is trigger position information, and the blade action values corresponding to the trigger position information one to one are identified from a position value conversion relation diagram through a preset position conversion model, and the blade action values are blade position information; the driver also carries out follow-up control on the rotating speed of the motor according to the trigger position information and the cutting edge position information, so that the motor carries out follow-up control on the scissor head through the linkage mechanism.
Trigger in-process is pulled to the user, utilizes the trigger positional information who detects to convert cutting edge positional information, still uses trigger positional information and cutting edge positional information together as the data foundation that carries out follow-up control to the scissors head, has both promoted trigger positional information's utilization ratio, has also guaranteed that the scissors head follows trigger motion's reliability and accuracy, helps promoting user experience.
Optionally, the preset position conversion model is linear, for example, the preset position conversion model is expressed as: p 2 ＝a×P 1 Wherein, P 2 Representing the edge position information in numerical form, a representing the conversion factor, P 1 The representation of trigger position information in numerical form helps to simplify the conversion method and improve the conversion efficiency.
Optionally, referring to fig. 2, the servo-controlling the scissor head according to the trigger position information and the blade position information comprises: carrying out position identification on the trigger according to the trigger position information to obtain an identification result; determining a limiting speed according to the recognition result; converting the position information of the cutting edge through a preset position ring to obtain a target speed; and carrying out follow-up control on the scissor head according to the target speed, the limiting speed and the blade position information.
Illustratively, the preset position loop may be implemented using a PID model, which may be expressed as:
wherein u (t) represents a target speed, K p Denotes a scale factor, e (t) is P 2 C, e (T) represents the position loop error, c represents the nominal position value, T i Representing integration time, T d Representing differential time, t representing trigger position information P 1 At the corresponding detection time, dt represents an increment corresponding to the detection time t, and de (t)/dt represents a differential quotient obtained by deriving the position loop error e (t) from the detection time t.
Illustratively, the driver runs a real-time operating system, when the driver performs start or scram control on the motor, the motor vibrates greatly, the operation of pulling the trigger by a user is easy to change, the speed jump of the scissor head is easy to cause, and the stability of the scissor head following the movement of the trigger is damaged.
The trigger position is used for determining the limiting speed, the cutting edge position information is used for determining the target speed, and the cutting edge position information, the target speed and the limiting speed are used together as the basis for follow-up control of the scissor head, so that the utilization rate of the cutting edge position information is improved, the stability of the scissor head moving along with the trigger is improved, and the user experience is improved.
Alternatively, referring to fig. 2, the identifying the trigger position according to the trigger position information includes: judging whether the trigger is in the opening position or not according to the trigger position information, if so, generating an identification result matched with the opening position, and if not, judging whether the trigger is in the closing position or not; when the trigger is judged to be at the closed position, generating an identification result matched with the closed position; when it is determined that the trigger is not in the closed position, a recognition result adapted to the intermediate position is generated.
Illustratively, comparing the trigger position information with a first preset position value suitable for representing the opening position, and when the trigger position information is the same as the first preset position value, judging that the trigger is at the opening position, and at the moment, setting 0 as a recognition result; when the trigger position information is different from the first preset position value, judging that the trigger is not positioned at the opening position, and comparing the trigger position information with a second preset position value suitable for representing the closing position; when the trigger position information is the same as the second preset position value, judging that the trigger is in the closed position, and setting 1 as an identification result; when the trigger position information is different from the second preset position value, it is determined that the trigger is not in the closed position, that is, the trigger is in the intermediate position, and at this time, 0.5 is set as the recognition result.
The trigger is not in the opening position and is used as the control condition for judging whether the trigger is in the closing position, the trigger is in the opening position, the closing position and the control condition for judging whether the trigger is not in the closing position and is used as the recognition result are respectively judged, the step of recognizing the middle position of the trigger is omitted on the basis of ensuring that the multiple positions of the trigger are recognized, the position recognition efficiency is improved, and the performance of generating the recognition result in a refined mode is improved.
Alternatively, referring to fig. 2, determining the limit speed according to the recognition result includes: when the identification result represents that the trigger is in the opening position or the closing position, determining a first preset speed as a limiting speed through a preset speed planning model; and when the identification result represents that the trigger is in the middle position, determining a second preset speed smaller than the first preset speed as the limit speed through a preset speed planning model.
The identification result suitable for representing that the trigger is located at the opening position or the closing position or the middle position is combined with the preset speed planning model, the limiting speed is set in a refined mode, and the accuracy of matching the limiting speed and the position of the trigger is improved.
Optionally, the preset speed planning model is represented as:
wherein f is x Indicating the speed limit, V, adapted to the recognition result x max Representing a first predetermined speed, V min Representing a second preset speed.
The preset speed planning model is in a piecewise function form, and is beneficial to simplifying the speed planning mode and improving the speed planning efficiency.
Optionally, referring to fig. 2, the servo-controlling the scissor head according to the target speed, the limit speed, and the blade position information comprises: and judging whether the target speed is greater than the limiting speed, if so, driving the scissor head to a position matched with the blade position information according to the limiting speed, and if not, driving the scissor head to a position matched with the blade position information according to the target speed.
Illustratively, the habit of a user using electric scissors is: when the trigger is in the opening position or the closing position, the trigger is quickly pulled so as to quickly open or close the scissor point; when the trigger is in the middle position, the middle position is any position between the opening position and the closing position, and the trigger is slowly pulled so that the scissor opening cuts the object.
For example, when a user pulls the trigger according to the above-mentioned habit, due to physical characteristics, driving capability and other factors, the highest rotation speed of the motor is lower than the movement speed of the trigger in the open position or the closed position, and/or the lowest rotation speed of the motor is higher than the movement speed of the trigger in the middle position, so that hysteresis exists between the scissor head and the trigger, and the scissor head is easy to jump due to the failure of the scissor head to follow the movement of the trigger in real time.
For example, during rapid movement of the trigger, the trigger may take 20 to 30 milliseconds, and the scissor head may take 200 to 300 milliseconds; during slow movement of the trigger, the trigger may take 4 to 5 seconds and the scissor head may take less than or equal to 2 seconds, for example, 1.5 seconds.
The small speed is selected from the target speed and the limiting speed by judging the size relation between the target speed and the limiting speed, so that the shear head is limited in speed in the process of moving to the position matched with the position information of the cutting edge, the speed jump of the shear head is prevented, the accuracy and the stability of the shear head moving along with the trigger are improved, and the limiting speed is between the highest rotating speed and the lowest rotating speed of the motor.
Referring to fig. 3, an embodiment of the present invention further provides an electric scissors control apparatus, which includes a position detection module, a position conversion module, and a follow-up control module.
And the position detection module is suitable for detecting the position of the trigger when the trigger arranged on the electric scissors moves to obtain trigger position information.
And the position conversion module is suitable for converting the trigger position information through a preset position conversion model to obtain the cutting edge position information corresponding to the shear head arranged on the electric shears.
And the follow-up control module is suitable for performing follow-up control on the shear head according to the trigger position information and the cutting edge position information so that the shear head moves along with the trigger.
An embodiment of the present invention further provides an electric scissors, including: a trigger, a scissor head, a nonvolatile memory and a control device; a trigger adapted to move in a trigger stroke; a scissor head adapted to follow the trigger during a scissor head stroke; a non-volatile memory adapted to store a computer program; and the control device is suitable for loading and executing the computer program to realize the electric scissors control method.
Embodiments of the present invention also provide a computer storage medium configured to be coupled with electric shears and storing at least one instruction or at least one program or set of codes or set of instructions, which is loaded and executed by the electric shears to implement the above-mentioned electric shears control method.
In general, computer instructions for carrying out the methods of the present invention may be carried in any combination of one or more computer-readable storage media, e.g., non-transitory computer-readable storage media may comprise any computer-readable medium, except for the signals themselves which are temporarily propagated.
A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages, and in particular may employ Python languages suitable for neural network computing and TensorFlow, PyTorch-based platform frameworks.
The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The terms "first", "second" and "third", etc., described herein, are used only for distinguishing devices/components/subassemblies/parts, etc., and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated, whereby the definition of features as "first", "second" and "third", etc., may explicitly or implicitly mean that at least one of such features is included, unless explicitly specifically defined otherwise, "a plurality" means at least two, e.g., two, three, etc., and those skilled in the art may specifically understand the specific meaning of the above terms in the present invention.
The terms "aspect," "optionally," and "exemplary" described herein mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or implementation is included in at least one embodiment or implementation of the invention, the term schematic representation does not necessarily refer to the same embodiment or implementation, and the described particular feature, structure, material, or characteristic may be combined in any suitable manner in any one or more embodiments or implementations.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and such changes and modifications will fall within the scope of the present invention.
Claims (9)
1. An electric scissors control method, characterized by comprising:
when a trigger arranged on the electric scissors moves, detecting the position of the trigger to obtain trigger position information;
converting the trigger position information through a preset position conversion model to obtain blade position information corresponding to a scissor head arranged on the electric scissors;
carrying out follow-up control on the scissor head according to the trigger position information and the cutting edge position information, so that the scissor head moves along with the trigger;
wherein the follow-up control of the scissor head according to the trigger position information and the blade position information comprises:
carrying out position recognition on the trigger according to the trigger position information to obtain a recognition result;
determining a speed limit according to the identification result;
converting the blade position information through a preset position ring to obtain a target speed;
and carrying out follow-up control on the scissor head according to the target speed, the limiting speed and the blade position information.
2. The electric scissors control method of claim 1, wherein the identifying the position of the trigger based on the trigger position information comprises:
judging whether the trigger is in an opening position or not according to the trigger position information, if so, generating an identification result matched with the opening position, and if not, judging whether the trigger is in a closed position or not;
when the trigger is judged to be in the closed position, generating the recognition result matched with the closed position;
when it is determined that the trigger is not in the closed position, the recognition result is generated to fit an intermediate position between the open position and the closed position.
3. The electric scissors control method of claim 1, wherein the determining a limit speed according to the recognition result comprises:
when the identification result represents that the trigger is in the opening position or the closing position, determining a first preset speed as the limiting speed through a preset speed planning model;
and when the identification result represents that the trigger is in the middle position, determining a second preset speed as the limiting speed through the preset speed planning model, wherein the second preset speed is smaller than the first preset speed.
4. Electric shears control method according to claim 3, wherein the preset speed plan model is represented as:
wherein,
representing the limit speed adapted to the recognition result x,
is representative of the first pre-set speed,
representing the second preset speed.
5. The electric scissors control method according to any one of claims 1 to 4, wherein the servo-controlling the scissor head according to the target speed, the limit speed, and the blade position information comprises:
and judging whether the target speed is greater than the limiting speed, if so, driving the scissor head to a position matched with the blade position information according to the limiting speed, and if not, driving the scissor head to a position matched with the blade position information according to the target speed.
6. The electric scissors control method of any one of claims 1 to 4, wherein the preset position conversion model is linear.
7. An electric scissors control apparatus, comprising:
the position detection module is suitable for detecting the position of a trigger arranged on the electric scissors when the trigger moves to obtain trigger position information;
the position conversion module is suitable for converting the trigger position information through a preset position conversion model to obtain blade position information corresponding to a scissor head arranged on the electric scissors;
the follow-up control module is suitable for performing follow-up control on the scissor head according to the trigger position information and the cutting edge position information so that the scissor head moves along with the trigger;
wherein the follow-up control of the scissor head according to the trigger position information and the blade position information comprises:
carrying out position recognition on the trigger according to the trigger position information to obtain a recognition result;
determining a speed limit according to the identification result;
converting the blade position information through a preset position ring to obtain a target speed;
follow-up control of the scissor head is performed according to the target speed, the limit speed and the blade position information.
8. Electric shears, characterized in that it comprises:
a trigger adapted to move in a trigger stroke;
a scissor head adapted to follow the trigger in a scissor head stroke;
a non-volatile memory adapted to store a computer program;
control means adapted to load and execute the computer program to implement the electric scissors control method according to any one of claims 1 to 6.
9. A computer storage medium, characterized in that the computer storage medium is configured to be coupled with electric shears and stores at least one instruction or at least one program or set of codes or set of instructions, which instruction or program or set of codes or set of instructions is loaded and executed by the electric shears to implement the electric shears control method according to any one of claims 1 to 6.
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| CN202011557526.1A CN112847448B (en) | 2020-12-25 | 2020-12-25 | Electric scissors control method and device, electric scissors and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5034348B2 (en) * | 2006-07-20 | 2012-09-26 | マックス株式会社 | Electric scissors |
| FR2935175B1 (en) * | 2008-08-22 | 2011-02-11 | Pellenc Sa | DEVICE FOR DETERMINING THE RELATIVE POSITION BETWEEN TWO OR MORE OF WHICH IS AT LEAST MOVABLE, AND MACHINES AND APPARATUSES BY APPLYING |
| FR2935106B1 (en) * | 2008-08-22 | 2010-09-17 | Pellenc Sa | PORTABLE ELECTROPORTATIVE TOOL |
| JP5741252B2 (en) * | 2011-06-28 | 2015-07-01 | マックス株式会社 | Electric scissors |
| CN104617853A (en) * | 2014-10-28 | 2015-05-13 | 常州格力博有限公司 | Pruning machine speed regulation control method |
| US20160150738A1 (en) * | 2014-12-02 | 2016-06-02 | Brian Hall | Cutting assembly |
| CN207087927U (en) * | 2017-01-24 | 2018-03-13 | 深圳市梵思诺时尚服饰有限公司 | Intelligent scissors |
| JP2019084008A (en) * | 2017-11-06 | 2019-06-06 | 学校法人東京電機大学 | Scissors with power assist function and control program of scissors with power assist function |
| CN210157699U (en) * | 2019-06-26 | 2020-03-20 | 胡文进 | Accurately controlled electric scissors |
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2020
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