CN114453620B - Intelligent electric tool and control method thereof - Google Patents
Intelligent electric tool and control method thereof Download PDFInfo
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- CN114453620B CN114453620B CN202011240815.9A CN202011240815A CN114453620B CN 114453620 B CN114453620 B CN 114453620B CN 202011240815 A CN202011240815 A CN 202011240815A CN 114453620 B CN114453620 B CN 114453620B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000035515 penetration Effects 0.000 claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 230000010355 oscillation Effects 0.000 claims description 22
- 238000001914 filtration Methods 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 6
- 230000003247 decreasing effect Effects 0.000 claims description 4
- 238000005553 drilling Methods 0.000 claims description 4
- 238000010079 rubber tapping Methods 0.000 claims description 4
- 230000001276 controlling effect Effects 0.000 description 10
- 238000005070 sampling Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000004080 punching Methods 0.000 description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B45/00—Hand-held or like portable drilling machines, e.g. drill guns; Equipment therefor
- B23B45/02—Hand-held or like portable drilling machines, e.g. drill guns; Equipment therefor driven by electric power
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
- B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for
Abstract
The embodiment of the invention discloses an intelligent electric tool and a control method thereof. This intelligent electric tool includes: the device comprises an output shaft, a motor, a shell and an adjusting assembly; the detection unit is used for detecting and obtaining a current value of the intelligent electric tool in operation; the controller receives the mode signal and determines a current variable set according to the working mode and the current value of the intelligent electric tool in working; judging whether the intelligent electric tool is started or not according to the current variable set; after starting, determining a characteristic quantity set according to the current variable set; determining the type of the intelligent electric tool drill bit according to the characteristic quantity set; and judging the working state of the intelligent electric tool according to the current variable set and/or the characteristic quantity set and the type of the intelligent electric tool bit, and controlling the motor to stop when judging that the intelligent electric tool is in a penetration state so as to control the intelligent electric tool to stop. So as to realize that the type of the drill bit and the working state of the intelligent electric tool can be automatically identified when the drill rod is used for working.
Description
Technical Field
The invention relates to the technical field of electric tool control, in particular to an intelligent electric tool and a control method thereof.
Background
With the development of electric tools, intelligent control technology of the electric tools is increasingly widely used. For example, an electric drill screw driver utilizes a controller to drive a motor to realize the assembly, disassembly and other works of the fastener.
However, during operation of the drill driver, for example, during the process of drilling the drill through a workpiece (e.g., a board), it is considered to be better to control when the drill is just stopped when the drill is drilling through the board. However, in the prior art, the user of the electric drill usually grasps the stop control by himself, which easily causes the problem of low nailing efficiency.
Disclosure of Invention
The invention provides an intelligent electric tool and a control method thereof, which can automatically identify the type of a drill bit and the working state of the intelligent electric tool when the drill is used, and can control the intelligent electric tool to automatically stop when the intelligent electric tool is in a penetration state, so that the working efficiency is improved.
In a first aspect, an embodiment of the present invention provides an intelligent power tool, including:
the output shaft is used for outputting torsion;
the motor is used for driving the output shaft to rotate;
a housing for accommodating the motor;
the transmission assembly is connected with the motor and the output shaft;
the adjusting component is used for adjusting the working mode of the intelligent electric tool and outputting a mode signal, and the working mode at least comprises a drill level mode;
the detection unit is used for detecting and obtaining the current value of the intelligent electric tool in operation;
the controller receives the mode signal and determines a current variable set according to the working mode and the current value of the intelligent electric tool in working; wherein the current variable set comprises a current difference value and a filtered current difference value;
judging whether the intelligent electric tool is started to be ended or not according to the current variable set;
after starting, determining a characteristic quantity set according to the current variable set; determining the type of the intelligent electric tool drill bit according to the characteristic quantity set;
and judging the working state of the intelligent electric tool according to the current variable set and/or the characteristic quantity set and the type of the intelligent electric tool bit, and controlling the motor to stop when judging that the intelligent electric tool is in a penetration state so as to control the intelligent electric tool to stop.
In a second aspect, an embodiment of the present invention further provides a control method of an intelligent electric tool, where the control method includes:
acquiring a current value of the intelligent electric tool in operation;
determining a current variable set according to the current value of the intelligent electric tool in operation; wherein the current variable set comprises a current difference value and a filtered current difference value;
judging whether the intelligent electric tool is started to be ended or not according to the current variable set;
after starting, determining a characteristic quantity set according to the current variable set; determining the type of the intelligent electric tool drill bit according to the characteristic quantity set;
and judging the working state of the intelligent electric tool according to the current variable set and/or the characteristic quantity set and the type of the intelligent electric tool bit, and controlling the intelligent electric tool to stop if the intelligent electric tool is in a penetration state.
According to the technical scheme provided by the embodiment of the invention, the intelligent electric tool comprises: the output shaft is used for outputting torsion; the motor is used for driving the output shaft to rotate; a housing for accommodating the motor; the transmission assembly is connected with the motor and the output shaft; the adjusting component is used for adjusting the working mode of the intelligent electric tool and outputting a mode signal, and the working mode at least comprises a drill level mode; the detection unit is used for detecting and obtaining a current value of the intelligent electric tool in operation; the controller receives the mode signal and determines a current variable set according to the working mode and the current value of the intelligent electric tool in working; the current variable set comprises a current difference value and a filtering current difference value; judging whether the intelligent electric tool is started or not according to the current variable set; after starting, determining a characteristic quantity set according to the current variable set; determining the type of the intelligent electric tool drill bit according to the characteristic quantity set; and judging the working state of the intelligent electric tool according to the current variable set and/or the characteristic quantity set and the type of the intelligent electric tool bit, and controlling the motor to stop when judging that the intelligent electric tool is in a penetration state so as to control the intelligent electric tool to stop. The problems of poor automatic control effect, low working efficiency and the like in the prior art are solved, and the type of the intelligent electric tool bit can be determined according to the characteristic quantity set; the working state of the intelligent electric tool can be judged according to the current variable set and/or the characteristic quantity set and the type of the intelligent electric tool bit, and the intelligent electric tool is controlled to stop when the intelligent electric tool is judged to be in the punching state. Therefore, the type of the drill bit and the working state of the intelligent electric tool can be automatically identified when the drill block is used for working, the intelligent electric tool can be controlled to automatically stop when the intelligent electric tool is in a penetration state, and the working efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of a smart power tool according to an embodiment of the present invention;
FIG. 2 is a block diagram of circuitry of a smart power tool in an embodiment of the invention;
FIG. 3 is a graph of filtered current difference variation in an embodiment of the present invention;
FIG. 4 is a graph of current difference variation in an embodiment of the present invention;
fig. 5 is a variation curve of a second feature quantity in the embodiment of the present invention;
fig. 6 is a flowchart of a method for controlling an intelligent electric tool according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Fig. 1 is a schematic structural diagram of an intelligent electric tool according to an embodiment of the present invention, and fig. 2 is a circuit system block diagram of the intelligent electric tool according to an embodiment of the present invention. Referring to fig. 1, the intelligent power tool 100 includes: an output shaft 101 for outputting a torque force; a motor for driving the output shaft 101 to rotate; a housing 102 for accommodating the motor; the transmission assembly is connected with the motor and the output shaft 101; the adjusting component 103 is used for adjusting the working mode of the intelligent electric tool and outputting a mode signal, and the working mode at least comprises a drill grade mode. Referring to fig. 2, the intelligent electric tool further comprises an adjusting component 103, a detecting unit 202, a motor 201 and a controller 203, wherein the detecting unit 202 is used for detecting and obtaining a current value of the intelligent electric tool in operation; a controller 203 for receiving the mode signal and determining a current variable set according to the working mode and the current value of the intelligent electric tool in working; the current variable set comprises a current difference value and a filtering current difference value; judging whether the intelligent electric tool is started or not according to the current variable set; after starting, determining a characteristic quantity set according to the current variable set; determining the type of the intelligent electric tool drill bit according to the characteristic quantity set; and judging the working state of the intelligent electric tool according to the current variable set and/or the characteristic quantity set and the type of the intelligent electric tool bit, and controlling the motor to stop when judging that the intelligent electric tool is in a penetration state so as to control the intelligent electric tool to stop.
Specifically, the adjusting component 103 is electrically connected to the controller 203, the adjusting component 103 is used for adjusting a working mode of the intelligent electric tool and outputting a mode signal to the controller 203, the detecting unit 202 detects a current value of the intelligent electric tool in operation in real time and outputs the current value to the controller 203, the controller 203 determines a current variable set according to the received mode signal and the current value of the intelligent electric tool in operation, and whether the intelligent electric tool is started or not is judged to be ended according to the current variable set. If the intelligent electric tool is started, determining a characteristic quantity set according to the current variable set, determining the type of the intelligent electric tool bit according to the characteristic quantity set, judging the working state of the intelligent electric tool according to the current variable set and/or the characteristic quantity set and the type of the intelligent electric tool bit, and controlling the motor to stop when the intelligent electric tool is judged to be in a penetration state so as to control the intelligent electric tool to stop. Wherein, judging the working state of the intelligent electric tool according to the current variable set and/or the characteristic quantity set and the type of the intelligent electric tool bit can comprise: judging according to the current variable set and the type of the intelligent electric tool bit; judging according to the characteristic quantity set and the type of the intelligent electric tool bit; according to the current variable set, the characteristic quantity set and the type judgment of the intelligent electric tool bit, which judgment method is adopted specifically can be set according to the actual situation, and the implementation is not particularly limited.
The working state of the intelligent electric tool can comprise a loading state, a wearing state and the like.
Referring to fig. 1, the intelligent electric tool 100 includes a housing 102, an output shaft 101, a grip portion 104, a speed regulating mechanism 105, a power supply device 106, a motor, and a controller.
The housing 102 is formed with a grip portion 104, the grip portion 104 is intended to be gripped by a user, and of course, the grip portion 104 may be a separate component. The housing 102 forms a main body portion of the intelligent power tool 100 for housing a motor, controller, transmission assembly, and other electronic components such as a circuit board. The output shaft 101 may be used to mount a function. The functional parts are used for realizing the functions of the intelligent electric tool 100, and the functional parts are driven by a motor to operate. The functional elements are different for different intelligent power tools. For the screw driver, the functional piece is a sleeve and is used for realizing the functions of fastening screws or disassembling screws. The function is operatively connected to the motor, in particular, the function is electrically connected to the motor through the output shaft 101 and the transmission assembly.
The speed governor 105 is at least for setting a target rotational speed of the motor, that is, the speed governor 105 is for achieving motor speed governor, and the speed governor 105 may be, but is not limited to, a trigger, a knob, a sliding mechanism, etc. In the present embodiment, the speed regulating mechanism 105 is configured as a trigger. In some embodiments, when the trigger-press angle of the drill range of the intelligent power tool is in the range of 0-10%, the corresponding duty cycle is 0-30%, increasing in a certain proportion, but the intelligent power tool does not trigger the auto-stop function. When the trigger pressing angle is in the range of 10% -100%, the corresponding duty ratio is increased and can be stabilized at 100%, so that the function of triggering and stopping the intelligent electric tool can be activated when the trigger pressing angle is in the range of 10% -100%.
The power supply 106 is used to provide power to the intelligent power tool 100. In this embodiment, the intelligent power tool 100 is powered by a battery pack. Alternatively, the smart power tool 100 further includes a battery pack coupling portion for coupling the battery pack to the smart power tool 100.
The motor and controller of the intelligent power tool 100 are disposed in the housing 102 (not shown in fig. 1), and the motor is used to drive corresponding functional parts to operate in response to a control signal of the controller, so that the intelligent power tool 100 can operate normally.
The working mode judgment mode of the intelligent electric tool can be as follows: and a Hall sensor is arranged on the adjusting component, and different working modes can be set through the Hall sensor to output corresponding AD sampling signals to the controller. The controller can identify the working mode of the intelligent electric tool according to the received AD sampling signal.
According to the technical scheme provided by the embodiment of the invention, the intelligent electric tool comprises: the output shaft is used for outputting torsion; the motor is used for driving the output shaft to rotate; a housing for accommodating the motor; the transmission assembly is connected with the motor and the output shaft; the adjusting component is used for adjusting the working mode of the intelligent electric tool and outputting a mode signal, and the working mode at least comprises a drill level mode; the detection unit is used for detecting and obtaining a current value of the intelligent electric tool in operation; the controller receives the mode signal and determines a current variable set according to the working mode and the current value of the intelligent electric tool in working; the current variable set comprises a current difference value and a filtering current difference value; judging whether the intelligent electric tool is started or not according to the current variable set; after starting, determining a characteristic quantity set according to the current variable set; determining the type of the intelligent electric tool drill bit according to the characteristic quantity set; and judging the working state of the intelligent electric tool according to the current variable set and/or the characteristic quantity set and the type of the intelligent electric tool bit, and controlling the motor to stop when judging that the intelligent electric tool is in a penetration state so as to control the intelligent electric tool to stop. The problems of poor automatic control effect, low working efficiency and the like in the prior art are solved, and the type of the intelligent electric tool bit can be determined according to the characteristic quantity set; the working state of the intelligent electric tool can be judged according to the current variable set and/or the characteristic quantity set and the type of the intelligent electric tool bit, and the intelligent electric tool is controlled to stop when the intelligent electric tool is judged to be in the punching state. Therefore, the type of the drill bit and the working state of the intelligent electric tool can be automatically identified when the drill block is used for working, the intelligent electric tool can be controlled to automatically stop when the intelligent electric tool is in a penetration state, and the working efficiency is improved.
As an intelligent electric tool of a specific embodiment, the intelligent electric tool may be an electric drill screw driver, which includes a motor, a controller, a drill bit for fastening a screw, and a detection unit. Based on the above embodiment, taking an electric drill screwdriver as an example, the specific working principle of the intelligent electric tool provided by the embodiment of the invention is as follows: the adjusting component adjusts the working mode of the intelligent electric tool and outputs a mode signal, and the controller judges the working mode of the electric drill screw driver, such as a drill grade working mode, according to the mode signal output by the adjusting component. In the drill level working mode, in the process of driving the drill bit into a workpiece (such as a wall body), the detection unit is used for detecting the current value output by the motor of the electric drill screw driver in real time, and feeding back the current value detected in real time to the controller, wherein the controller is used for calculating variables, such as a current difference value and a filtering current difference value, in the current variable set at corresponding time in real time according to the current value received in real time. Judging whether the intelligent electric tool is started to be ended or not according to the current variable set; after starting, determining a characteristic quantity set according to the current variable set; determining the type of the intelligent electric tool drill bit according to the characteristic quantity set; and judging the working state of the intelligent electric tool according to the current variable set and/or the characteristic quantity set and the type of the intelligent electric tool bit, and controlling the motor to stop when the intelligent electric tool is judged to be in the penetration state so as to control the intelligent electric tool to stop. Therefore, the type of the intelligent electric tool drill bit can be identified through the controller according to the characteristic quantity set, the working state of the intelligent electric tool can be identified according to the current variable set, the characteristic quantity set and the type compound judgment of the intelligent electric tool drill bit, and the intelligent electric tool is controlled to stop when the intelligent electric tool is in a penetration state, so that the type of the drill bit and the working state of the intelligent electric tool can be automatically identified, the intelligent electric tool can be stopped in time when the intelligent electric tool is penetrated, the loss caused by the fact that a motor fails to stop in time when the drill bit is penetrated is avoided, and the working efficiency is improved.
Optionally, determining the current variable set according to the operation mode and the current value of the intelligent power tool in operation includes:
and under a drilling mode of the intelligent electric tool, the current value of the intelligent electric tool at any time sampled in the first preset sliding window and the current value of the intelligent electric tool at the previous time are subjected to difference to obtain a current difference value, and the current difference value is subjected to iterative filtering to obtain a filtering current difference value.
Wherein, I (k) is the current value of the intelligent electric tool at any time sampled in the first preset sliding window, I (k-1) is the current value of the intelligent electric tool at the last time, and the difference value between the current value of the intelligent electric tool at any time sampled in the first preset sliding window and the current value of the intelligent electric tool at the last timeThe method comprises the following steps:
the difference value between the current value of the intelligent electric tool at any time sampled in the first preset sliding window and the current value of the intelligent electric tool at the previous time is calculatedObtaining a first filtering current difference value +.>
Fig. 3 is a graph showing a variation of a filtered current difference according to an embodiment of the present invention. Optionally, judging whether the intelligent electric tool is started to end according to the current variable set includes:
acquiring a PWM value of the intelligent electric tool, and if the PWM value of the intelligent electric tool is larger than or equal to a preset PWM value, then:
when the filtered current difference value is increased to a first preset threshold value, the filtered current difference value is decreased to a second preset threshold value from the first preset threshold value, the filtered current difference value is increased to a third preset threshold value from the second preset threshold value, the filtered current difference value is decreased to a fourth preset threshold value from the third preset threshold value, and finally the filtered current difference value is increased to a zero value from the fourth preset threshold value, so that the intelligent electric tool is started and ended.
Specifically, referring to fig. 3, a curve L1 is a sampled filtered current AD value variation curve, a curve L2 is a filtered current difference variation curve, and t1 is a start-up completion time. Referring to the curve L2, when the filtered current difference value increases from zero to a first preset threshold (e.g., S1 in the figure), decreases from the first preset threshold to a second preset threshold (e.g., S2 in the figure), increases from the second preset threshold to a third preset threshold (e.g., S3 in the figure), decreases from the third preset threshold to a fourth preset threshold (e.g., S4 in the figure), and increases from the fourth preset threshold to a zero value, it is determined that the start of the intelligent electric tool is ended. The first preset threshold is a positive value, the second preset threshold is a negative value, the third preset threshold can be zero, a positive value or a negative value, and the fourth preset threshold is a negative value. Therefore, whether the intelligent electric tool is started or not is judged, so that the accurate judgment of the working state of the intelligent electric tool can be further improved, and erroneous judgment, error shutdown and the like are prevented.
Optionally, the controller is further configured to: judging the loading state of the intelligent electric tool according to the change of the filtered current difference value after starting, and if the filtered current difference value is greater than or equal to a fifteenth preset threshold value and lasts for a second preset time, enabling the intelligent electric tool to enter the loading state.
The fifteenth preset threshold may be 2, and the second preset time may be 2 times the first preset sliding window time length.
Optionally, the feature quantity set includes a first feature quantity, a second feature quantity, an oscillation slope count value, and an oscillation noise number, and the feature quantity set is determined according to the current variable set after the start is finished, including:
determining an integral value of the filtered current difference value in time counting according to the filtered current difference value and the time counting, and recording the integral value as a first characteristic quantity;
calculating an oscillation slope count value according to the filtered current difference value;
calculating the number of times of oscillation noise according to the current difference in the second preset sliding window and the oscillation amplitude of the current signal;
and determining the current ratio before and after the slope according to the current value before the slope of the oscillating slope signal and the current value after the slope, and recording the current ratio as a second characteristic quantity.
Wherein,
optionally, the first feature amount calculation formula is:
wherein M is 1 As the first characteristic quantity, a first characteristic quantity,to filter the current difference, a 1 Is a fixed parameter.
Wherein M is 1 Expressed as the integral of the filtered current difference over time. a, a 1 The fixed parameter 5 may be valued.
Optionally, if the continuously occurring filter current difference value is smaller than the fifth preset threshold value, or if the continuously occurring filter current difference value is larger than the sixth preset threshold value, the oscillation slope count value is increased by 1, and the oscillation slope count value starting value is 0.
Wherein, the fifth preset threshold may be-2, and the sixth preset threshold may be 2.
Fig. 4 is a graph of current difference variation provided in an embodiment of the present invention. Optionally, in the second preset sliding window, if the difference between the peak current difference and the trough current difference at each oscillation of the current difference is smaller than or equal to a seventh preset threshold, or is larger than or equal to an eighth preset threshold, the oscillation noise frequency is increased by 1.
Referring to fig. 4, P1 is a current difference variation curve, and P2 is a current difference oscillation waveform variation curve. Alternatively, referring to the curves P1 and P2, the number of oscillation noise may be calculated in terms of the first half and the second half, respectively, from the oscillation waveform. Let n be osc1 Number of oscillation noise of the first half, n osc2 As the latter halfThe number of times of oscillation noise is within a second preset sliding window, if the difference between the peak current difference and the trough current difference of each oscillation of the current difference is smaller than or equal to a seventh preset threshold value, n osc1 Adding 1; within the second preset sliding window, if the difference between the peak current difference and the trough current difference at each oscillation of the current difference is greater than or equal to an eighth preset threshold value, n osc2 1 is added. The time length of the second preset sliding window may be 20 times that of the first preset sliding window, the seventh preset threshold may be 2, and the eighth preset threshold may be 3.
Fig. 5 is a variation curve of a second feature amount provided in the embodiment of the present invention. Alternatively, the calculation formula of the second feature quantity is:
K j ＝(I later -I fromt )*100/I later
wherein K is j As the second characteristic quantity, I front For the current value before the slope, I later The current value after the ramp.
Wherein I is front The integral-differential average value of time can be taken according to the filtered current difference value. Wherein, set I v The integral differential average value of the filtered current difference value over time is then I v The calculation formula of (2) is as follows:
wherein a is 0 For a fixed parameter, a value of 100 may be taken. I front Can take the value with I v Comparing, taking the small as I front Is a value of (2). Referring to fig. 5, N1 is a change curve of the AD value of the filtered current, N2 is a change curve of the integral-differential average value of the difference value of the filtered current with respect to time, and N3 is a change curve of the second feature quantity.
Optionally, determining the type of the intelligent electric tool bit according to the feature set includes:
when the oscillating slope count value is smaller than or equal to a ninth preset threshold value, if the oscillating noise frequency is larger than or equal to the tenth preset threshold value, the intelligent electric tool bit is a common flat drill;
the ninth preset threshold may be 1, and the tenth preset threshold may be 6.
Or when the oscillating slope count value is smaller than or equal to a ninth preset threshold value, if the first characteristic quantity is larger than or equal to an eleventh preset threshold value, the intelligent electric tool bit is self-tapping;
wherein the eleventh preset threshold may be 50.
Or when the oscillating slope count value is greater than or equal to a twelfth preset threshold value, the intelligent electric tool bit is a round drill;
wherein the twelfth preset threshold may be 2.
Or when the oscillating slope count value is greater than or equal to the twelfth preset threshold value, if the oscillating noise frequency is greater than or equal to the tenth preset threshold value, the intelligent electric tool bit is a common flat drill.
Optionally, the working state of the intelligent electric tool is judged according to the current variable set and/or the characteristic quantity set and the type of the intelligent electric tool bit, wherein the working state of the intelligent electric tool can be a loading state, a punching state and the like, and the judging method of the punching state can be divided into a slope method and a delay method. Wherein the ramp method comprises the following steps:
when the intelligent electric tool bit is a round drill, if the second characteristic quantity is larger than or equal to a thirteenth preset threshold value, the working state of the intelligent electric tool is a penetration state;
when the drill bit of the intelligent electric tool is a self-tapping drill or a common flat drill, if the second characteristic quantity is larger than or equal to a fourteenth preset threshold value, the working state of the intelligent electric tool is a penetration state.
Wherein the thirteenth preset threshold may be 25 and the fourteenth preset threshold may be 35.
The delay method comprises the following steps:
when the intelligent electric tool bit is a round drill, if the filter current difference value is smaller than or equal to zero and the first preset time is continued, the working state of the intelligent electric tool is a penetration state.
The first preset time may be 50 times the first preset sliding window time length.
Whether the intelligent electric tool is a slope method or a delay method, if the working state of the intelligent electric tool is judged to be a penetration state, the drill bit can be judged to be penetrated, and the controller controls the motor to stop rotating.
Fig. 6 is a flowchart of a control method of an intelligent electric tool according to an embodiment of the present invention. The present embodiment is applicable to implementation of a control method of an intelligent power tool, and the method may be performed by the intelligent power tool, and may specifically be implemented by software and/or hardware in the intelligent power tool. Referring to fig. 6, the method specifically includes the steps of:
step 10, acquiring a current value of the intelligent electric tool in operation;
the intelligent electric tool comprises a motor, a controller, a detection unit and the like, and specifically, a current value of the intelligent electric tool in operation can be obtained through the detection unit, such as a current sampling circuit, a current sensor and the like. The detection unit is respectively and electrically connected with the motor and the controller, and the detection unit can be a current sampling circuit, and the current sampling circuit can comprise a current detection resistor, and can acquire the current value output by the intelligent electric tool by collecting the current flowing through the current detection resistor. And the current value output by the motor is acquired in real time through the current sampling circuit, and the current value acquired in real time is fed back to the controller in real time. The current collected by the current sampling circuit can comprise the current of the intelligent electric tool at any time such as during the starting-up and starting-up process, during the working process, before the shutdown and the like.
Step 20, determining a current variable set according to a current value of the intelligent electric tool in operation; wherein the current variable set includes a current difference value and a filtered current difference value.
Specifically, a controller in the intelligent electric tool obtains a current difference value between a current value of the intelligent electric tool at any moment in a first preset sliding window and a current value of the intelligent electric tool at the previous moment in real time through a current sampling circuit in a drill mode, and iteratively filters the difference value to obtain a filtered current difference value. The filtering current difference value can reflect the filtering current change of the intelligent electric tool in a first preset sliding window.
And step 30, judging whether the intelligent electric tool is started and ended according to the PWM value and the current variable set.
Whether the intelligent electric tool is started or not is judged according to the PWM value and the current variable set so as to distinguish the working state of the intelligent electric tool, so that misjudgment can be prevented, and the control effect of automatic shutdown of the intelligent electric tool is improved.
Step 40, determining a characteristic quantity set according to the current variable set after starting; and determining the type of the intelligent electric tool bit according to the characteristic quantity set.
When the intelligent electric tool is provided with different types of drills, a specific control method of the intelligent electric tool is different to a certain extent. Therefore, in order to better improve the automatic shutdown control effect of the intelligent electric tool, the type of the drill bit is first identified before the working state of the intelligent electric tool is judged, and then the working state of the intelligent electric tool is judged and processed according to the type of the drill bit and by combining parameters such as a current variable set and/or a characteristic quantity set.
And 50, judging the working state of the intelligent electric tool according to the current variable set and/or the characteristic quantity set and the type of the intelligent electric tool bit, and controlling the intelligent electric tool to stop if the intelligent electric tool is in a penetration state.
Wherein, can judge according to the kind of the electric current variable set and intelligent electric tool bit; judging according to the characteristic quantity set and the type of the intelligent electric tool bit; the method for judging the current variable set, the characteristic quantity set and the type of the intelligent electric tool bit can be set according to actual conditions, and is not particularly limited in the implementation.
In the technical scheme of the embodiment, the working principle of the control method of the intelligent electric tool is as follows: in the working process of the intelligent electric tool, detecting and acquiring a current value output by the intelligent electric tool in real time, and determining a current variable set according to the current value of the intelligent electric tool in working; the current variable set comprises a current difference value and a filtering current difference value; judging whether the intelligent electric tool is started or not according to the current variable set; after starting, determining a characteristic quantity set according to the current variable set; determining the type of the intelligent electric tool drill bit according to the characteristic quantity set; judging the working state of the intelligent electric tool according to the current variable set and/or the characteristic quantity set and the type of the intelligent electric tool bit, and controlling the intelligent electric tool to stop if the intelligent electric tool is in a penetration state. Therefore, the type of the intelligent electric tool drill bit can be identified through the controller according to the characteristic quantity set, the working state of the intelligent electric tool can be identified according to the current variable set, the characteristic quantity set and the type compound judgment of the intelligent electric tool drill bit, and the intelligent electric tool is controlled to stop when the intelligent electric tool is in a penetration state, so that the type of the drill bit and the working state of the intelligent electric tool can be automatically identified, the intelligent electric tool can be stopped in time when the intelligent electric tool is penetrated, the loss caused by the fact that a motor fails to stop in time when the drill bit is penetrated is avoided, and the working efficiency is improved.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (13)
1. An intelligent power tool, comprising:
the output shaft is used for outputting torsion;
the motor is used for driving the output shaft to rotate;
a housing for accommodating the motor;
the transmission assembly is connected with the motor and the output shaft;
the adjusting component is used for adjusting the working mode of the intelligent electric tool and outputting a mode signal, and the working mode at least comprises a drill level mode;
the detection unit is used for detecting and obtaining the current value of the intelligent electric tool in operation;
the controller receives the mode signal and determines a current variable set according to the working mode and the current value of the intelligent electric tool in working; wherein the current variable set comprises a current difference value and a filtered current difference value;
judging whether the intelligent electric tool is started to be ended or not according to the current variable set;
after starting, determining a characteristic quantity set according to the current variable set; determining the type of the intelligent electric tool drill bit according to the characteristic quantity set;
and judging the working state of the intelligent electric tool according to one of the current variable set or the characteristic quantity set and the type of the intelligent electric tool bit, and controlling the motor to stop when judging that the intelligent electric tool is in a penetration state so as to control the intelligent electric tool to stop.
2. The intelligent power tool of claim 1, wherein said determining a set of current variables from said operating mode and current values of said intelligent power tool in operation comprises:
and under a drilling mode of the intelligent electric tool, performing difference between the current value of the intelligent electric tool at any time sampled in a first preset sliding window and the current value of the intelligent electric tool at the previous time to obtain the current difference value, and performing iterative filtering on the current difference value to obtain the filtering current difference value.
3. The intelligent power tool according to claim 1, wherein said determining whether the intelligent power tool is started and ended based on the current variable set comprises:
acquiring a PWM value of the intelligent electric tool, and if the PWM value of the intelligent electric tool is larger than or equal to a preset PWM value, then:
when the filtering current difference value is increased to a first preset threshold value, the first preset threshold value is decreased to a second preset threshold value, the second preset threshold value is increased to a third preset threshold value, the third preset threshold value is decreased to a fourth preset threshold value, and the fourth preset threshold value is increased to a zero value, the intelligent electric tool is started and ended.
4. The intelligent power tool according to claim 1, wherein the feature set includes a first feature, a second feature, an oscillation ramp count value, and an oscillation noise number, the determining the feature set from the current variable set after the start-up is ended includes:
determining an integral value of the filtered current difference value with respect to the time count according to the filtered current difference value and the time count, and recording the integral value as the first characteristic quantity;
calculating the oscillating slope count value according to the filtering current difference value;
calculating the oscillating noise times according to the current difference in the second preset sliding window and the oscillating amplitude of the current signal;
and determining a current ratio before and after the slope according to a current value before the slope of the oscillating slope signal and a current value after the slope, and recording the current ratio as the second characteristic quantity.
5. The intelligent power tool according to claim 4, wherein the first feature quantity calculation formula is:
wherein M is 1 As the first characteristic quantity, a first characteristic quantity,for the filtered current difference, a 1 Is a fixed parameter.
6. The intelligent power tool according to claim 4, wherein if the filter current difference is smaller than a fifth preset threshold value or the filter current difference is larger than a sixth preset threshold value continuously, the oscillation slope count value is incremented by 1, and the oscillation slope count value start value is 0.
7. The intelligent power tool according to claim 4, wherein in the second preset sliding window, if a difference between a peak current difference and a valley current difference of each oscillation of the current difference is smaller than or equal to a seventh preset threshold, or larger than or equal to an eighth preset threshold, the oscillation noise number is increased by 1.
8. The intelligent power tool according to claim 4, wherein the second characteristic amount is calculated by the formula:
K j ＝(I later -I fromt )*100/I later
wherein K is j For the second characteristic quantity, I front For the current value before the slope, I later The current value after the ramp.
9. The intelligent power tool according to claim 4, wherein the determining the type of the intelligent power tool bit from the feature set includes:
when the oscillating slope count value is smaller than or equal to a ninth preset threshold value, if the oscillating noise frequency is larger than or equal to the tenth preset threshold value, the intelligent electric tool bit is a common flat drill;
or when the oscillating slope count value is smaller than or equal to the ninth preset threshold value, if the first characteristic quantity is larger than or equal to an eleventh preset threshold value, the intelligent electric tool bit is self-tapping;
or when the oscillating slope count value is greater than or equal to a twelfth preset threshold value, the intelligent electric tool bit is a round drill;
or when the oscillating slope count value is greater than or equal to the twelfth preset threshold value, if the oscillating noise frequency is greater than or equal to the tenth preset threshold value, the intelligent electric tool bit is a common flat drill.
10. The intelligent power tool according to claim 4, wherein the determining the operation state of the intelligent power tool according to one of the current variable set or the feature set and the type of the intelligent power tool bit includes:
when the intelligent electric tool bit is a round drill, if the second characteristic quantity is larger than or equal to a thirteenth preset threshold value, the working state of the intelligent electric tool is a penetration state;
when the drill bit of the intelligent electric tool is a self-tapping drill or a common flat drill, if the second characteristic quantity is larger than or equal to a fourteenth preset threshold value, the working state of the intelligent electric tool is a penetration state.
11. The intelligent power tool according to claim 4, wherein the determining the operation state of the intelligent power tool according to one of the current variable set or the feature set and the type of the intelligent power tool bit includes:
when the intelligent electric tool bit is a round drill, if the filter current difference value is smaller than or equal to zero and the first preset time is continued, the working state of the intelligent electric tool is a penetration state.
12. The intelligent power tool of claim 1, further comprising: judging the loading state of the intelligent electric tool according to the change of the filter current difference value after starting, and if the filter current difference value is greater than or equal to a fifteenth preset threshold value and lasts for a second preset time, enabling the intelligent electric tool to enter the loading state.
13. A control method of an intelligent electric tool, the control method comprising:
acquiring a current value of the intelligent electric tool in operation;
determining a current variable set according to the current value of the intelligent electric tool in operation; wherein the current variable set comprises a current difference value and a filtered current difference value;
judging whether the intelligent electric tool is started to be ended or not according to the current variable set;
after starting, determining a characteristic quantity set according to the current variable set; determining the type of the intelligent electric tool drill bit according to the characteristic quantity set;
judging the working state of the intelligent electric tool according to one of the current variable set or the characteristic quantity set and the type of the intelligent electric tool bit, and controlling the intelligent electric tool to stop if the intelligent electric tool is in a penetration state.
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| CN202011240815.9A CN114453620B (en) | 2020-11-09 | 2020-11-09 | Intelligent electric tool and control method thereof |
| EP21888313.0A EP4205906A4 (en) | 2020-11-09 | 2021-09-22 | Smart electric power tool and control method thereof |
| PCT/CN2021/119562 WO2022095614A1 (en) | 2020-11-09 | 2021-09-22 | Smart electric power tool and control method thereof |
| US18/189,802 US20230234146A1 (en) | 2020-11-09 | 2023-03-24 | Smart electric power tool and control method thereof |
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| CN202011240815.9A CN114453620B (en) | 2020-11-09 | 2020-11-09 | Intelligent electric tool and control method thereof |
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