CN115635454A - Control device, method and storage medium - Google Patents
Control device, method and storage medium Download PDFInfo
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Abstract
The invention discloses a control device, a control method and a storage medium, wherein the device is used for an electric tool and comprises the following steps: the attitude detection unit is used for sensing at least one attitude characteristic of the electric tool in a working state in real time and transmitting the at least one attitude characteristic to the control unit; the control unit is used for calculating an operation angle and a roll angle of the electric tool according to at least one posture characteristic, carrying out posture accuracy evaluation operation according to the operation angle to determine the operation accuracy of the electric tool, and carrying out hands-off evaluation operation according to the roll angle to determine whether the electric tool is in a hands-off state. The technical scheme provided by the invention can solve the technical problems that the operation accuracy is not enough to meet the use requirement and the electric tool is dangerous after being accidentally released when the electric tool is used in the prior art.
Description
Technical Field
The present invention relates to the field of electric tool technology, and in particular, to a control device, method, and storage medium.
Background
Technological developments have led to industrial mechanization, where electric tools have many advantages, thus gradually replacing traditional manual work in various application scenarios. Especially hand-held electric tools, the structure is light, the carrying is convenient, compared with hand tools, the labor productivity can be improved by several times, the working efficiency is high, the cost is low, the vibration is small, and the control is easy, so the electric tool has various types and wide application. The hand-held electric tool has certain problems in the production and the life of people.
On the one hand, during use of the power tool, a safety hazard may be brought to the user, and particularly during use, the power tool rotating at a high speed continuously is liable to cause a safety problem, causing a hazard to the body of the operator, such as an angle grinder, a power saw, or a hammer drill. In the prior art, the electric tool of the type does not adopt corresponding safety precaution measures aiming at accidental tool release, when the electric tool is accidentally released from the hand of a user, the working head of the electric tool still runs at a high speed, personal safety problems are easily caused to an operator, and a processed object can be damaged.
On the other hand, when the electric tool is used, the electric tool lacks a guiding function, for example, the electric tool cannot be accurately positioned during drilling or cutting, and the problems that the drilling is deviated, the cutting surface is not flat and the like are easily caused. If the electric tool is used without detection and prompt information of accuracy, the problem of insufficient operation accuracy is easily caused, so that the product is damaged, the production quality of the product is reduced, and the use requirements of people cannot be met.
In summary, in the prior art, when the electric tool is used, the operation accuracy is not enough to meet the use requirement, and after the electric tool is accidentally taken off the hand, the electric tool is dangerous.
Disclosure of Invention
The invention provides a control device, a control method and a storage medium, and aims to effectively solve the technical problems that in the prior art, when an electric tool is used, the operation accuracy is not enough, the use requirement is difficult to meet, and the electric tool is dangerous after being accidentally released.
According to an aspect of the present invention, there is provided a control device for an electric power tool, the device including a control unit and a posture detecting unit electrically connected to the control unit;
the attitude detection unit is used for sensing at least one attitude characteristic of the electric tool in a working state in real time and transmitting the at least one attitude characteristic to the control unit;
the control unit is used for calculating an operation angle and a roll angle of the electric tool according to the at least one posture characteristic, carrying out posture accuracy evaluation operation according to the operation angle to determine the operation accuracy of the electric tool, and carrying out hands-off evaluation operation according to the roll angle to determine whether the electric tool is in a hands-off state.
Further, the apparatus further includes an indication unit electrically connected to the control unit, the indication unit being configured to issue indication information, and the posture accuracy evaluation operation includes: and calculating an angle difference between the operation angle and a preset reference angle, determining that the electric tool is currently in an attitude deviation state under the condition that the angle difference is greater than a preset angle difference threshold value, and triggering the indicating unit to send out indicating information for alarming.
Further, the hands-off assessment operation comprises:
calculating an angle offset based on a plurality of rolling angles received in sequence within a preset time, determining that the electric tool is in a hands-off state under the condition that the angle offset is greater than a preset angle offset threshold, and controlling a motor of the electric tool to stop working.
Further, the posture detection unit includes an acceleration sensor and an angle sensor for acquiring the posture characteristic, wherein the posture characteristic of the electric tool acquired by the angle sensor is a first posture characteristic, the posture characteristic of the electric tool acquired by the acceleration sensor is a second posture characteristic, and the second posture characteristic is used for correcting the first posture characteristic.
Further, the zero degree angle of the angle sensor is parallel or perpendicular to the output shaft of the power tool.
Further, the gesture detection unit is connected with the control unit through a bidirectional two-wire system synchronous serial bus, or a serial peripheral bus interface, or a universal input/output interface, or a universal asynchronous receiver/transmitter for data transmission.
Further, the indication unit comprises a display for displaying the operation angle, the roll angle and/or the indication information.
Further, the device further comprises a reference angle setting unit for receiving the angle value of the reference angle set by the user through interaction, wherein the reference angle setting unit comprises a key, a rotary encoder or a touch screen.
Further, the indicating unit further comprises an indicating lamp, a loudspeaker or a buzzer.
Further, the preset time is 0.1 second, and the threshold value of the angular offset is 30 degrees.
According to an aspect of the present invention, there is provided a control method for a power tool, the method comprising:
sensing at least one attitude characteristic of the electric tool in a working state in real time;
calculating an operation angle and a roll angle of the electric tool according to the at least one attitude feature, performing attitude accuracy evaluation operation according to the operation angle to determine the operation accuracy of the electric tool, and performing hands-off evaluation operation according to the roll angle to determine whether the electric tool is in a hands-off state.
Further, the pose accuracy assessment operation comprises:
and calculating an angle difference between the operating angle and a preset reference angle, determining that the electric tool is in a posture deviation state currently under the condition that the angle difference is larger than a preset angle difference threshold value, and triggering the indicating unit to send out indicating information for alarming.
Further, the hands-off assessment operation comprises:
calculating an angle offset based on a plurality of roll angles received in sequence within a preset time, determining that the electric tool is in a hands-off state under the condition that the angle offset is greater than a preset angle offset threshold, and controlling a motor of the electric tool to stop working.
According to another aspect of the present invention, there is also provided a storage medium having stored therein a plurality of instructions adapted to be loaded by a processor to perform any of the control methods described above.
Through one or more of the above embodiments in the present invention, at least the following technical effects can be achieved:
according to the technical scheme disclosed by the invention, the control device is provided with the attitude detection unit and the control unit, the attitude detection unit monitors the attitude characteristics of the electric tool in real time, and the control unit calculates the operation angle and the roll angle of the electric tool so as to control the electric tool to realize at least two technical effects.
In one aspect, a pose accuracy assessment operation is performed based on the operating angle to determine the operating accuracy of the power tool, and display of indication information is performed on a display screen of the power tool or a corresponding application program. When the operating angle of the electric tool is detected to be abnormal, the electric tool leaves a preset positioning angle in the representation operation process, and then alarm information used for prompting a user is sent out, so that the accuracy of the electric tool in the use process is improved.
On the other hand, the control device measures the roll angle of the electric tool in real time, and performs a hands-off evaluation operation on the roll angle to determine whether the electric tool is in a hands-off state. If the electric tool is detected to be out of hand, the motor is controlled to stop working in time, so that the safety performance of the electric tool in the using process is improved, and personal injury to an operator or damage to a product are prevented.
Drawings
The technical solution and other advantages of the present invention will become apparent from the following detailed description of specific embodiments of the present invention, which is to be read in connection with the accompanying drawings.
Fig. 1 is a schematic structural diagram of a control device according to an embodiment of the present invention;
fig. 2 is a schematic view of an installation position of the attitude detection unit according to the embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating an operation angle definition provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a tumble angle definition provided by an embodiment of the present invention;
fig. 5 is a flowchart illustrating steps of a control method according to an embodiment of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified or limited otherwise, the term "and/or" herein is only one kind of association relationship describing the associated object, which means that there may be three relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" in this document generally indicates that the preceding and following related objects are in an "or" relationship unless otherwise specified.
Fig. 1 is a schematic structural diagram of a control device according to an embodiment of the present invention, and according to an aspect of the present invention, the present invention provides a control device for an electric tool, the device includes a control unit 10 and an attitude detection unit 20 electrically connected to the control unit 10;
the attitude detection unit 20 is configured to sense at least one attitude characteristic of the electric tool in a working state in real time and transmit the at least one attitude characteristic to the control unit 10;
the attitude characteristics include an operation angle that provides a guidance function, and a roll angle that detects an abnormal state.
The control unit 10 is configured to calculate an operation angle and a roll angle of the electric tool according to the at least one posture feature, perform a posture accuracy evaluation operation according to the operation angle to determine an operation accuracy of the electric tool, and perform a hands-off evaluation operation according to the roll angle to determine whether the electric tool is in a hands-off state.
The invention provides a control device, which is used for controlling different functional units of an electric tool by acquiring information related to the real-time pose of the electric tool so as to realize accurate operation of the electric tool and protection of an operator from hands.
Specifically, the control device mainly realizes most functions by the control unit 10 and the posture detection unit 20, and the control unit 10 and the posture detection unit 20 can be connected by various connection methods.
Specifically, the posture detection unit 20 includes one or more sensors, and can sense the motion state of the power tool in real time, specifically detect and obtain the operation angle and the roll angle of the power tool. The working head of the electric tool is a saw tooth when the electric tool is an electric saw, a drill bit when the electric tool is a percussion drill, or a polishing head when the electric tool is an angle grinder. When the operator uses the electric tool, the working head is in rotation, and drilling or cutting operations are performed on the work object. During the operation of the electric tool, at least one attitude characteristic of the electric tool is acquired in real time through the attitude detection unit 20, and the moving track, the moving speed, the moving direction, the deflection offset angle and the like of the working head can be determined through the attitude characteristic.
Fig. 3 is a schematic view of an operation angle definition provided in an embodiment of the present invention, and fig. 4 is a schematic view of a tumble angle definition provided in an embodiment of the present invention. The attitude detection unit 20 can process the attitude feature data, for example, obtain information related to the pose, movement, and the like of the electric tool through a sensor fusion algorithm and an attitude calculation algorithm, and transmit the information to the control unit 10, or directly transmit at least one attitude feature to the control unit 10, and then the control unit 10 performs data processing to obtain the required target data.
Specifically, the sensor fusion algorithm and the attitude calculation algorithm calculate quaternions from data output by the acceleration sensor and the gyroscope sensor, and then calculate the operation angle and the roll angle of the electric tool from the quaternions. The data processing mode effectively utilizes the low-frequency high-precision characteristic of the accelerometer to continuously correct the gyroscope, so that the attitude characteristic keeps high-precision output, even if the system has motion acceleration, the optimal calculation of the misalignment angle can still be kept, the system is ensured to have high attitude characteristic measurement precision in different motion states, and the data processing mode has certain engineering application value in actual use scenes.
After the control unit 10 receives the at least one attitude feature, the attitude feature is subjected to data processing to obtain an operation angle of the electric tool in the working state, and then attitude evaluation operation is performed on the electric tool based on the operation angle to determine whether the electric tool is in an abnormal state, so that corresponding operation is performed according to an evaluation result.
Further, the apparatus further includes an indication unit 30 electrically connected to the control unit 10, the indication unit 30 is configured to issue indication information, and the posture accuracy evaluation operation includes: and calculating an angle difference between the operating angle and a preset reference angle, determining that the electric tool is in a posture deviation state currently under the condition that the angle difference is larger than a preset angle difference threshold value, and triggering the indicating unit to send out indicating information for alarming.
For example, the prior art electric tool has no function of indicating the operation accuracy, and an operator can only control the electric tool according to his own operation experience when using the electric tool, and when the experience is insufficient or the workload is large, the operation is prone to be deviated, which may cause product damage or incapability, or rework and rework, resulting in time consumption and material waste. In order to remind an operator whether the operation is accurate, the control device carries out posture evaluation operation on the electric tool and sends out prompt information through the prompt unit.
Specifically, the posture evaluating operation is first performed, and relevant parameters and information of the electric power tool, including a preset reference angle, are prestored in the memory of the control device. The control unit 10 calculates an angle difference between the operation angle and a preset reference angle in real time after acquiring the operation angle, and then evaluates whether the operator deviates from the preset operation angle or the preset operation trajectory according to the angle difference. When the angle difference is greater than the preset angle difference threshold, the current operation deviates from the preset value, and it is determined that the electric tool is in the attitude deviation state, correspondingly, the control unit 10 triggers the indicating unit 30 to send out indicating information for alarming, so as to prompt an operator to know whether the current operation has a fault in real time, and when the operator adjusts the operation direction or trajectory in time according to the indicating information, the indicating information is restored to the normal state.
The indication unit 30 may include a display screen on the power tool, or a mobile phone wirelessly connected to the power tool, and displays the indication information on the mobile phone APP.
The reference angle may be set directly by an operator, for example, when a drilling operation is performed on a vertical wall by a hammer drill, the set reference angle is 45 °, the angle difference threshold is 10 °, the operator inputs 45 ° in the reference angle option, and inputs 10 ° in the angle difference threshold option. In actual operation, when the drilling angle is 30 ° or 60 °, the indicating unit 30 sends out an indicating message for alarming, and the indicating message can accurately indicate a specific problem. Further, when setting the reference angle as the sum angle difference threshold, it is also possible to directly select through a plurality of options. For example, when the electric power tool is an impact drill, if the number of degrees parallel to the horizontal plane is 0 °, the most common angle for the impact drill may be 0 °, 45 °, or 90, and the common angle is preset in advance for the operator to select. When the operator sets the angle, can directly set out the angle commonly used through controlling means, perhaps the angle commonly used in nearly several days improves the speed of setting.
Further, the hands-off assessment operation comprises:
calculating an angle offset based on a plurality of rolling angles received in sequence within a preset time, determining that the electric tool is in a hands-off state under the condition that the angle offset is greater than a preset angle offset threshold, and controlling a motor of the electric tool to stop working.
For example, when an operator uses the electric tool, after the electric tool suddenly breaks off the hand, since the drill, the wheel disc, the polishing head, the cutting knife, the saw-tooth gear and other working heads are still in the process of high rotation, once the electric tool breaks off the hand, the rapidly rotating working heads drive the electric tool to be in an out-of-control motion state, and the electric tool may generate huge displacement and angle change in an extremely short time. Therefore, whether the electric tool is in an abnormal state after the hand is released can be determined according to the angular offset within the preset time.
Specifically, a plurality of roll angles received in sequence within a preset time are obtained, and then an angle offset accumulated within the preset time is calculated. Then, under the condition that the angle offset is greater than the preset angle offset threshold value, the electric tool is determined to be in an abnormal state, and then the controller sends out an operation instruction in time, so that the motor of the electric tool stops working, and the electric tool is prevented from causing physical injury to an operator or loss to an operation article due to uncontrollable movement.
The control device of the invention can ensure that the electric tool has the function of protecting hands from falling off, the electric tool can not roll along the output shaft when in normal work, and can roll along the output shaft when in hands from falling off, and the attitude angle of the electric tool (an angle grinder, an electric saw, a percussion drill and the like) can be greatly changed in a short time after the electric tool (an angle grinder, an electric saw, a percussion drill and the like) falls off the hands. In the invention, the tumbling angle of the electric tool is monitored in real time through the posture detection unit 20, when the rolling angle of the electric tool is detected to be abnormal, the control unit 10 determines that the angle offset output by the posture detection unit 20 meets the hand-off condition, the electric tool is considered to be out of hand, and sends a hand-off signal to the electric tool control system to stop the motor to work, so that an operator and a processed object are protected, and the safety performance of the electric tool in the use process is improved.
The posture detection unit 20 includes an acceleration sensor 21 and an angle sensor 22 for acquiring the posture characteristic, wherein the posture characteristic of the electric power tool acquired by the angle sensor 22 is a first posture characteristic, and the posture characteristic of the electric power tool acquired by the acceleration sensor 21 is a second posture characteristic for correcting the first posture characteristic.
Illustratively, the attitude detection unit 20 includes an acceleration sensor 21 and an angle sensor 22, and outputs an attitude feature by mutual cooperation of the two sensors. The angle sensor 22 is a gyroscope sensor, and is configured to monitor an angle change of the electric tool in real time and output a first attitude angle. However, in the integration process, if the used data is only the first attitude angle obtained by the gyroscope, the calculated angular offset will have a small deviation, and after the integration, the error will be increased, so that the obtained angular offset will have a deviation. In order to reduce errors, the invention is provided with the acceleration sensor 21, the two sensors simultaneously monitor the angle change of the electric tool in real time, the acceleration sensor 21 acquires a second attitude angle of the electric tool, and then the first attitude angle is corrected through the second attitude angle. The corrected first attitude angle is integrated, the integrated angle information is credible, the angle error can be eliminated, the calculated angle offset can not generate deviation, and the detection accuracy is improved.
Wherein the acceleration sensor 21 is a three-axis acceleration sensor, the angle sensor 22 is a three-axis gyroscope, and optionally a three-axis geomagnetic sensor. The acceleration sensor 21 is configured to sense an acceleration and convert the acceleration into an available output signal, and during an acceleration process, an acceleration value is obtained by measuring an inertial force applied to the mass block and using a newton's second law, and the acceleration value is generally used for measuring a displacement and a movement speed and a movement direction. A gyroscope is a device for detecting angular motion in one or more axes, having a momentum moment sensitive housing of a high speed solid of revolution, rotating about the axis of revolution relative to the inertial space to measure angle. The geomagnetic sensor is used for determining the direction, the action is similar to that of a compass, the current-carrying magnetic material can change in resistance characteristic when an external magnetic field exists, and the geomagnetic sensor determines the direction by measuring the change of the magnetic field.
After the control device acquires data acquired by one or more sensors, the operating angle can be calculated through a sensor fusion algorithm and an attitude calculation algorithm.
Further, the zero degree angle of the angle sensor 22 is parallel or perpendicular to the output shaft of the power tool.
Illustratively, the attitude detection unit 20 may be a single module on which the attitude sensor, the embedded microcontroller, and the power supply circuit are integrated. When the module is used, the module is integrated on a control circuit board of the electric tool. After the attitude detection unit 20 is mounted, the zero angle of the angle sensor 22 is parallel to or perpendicular to the output shaft of the electric power tool in order to facilitate calculation of the first attitude angle acquired by the angle sensor 22. Generally, the mounting position of the posture detection unit 20 with respect to the electric drill needs to satisfy a certain mounting condition such that the posture detection unit 20 is parallel or perpendicular to the output shaft of the electric tool.
For example, fig. 2 is a schematic diagram of an installation position of the posture detection unit according to the embodiment of the present invention, the electric tool in fig. 2-a is a percussion drill, the output shaft is a straight line where a drill bit of the percussion drill is located, and as shown in the figure, the posture detection unit 20 is parallel to the output shaft; 2-b is a hammer drill, and the output shaft is a straight line of the hammer drill, shown as a point perpendicular to the page, in which the attitude sensing unit 20 is perpendicular to the output shaft; the electric tool shown in fig. 2-c is a grinding wheel, the working head is a wheel piece, the output shaft is perpendicular to the wheel piece and passes through the center of the wheel piece, and as shown in the figure, the posture detection unit 20 is parallel to the output shaft. In any case, it is necessary to ensure that the angle sensor 22 is parallel or perpendicular to the output shaft of the power tool when the angle sensor is not in use. Therefore, after the attitude angle is measured, the data calculation amount can be reduced, and the detection precision and efficiency can be improved.
The gesture detection unit 20 is connected to the control unit 10 through a bidirectional two-wire system synchronous serial bus, a serial peripheral bus interface, a universal input/output interface, or a universal asynchronous receiver/transmitter for data transmission.
Specifically, the posture detecting unit 20 may be integrated on an existing control circuit board of the electric tool, thereby realizing data transmission between the posture detecting unit 20 and the control unit 10. Specifically, there are multiple connection modes between the two, and data transmission can be realized through a bidirectional two-wire system synchronous Serial bus (I2C bus), a Serial Peripheral Interface (SPI), a General-purpose input/output (GPIO), or a Universal Asynchronous Receiver/Transmitter (UART).
Further, the indication unit 30 includes a display 40 for displaying the operation angle, the roll angle and/or the indication information.
For example, the display 40 may be configured on the power tool to display key information, such as real-time display of an operation angle in a current working state and display of indication information when the power tool is currently in an early warning state, so that an operator can adjust the posture of the power tool as soon as possible. In addition to configuring the display 40, the power tool may be wirelessly connected to a mobile phone to display information through a screen of the mobile phone, such as indicating information on the mobile phone APP.
In the invention, the control device measures the operation angle of the electric tool in real time and displays the indication information on the display screen of the electric tool or the mobile phone APP. When deviating from the preset angle in the operation process, the alarm information for prompting the user is sent out so as to improve the precision of the electric tool in the use process.
Further, the apparatus further includes a reference angle setting unit 50 configured to receive an angle value of the reference angle set by a user through an interactive action, where the reference angle setting unit 50 includes a key, or a rotary encoder, or a touch screen.
Exemplarily, in order for the operator to input a preset reference angle, the control device further includes a reference angle setting unit 50. Before a working head of the electric tool is used for drilling, cutting or polishing, an angle value of a reference angle is set through interactive actions such as key input, rotary knob input or screen writing input. According to different application scenarios and requirements, the reference angle setting unit 50 may have a key, a knob, a rotary encoder, a touch screen, or the like, and may also be set by other data input methods, which is not limited in the present invention.
Further, the indication unit 30 further includes an indication lamp, a speaker, or a buzzer.
Illustratively, the indication unit 30 mainly plays a role of prompting the user, and specifically, the user can prompt in various ways such as light, sound, and the like, and specifically, the indication unit may be an indicator light, or a speaker, or a buzzer. For example, an indicator lamp is caused to blink in a preset blinking manner, or an operator is alerted by sounding a whistle.
The indicator light can be a flashing light-emitting diode (LED), and the flashing LED (BTS) is a special light-emitting device consisting of a CMOS integrated circuit and the LED and can be used for alarm indication and under-voltage and over-voltage indication. When the flashing light-emitting diode is used, other elements are not needed to be connected externally, and the flashing light-emitting diode can flash and emit light only by applying proper direct-current working voltage (5V) to two ends of a pin of the flashing light-emitting diode.
Further, the preset time is 0.1 second, and the threshold value of the angular offset is 30 degrees.
For example, when an operator uses the power tool, if the power tool suddenly takes off the hand, the rapidly rotating working head may bring the power tool into an uncontrolled motion state, and the power tool may generate a great displacement and angle change in a very short time. Therefore, when determining whether the electric tool is in an abnormal state after the electric tool is released according to the angle offset within the preset time, the preset time and the angle offset threshold can be determined according to the characteristics of the electric tool, specifically, the preset time can be set to 0.1 second, the angle offset threshold can be set to 30 degrees, once the angle offset threshold of the electric tool within 0.1 second is greater than 30 degrees, the control unit 10 directly turns off the motor, the operating speed of the working head is rapidly reduced, and the damage to the operator and the articles is reduced.
Through one or more of the above embodiments in the present invention, at least the following technical effects can be achieved:
in the technical scheme disclosed by the invention, the control device is provided with the attitude detection unit and the control unit, the attitude detection unit monitors the attitude characteristics of the electric tool in real time, and the control unit calculates the operation angle and the rolling angle of the electric tool so as to control the electric tool to realize at least two technical effects.
In one aspect, a pose accuracy evaluation operation is performed according to the operation angle to determine the operation accuracy of the power tool, and display indication information is performed on a display screen of the power tool or a corresponding application program. When the operating angle of the electric tool is detected to be abnormal, the electric tool leaves the preset operating angle in the representation operating process, and then sends alarm information for prompting a user, so that the accuracy of the electric tool in the using process is improved.
On the other hand, the control device measures the roll angle of the electric tool in real time, and performs a hands-off evaluation operation on the roll angle to determine whether the electric tool is in a hands-off state. If the electric tool is detected to be out of hand, the motor is controlled to stop working in time, so that the safety performance of the electric tool in the using process is improved, and personal injury to an operator or damage to a product are prevented.
Based on the same inventive concept as the control device of the embodiment of the present invention, the embodiment of the present invention further provides a control method for an electric tool, please refer to fig. 5, the method includes:
step 201: sensing at least one attitude characteristic of the electric tool in a working state in real time;
step 202: calculating an operation angle and a roll angle of the power tool according to the at least one posture feature, performing posture accuracy evaluation operation according to the operation angle to determine operation accuracy of the power tool, and performing hands-off evaluation operation according to the roll angle to determine whether the power tool is in a hands-off state.
Further, in the above step 202, the attitude accuracy evaluation operation includes:
and calculating an angle difference between the operating angle and a preset reference angle, determining that the electric tool is in a posture deviation state currently under the condition that the angle difference is larger than a preset angle difference threshold value, and triggering the indicating unit to send out indicating information for alarming.
Further, in the above step 202, the hands-off evaluation operation includes:
calculating an angle offset based on a plurality of roll angles received in sequence within a preset time, determining that the electric tool is in a hands-off state under the condition that the angle offset is greater than a preset angle offset threshold, and controlling a motor of the electric tool to stop working.
Other aspects and implementation details of the control method are the same as or similar to those of the control device described above, and are not described herein again.
According to another aspect of the present invention, there is also provided a storage medium having stored therein a plurality of instructions adapted to be loaded by a processor to perform any of the control methods described above.
In summary, although the present invention has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, therefore, the scope of the present invention shall be determined by the appended claims.
Claims (14)
1. A control device for an electric tool, characterized in that the device comprises a control unit and an attitude detection unit electrically connected with the control unit;
the attitude detection unit is used for sensing at least one attitude characteristic of the electric tool in a working state in real time and transmitting the at least one attitude characteristic to the control unit;
the control unit is used for calculating an operation angle and a roll angle of the electric tool according to the at least one posture characteristic, carrying out posture accuracy evaluation operation according to the operation angle to determine the operation accuracy of the electric tool, and carrying out hands-off evaluation operation according to the roll angle to determine whether the electric tool is in a hands-off state.
2. The apparatus as claimed in claim 1, wherein the apparatus further comprises an indication unit electrically connected to the control unit, the indication unit is configured to issue indication information, and the attitude accuracy evaluation operation comprises:
and calculating an angle difference between the operating angle and a preset reference angle, determining that the electric tool is in a posture deviation state currently under the condition that the angle difference is larger than a preset angle difference threshold value, and triggering the indicating unit to send out indicating information for alarming.
3. The apparatus of claim 2, wherein the hands-off assessment operation comprises:
calculating an angle offset based on a plurality of rolling angles received in sequence within a preset time, determining that the electric tool is in a hands-off state under the condition that the angle offset is greater than a preset angle offset threshold, and controlling a motor of the electric tool to stop working.
4. The apparatus according to any one of claims 1 to 3, wherein the posture detecting unit includes an acceleration sensor and an angle sensor for acquiring the posture characteristic, wherein the posture characteristic of the electric tool acquired by the angle sensor is a first posture characteristic, the posture characteristic of the electric tool acquired by the acceleration sensor is a second posture characteristic, and the second posture characteristic is used for correcting the first posture characteristic.
5. The device of claim 4, wherein the zero degree angle of the angle sensor is parallel or perpendicular to the output shaft of the power tool.
6. The apparatus of claim 5, wherein the gesture detection unit is connected to the control unit for data transmission through a bi-directional two-wire system synchronous serial bus, or a serial peripheral bus interface, or a universal input output interface, or a universal asynchronous receiver/transmitter.
7. The apparatus of claim 6, wherein the indication unit comprises a display for displaying the operation angle, the rollover angle, and/or the indication information.
8. The apparatus of claim 5, further comprising a reference angle setting unit for receiving an angle value of the reference angle set by a user through an interactive action, wherein the reference angle setting unit comprises a key, or a rotary encoder, or a touch screen.
9. The apparatus of claim 7, wherein the indication unit further comprises an indicator light, or a speaker, or a buzzer.
10. The apparatus of claim 4, wherein the preset time is 0.1 seconds and the angular offset threshold is 30 degrees.
11. A control method for a power tool, the method comprising:
sensing at least one attitude characteristic of the electric tool in a working state in real time;
calculating an operation angle and a roll angle of the electric tool according to the at least one attitude feature, performing attitude accuracy evaluation operation according to the operation angle to determine the operation accuracy of the electric tool, and performing hands-off evaluation operation according to the roll angle to determine whether the electric tool is in a hands-off state.
12. The method of claim 11, wherein the pose accuracy assessment operation comprises:
and calculating an angle difference between the operating angle and a preset reference angle, determining that the electric tool is in a posture deviation state currently under the condition that the angle difference is larger than a preset angle difference threshold value, and triggering the indicating unit to send out indicating information for alarming.
13. The method of claim 12, wherein the hands-off assessment operation comprises:
calculating an angle offset based on a plurality of rolling angles received in sequence within a preset time, determining that the electric tool is in a hands-off state under the condition that the angle offset is greater than a preset angle offset threshold, and controlling a motor of the electric tool to stop working.
14. A storage medium having stored therein a plurality of instructions adapted to be loaded by a processor to perform a control method according to any one of claims 11-13.
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