WO2023071520A1 - 电动工具、割草机、数据通信方法、电池包及工具系统 - Google Patents

电动工具、割草机、数据通信方法、电池包及工具系统 Download PDF

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Publication number
WO2023071520A1
WO2023071520A1 PCT/CN2022/116563 CN2022116563W WO2023071520A1 WO 2023071520 A1 WO2023071520 A1 WO 2023071520A1 CN 2022116563 W CN2022116563 W CN 2022116563W WO 2023071520 A1 WO2023071520 A1 WO 2023071520A1
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WO
WIPO (PCT)
Prior art keywords
data
node
token
power
transmission line
Prior art date
Application number
PCT/CN2022/116563
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English (en)
French (fr)
Inventor
许彦卿
任宇飞
Original Assignee
南京泉峰科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202111269374.XA external-priority patent/CN116058153A/zh
Priority claimed from CN202111597079.7A external-priority patent/CN116383115A/zh
Priority claimed from CN202210706056.3A external-priority patent/CN117318196A/zh
Application filed by 南京泉峰科技有限公司 filed Critical 南京泉峰科技有限公司
Publication of WO2023071520A1 publication Critical patent/WO2023071520A1/zh
Priority to US18/595,639 priority Critical patent/US20240204629A1/en

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/35—Devices for recording or transmitting machine parameters, e.g. memory chips or radio transmitters for diagnosis
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/67—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator
    • A01D34/68—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels
    • A01D34/6806—Driving mechanisms
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/67—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator
    • A01D34/68—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels
    • A01D34/69—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels with motor driven wheels
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/76—Driving mechanisms for the cutters
    • A01D34/78—Driving mechanisms for the cutters electric
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
    • H02K7/145—Hand-held machine tool
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B3/00—Line transmission systems
    • H04B3/54—Systems for transmission via power distribution lines
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L47/00—Traffic control in data switching networks
    • H04L47/10—Flow control; Congestion control
    • H04L47/215—Flow control; Congestion control using token-bucket

Definitions

  • This application relates to the technical field of electric tools, for example, it relates to large electric tools with many internal modules.
  • the garden tool can realize more functions, and the more functional modules are involved in it, so there are more power lines and communication lines in the tool.
  • Such a large number of wiring harnesses may lead to complex production processes and low reliability.
  • the reliability of inter-module communication will directly affect product reliability and user experience.
  • the present application provides a garden tool with less wiring harness inside the tool and high reliability of communication between modules.
  • An electric tool comprising: a transmission line capable of transmitting power or communication data; a plurality of functional modules electrically connected to the transmission line and selectively receiving or transmitting the communication data from the communication line to the transmission line; the transmission frequency of the transmission line for transmitting the communication data is greater than or equal to 1 kilohertz (KHz).
  • a garden tool comprising: a host, including working components and a control unit; an operating device, connected to the host, having an operating module capable of generating operation instructions; a power supply module configured to provide power for the garden tool; a drive a motor configured to provide driving force for the garden tool; a transmission line capable of transmitting power or communication data; wherein the control unit or the operation module or the power supply module or the drive motor is electrically connected to the transmission line On, selectively receive communication data from the communication line or transmit communication data to the transmission line.
  • a lawn mower comprising: a host, including a control unit, a cutting assembly, and a walking assembly; the cutting assembly is configured to cut vegetation; the walking assembly is configured to drive the lawn mower to walk; a first driving The motor is configured to drive the cutting assembly to perform mowing work; the second drive motor is configured to drive the walking assembly to walk; the handle device can be connected to the host and has an operation module capable of generating operation instructions; a power supply A module configured to provide power for the mower; a transmission line capable of transmitting power or communication data; wherein, the control unit or the first drive motor or the second drive motor or the operation module or the The power module is electrically connected to the transmission line, and can selectively receive the communication data from the communication line or transmit the communication data to the transmission line.
  • a data communication method suitable for an electric tool includes a transmission line capable of transmitting power or communication data; a plurality of functional modules are electrically connected to the transmission line, and can selectively receive all data from the communication line the communication data or transmit the communication data to the transmission line; the functional module includes a micro-controller with a data port for sending or receiving the communication data; the data communication method between multiple micro-controllers includes: according to the setting Sending handshake signals to nodes in the data communication system at time intervals to request networking with nodes in the data communication system; receiving response information fed back by nodes supporting networking and networking with nodes supporting networking; according to The response information determines the bus state; sends a token to the target node according to the bus state, so that the target node uses the token to transmit data.
  • a data communication method suitable for an electric tool includes a transmission line capable of transmitting power or communication data; a plurality of functional modules are electrically connected to the transmission line, and can selectively receive all data from the communication line the communication data or transmit the communication data to the transmission line; the functional module includes a micro-controller with a data port for sending or receiving the communication data; the data communication method between multiple micro-controllers includes: detection setting The differential signal level on the differential signal line within the time period; determine the bus state according to the differential signal level; transmit the data to be transmitted of the current node according to the bus state.
  • a data communication method suitable for an electric tool includes a transmission line capable of transmitting power or communication data; a plurality of functional modules are electrically connected to the transmission line, and can selectively receive all data from the communication line the communication data or transmit the communication data to the transmission line; the functional module includes a microcontroller with a data port for sending or receiving the communication data; the data communication method between multiple micro-controllers includes: setting instruction communication A busy-idle indication signal of the busy-idle state of the communication line in the system; judging the busy-idle state of the communication system, and determining the target node currently sending data according to the judgment time of different nodes, and controlling the target node to send communication data.
  • An electric tool comprising: a tool housing; a motor configured to generate a driving force; a drive circuit including a plurality of switching elements; a tool controller electrically connected at least to the drive circuit and configured to output a control signal to control the The switching element in the driving circuit changes the conduction state to control the working state of the motor; the power terminal of the tool can be connected to the power supply device to supply power to the motor; the first modulation unit is connected to the tool controller and can Signal modulation is performed on the first communication data, and the modulated first modulation signal is coupled to the tool power terminal for output; the first demodulation unit is configured to access the second modulation signal input by the tool power terminal signal, and demodulate the second communication data transmitted by the power supply device, and send the second communication data to the tool controller.
  • a battery pack comprising: a battery pack configured to store electrical energy; a battery power terminal configured to transmit power to an electric tool; a battery controller configured to control the discharge state of the battery pack; a second modulation unit , connected to the battery controller, can perform signal modulation on the second communication data, and couple the modulated second modulation signal to the battery power terminal for output; the second demodulation unit is configured to access The first modulation signal input by the battery power terminal is demodulated to obtain the first communication data transmitted by the electric tool, and the first communication data is sent to the battery controller.
  • a tool system includes the power tool as described above.
  • a tool system includes the battery pack as described above.
  • Fig. 1 is a schematic diagram of the circuit principle of an electric tool in an embodiment
  • Fig. 2 is a schematic structural view of an electric tool in an embodiment
  • Fig. 3 is a schematic diagram of signal fluctuations in a transmission line in an embodiment
  • Fig. 4 is a schematic structural view of a mower in an embodiment
  • Fig. 5 is a circuit schematic diagram in the mower shown in Fig. 4;
  • Fig. 6 is a schematic structural view of a snowplow in an embodiment
  • Fig. 7 is a circuit schematic diagram in the snowplow shown in Fig. 6;
  • FIG. 8 is a flowchart of a data communication method provided by an embodiment of the present application.
  • FIG. 9 is a schematic diagram of a four-node networking mechanism in the loop token method of a data communication method provided by an embodiment of the present application.
  • FIG. 10 is a schematic diagram of three node arbitration mechanisms in the loop token method of a data communication method provided by an embodiment of the present application.
  • FIG. 11 is a schematic diagram of a four-node networking mechanism in the distribution token method of a data communication method provided by an embodiment of the present application.
  • Fig. 12 is a schematic diagram of four node arbitration mechanisms in a token distribution method of a data communication method provided by an embodiment of the present application;
  • FIG. 13 is a flow chart of another data communication method provided by an embodiment of the present application.
  • Fig. 14 is a communication detection circuit diagram of another data communication method provided by the embodiment of the present application.
  • FIG. 15 is a schematic structural diagram of a data communication system provided by an embodiment of the present application.
  • FIG. 16 is a schematic flowchart of a data communication method provided by an embodiment of the present application.
  • Figure 17 is a structural diagram of the tool system in one embodiment
  • Fig. 18 is a schematic diagram of the circuit principle of the tool system in one embodiment
  • Fig. 19 is a schematic diagram of a circuit principle of an electric tool in an embodiment
  • Fig. 20 is a schematic diagram of a circuit principle of an electric tool in an embodiment
  • Fig. 21 is a schematic diagram of the circuit principle of the battery pack in one embodiment.
  • the power tools in this application may include gardening tools, such as lawn mowers, snowplows, lawn trimmers, hair dryers, etc., or other types of large power tools that contain many functional modules inside.
  • the electric tool 100 includes at least a pair of transmission lines A and B inside, and the transmission lines A and B are capable of transmitting at least one of electric power and communication data. That is to say, each functional module inside the electric tool in this embodiment can transmit electric power and communication data through a pair of transmission lines, and there is no need to set up a responsible communication line.
  • the transmission line is a pair of power lines.
  • the transmission lines A and B are electrically connected to a plurality of functional modules 1, 2...N, and each functional module has a different function.
  • the power supply module can provide power or output relevant power supply parameters of the power supply device
  • the power management module can manage the charging and discharging process of the battery pack or other types of power supply
  • the parameter detection module can detect the relevant parameters of the tool or the working status of some components in the tool parameter.
  • the modules that may be involved in the tool will not be listed here.
  • the transmission frequency of the transmission line for transmitting communication data is greater than or equal to 1 KHz. In one embodiment, the frequency at which the transmission lines A and B transmit communication data may be greater than or equal to 10 KHz.
  • the functional modules shown in FIG. 2 may include a microcontroller 11, and the microcontroller 11 has at least data input and output ports RX and TX. It can be understood that the microcontroller 11 can also process the received data to generate a control signal in response to the data.
  • microcontroller 11 may be a Micro Control Unit (Micro Control Unit, MCU) chip.
  • the functional modules can also include a serial communication unit 12, which can be connected to the data port of the microcontroller 11 to transmit the data output by the microcontroller 11 to the transmission lines A and B in a serial communication manner.
  • the serial communication unit 12 may be a serial chip.
  • the power signals transmitted by the transmission lines A and B are current signals
  • the communication data output by the functional modules are usually digital signals or analog signals, such as pulse width modulation (Pulse Width Modulation, PWM) signals.
  • PWM pulse width modulation
  • a coupling element 13 may also be provided in the functional module.
  • a coupling element 13 may also be provided between the functional module and the transmission lines A and B. The coupling element 13 can couple the communication data to the transmission lines A and B, so that the communication data can be transmitted to other functional modules through the transmission lines.
  • the communication data output by the functional modules may carry a communication identifier, such as a communication address, so that other functional modules can choose whether to accept the communication data according to the communication address.
  • the coupling element 13 may be a capacitive element.
  • a decoupling element 14 can be provided within the functional module.
  • a decoupling element 14 may also be provided between the functional modules and the transmission lines A, B. The decoupling element 14 can decouple the communication data on the transmission lines A and B so that the functional modules can obtain pure power supply.
  • decoupling element 14 may be an inductive element.
  • the dotted line represents the transmission process of the signal when there is no current fluctuation
  • the solid line represents the transmission process of the signal when there is current fluctuation .
  • the microcontroller 11 in the functional module can obtain the differential signal by calculating the difference between the signals transmitted on the two power lines, because the amplitude or frequency of the current fluctuations received by the two current lines when transmitting signals is the basic Consistent, it can be considered that the differential signal of the communication data will not be affected by the current fluctuation after being transmitted through the current wire, thereby avoiding the interference of the communication data and ensuring the accuracy of the data communication between the modules in the tool.
  • the functional module further includes a modulation unit 15 capable of modulating the communication data to be sent to the transmission line, so as to prevent a single high-level or low-level signal from being identified.
  • a modulation unit 15 capable of modulating the communication data to be sent to the transmission line, so as to prevent a single high-level or low-level signal from being identified.
  • the functional module receives the communication data, it also needs to be demodulated by the modulation unit 15 . That is to say, the modulation unit 15 can both modulate and demodulate the signal.
  • a modulation unit and a demodulation unit can be separately set in the functional module.
  • the above embodiments use an electric tool with multiple functional modules as an example to illustrate the content of the present application.
  • the solution of the present application can be applied to a lawnmower.
  • the lawnmower 100 is taken as an example to describe the carrier communication method between different functional modules in the lawnmower.
  • the lawnmower 200 mainly includes a main unit 21 and a handle device 22 as an operating device.
  • the working components provided on the main machine 21 mainly include a cutting component and a traveling component 212 .
  • the cutting assembly can cut vegetation
  • the walking assembly 212 can drive the lawnmower 200 to travel.
  • the host machine 21 also includes a control unit 213 capable of controlling the first driving motor 2111 driving the cutting assembly and the second driving motor 2121 driving the traveling assembly 212 .
  • the handle device 22 at least includes an operation module 221 capable of responding to the user's operation on the handle and generating operation instructions.
  • the operation module 221 may also be set on the host computer 21 .
  • the operation module 221 may include a switch unit, a speed regulating unit, a display unit and the like.
  • the host 21 may further include a power module 214 capable of providing power for the lawnmower 200 .
  • the power module 213 can be a 1P or 2P battery pack.
  • the lawn mower 200 also includes a transmission line 23 , and each functional unit or module on the host 21 and the handle device 22 can be electrically connected to the transmission line 23 .
  • the control unit 213 or the first driving motor 2111 or the second driving motor 2121 or the operating module 221 or the power module 214 are electrically connected to the transmission line 23 .
  • different functional units in the operation module 221 may be connected to the transmission line 23 respectively, or may be connected to the transmission line 23 through the operation module 221 .
  • the above functional modules or units can selectively receive communication data from the communication line 23 or transmit communication data to the transmission line 23 .
  • the connection relationship and data transmission relationship between the transmission line 23 and each functional module can refer to the description in the above embodiment, and will not be repeated here.
  • the solution of the present application is described by taking the snowplow 300 as an example.
  • the snow blower 300 includes a main unit 31 and a handle device 32 as an operating device.
  • the working components provided on the main machine 31 mainly include a snow removal device 311 , a snow throwing device 312 , a traveling device 313 and a control unit 314 .
  • the host 31 further includes a power module 315 .
  • the power module 315 can be a single battery pack or a double battery pack, and the battery pack includes a lithium battery disposed inside the battery pack casing.
  • the snow removal device 311 mainly includes a snow removal blade and a propeller.
  • the snow removal device 311 may be driven by a main motor 3111 .
  • the traveling device 313 may include traveling wheels, which can be driven by the motor 3131 to drive the snowplow 300 to travel.
  • the handle assembly 32 includes various trigger mechanisms that can be activated by the user.
  • the handle device 32 includes an operation module 321 capable of generating an operation instruction according to the user's operation on the trigger mechanism.
  • the snowplow 300 also includes a transmission line 33 , and each functional unit or module on the host 31 and the handle device 32 can be electrically connected to the transmission line 33 .
  • control unit 314 or the master motor 3111 or the slave motor 3131 or the operation module 321 or the power module 315 are electrically connected to the transmission line 33 .
  • different trigger mechanisms on the handle device 32 may correspond to different trigger units, and each trigger unit may be a small functional module.
  • different functional units in the operation module 321 may be connected to the transmission line 33 respectively, or may be connected to the transmission line 33 through the operation module 321 . It can be understood that the above functional modules or units can selectively receive communication data from the communication line 33 or transmit communication data to the transmission line 33 .
  • the connection relationship and data transmission relationship between the transmission line 33 and each functional module can refer to the description in the above embodiment, and will not be repeated here.
  • the data communication system formed between different functional modules of electric tools can be applied not only to lawnmowers and snowplows, but also to various garden tools such as lawn mowers and hair dryers, as well as various hand-held electric tools. Tools or other types of large or small power tools that contain more functional modules inside.
  • the control circuits of some electric tools are generally traditional circuits, and traditional circuits are generally connected by 5 wires, including 2 differential signal wires (for signal transmission), 2 power supply positive and negative wires (for power supply) and 1 busy wire.
  • Idle line used to detect whether there is data being transmitted on the bus
  • the data transmission mode corresponding to the traditional circuit is independent transmission.
  • the embodiment of the present application simplifies the hardware circuit, cancels the busy-idle line, and multiplexes the two power lines and the two signal lines in the traditional circuit, that is, the simplified two transmission lines are used for both power supply and differential Signal data transmission is used, and the data transmission mode in the embodiment of this application is dependent transmission.
  • the embodiment of the present application provides a data communication method to determine which PCB sends data out.
  • Fig. 8 provides a flow chart of the data communication method of the data communication system in the electric tool, and the method may include the following steps:
  • S101 Send a handshake signal to a node in the data communication system according to a set time interval, so as to request to form a network with the node in the data communication system.
  • the set time interval may be a preset time interval for sending the handshake signal according to actual conditions, for example, it may be 1 ms (millisecond, millisecond) or 2 ms.
  • the data communication system may be a communication system between different functional modules of the electric tool.
  • Functional modules may include, for example, a microcontroller, a serial communication unit, a coupling element, a decoupling element, a modulation unit, and the like.
  • the nodes can be different functional modules in the electric tool or MCUs (Micro Control Units) in the modules.
  • the nodes can be PCBs in this embodiment.
  • the handshake signal can be understood as a signal sent by the sending node to the receiving node to request the establishment of a connection relationship before data communication during the data communication process.
  • networking can be understood as a communication network formed by at least one node in a data communication system for data communication between nodes.
  • different hardware can be distinguished through different combinations of high and low levels of the hardware input and output (Input Output, IO) ports, so as to physically number each node (PCB) and determine their respective physical addresses.
  • IO input and output
  • PCB node
  • node 1 can be considered as an indispensable node in the entire data communication system, and node 1 is used to monitor the token transmission in the entire data communication system
  • node 1 sends data to the data communication system according to the set time interval
  • Other nodes in the data communication system send handshake signals to request networking with other nodes in the data communication system.
  • a node supporting networking refers to a node existing in a data communication system that can form a network with node 1 for data communication.
  • the response information may be the networking supportable information fed back to node 1 by the node supporting networking.
  • the node supporting networking feeds back response information to node 1, and node 1 receives the response information fed back by the node supporting networking, and according to The response information determines the existing nodes in the data communication system, and completes networking with nodes supporting networking.
  • the handshake signal is sent out from the PCB whose node number is 1. If there is node 2 in the network, node 2 feeds back the response information to node 1, then node 1 establishes communication with node 2, which means that node 2 receives data from node 1; if there is no node 2 in the network, node 1 cannot receive data for a period of time After the response information fed back by node 2, node 1 sends a handshake signal to node 3 until the networking of the node with the largest number is completed, forming a complete receiving data chain.
  • PCBs communicate through the bus, and the bus status can be busy or idle.
  • Busy means that data is currently being transmitted on the bus
  • idle means that no data is currently being transmitted on the bus.
  • node 1 determines the bus state according to the response information fed back by the nodes supporting networking.
  • the target node refers to the next node for data transmission by node 1 in data communication, and there can be one or more target nodes.
  • node 1 transmits data to node 3 and node 5, then node 3 and node 5 are both target node.
  • a token is a form of data, which can be understood as a certificate for a node to transmit data, that is, when a node holds a token, it can only transmit data outward.
  • PCBs PCBs
  • the transmission of data refers to the node's external transmission of communication data.
  • the format of the transmitted data can be, for example, including frame header 1, frame header 2, target node, all nodes, CRC (Cyclic Redundancy Check, cyclic redundancy check code) check high 8 bits and CRC check in a frame of data lower 8 bits.
  • the meaning of the frame header is to represent the ID of the transmission data (ID is the abbreviation of identity, the identification number refers to the identification of the transmission data in the embodiment);
  • the target node is used to determine the transmission order of the token; all nodes are used for Determine whether the new node is a newly added node; CRC check refers to verifying whether the transmitted data is normal.
  • node 1 sends a token to a target node in the data communication system according to the bus state, so that the target node uses the token to transmit data.
  • the bus status in the transmission direction from node 1 to the target node, the bus status can be regarded as idle, and data can be transmitted.
  • the differential signal line is shared with the positive and negative lines of the power line, and at the same time, the busy line is used in the form of a data line token, and the 5 wiring harnesses are shortened to 2, which simplifies the hardware structure
  • new adjustments have been made to the control logic of the software.
  • the state of the bus it can be determined whether the node can send tokens or transmit data. Even in the case of sharing the wiring harness, reliable data arbitration can be completed, which improves the reliability of data communication.
  • the number of target nodes is one; the target node is a node that feeds back response information.
  • the number of target nodes currently feeding back response information is one.
  • the token or data can be transmitted in the form of a loop, that is, after the current node issues the token, it is only parsed and approved by a certain node, and the response information is fed back, then the current node will feed back the response information
  • the node as the target node sends tokens or data to it; on this basis, after the target node holds the token, it can continue to send tokens to other nodes to form a subsequent transmission path.
  • the method further includes: determining the token transmission path according to the response information.
  • token transmission path refers to the path through which tokens are transmitted between nodes, for example, it may be from node 1 to node 2, and then from node 2 to node 3.
  • node 1 determines the token transmission path according to the response information fed back by the nodes supporting networking.
  • send a token to the target node according to the bus status, so that the target node can use the token to transmit data including:
  • the token is sent to the target node according to the bus state, so that the target node sends the token to the next hop node according to the token transmission path after data transmission.
  • next-hop node refers to the next node for data transmission by the target node in data communication.
  • the next hop node of node 1 may or may not be node 2.
  • the original 8 nodes in the data communication system are respectively numbered as node 1, node 2, node 3, node 4, node 5, node 6, node 7 and node 8, and the normal transmission path should be node 1-node 2-node 3-node 4-node 5-node 6-node 7-node 8-node 1 and so on.
  • the transmission path should be node 1-node 3-node 4-node 5-node 6-node 8-node 1, so the next target point of node 1 is not necessarily node 2 , which may be node 3 or node 4.
  • node 1 will issue a token to all other nodes, and all nodes will also parse the token data, and find out that the token is issued by node 1, and then determine which node receives the token, that is, determine the target node . For example, if the transmission path above is Node 1-Node 3-Node 4-Node 5-Node 6-Node 8-Node 1, Node 1 issues a token, Node 3 will use the token, and Node 3 receives the token Then judge whether to send data to the bus or not.
  • node 1 sends a token to the target node according to the bus state. After receiving the token, the target node judges whether it needs to send data. If it needs to send data, it sends the data first. The card is sent to the next hop node.
  • node 1 sends a token to the target node according to the bus state. After receiving the token, the target node judges whether it needs to send data. If it does not need to send data, it directly sends the token to the next hop according to the token transmission path. node.
  • the method also includes:
  • the node If the token stays in any node in the network for more than a fixed time, the node is forced to send the token to the next hop node.
  • the retention time refers to the retention time of any node in the network that receives the token, but the token is not sent to the next hop node, but stays at the node.
  • the fixed time may be the time that the token stays at any node in the networking under normal conditions, which is set according to the actual situation, for example, it may be 1 ms or 2 ms.
  • the node is forced to send the token to the next-hop node, so as to avoid communication abnormality caused by the token staying.
  • the method also includes:
  • the token If the token is not received within the set time, it will resend the token to the target node according to the bus state.
  • the set time can be set according to the actual situation. Under normal circumstances, after the token is issued by the previous node, the time until the next arbitrary node in the network receives the token, for example, it can be 1ms or 2ms, etc., set The specified time is greater than or equal to the product of the number of nodes in the network and the abnormal identification time of token sending.
  • the number of nodes refers to the number of nodes in the networking.
  • the time for judging the abnormality of token sending refers to the time for judging whether the token stays at a certain node during the data transmission process.
  • the node when it does not receive the token within the set time, it resends the token to the target node according to the bus state.
  • the setting time is greater than or equal to the product of the number of nodes in the network and the token sending abnormality discrimination time. The most extreme case is considered here, because it is possible that the token is not lost, but there is data congestion at each node. Even so, if the token is not lost, it should be able to receive the token again. If the token is not received within the set time, the token is considered lost.
  • the method also includes:
  • the token will be sent to the target node again.
  • the token is also the data transmitted on the power line, and it is normal for the occasional data loss during the communication process, so the occasional token loss may occur.
  • any node cannot send data because it does not have the token. Therefore, if it is detected that the token is lost at any node in the networking, the token will be resent to the target node.
  • a handshake signal is sent to the nodes in the data communication system at a set time interval to request re-networking with the nodes in the data communication system.
  • the set number of times may be the number of times the token is resent to the target node after detecting that the token is lost at any node in the networking, which is set according to the actual situation, for example, it may be 3 times or 5 times.
  • FIG. 9 is a schematic diagram of a four-node networking mechanism in the ring token method of a data communication method provided in Embodiment 1 of the present application, which can be applied to the ring token method.
  • the ring token method can be understood as a method in which each node forms a ring, and tokens are transmitted in a ring between each node.
  • the ring token method can be applied to the case where there is only one target node.
  • the following takes four nodes as an example to describe the networking mechanism of the ring token method. As shown in Figure 9, the process of networking among the four nodes may include the following operations:
  • Each PCB (node) is numbered by hardware to determine its own physical address.
  • Node 1 sends handshake signals to nodes 2, 3 and 4 in the data communication system at set time intervals. For example, node 1 sends a node 2 handshake signal to node 2, node 1 sends a node 3 handshake signal to node 3, and node 1 sends a node 4 handshake signal to node 4.
  • Nodes that support networking will feed back response information to node 1. For example, node 2 feeds back the response information of node 2 to node 1, node 3 feeds back the response information of node 3 to node 1, and node 4 feeds back the response information of node 4 to node 1.
  • Node 1 forms a network with node 2, node 3, and node 4, and then node 1 determines the existing nodes in the network according to the response information to form byte information.
  • Node 1 sends the byte information to each node, and each node determines the target node according to its own physical address and byte information. For example, node 1 sends byte information 0 to node 2, and node 2 determines the target node 0 according to its own physical address and byte information 0; node 1 sends byte information 1 to node 3, and node 3 determines the target node 0 according to its own physical address and byte information Information 1 determines the target node 1; node 1 sends byte information 2 to node 4, and node 4 determines the target node 2 according to its own physical address and byte information 2.
  • node 1 determines the bus status according to the response information, and sends a token to the target node according to the bus status, so that the target node can use the token to transmit data.
  • FIG. 10 is a schematic diagram of three node arbitration mechanisms in the ring token method of a data communication method provided in Embodiment 1 of the present application, which can be applied to the ring token method for data Communication situation.
  • the following takes three nodes as an example to illustrate the arbitration mechanism of the ring token method.
  • the process of token sending arbitration among the three nodes may include the following operations:
  • Node 1 sends a token to all nodes, but only node 2 gets the token, and node 2 can feed back the response information to node 1; node 3 receives the token of node 2, and node 3 can feed back the response information to node 2; node 1 receives The token of node 3, and node 1 can feed back the response information to node 3, forming a transmission mode of node 1 ⁇ node 2 ⁇ node 3 ⁇ node 1.
  • Node 2 and Node 3 judge whether to send data after obtaining the token. If data needs to be sent, send the data first and then send the token to the next hop node; if there is no need to send data, send the token directly to the next hop node.
  • the loop token method can detect whether the token is lost and whether the node is lost in real time, but the data communication system cannot judge whether the node has increased.
  • the response information includes the priority and sending frequency corresponding to each node supporting networking.
  • the priority refers to the priority of nodes sending tokens. For example, when multiple nodes need to send tokens or tokens at the same time, nodes with higher priority can send tokens first, and nodes with lower priority can send tokens later.
  • Token as another example, node 1 can determine which node to send the token to first according to the corresponding priority of each node.
  • Each node that supports networking has different priorities. For example, node 2 may have a higher priority than node 3. That is, when node 1 needs to send tokens to node 2 and node 3 at the same time, since node 2 has a higher priority than node 3 Node 3, so node 1 first sends a token to node 2.
  • the sending frequency refers to the frequency of sending data between any two nodes, for example, node 1 may send data to node 2 every 2 ms.
  • node 1 sends a handshake signal to the nodes in the data communication system according to a set time interval, so as to request to form a network with the nodes in the data communication system, and each node that supports networking will give priority to each node that supports networking The level and transmission frequency are fed back to node 1.
  • the target node includes each node supporting networking.
  • the token or data can be transmitted in a distributed manner, and there can be multiple target nodes. card to complete the data transfer, or throw a token if no data transfer is required.
  • Sending the token to the target node according to the bus state includes: sending the token to each node supporting networking according to the priority corresponding to each node supporting networking.
  • node 1 may respectively send tokens to each node supporting networking according to the priority corresponding to each node supporting networking.
  • node 1 can send tokens to other nodes, in this case it can be considered that the bus state corresponding to node 1 is idle.
  • send tokens to each node supporting networking according to the priority corresponding to each node supporting networking including:
  • the feedback signal refers to a signal that each node supporting networking feeds back to node 1 after receiving the token sent by node 1 and sending data to the outside.
  • each node supporting networking sends out data, sends a feedback signal to node 1 after sending the data, and node 1 receives the feedback signal of the node.
  • the token After receiving the feedback signal of the node, the token is sent to the next node supporting networking according to the priority corresponding to each node supporting networking.
  • node 1 after receiving the feedback signal of the node, node 1 sends a token to the next node supporting networking according to the priority corresponding to each node supporting networking.
  • Fig. 11 is a schematic diagram of the four-node networking mechanism in the distribution token method of a data communication method provided in Embodiment 1 of the present application, which can be applied to the distribution token method for data communication Case.
  • the method of distributing tokens can be understood as a method in which node 1 sends tokens to each node supporting networking respectively according to the sending frequency corresponding to each node supporting networking.
  • the distributed token method can be applied to the case where all the nodes supporting networking are target nodes.
  • the following takes four nodes as an example to illustrate the networking mechanism of the distributed token method. As shown in Figure 11, the process of networking among the four nodes may include the following operations:
  • Each PCB (node) is numbered by hardware to determine its own physical address.
  • Node 1 sends handshake signals to nodes 2, 3 and 4 in the data communication system at set time intervals. For example, node 1 sends a node 2 handshake signal to node 2, node 1 sends a node 3 handshake signal to node 3, and node 1 sends a node 4 handshake signal to node 4.
  • Nodes that support networking will feed back the priority and sending frequency to node 1. For example, node 2 feeds back the priority and sending frequency of node 2 to node 1, node 3 feeds back the priority and sending frequency of node 3 to node 1, and node 4 feeds back the priority and sending frequency of node 4 to node 1.
  • node 1 After node 1 sends a handshake signal to the last node (that is, the node with the largest number), the last node feeds back the priority and sending frequency of the node to node 1, and the networking is completed.
  • Node 1 determines the token sending period according to the priority and sending frequency information fed back by all nodes.
  • Fig. 12 is a schematic diagram of four node arbitration mechanisms in the distribution token method of a data communication method provided by Embodiment 1 of the present application, which can be applied to the loop token method for data communication Case.
  • the following takes four nodes as an example to illustrate the arbitration mechanism of the distributed token method.
  • the process of token sending arbitration among the four nodes may include the following operations:
  • node 1 sends data once in 2ms, with a priority of 1; node 2 sends data once in 4ms, with a priority of 2; node 3 sends data once in 8ms, with a priority of 3; node 4 sends data once in 16ms , with a priority of 4.
  • the least common multiple is determined as a cycle; in a cycle, node 1 sends tokens to each node according to the sending frequency; when the node receives the token, it sends data to the node 1 feedback signal; after receiving the feedback signal of the node, node 1 sends a token to the next node supporting networking according to the priority corresponding to each node supporting networking.
  • the format of the transmitted data may include frame header 1, frame header 2, sending node, target node, CRC check high 8 bits and CRC check low 8 bits in a data frame, for example.
  • the meaning of the frame header is to indicate the ID of the transmitted data; the sending node indicates the address of the node from which the token is sent; the target node indicates the address of the node to which the token is received; the CRC check refers to verifying whether the transmitted data is normal.
  • the method of distributing tokens can detect whether tokens and nodes are lost in real time, and additional resources are required to determine whether nodes have increased.
  • Fig. 13 is a flow chart of another data communication method provided by the embodiment of the present application.
  • the method in Fig. 13 may include the following steps:
  • the set time period may be a preset time period for detecting the differential signal level on the differential signal line according to actual conditions, for example, it may be 1 ms or 2 ms.
  • the differential signal line refers to the multiplexing of two differential signal lines (for signal transmission) and two power supply positive and negative lines (for power supply) in the traditional circuit, and the simplified two differential signal lines signal line.
  • the simplified two differential signal lines are used for power supply and differential signal data transmission.
  • differential signal level refers to the level on the differential signal line.
  • the differential signal level can be high or low, for example.
  • the bus state is determined based on the differential signal level.
  • the differential signal levels on the two differential signal lines are high-low or low-high, that is, changing levels, it means that there is data on the differential signal line, that is, the bus state is busy; when the two differential signal lines
  • the differential signal level is a fixed level, that is, high configuration receiving mode, it means that there is no data on the differential signal line, that is, the bus state is idle.
  • the data to be transmitted refers to the data to be transmitted on the current node.
  • the format of the transmission data can be, for example, including frame header 1, frame header 2, factory mode flag, address information, high 8 bits of data, low 8 bits of data, and high 8 bits of CRC check in a frame of data. And the lower 8 bits of the CRC check.
  • the data to be transmitted of the current node is transmitted according to the bus state.
  • the bus state is idle, the data to be transmitted of the current node is transmitted outward.
  • the bus state is determined according to the differential signal level by detecting the differential signal level on the differential signal line within a set time period, and the data to be transmitted of the current node is transmitted according to the bus state.
  • determine the bus state according to the differential signal level including:
  • the bus state is busy.
  • the changing level can be understood as the differential signal level of the two differential signal lines being high-low or low-high.
  • the bus state is busy.
  • the bus state is idle.
  • the fixed level can be understood as the two differential signal lines are in the high configuration receiving mode.
  • transmit the data to be transmitted of the current node according to the bus state including:
  • the current node sends data to the outside, and transmits the data to be transmitted by the current node through the bus.
  • transmit the data to be transmitted of the current node according to the bus state including:
  • the factory mode is a specific working mode, in which nodes do not send and receive data according to the existing rules.
  • the current node is in the factory mode, data transmission and reception will not be performed according to the existing rules, and the data to be transmitted by the current node will be transmitted according to the bus state after the factory mode is released.
  • FIG. 14 is a communication detection circuit diagram of another data communication method provided in Embodiment 2 of the present application.
  • the communication detection The circuit diagram includes diodes (such as diodes D23, D24, D25 and D26 with a device model of 1SS357), capacitors (such as capacitor C31 with a model of 22uf/16V and capacitor C32 with a model of 100nf/50V), resistors (such as a resistance value of 10,000 Ohm (10K) R45, R49 and R50) and triode (such as MMB series transistor Q9) and other electronic components, where VSYS is the power supply circuit.
  • diodes such as diodes D23, D24, D25 and D26 with a device model of 1SS357
  • capacitors such as capacitor C31 with a model of 22uf/16V and capacitor C32 with a model of 100nf/50V
  • resistors such as a resistance value of 10,000 Ohm (10K) R45, R49 and R50
  • triode such as MMB series transistor
  • the signal lines A and B are two differential signal lines, and the circuit controls the switch of Q9 through the two differential signal lines to control whether the current node transmits data.
  • the serial port of the microcontroller outputs TXD (Transmit (tx) Data, sending data), and forms a transformed AB signal (that is, a differential signal) after passing through the TP8485E (a transceiver) chip.
  • TXD Transmit (tx) Data
  • TP8485E a transceiver
  • the working mechanism of the data communication method is:
  • Each PCB (node) is numbered sequentially to determine the data analysis relationship.
  • the differential signal level of the two differential signal lines is high-low or low-high, and the differential signal level is a changing level; when there is no data transmission on the differential signal line, two differential signals are detected Line A-B line is the high configuration receiving mode, and the differential signal level is a fixed level.
  • the AB signal level is 3V (volt, volt, voltage unit)-Vv or Vv-3V, so that the switch Q9 is opened, and BUSY is low at this time; when the differential signal When there is no data transmission on the line, the AB signals are all in the high configuration receiving state, the switch Q9 cannot be opened, and BUSY is at high level at this time.
  • the differential signal level on the differential signal line is detected within a set period of time. If it is detected that the differential signal level on the differential signal line has been at a fixed level within the set time period, the data is sent; if it is detected that the differential signal level on the differential signal line is a changing level within the set time period, then No data is sent and the sending frequency is shortened.
  • Node addition support hot swap.
  • Cycle conflict Change the sending cycle and waiting time by a small value.
  • Factory mode You need to wait for the factory mode to be released before sending data.
  • Fig. 15 is a schematic structural diagram of another data communication system provided by the embodiment of the present application.
  • the system in Fig. 15 includes: a plurality of nodes (two nodes are used as an example in Fig. 15 for illustration), each node is connected by two differential Signal line connection.
  • a plurality of nodes transmits data according to the data communication method of the above-described embodiments.
  • data transmission may be performed by means of inter-node networking, loop tokens or distributed tokens, or data transmission may be performed directly through two differential signal line detection circuits without networking between nodes.
  • the five wiring harnesses are shortened to two, which simplifies the hardware structure and at the same time New adjustments have also been made to the control logic of the software. According to the state of the bus, it can be determined whether the node can send tokens or transmit data. Even in the case of sharing the wiring harness, reliable data arbitration can be completed, which improves the reliability of data communication.
  • the microcontrollers in the functional modules at different positions in the tool can communicate with each other, but when there are many nodes, that is, there are many functional modules, if the state of the communication line is not judged by communication, data will be generated. conflicts, resulting in a significant increase in the packet loss rate.
  • a busy-idle indication signal indicating the busy-idle state of the communication line in the communication system may be preset, such as a digital level signal, and different level states can indicate the busy state or the idle state of the communication line.
  • the busy state refers to whether there is communication data transmission in the communication line.
  • the edge of level signal change can be defined as an idle interrupt edge; otherwise, it can be defined as a busy interrupt edge. That is to say, the microcontroller can judge the change of the busy state of the communication line according to the change of the interrupt edge.
  • the microcontroller can determine the target node currently sending data according to the judgment time of different nodes, and control the target node to send communication data.
  • all nodes in the communication system can judge the busy state of the communication line, but the time of judgment is different.
  • the node of advanced judgment determines that the communication line is in the idle state, it can Send communication data with priority.
  • the node with the longest judging time continues judging until a busy interrupt edge is detected when the node with the least time is sending data.
  • the judgment time of the node with a long waiting time is short, so as to ensure that the data of all nodes can be sent out.
  • a node when a node finishes sending data, it can be recorded as the completion of the current task and start the next sending. Before sending data next time, the data can be packaged after waiting for a corresponding time according to the sending time interval, and the packaged data can be used as the data to be sent after the next busy/idle state judgment.
  • the current state of the node can be marked as the data sent state.
  • step S303 judging whether the interrupt waiting count has been reached, if so, proceed to step S304, otherwise return to step S302.
  • step S306 idle interrupt edge capture, if so, go to step S307, otherwise go to step S312.
  • step S308 judging whether the interrupt judgment count has been reached, if so, go to step S309, otherwise go to step S311.
  • step S311 busy interrupt edge capture, if yes, go to step S312.
  • a tool system may include different types of power tools and different types of battery packs.
  • Power tools can include garden tools, such as lawn mowers, snowplows, lawn trimmers, hair dryers, etc.; hand-held power tools, such as grinders, hammer drills, circular saws, etc., and can also include other auxiliary power tools, such as lighting device, and any power tool that can use this solution.
  • the nominal voltage of the battery pack can be 12V, 24V, 56V, 120V, etc., and the battery pack can output a working current less than or equal to 150 amperes (A). In one embodiment, the battery pack is capable of outputting less than 150A to the power tool.
  • the carrier communication can be performed between the functional modules in the electric tool in the manner described in the above embodiments. And if power transmission can be performed between different electric tools, communication data can also be transmitted through the carrier communication method disclosed in this application.
  • the carrier communication method disclosed in the embodiment of the present application may also be used to transmit communication data.
  • the power tool system described with reference to FIG. 17 includes a power tool 400 and a battery pack 500 .
  • the electric tool 400 is an example of a hand-held tool
  • the battery pack 500 is an example of a 56V battery pack.
  • the electric tool 400 at least includes a housing 40 , a motor 41 , a tool controller 42 , a tool power terminal 43 , a first modulation unit 44 , a first demodulation unit 45 and a drive circuit 46 .
  • the motor 41 is arranged in the casing 40 and can provide driving force for the electric tool 400 .
  • the motor 41 can be a sensor motor or a sensorless motor.
  • the tool power terminal 43 can be electrically connected with the battery power terminal 53 in the battery pack 500 , wherein the tool power terminal 43 can include a positive terminal 431 and a negative terminal 432 .
  • the drive circuit 46 is electrically connected to the stator winding of the motor 41, and can transmit the current from the battery pack 500 to the stator winding to drive the motor 41 to rotate.
  • the driving circuit 46 includes a plurality of switching elements Q1 , Q2 , Q3 , Q4 , Q5 , Q6 .
  • the gate terminal of each switching element is electrically connected to the tool controller 42 for receiving a control signal from the tool controller 42, and the control signal may be a PWM signal.
  • the drain or source of each switching element is connected to the stator windings A, B, C of the motor 41 .
  • the switching elements Q1 - Q6 receive control signals from the tool controller 42 to change their conduction states, thereby changing the current loaded by the battery pack 500 on the stator windings A, B, and C of the motor 41 .
  • the driving circuit 46 may include six controllable semiconductor power devices (such as field effect transistor (Field Effect Transistor, FET), bipolar junction transistor (Bipolar Junction Transistor, BJT), insulated gate bipolar Transistor (Insulated Gate Bipolar Transistor, IGBT) etc.) three-phase bridge driver circuit.
  • FET Field Effect Transistor
  • BJT bipolar junction transistor
  • IGBT Insulated Gate Bipolar Transistor
  • IGBT Insulated Gate Bipolar Transistor
  • the drive circuit 46 has multiple driving states. In different driving states, the rotational speed or direction of rotation of the motor 41 may be different. In this application, the process of controlling the driving circuit 46 by the tool controller 42 to change different driving states so that the motor 41 obtains different rotational speeds or turns will not be described in detail.
  • the battery pack 500 at least includes a casing 50 , a battery pack 51 , a battery controller 52 , a battery power terminal 53 , a second modulation unit 54 and a second demodulation unit 55 .
  • the battery pack 500 may include one or more battery packs.
  • the battery pack 51 may be composed of a plurality of battery cells connected in series and/or in parallel.
  • the battery core can be made of lithium iron phosphate, or ternary lithium or any of other materials.
  • the tool power terminal 53 and the battery power terminal 53 can be adapted to transmit power, wherein the battery power terminal 53 can include a positive terminal 531 and a negative terminal 532 .
  • the tool power terminal 53 can be a conductive connecting piece or a metal clip, and the corresponding battery power terminal 53 can be a metal clip or a conductive connecting piece, so that the conductive connecting piece can be inserted into the metal clip to A current transmission path between the electric tool 400 and the battery pack 500 is established.
  • the electric tool 400 also includes a first power conversion module 47, which can convert the high-voltage input electric energy flowing in from the power terminal 43 of the tool into low-voltage electric energy to supply power to the tool controller 42, or to supply power to the first modulation unit 44, or to The first demodulation unit 45 supplies power.
  • the first power conversion module 47 can output 3.3V or 5V electricity.
  • the battery pack 500 may also include a second power conversion module 56 capable of supplying power to the battery controller 52 or the second modulation unit 54 or the second demodulation unit 55 .
  • the electric tool 400 and the battery pack 500 do not include a communication link that can transmit communication data alone.
  • the battery pack data or the tool control data can be coupled by means of carrier communication. to the power terminals for transmission.
  • the transmission of communication data will be greatly disturbed.
  • the present application can set a modulation or demodulation module in at least one of the electric tool 400 and the battery pack 500, and modulate the data before the communication data is coupled to the power terminal or bus bar, thereby avoiding communication data Direct coupling on power terminals or busbars will cause greater interference.
  • the first modulation unit 44 in the electric tool 400 is electrically connected to the tool controller 42, capable of receiving the first communication data output from the tool controller 42, and performing signal modulation on the data to obtain the first Modulated signal.
  • the first communication data may include tool parameters in the electric tool 400 or electrical parameters related to the motor 41 and the like.
  • the modulated first modulated signal may be coupled to tool power terminal 43 . Since the tool power terminal 43 is electrically connected to the bus bar 401 of the control circuit in the tool, the coupling of the first modulation signal to the tool power terminal can also be understood as the coupling of the first modulation signal to any node on the bus bar 401 .
  • the tool power terminal 43 can transmit the electrical signal coupled with the first modulation signal to the battery pack 500 through the battery power terminal 53 electrically connected to the tool power terminal 43 .
  • the second demodulation unit 55 in the battery pack 500 can demodulate the received first modulation signal to obtain the first communication data transmitted by the electric tool 400 .
  • the first demodulation unit 45 in the electric tool 400 can be connected to the bus bar 401 connected to the tool power terminal 43, and can receive the electric signal coupled with the second modulation signal.
  • the first demodulation unit 45 can demodulate the received second modulated signal to obtain the second communication data transmitted by the battery pack 500 , and can transmit the second communication data to the tool controller 42 .
  • the tool controller 42 can adjust the output control signal according to the received second communication data, so as to control the driving circuit 46 to change the rotation state of the motor 41 .
  • the second communication data may be battery pack data, for example, the remaining power of the battery pack, the nominal voltage of the battery pack, the rated power of the battery pack, the output current of the battery pack, and the like.
  • the second modulation signal may be a data signal obtained by modulating the second communication data in the battery pack 500 .
  • a first anti-interference element 48 and a second anti-interference element 49 are connected in parallel at the output end of the first modulation unit 44 . That is to say, the first modulation signal output by the first modulation unit 44 is coupled to the bus 401 after passing through the first anti-interference element 48 and the second anti-interference element 49 .
  • the first anti-interference element 48 can be a Y capacitor, which can filter out the first power interference of the first modulation signal; the second anti-interference element 49 can be an inductance element, which can eliminate the first power interference in the first modulation signal.
  • Power interference Wherein, the first power disturbance and the second power disturbance may be the same or different. The so-called power interference may include common mode interference, ground wire interference, and the like.
  • the input end of the first demodulation unit 45 may also be connected with an anti-interference element, for example, a Y capacitor and an inductance element connected in parallel, or other anti-interference elements.
  • an anti-interference element for example, a Y capacitor and an inductance element connected in parallel, or other anti-interference elements.
  • the second modulation unit 54 in the battery pack 500 can be connected to the bus bar 501 connected to the battery power terminal 53, capable of receiving the second communication data output from the battery controller 52, and performing signal processing on the data. modulated to obtain a second modulated signal.
  • the modulated second modulated signal can be coupled to the bus bar 501 connected to the battery power terminal 53 . Therefore, the battery power terminal 53 can transmit the electrical signal coupled with the second modulation signal to the electric tool 400 through the tool power terminal 53 connected to the battery power terminal 53 .
  • the second demodulation unit 55 can demodulate the received first modulated signal to obtain the first communication data transmitted by the electric tool 400 , and can transmit the communication data to the battery controller 52 .
  • the battery controller 52 can adjust the discharge state or discharge parameters of the battery pack 51 according to the received first communication data, such as adjusting the magnitude of the output current or the magnitude of the output voltage or the frequency of the output current or the power of the output electric energy.
  • a third anti-interference element 57 and a fourth anti-interference element 58 are connected in parallel at the output end of the second modulation unit 54 . That is to say, the second modulation signal output by the second modulation unit 54 is coupled to the bus 501 after passing through the third anti-interference element 57 and the fourth anti-interference element 58 .
  • the third anti-interference element 57 can be a Y capacitor, which can filter out the first power interference of the second modulation signal output by the second modulation unit 54; the fourth anti-interference element 58 can be an inductance element, which can eliminate A second electrical disturbance in the second modulated signal.
  • the first power disturbance and the second power disturbance may be the same or different.
  • the so-called power interference may include common mode interference, ground wire interference, and the like.
  • the input end of the second demodulation unit 55 may also be connected with an anti-interference element, for example, a Y capacitor and an inductance element connected in parallel, or other anti-interference elements.
  • an anti-interference element for example, a Y capacitor and an inductance element connected in parallel, or other anti-interference elements.
  • the signal modulation mode of the first modulation unit 44 or the second modulation unit 54 there is no limitation on the signal modulation mode of the first modulation unit 44 or the second modulation unit 54 , and no limitation on the signal demodulation mode of the first demodulation unit 45 or the second demodulation unit 55 .
  • the signal modulation method of the first modulation unit 44 matches the demodulation method of the second demodulation unit 55
  • the signal modulation method of the second modulation unit 54 matches the demodulation method of the first demodulation unit 45 .
  • at least one of the first modulation unit 44 and the second modulation unit 54 may adopt a binary on-off keying (OOK) modulation method.
  • OOK binary on-off keying
  • the first modulation unit 44 may include two input terminals capable of receiving the PWM signal and the first communication data, and the output terminal of the first modulation unit 44 may output the first modulation signal.
  • the input end of the first demodulation unit 45 can receive the second modulation signal, and the output end of the first demodulation unit 45 can output the second communication data.
  • the second modulation unit 54 may also include two input terminals capable of receiving the PWM signal and the second communication data, and the output terminal of the second modulation unit 54 can output the second modulation signal.
  • the input end of the second demodulation unit 55 can receive the first modulated signal, and the output end of the second demodulation unit 55 can output the first communication data.
  • the first modulation unit 44 and the first demodulation unit 45 may be independent functional modules, or may be a functional module integrating modulation and demodulation functions.
  • the second modulating unit 54 and the second demodulating unit 55 may be independent functional modules, or may be a functional module integrating modulation and demodulation functions.

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Abstract

本申请公开了一种电动工具、割草机、数据通信方法、电池包及工具系统，该电动工具包括：传输线，能够传输电力或通信数据；多个功能模块，电连接在传输线上，可选择性的从传输线上接收通信数据或传输通信数据至传输线；传输线传输通信数据的传输频率大于或等于1KHz。

Description

电动工具、割草机、数据通信方法、电池包及工具系统
本公开要求在2021年10月29日提交中国专利局、申请号为202111269374.X的中国专利申请的优先权，要求在2021年12月24日提交中国专利局、申请号为202111597079.7的中国专利申请的优先权，以及要求在2022年6月21日提交中国专利局、申请号为202210706056.3的中国专利申请的优先权，上述三个申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及电动工具技术领域，例如涉及内部模块较多的大型电动工具。
背景技术
园林工具作为一种大型的电动工具，能够实现的功能越多，其内部涉及的功能模块也越多，因此工具内电力线、通信线也比较多。如此多的线束可能导致生产工艺复杂、可靠性也不高。而模块间通信的可靠性将直接影响产品的可靠性与用户体验。
发明内容
为解决相关技术的不足，本申请提供一种工具内线束少、模块间通信可靠性高的园林工具。
本申请采用如下的技术方案：
一种电动工具，包括：传输线，能够传输电力或通信数据；多个功能模块，电连接在所述传输线上，可选择性的从所述通信线上接收所述通信数据或传输所述通信数据至所述传输线；所述传输线传输所述通信数据的传输频率大于或等于1千赫兹(KHz)。
一种园林工具，包括：主机，包括工作组件和控制单元；操作装置，连接在所述主机上，具有能产生操作指令的操作模块；电源模块，被配置为为所述园林工具提供电源；驱动马达，被配置为为所述园林工具提供驱动力；传输线，能够传输电力或通信数据；其中，所述控制单元或所述操作模块或所述电源模块或所述驱动马达电连接在所述传输线上，可选择性的从所述通信线上接收通信数据或传输通信数据至所述传输线。
一种割草机，包括：主机，包括控制单元、切割组件和行走组件；所述切割组件，被配置为切割植被；所述行走组件，被配置为带动所述割草机行走；第一驱动马达，被配置为驱动所述切割组件执行割草工作；第二驱动马达，被配置为驱动所述行走组件行走；把手装置，可连接至所述主机，具有能产生操作指令的操作模块；电源模块，被配置为为所述割草机提供电源；传输线，能够传输电力或通信数据；其中，所述控制单元或所述第一驱动马达或所述第二 驱动马达或所述操作模块或所述电源模块电连接在所述传输线上，可选择性的从所述通信线上接收所述通信数据或传输所述通信数据至所述传输线。
一种适用于电动工具的数据通信方法，所述电动工具包括传输线，能够传输电力或通信数据；多个功能模块，电连接在所述传输线上，可选择性的从所述通信线上接收所述通信数据或传输所述通信数据至所述传输线；所述功能模块包括微控制器，具有发送或接收所述通信数据的数据端口；多个微控制之间的数据通信方法包括：按照设定时间间隔向数据通信系统中的节点发送握手信号，以请求与所述数据通信系统中的节点组网；接收支持组网的节点反馈的应答信息并与所述支持组网的节点组网；根据所述应答信息确定总线状态；根据所述总线状态向目标节点发送令牌，以供所述目标节点使用所述令牌传输数据。
一种适用于电动工具的数据通信方法，所述电动工具包括传输线，能够传输电力或通信数据；多个功能模块，电连接在所述传输线上，可选择性的从所述通信线上接收所述通信数据或传输所述通信数据至所述传输线；所述功能模块包括微控制器，具有发送或接收所述通信数据的数据端口；多个微控制之间的数据通信方法包括：检测设定时间段内差分信号线上的差分信号电平；根据所述差分信号电平确定总线状态；根据所述总线状态传输当前节点的待传输数据。
一种适用于电动工具的数据通信方法，所述电动工具包括传输线，能够传输电力或通信数据；多个功能模块，电连接在所述传输线上，可选择性的从所述通信线上接收所述通信数据或传输所述通信数据至所述传输线；所述功能模块包括微控制器，具有发送或接收所述通信数据的数据端口；多个微控制之间的数据通信方法包括：设置指示通信系统中所述通信线的忙闲状态的忙闲指示信号；判断所述通信系统的忙闲状态，并根据不同节点的判断时间确定当前发送数据的目标节点，控制所述目标节点发送通信数据。
一种电动工具，包括：工具壳体；马达，被配置为产生驱动力；驱动电路，包括多个开关元件；工具控制器，至少与所述驱动电路电连接，被配置为输出控制信号控制所述驱动电路中的开关元件改变导通状况，以控制所述马达的工作状态；工具电力端子，能与电源装置连接以为所述马达供电；第一调制单元，与所述工具控制器连接，能对第一通信数据进行信号调制，并将调制得的第一调制信号耦合至所述工具电力端子以供输出；第一解调单元，被配置为接入所述工具电力端子输入的第二调制信号，并解调出所述电源装置传输的第二通信数据，将所述第二通信数据发送至所述工具控制器。
一种电池包，包括：电芯组，被配置为存储电能；电池电力端子，被配置为传输电力至电动工具；电池控制器，被配置为控制所述电池包的放电状态；第二调制单元，与所述电池控制器连接，能对第二通信数据进行信号调制，并将调制得的第二调制信号耦合至所述电池电力端子以供输出；第二解调单元，被配置为接入所述电池电力端子输入的第一调制信号，并解调出所述电动工具 传输的第一通信数据，将所述第一通信数据发送至所述电池控制器。
一种工具系统，包括如上所述的电动工具。
一种工具系统，包括如上所述的电池包。
附图说明
图1是一个实施例中电动工具的电路原理示意图；
图2是一个实施例中电动工具的结构示意图；
图3是一个实施例中传输线中信号波动示意图；
图4是一个实施例中割草机的结构示意图；
图5是图4所示割草机内的电路原理图；
图6是一个实施例中扫雪机的结构示意图；
图7是图6所示扫雪机内的电路原理图；
图8是本申请实施例提供的一种数据通信方法的流程图；
图9是本申请实施例提供的一种数据通信方法之环路令牌法中四个节点组网机制的示意图；
图10是本申请实施例提供的一种数据通信方法之环路令牌法中三个节点仲裁机制的示意图；
图11是本申请实施例提供的一种数据通信方法之分发令牌法中四个节点组网机制的示意图；
图12是本申请实施例提供的一种数据通信方法之分发令牌法中四个节点仲裁机制的示意图；
图13是本申请实施例提供的另一种数据通信方法的流程图；
图14是本申请实施例提供的另一种数据通信方法的通信检测电路图；
图15是本申请实施例提供的一种数据通信系统的结构示意图；
图16是本申请实施例提供的一种数据通信方法的流程示意图；
图17是一个实施例中工具系统的结构图；
图18是一个实施例中工具系统的电路原理示意图；
图19是一个实施例中电动工具的电路原理示意图；
图20是一个实施例中电动工具的电路原理示意图；
图21是一个实施例中电池包的电路原理示意图。
具体实施方式
以下结合附图和实施例对本申请作介绍。可以理解的是，此处所描述的实施例仅仅用于解释本申请。另外还需要说明的是，为了便于描述，附图中仅示出了与本申请相关的部分而非全部结构。
需要说明的是，本申请中的电动工具可以包括园林工具，如割草机、扫雪机、打草机、吹风机等或者其他类型的内部包含较多功能模块的大型电动工具。
如图1所示，电动工具100内部至少包括一对传输线A和B，传输线A、B能够传输电力和通信数据中的至少之一。也就是说，本实施例中的电动工具内部的各个功能模块，通过一对传输线即可传输电力和通信数据，无需再设置负责的通信线路。在一个实施例中，传输线为一对电力线。在本实施例中，传输线A和B上电连接有多个功能模块1、2……N，每个功能模块的功能都不同。例如，电源模块能提供电力或者输出电源装置的相关供电参数、电源管理模块能管理电池包或者其他类型电源的充放电过程、参数检测模块能检测工具的相关参数或者工具中某些元器件工作的参数。关于工具中可能涉及的模块此处不再一一列举。
在一个实施例中，传输线传输通信数据的传输频率大于或等于1KHz。在一个实施例中，传输线A、B传输通信数据的频率可以大于或等于10KHz。
在一个实施例中，如图2所示功能模块可以包括微控制器11，微控制器11至少具有数据的输入输出端口RX、TX。可以理解的，微控制器11还可以对接收的数据进行处理以产生响应该数据的控制信号。可选的，微控制器11可以是微控制单元(Micro Control Unit，MCU)芯片。功能模块还可以包括串行通信单元12，串行通信单元12可以连接在微控制器11的数据端口，以将微控制器11输出的数据以串行通信的方式传输至传输线A、B上。可选的，串行通信单元12可以是串行芯片。
在本实施例中，传输线A、B传输电力信号是电流信号，而功能模块输出的通信数据通常是数字信号或者模拟信号，例如脉冲宽度调制(Pulse Width Modulation，PWM)信号。为将通信数据通过电力传输线传输，功能模块中还可以设置耦合元件13。可选的，也可以在功能模块和传输线A、B之间设置耦合元件13。耦合元件13能将通信数据耦合至传输线A、B上，以便通信数据能通过传输线传输至其他的功能模块。在一个实施例中，功能模块输出的通信数据可以携带通信标识，例如携带通信地址，从而其他功能模块能根据通信地址选择是否需要接受该通信数据。在一个实施例中，如图2所示，耦合元件13可以是一种电容元件。
由于传输线A、B上传输有通信数据，功能模块并不能获得纯净的电源电力。因此，如图2所示，可以在功能模块内设置解耦元件14。可选的，也可以在功能模块和传输线A、B之间设置解耦元件14。解耦元件14能够解耦出传输线A、B上的通信数据以使功能模块获得纯净的电源电力。在一个实施例中，解耦元件14可以是电感元件。
在一个实施例中，如图3所示(横坐标t表示时间，纵坐标i表示传输线中的信号)，虚线表示无电流波动时信号的传输过程，实线表示有电流波动时信号的传输过程。传输线在传输电力时，由于外界环境或者电源输出性能不稳定等的影响，可能会造成电流限号突变波动，从而给耦合了通信数据的信号带来信号干扰。为解决这一问题，功能模块内的微控制器11可以通过计算两条电力线上传输的信号的差值得到差分信号，由于两条电流线传输信号时受到的电流波动的幅度或频率等是基本一致的，可以认为通过电流线传输后，通信数据的差分信号是不会受到电流波动影响的，从而能避免通信数据受到干扰，保证了工具内模块间数据通信的精度。
在一个实施例中，功能模块内还包括调制单元15，调制单元15能对待发送至传输线上的通信数据进行调制，以避免单一的高电平或者低电平信号不能被识别。相应的，在功能模块接收到通信数据后也需要通过调制单元15解调。也就是说，调制单元15即可以对信号进行调制也可以进行解调。可选的，可以在功能模块内单独设置调制单元和解调单元。
上述实施方式以具有多个功能模块的电动工具为例说明本申请的内容，例如，本申请的方案可用于割草机。
在本申请的另一个实施例中，以割草机100为例说明割草机内不同功能模块间的载波通信方式。
如图4和图5所示，割草机200主要包括主机21和作为操作装置的把手装置22。在本实施例中，主机21上设置的工作组件主要包括切割组件和行走组件212。其中，切割组件能够切割植被，行走组件212能够带动割草机200行走。主机21上还包括控制单元213，能够控制驱动切割组件的第一驱动马达2111和驱动行走组件212的第二驱动马达2121。把手装置22上至少包括能够响应用户针对把手的操作，并产生操作指令的操作模块221。可选的，操作模块221也可以设置在主机21上。在一个实施例中，操作模块221中可以包括开关单元、调速单元、显示单元等。另外，主机21上还可包括电源模块214，能够为割草机200提供电源电力。在一个实施例中，电源模块213可以是1P或者2P电池包。割草机200还包括传输线23，上述主机21和把手装置22上的各个功能单元或模块可电连接在传输线23上。例如，控制单元213或第一驱动马达2111或第二驱动马达2121或操作模块221或电源模块214电连接在传输线23上。可选的，操作模块221中的不同功能单元可以分别连接在传输线23上，也可以通过操作模块221与传输线23连接。可以理解的，上述功能模块或单元能够可选择性的从通信线23上接收通信数据或传输通信数据至传输线23。在本实施例中，传输线23与各功能模块间的连接关系与数据传输关系，可以参见上述实施例中的描述，此处不再赘述。
在本实施例中，主机21和把手装置22之间具有较长的距离，通过将通信数据耦合在电力传输线上，实现了把手装置22内操作模块221和主机21内各 功能模块的通信，在减少工具内线束布置的同时，也保证了工具性能的稳定。
在本申请的另一个实施例中，以扫雪机300为例说明本申请的方案。
如图6和图7所示，扫雪机300包括主机31和作为操作装置的把手装置32。在本实施例中，主机31上设置的工作组件主要包括扫雪装置311、抛雪装置312、行走装置313以及控制单元314。可选的，主机31上还包括电源模块315。电源模块315可以是单电池包或者双电池包，所述的电池包包括设置于电池包壳体内部的锂电池。
在本实施例中，扫雪装置311主要包括扫雪浆和旋浆。扫雪装置311可由主马达3111驱动。行走装置313可包括行走轮，能被从马达3131驱动，以带动扫雪机300行走。把手装置32上包括各种触发机构，能被用户触发。可选的，把手装置32包括操作模块321，能根据用户针对触发机构的操作产生操作指令。扫雪机300还包括传输线33，上述主机31和把手装置32上的各个功能单元或模块可电连接在传输线33上。例如，控制单元314或主马达3111或从马达3131或操作模块321或电源模块315电连接在传输线33上。可以理解的，把手装置32上的不同触发机构可以分别对应不同的触发单元，每个触发单元可以是一个小的功能模块。
在可选实现方式中，操作模块321中的不同功能单元可以分别连接在传输线33上，也可以通过操作模块321与传输线33连接。可以理解的，上述功能模块或单元能够可选择性的从通信线33上接收通信数据或传输通信数据至传输线33。在本实施例中，传输线33与各功能模块间的连接关系与数据传输关系，可以参见上述实施例中的描述，此处不再赘述。
在本实施例中，主机31和把手装置32之间具有较长的距离，通过将通信数据耦合在电力传输线上，实现了把手装置32内操作模块321和主机31内各功能模块的通信，在减少工具内线束布置的同时，也保证了工具性能的稳定。
在本申请实施例中，电动工具不同功能模块间构成的数据通信系统除了应用在割草机、扫雪机上，还可以应用在打草机、吹风机等各种园林工具中，以及各种手持电动工具或者其他类型的内部包含较多功能模块的大型或小型电动工具中。
一些电动工具的控制电路一般是传统电路，传统电路一般采用5根线进行连接，包括2根差分信号线(用于信号传输)、2根电源正负线(用于电源供电)和1根忙闲线(用于检测总线上现在是否有数据在传输)，传统电路对应的数据传输方式为独立传输。本申请实施例将硬件电路进行了简化，取消了忙闲线，将传统电路中的2根电源线与2根信号线复用，即简化后的2根传输线既做电源供电使用，又做差分信号数据传输使用，本申请实施例中的数据传输方式为依赖传输。
因为系统中最多只能有1块印制线路板(Printed Circuit Board，PCB)在往外传输信号，否则信号会有干涉，从而导致传输数据错误。因此本申请实施例 提供了一种数据通信方法来确定由哪块PCB往外发送数据。
图8提供了电动工具内数据通信系统的数据通信方法的流程图，该方法可以包括如下步骤：
S101、按照设定时间间隔向数据通信系统中的节点发送握手信号，以请求与数据通信系统中的节点组网。
其中，设定时间间隔可以是根据实际情况预设的发送握手信号的时间间隔，例如可以是1ms(millisecond，毫秒)或2ms等。
在实施例中，数据通信系统可以是电动工具不同功能模块间通信的系统。功能模块例如可以包括微控制器、串行通信单元、耦合元件、解耦元件和调制单元等。相应的，节点可以是电动工具内不同的功能模块或者模块内的MCU(Micro Control Unit，微控制单元)，可选的，在本实施例中节点可以是PCB。
需要解释的是，握手信号可以理解为数据通信过程中，在进行数据通信之前，发送节点向接收节点发送的请求建立连接关系的信号。
需要说明的是，组网可以理解为由至少一个数据通信系统中的节点组成通信网络，用于节点间的数据通信。
可选的，可以通过硬件输入输出(Input Output，IO)口高低电平不同的组合方式，来区分不同的硬件，从而对各节点(PCB)进行物理编号，确定各自的物理地址，可将节点1(节点1可认为是整个数据通信系统中必不可少的节点，以节点1来监控整个数据通信系统中令牌传输的情况)作为起始节点，节点1按照设定时间间隔向数据通信系统中的其他节点发送握手信号，以请求与数据通信系统中的其他节点组网。
S102、接收支持组网的节点反馈的应答信息并与支持组网的节点组网。
需要说明的是，支持组网的节点指的是存在于数据通信系统中的可以与节点1组网进行数据通信的节点。
其中，应答信息可以是由支持组网的节点反馈给节点1的可支持组网的信息。
可选的，节点1按照设定时间间隔向数据通信系统中的节点发送握手信号后，支持组网的节点向节点1反馈应答信息，节点1接收支持组网的节点反馈的应答信息，并根据应答信息确定数据通信系统中的现有节点，完成与支持组网的节点组网。
实际过程中，从节点编号为1的PCB开始向外发出握手信号。若网络中有节点2，节点2向节点1反馈应答信息，则节点1与节点2建立通信，即表明节点2从节点1处接收数据；若网络中无节点2，节点1一段时间收不到节点2反馈的应答信息，则节点1向节点3发出握手信号，直到最大编号的节点组网完成，形成一条完成的接收数据链。
S103、根据应答信息确定总线状态。
在本实施例中，PCB之间通过总线进行通信，总线状态可以是忙或闲，忙指的是总线上目前有数据在传输，闲指的是总线上目前没有数据在传输。
可选的，节点1根据支持组网的节点反馈的应答信息确定总线状态。
S104、根据总线状态向目标节点发送令牌，以供目标节点使用令牌传输数据。
其中，目标节点指的是数据通信中节点1进行数据传输的下一节点，目标节点可以是一个或多个，例如节点1将数据传输给节点3和节点5，则节点3和节点5均为目标节点。
需要解释的是，令牌是一种数据形式，可以理解为是一种节点进行数据传输的凭证，即当节点持有令牌时，方可向外传输数据。为了保证所有PCB(节点)的发送频率没有明显差别，需保证令牌的传输是有规律，即保证某一节点令牌发出去后能被所有节点均接收，但只能被某一固定节点所解析认可。
需要说明的是，传输数据指的是节点向外传输通信数据。传输数据的格式例如可以是在数据的一帧里包括帧头1、帧头2、目标节点、所有节点、CRC(Cyclic Redundancy Check，循环冗余校验码)校验高8位和CRC校验低8位。其中，帧头的含义为表示传输数据的ID(ID是identity的缩写，身份标识号码，在实施例中指的是传输数据的标识)；目标节点用于确定令牌的传输顺序；所有节点用于判断该新节点是否为新加入节点；CRC校验是指验证传输数据是否正常。
可选的，节点1根据总线状态向数据通信系统中的目标节点发送令牌，以供目标节点使用令牌传输数据。在本实施例中，在节点1到目标节点的传输方向上，总线状态可视为闲，可以传输数据。
本申请实施例通过采用载波通信的方式，将差分信号线与电源线正负线共用，同时将忙闲线通过数据线令牌的形式使用，将5根线束缩短为2根，简化了硬件结构的同时对软件的控制逻辑也做出了新的调整。根据总线状态可以确定节点是否可以发送令牌或传输数据，即便是在共用线束的情况下也可以完成可靠的数据仲裁，提高了数据通信的可靠性。
可选的，目标节点的数量为一个；目标节点为反馈应答信息的节点。
示例性的，当前反馈应答信息的目标节点数量为一个。本实施例中，令牌或数据可以以环路的方式传输，即，当前节点发出令牌后，只被某一个节点所解析认可，并反馈了应答信息，则当前节点会将该反馈应答信息的节点作为目标节点，向其发送令牌或数据；在此基础上，该目标节点持有令牌之后，可以继续向其他节点发送令牌，以形成后续的传输路径。
可选的，该方法还包括：根据应答信息确定令牌传输路径。
需要说明的是，令牌传输路径指的是令牌在各节点之间进行传输的路径， 例如可以是从节点1到节点2，再从节点2到节点3。
可选的，节点1根据支持组网的节点反馈的应答信息确定令牌传输路径。
可选的，根据总线状态向目标节点发送令牌，以供目标节点使用令牌传输数据，包括：
根据总线状态向目标节点发送令牌，以供目标节点在传输数据之后按照令牌传输路径将令牌发送至下一跳节点。
需要说明的是，下一跳节点指的是数据通信中目标节点进行数据传输的下一节点。
在实际操作过程中，节点1的下一跳节点可能是节点2，也可能不是节点2。例如，数据通信系统中原有8个节点，分别编号为节点1、节点2、节点3、节点4、节点5、节点6、节点7和节点8，正常传输路径应该为节点1-节点2-节点3-节点4-节点5-节点6-节点7-节点8-节点1如此循环。但是现实中可能没有节点2与节点7，那么传输路径应该为节点1-节点3-节点4-节点5-节点6-节点8-节点1，所以节点1的下一目标点不一定为节点2，可能为节点3，也可能为节点4。因此每次通电后，数据通信系统需要组网，以确定目标节点以及下一跳节点。实际过程中，节点1会向其余所有节点发出令牌，所有节点也解析该令牌数据，解析出来发现是由节点1发出的令牌，再确定由哪个节点接收该令牌，即确定目标节点。例如上述传输路径为节点1-节点3-节点4-节点5-节点6-节点8-节点1的方式下，节点1发出令牌，节点3会使用该令牌，节点3收到该令牌后再判断需不需要向总线发送数据。
可选的，节点1根据总线状态向目标节点发送令牌，目标节点接收到令牌后判断是否需要发送数据，若需要发送数据，则先发送数据，在传输数据之后按照令牌传输路径将令牌发送至下一跳节点。
或者，根据总线状态向目标节点发送令牌，以供目标节点在不传输数据的情况下按照令牌传输路径将令牌发送至下一跳节点。
可选的，节点1根据总线状态向目标节点发送令牌，目标节点接收到令牌后判断是否需要发送数据，若不需要发送数据，则直接按照令牌传输路径将令牌发送至下一跳节点。
可选的，该方法还包括：
若令牌在组网中的任意节点滞留的时间超出固定时间，则强制该节点将令牌发送至下一跳节点。
需要解释的是，滞留的时间指的是组网中的任意节点接收到令牌后，令牌没有被发送到下一跳节点，而停留在该节点的滞留时间。
其中，固定时间可以是根据实际情况设定的正常情况下令牌在组网中的任意节点停留的时间，例如可以是1ms或2ms等。
可选的，若令牌在组网中的任意节点滞留的时间超出设定的固定时间，则强制该节点将令牌发送至下一跳节点，避免因令牌滞留而导致通信异常。
可选的，该方法还包括：
若在设定时间内未接收到令牌，则重新根据总线状态向目标节点发送令牌。
其中，设定时间可以是根据实际情况设定的正常情况下令牌在上一节点发出后，到组网中的下一任意节点接收到令牌的时间，例如可以是1ms或2ms等，设定时间大于或等于组网中的节点数量与令牌发送异常判别时间的乘积。
可以知道的是，节点数量指的是组网中的节点的数量。
需要解释的是，令牌发送异常判别时间指的是判别令牌在数据传输过程中是否在某节点滞留的时间。
可选的，当节点在设定时间内未接收到令牌，则重新根据总线状态向目标节点发送令牌。需要注意的是，设定时间大于或等于组网中的节点数量与令牌发送异常判别时间的乘积。此处考虑最极端情况，因为可能令牌并没有丢失，而是在每个节点处都存在数据堵塞的情况。即使如此，令牌不丢失的情况下应该能再次收到令牌，若在设定时间内没有收到令牌，则认为令牌丢失。
可选的，该方法还包括：
若检测到令牌在组网中的任意节点丢失，则重新向目标节点发送令牌。
可以理解的是，令牌也是在电源线上传输的数据，通信过程中偶尔数据丢失也是正常的，所以偶尔会出现令牌丢失的情况。当令牌丢失后，任一节点因为没有令牌，所以无法往外发送数据。因此，若检测到令牌在组网中的任意节点丢失，则重新向目标节点发送令牌。
重新发送令牌设定次数后，若令牌仍被丢失，则重新按照设定时间间隔向数据通信系统中的节点发送握手信号，以请求与数据通信系统中的节点重新组网。
可选的，设定次数可以是根据实际情况设定的在检测到令牌在组网中的任意节点丢失后，重新向目标节点发送令牌的次数，例如可以是3次或5次等。
可以理解的是，当某一节点因自身问题从网络中丢失时，令牌无法在已组网成功的网络中传输，表现现象为令牌丢失，可当令牌再次发出之后，节点仍无法接收到令牌，该过程一直反复，当连续多次判断令牌丢失后，可认为节点丢失，则重新按照设定时间间隔向数据通信系统中的节点发送握手信号，以请求与数据通信系统中的节点重新组网。
作为本实施例的一个示例性描述，图9是本申请实施例一提供的一种数据通信方法之环路令牌法中四个节点组网机制的示意图，可适用于环路令牌法进行数据通信的情况。环路令牌法可以理解为各节点形成环状，令牌在各节点间进行环形传输的方法。环路令牌法可应用于目标节点的数量只有一个的情况， 下面以四个节点为例对环路令牌法的组网机制进行说明。如图9所示，四个节点之间进行组网的过程可以包括如下操作：
各PCB(节点)进行硬件编号，确定各自的物理地址。
节点1按照设定时间间隔向数据通信系统中的节点2、节点3和节点4发送握手信号。例如节点1向节点2发送节点2握手信号，节点1向节点3发送节点3握手信号，节点1向节点4发送节点4握手信号。
支持组网的节点会反馈应答信息给节点1。例如节点2向节点1反馈节点2应答信息，节点3向节点1反馈节点3应答信息，节点4向节点1反馈节点4应答信息。
节点1与节点2、节点3和节点4组网，之后节点1根据应答信息，确定网络中现有节点，组成字节信息。
节点1将字节信息发送至每个节点，各节点根据自身物理地址与字节信息确定目标节点。例如节点1将字节信息0发送给节点2，节点2根据自身物理地址与字节信息0确定目标节点0；节点1将字节信息1发送给节点3，节点3根据自身物理地址与字节信息1确定目标节点1；节点1将字节信息2发送给节点4，节点4根据自身物理地址与字节信息2确定目标节点2。
组网完成，节点1根据应答信息确定总线状态，根据总线状态向目标节点发送令牌，以供目标节点使用令牌传输数据。
作为本实施例的一个示例性描述，图10是本申请实施例一提供的一种数据通信方法之环路令牌法中三个节点仲裁机制的示意图，可适用于环路令牌法进行数据通信的情况。下面以三个节点为例对环路令牌法的仲裁机制进行说明。如图10所示，三个节点之间进行令牌发送仲裁的过程可以包括如下操作：
节点1向所有节点发出令牌，但只有节点2获得令牌，节点2可以向节点1反馈应答信息；节点3接收节点2的令牌，并且节点3可以向节点2反馈应答信息；节点1接收节点3的令牌，并且节点1可以向节点3反馈应答信息，形成以节点1→节点2→节点3→节点1的传输方式。节点2和节点3获得令牌后，判断是否需要发送数据。若需发送数据，则先发数据再向下一跳节点发送令牌；若无需发送数据，直接向下一跳节点发送令牌。
环路令牌法可实时检测令牌是否丢失与节点是否丢失，但数据通信系统无法判断节点是否增加。
可选的，应答信息包括各支持组网的节点对应的优先级和发送频率。
需要说明的是，优先级指的是节点发送令牌的优先级，例如，当多个节点需要同时发送令牌或时，优先级高的节点可以先发送令牌，优先级低的可以后发送令牌；又如，节点1可以根据各节点对应的优先级确定先给哪个节点发送令牌。各支持组网的节点对应的优先级不同，例如可以是节点2的优先级高于节点3，即当节点1需要同时向节点2和节点3发送令牌时，由于节点2的优先 级高于节点3，因此节点1先给节点2发送令牌。
需要解释的是，发送频率指的是任意两节点之间发送数据的频率，例如可以是节点1每2ms向节点2发送一次数据。
示例性的，节点1按照设定时间间隔向数据通信系统中的节点发送握手信号，以请求与数据通信系统中的节点组网，各支持组网的节点将各支持组网的节点对应的优先级和发送频率反馈给节点1。
可选的，目标节点包括各支持组网的节点。
本实施例中，令牌或数据可以以分发的方式传输，目标节点可以为多个，即，当前节点可以(按照优先级)分别向组网中的各节点发出令牌，各节点可以使用令牌完成数据传输，或者在不需要传输数据的情况下丢出令牌。
根据总线状态向目标节点发送令牌，包括：按照各支持组网的节点对应的优先级分别向各支持组网的节点发送令牌。
示例性的，节点1可按照各支持组网的节点对应的优先级分别向各支持组网的节点发送令牌。当节点1需要发令牌且其为当前时间优先级最高的节点时，节点1可以向其他节点发送令牌，这种情况下可以视为节点1对应的总线状态为空闲。
可选的，按照各支持组网的节点对应的优先级分别向各支持组网的节点发送令牌，包括：
向每个支持组网的节点发送令牌后，接收该节点的反馈信号。
需要说明的是，反馈信号指的是每个支持组网的节点在接收到由节点1发送的令牌并向外发送完数据之后反馈给节点1的信号。
示例性的，节点1向每个支持组网的节点发送令牌后，每个支持组网的节点向外发送数据，发送数据后向节点1发送反馈信号，节点1接收该节点的反馈信号。
在接收到该节点的反馈信号之后，按照各支持组网的节点对应的优先级向下一个支持组网的节点发送令牌。
示例性的，节点1在接收到该节点的反馈信号之后，按照各支持组网的节点对应的优先级向下一个支持组网的节点发送令牌。
作为本实施例的一个示例性描述，图11是本申请实施例一提供的一种数据通信方法之分发令牌法中四个节点组网机制的示意图，可适用于分发令牌法进行数据通信的情况。分发令牌法可以理解为节点1按照各支持组网的节点对应的发送频率分别向各支持组网的节点发送令牌的方法。分发令牌法可应用于各支持组网的节点均为目标节点的情况，下面以四个节点为例对分发令牌法的组网机制进行说明。如图11所示，四个节点之间进行组网的过程可以包括如下操作：
各PCB(节点)进行硬件编号，确定各自的物理地址。
节点1按照设定时间间隔向数据通信系统中的节点2、节点3和节点4发送握手信号。例如节点1向节点2发送节点2握手信号，节点1向节点3发送节点3握手信号，节点1向节点4发送节点4握手信号。
支持组网的节点会反馈优先级和发送频率给节点1。例如节点2向节点1反馈节点2优先级和发送频率，节点3向节点1反馈节点3优先级和发送频率，节点4向节点1反馈节点4优先级和发送频率。
节点1向最后一个节点(即编号最大的节点)发出握手信号后，最后一个节点向节点1反馈该节点的优先级和发送频率，则组网完成。
节点1根据所有节点反馈的优先级和发送频率信息，确定令牌的发送周期。
作为本实施例的一个示例性描述，图12是本申请实施例一提供的一种数据通信方法之分发令牌法中四个节点仲裁机制的示意图，可适用于环路令牌法进行数据通信的情况。下面以四个节点为例对分发令牌法的仲裁机制进行说明。如图12所示，四个节点之间进行令牌发送仲裁的过程可以包括如下操作：
示例性的，节点1为2ms发送一次数据，优先级为1；节点2为4ms发送一次数据，优先级为2；节点3为8ms发送一次数据，优先级为3；节点4为16ms发送一次数据，优先级为4。
根据所有节点的发送频率，确定最小公倍数为一个循环周期；在一个循环周期中，按照发送频率由节点1向各个节点发送令牌；当该节点收到令牌后，向外发送数据并向节点1反馈信号；节点1在接收到该节点的反馈信号之后，按照各支持组网的节点对应的优先级向下一个支持组网的节点发送令牌。
在分发令牌法中，传输数据的格式例如可以是在数据的一帧里包括帧头1、帧头2、发送节点、目标节点、CRC校验高8位和CRC校验低8位。其中，帧头的含义为表示传输数据的ID；发送节点表示令牌发出的节点地址；目标节点表示令牌接收的节点地址；CRC校验是指验证传输数据是否正常。
分发令牌法可实时检测令牌是否丢失与节点是否丢失，需额外资源判断节点是否增加。
图13是本申请实施例提供的另一种数据通信方法的流程图，图13该方法可以包括如下步骤：
S201、检测设定时间段内差分信号线上的差分信号电平。
其中，设定时间段可以是根据实际情况预设的检测差分信号线上的差分信号电平的时间段，例如可以是1ms或2ms等。
在本实施例中，差分信号线指的是将传统电路中的2根差分信号线(用于信号传输)和2根电源正负线(用于电源供电)复用，简化后的2根差分信号线。简化后的2根差分信号线即做电源供电使用，又做差分信号数据传输使用。
需要说明的是，差分信号电平指的是差分信号线上的电平。差分信号电平例如可以是高或低。
例如，检测设定时间段内2根差分信号线上的差分信号电平。
S202、根据差分信号电平确定总线状态。
在一实施例中，根据差分信号电平确定总线状态。示例性的，当2根差分信号线上的差分信号电平为高-低或低-高即变化电平时，表示差分信号线上有数据，即总线状态为忙；当2根差分信号线上的差分信号电平为固定电平即高组态接收模式时，表示差分信号线上没有数据，即总线状态为闲。
S203、根据总线状态传输当前节点的待传输数据。
需要解释的是，待传输数据指的是当前节点上待向外传输的数据。本实施例中，传输数据的格式例如可以是在数据的一帧里包括帧头1、帧头2、工厂模式标志、地址信息、数据高8位、数据低8位、CRC校验高8位和CRC校验低8位。
在一实施例中，根据总线状态传输当前节点的待传输数据。示例性的，当总线状态为闲时，则将当前节点的待传输数据向外传输。
本申请实施例通过检测设定时间段内差分信号线上的差分信号电平，根据差分信号电平确定总线状态，根据总线状态传输当前节点的待传输数据。本方案无需组网，也不需要确定网络中的节点，不需要知道其他节点的信息，各自节点向总线推送数据即可，最终实现了数据通信，且提高了数据通信的可靠性。
可选的，根据差分信号电平确定总线状态，包括：
若差分信号电平为变化电平，则总线状态为忙。
需要说明的是，变化电平可以理解为2根差分信号线上的差分信号电平为高-低或低-高。
例如，若检测到差分信号线上的差分信号电平为变化电平，则确定总线状态为忙。
若差分信号电平为固定电平，则总线状态为闲。
需要说明的是，固定电平可以理解为2根差分信号线为高组态接收模式。
例如，若检测到差分信号线上的差分信号电平为固定电平，则确定总线状态为闲。
可选的，根据总线状态传输当前节点的待传输数据，包括：
若总线状态为闲，则通过总线传输当前节点的待传输数据。
例如，若确定总线状态为闲，则当前节点将数据向外发送，通过总线传输当前节点的待传输数据。
若总线状态为忙，则返回执行检测设定时间段内差分信号线上的差分信号 电平的操作。
例如，若确定总线状态为忙，则返回执行检测设定时间段内差分信号线上的差分信号电平的操作。
可选的，根据总线状态传输当前节点的待传输数据，包括：
若当前节点处于工厂模式，则等待工厂模式解除后，根据总线状态传输当前节点的待传输数据。
需要解释的是，工厂模式是一种特定的工作模式，在这种模式下节点不按照现有的规则进行数据收发。
例如，若当前节点处于工厂模式，则不按照现有的规则进行数据收发，等待工厂模式解除后，根据总线状态传输当前节点的待传输数据。
作为本实施例的一个示例性描述，图14是本申请实施例二提供的另一种数据通信方法的通信检测电路图，本实施例可适用于数据通信的情况，如图14所示，通信检测电路图包括二极管(如器件型号为1SS357的二极管D23、D24、D25和D26)、电容(如型号为22uf/16V的电容C31和型号为100nf/50V的电容C32)、电阻(如阻值为1万欧姆(10K)的R45、R49和R50)以及三极管(如MMB系列的三极管Q9)等电子元器件，其中VSYS为供电电路。
其中，信号线A和B为2根差分信号线，电路通过2根差分信号线控制Q9的开关即可控制当前节点是否传输数据。
由单片机的串口输出TXD(Transmit(tx)Data，发送数据)，经过TP8485E(一种收发器)芯片后形成变换的AB信号(也即差分信号)，不同的数据对应不同的AB信号，形成变化电平。
数据通信方法的工作机制为：
各PCB(节点)依次编号，用于确定数据解析关系。
当差分信号线有数据传输时，检测到2根差分信号线A-B电平为高低或低-高，差分信号电平为变化电平；当差分信号线无数据传输时，检测到2根差分信号线A-B线为高组态接收模式，差分信号电平为固定电平。示例性的，当差分信号线有数据传输时，AB信号电平为3V(volt，伏特，电压单位)-Vv或者Vv-3V，使得开关Q9打开，此时BUSY为低电平；当差分信号线无数据传输时，AB信号均为高组态接收状态，开关Q9无法打开，此时BUSY为高电平。
所有节点上电时默认为接收状态，当需要发送数据时，检测设定时间段内差分信号线上的差分信号电平。若检测到设定时间段内差分信号线上的差分信号电平一直为固定电平，则发送数据；若检测到设定时间段内差分信号线上的差分信号电平为变化电平，则不发送数据并缩短发送频率。
当数据通信出现异常时，针对不同情况有不同的处理方式：
节点丢失：各自解析节点做出不同处理。
节点增加：支持热插拔。
周期冲突：小幅值改变发送周期与等待时间。
工厂模式：需等待解除工厂模式才可以发送数据。
图15是本申请实施例提供的另一种数据通信系统的结构示意图，图15该系统包括：多个节点(图15中以2个节点为例进行说明)，各节点之间通过两根差分信号线连接。
多个节点根据上述实施例的数据通信方法传输数据。例如可以是通过节点间组网，通过环路令牌或分发令牌的方式进行数据传输，也可以是节点间不进行组网，直接通过两根差分信号线检测电路进行数据传输。
本实施例的数据通信系统，通过将差分信号线与电源线正负线共用，同时将忙闲线通过数据线令牌的形式使用，将5根线束缩短为2根，简化了硬件结构的同时对软件的控制逻辑也做出了新的调整。根据总线状态可以确定节点是否可以发送令牌或传输数据，即便是在共用线束的情况下也可以完成可靠的数据仲裁，提高了数据通信的可靠性。
在一个实施例中，工具内不同位置处的功能模块中的微控制器能进行相互通信配合，但当节点比较多即功能模块较多时，若不对通信线的状态进行通信判断，则会发生数据冲突，从而导致丢包率大幅提升。
在一个实施例中，可以预先设置指示通信系统中通信线的忙闲状态的忙闲指示信号，例如一种数字电平信号，不同电平状态能指示通信线的忙状态或闲状态。其中，忙闲状态是指通信线中是否有通信数据传输。示例性的，当通信线中由有数据传输变为无数据传输，电平信号变化的边沿可以定义为闲中断边沿；反之定义为忙中断边沿。也就是说，微控制器可以根据中断边沿的变化情况判断通信线忙闲状态的变化。进而，微控制器可以根据不同节点的判断时间确定当前发送数据的目标节点，并控制目标节点发送通信数据。
也就会说，通信系统中的所有节点均可以对通信线的忙闲状态进行判断，但判断的时间又先后之分，先进性判断的节点，在判断结果确定通信线为闲状态时，可以优先发送通信数据。在一个实施例中，判断时间长的节点继续判断，直至最少时间节点发送数据时检测到忙中断边沿。在一个实施例中，等待时间长的节点的判断时间短，从而能保证所有节点的数据均能发送出去。
在一个实施例中，当一个节点发送完数据后，可以记为当前任务完成，开始下一次发送。在执行下一次发送数据之前，可以按照发送时间间隔等待相应时间后再对数据进行打包处理，并将打包处理后的数据作为待下次忙闲状态判断后需发送的数据。
通信系统中各节点判断通信线忙闲状态以及发送数据的过程如图16所示包括以下步骤：
S301，开始。
S302，数据发送完成状态。
在数据发送完之后，可以标记节点当前的状态为数据发送完状态。
S303，判断是否达到中断等待计数，若是则转入步骤S304，否则返回步骤S302。
S304，数据打包调制。
S305，数据准备忙闲判断。
S306，闲中断边沿捕获，若是则转入步骤S307，否则转入步骤S312。
S307，数据忙闲判断状态。
S308，判断是否达到中断判断计数，若是则转入步骤S309，否则转入步骤S311。
S309，数据发送状态。
S310，数据发送完成状态。
S311，忙中断边沿捕获，若是则转入步骤S312。
S312，数据准备。
S313，结束。
在一个实施例中，工具系统可以包括不同类型的电动工具以及不同类型的电池包。电动工具可以包括园林工具，如割草机、扫雪机、打草机、吹风机等；手持式电动工具，如打磨机、锤钻、圆锯等，还可以包括其他辅助类电动工具，如照明装置，以及任何能采用本方案的电动工具。电池包的标称电压可以是12V，24V，56V，120V等，电池包能够输出小于等于150安培(A)的工作电流。在一个实施例中，电池包能够输出小于150A的电流至电动工具。
在本实施例中，电动工具内部的各个功能模块间能采用上述实施例中所述的方式进行载波通信。而不同的电动工具之间若能进行电力传输，也可以通过本申请公开的载波通信方式传输通信数据。
在一个实施例中，电池包与充电器之间进行电力传输时，也可以采用本申请实施例公开的载波通信方式传输通信数据。
参考图17所述的电动工具系统，包括电动工具400和电池包500。在本实施例中，电动工具400以手持式工具为例，电池包500以56V电池包为例。
如图17和图18所示，电动工具400至少包括壳体40，马达41，工具控制器42，工具电力端子43，第一调制单元44，第一解调单元45以及驱动电路46。其中，马达41设置在壳体40内，能为电动工具400提供驱动力，马达41可以是有感电机，也可以是无感电机。工具电力端子43能与电池包500中的电池电力端子53电连接，其中，工具电力端子43可以包括正极端子431和负极端子432。驱动电路46与马达41的定子绕组电性连接，能将来自电池包500的电流 传输至定子绕组以驱动马达41旋转。
在一个实施例中，如图19所示，驱动电路46包括多个开关元件Q1、Q2、Q3、Q4、Q5、Q6。每个开关元件的栅极端与工具控制器42电性连接，用于接收来自工具控制器42的控制信号，该控制信号可以是PWM信号。每个开关元件的漏极或源极与马达41的定子绕组A、B、C连接。开关元件Q1-Q6接收来自工具控制器42的控制信号改变各自的导通状态，从而改变电池包500加载在马达41的定子绕组A、B、C上的电流。在一个实施例中，驱动电路46可以是包括六个可控半导体功率器件(例如场效应管(Field Effect Transistor，FET)，双极结型晶体管(Bipolar Junction Transistor，BJT)，绝缘栅双极型晶体管(Insulated Gate Bipolar Transistor，IGBT)等)的三相桥驱动器电路。可以理解的是，上述开关元件也可以是任何其他类型的固态开关，例如绝缘栅双极型晶体管(IGBT)，双极结型晶体管(BJT)等。
为了驱动马达41转动，驱动电路46具有多种驱动状态，不同驱动状态下，马达41的转速或者转向可以不同。本申请针对工具控制器42控制驱动电路46改变不同驱动状态的使马达41获得不同转速或者转向的过程不做详述。
电池包500至少包括壳体50，电芯组51，电池控制器52，电池电力端子53，第二调制单元54以及第二解调单元55。电池包500内可以包括一个或多个电芯组。电芯组51可以由多个串联和/或并联连接的电池芯组成。电池芯的制作材料可以是磷酸铁锂，或者三元锂或者其他材料中的任一种。
在本实施例中，工具电力端子53和电池电力端子53能够适配，并传输电力，其中电池电力端子53可以包括正极端子531和负极端子532。在一个实施例中，工具电力端子53可以是导电连接片或者金属夹持件，相应的电池电力端子53可以是金属夹持件或者导电连接片，从而导电连接片能插入金属夹持件，以建立电动工具400和电池包500之间的电流传输路径。
参考图18，电动工具400内还包括第一电源转换模块47，能够将工具电力端子43流入的高压输入电能转换为低压电能以为工具控制器42供电，或者为第一调制单元44供电，或者为第一解调单元45供电。例如，第一电源转换模块47能输出3.3V或者5V的电。在一个实施例中，电池包500内也可以包括第二电源转换模块56，能够为电池控制器52供电或者为第二调制单元54供电或者为第二解调单元55供电。
在本实施例中，电动工具400和电池包500上不包含能够单独传输通信数据的通信链路，为了实现二者的数据交互，可以采用载波通信的方式，将电池包数据或者工具控制数据耦合至电力端子上以进行传输。但这种方式在工具工况复杂或者与电力端子连接的母线上通大电流时，通信数据的传输会受到较大的干扰。
为了解决上述问题，本申请可以在电动工具400和电池包500中的至少之一内设置调制或解调模块，在通信数据耦合在电力端子或者母线之前，对数据 进行调制，从而能避免通信数据直接耦合在电力端子或者母线上带来较大的干扰。
在本实施例中，电动工具400内的第一调制单元44与工具控制器42电性连接，能够接收来自工具控制器42输出的第一通信数据，并对该数据进行信号调制以获得第一调制信号。其中，第一通信数据可以包括电动工具400中的工具参数或者与马达41相关的电参数等。调制得到的第一调制信号可以耦合至工具电力端子43。由于工具电力端子43与工具内的控制电路的母线401电连接，因此第一调制信号耦合至工具电力端子上也可以理解为第一调制信号能耦合至母线401上的任意节点。从而，工具电力端子43可以将耦合了第一调制信号的电信号通过与工具电力端子43电连接的电池电力端子53传输至电池包500。电池包500内的第二解调单元55可以对接收到的第一调制信号进行解调，以获得电动工具400传输的第一通信数据。
电动工具400内的第一解调单元45可以连接在与工具电力端子43连接的母线401上，能接收到耦合有第二调制信号的电信号。第一解调单元45可以对接收到的第二调制信号进行解调，以获得电池包500传输的第二通信数据，并可以将第二通信数据传输至工具控制器42。工具控制器42可以根据接收到第二通信数据，调整输出控制信号，以控制驱动电路46改变马达41的转动状态。其中，第二通信数据可以是电池包数据，例如，电池包的剩余电量，电池包标称低压，电池包的额定功率，电池包的输出电流等。第二调制信号可以电池包500内的调制对第二通信数据调制后得到的数据信号。
在一个实施例中，如图20所示，在第一调制单元44的输出端并联连接有第一抗干扰元件48和第二抗干扰元件49。也就是说，在第一调制单元44输出的第一调制信号经第一抗干扰元件48和第二抗干扰元件49后，耦合至母线401上。在一个实施例中，第一抗干扰元件48可以是Y电容，能够滤除第一调制信号的第一电力干扰；第二抗干扰元件49可以是电感元件，能够消除第一调制信号中的第二电力干扰。其中，第一电力干扰与第二电力干扰可以相同，也可以不同。所谓的电力干扰可以包括共模干扰、地线干扰等。
在一个实施例中，第一解调单元45的输入端也可以连接有抗干扰元件，例如并联由Y电容和电感元件，或者其他抗干扰元件。
在一个实施例中，电池包500内的第二调制单元54可以连接在与电池电力端子53连接的母线501上，能接收来自电池控制器52输出的第二通信数据，并对该数据进行信号调制以获得第二调制信号。调制得到的第二调制信号可以耦合至与电池电力端子53连接的母线501上。从而，电池电力端子53可以将耦合了第二调制信号的电信号通过与电池电力端子53连接的工具电力端子53传输至电动工具400。
第二解调单元55可以对接收到的第一调制信号进行解调，以获得电动工具400传输的第一通信数据，并可以将该通信数据传输至电池控制器52。电池控 制器52可以根据接收到第一通信数据，调整电芯组51的放电状态或者放电参数，例如调整输出电流的大小或者输出电压的大小或者输出电流的频率或者输出电能的功率等。
在一个实施例中，如图21所示，在第二调制单元54的输出端并联连接有第三抗干扰元件57和第四抗干扰元件58。也就是说，在第二调制单元54输出的第二调制信号经第三抗干扰元件57和第四抗干扰元件58后，耦合至母线501上。在一个实施例中，第三抗干扰元件57可以是Y电容，能够滤除第二调制单元54输出的第二调制信号的第一电力干扰；第四抗干扰元件58可以是电感元件，能够消除第二调制信号中的第二电力干扰。其中，第一电力干扰与第二电力干扰可以相同，也可以不同。所谓的电力干扰可以包括共模干扰、地线干扰等。
在一个实施例中，第二解调单元55的输入端也可以连接有抗干扰元件，例如并联由Y电容和电感元件，或者其他抗干扰元件。
本申请实施例中，对第一调制单元44或者第二调制单元54的信号调制方式不做限定，对第一解调单元45或第二解调单元55的信号解调方式也不做限定。其中，第一调制单元44的信号调制方式与第二解调单元55的解调方式相匹配，第二调制单元54的信号调制方式与第一解调单元45的解调方式相匹配。在一个实施例中，第一调制单元44和第二调制单元54中的至少之一可以采用二进制开关键控(on-off keying，OOK)调制方式。
在一个实施例中，第一调制单元44可以包括两个输入端，能够接收PWM信号和第一通信数据，第一调制单元44的输出端能输出第一调制信号。第一解调单元45的输入端能够接收到第二调制信号，第一解调单元45的输出端能够输出第二通信数据。第二调制单元54也可以包括两个输入端，能够接收PWM信号和第二通信数据，第二调制单元54的输出端能输出第二调制信号。第二解调单元55的输入端能够接收到第一调制信号，第二解调单元55的输出端能够输出第一通信数据。
在一个实施例中，第一调制单元44和第一解调单元45可以是分别独立设置的功能模块，也可以是集成了调制和解调功能的一个功能模块。第二调制单元54和第二解调单元55可以是分别独立设置的功能模块，也可以是集成了调制和解调功能的一个功能模块。

Claims (36)

  1. 一种电动工具，包括：
    传输线，能够传输电力或通信数据；
    多个功能模块，电连接在所述传输线上，可选择性的从所述传输线上接收所述通信数据或传输所述通信数据至所述传输线；
    所述传输线传输所述通信数据的传输频率大于或等于1千赫兹(KHz)。
  2. 根据权利要求1所述的电动工具，其中，所述传输线传输所述通信数据的传输频率大于或等于10KHz。
  3. 根据权利要求1所述的电动工具，其中，所述功能模块包括：
    微控制器，具有发送或接收所述通信数据的数据端口。
  4. 根据权利要求3所述的电动工具，其中，所述功能模块还包括：
    串行通信单元，与所述微控制器的所述数据端口连接，被配置为串行接收或发送所述通信数据。
  5. 根据权利要求4所述的电动工具，其中，所述功能模块还包括：
    耦合元件，连接在所述串行通信单元和所述传输线之间，能将所述功能模块输出的通信数据耦合至所述传输线上；
    解耦元件，与所述传输线连接，能解耦出所述传输线上的通信数据以使所述功能模块获得电源电力。
  6. 根据权利要求3所述的电动工具，其中，所述功能模块还包括：
    调制单元，与所述传输线连接，能对所述功能模块输出的所述通信数据进行调制或者对所述功能模块接收的所述通信数据进行解调。
  7. 根据权利要求3所述的电动工具，其中，所述传输线为一对电力线；
    所述微控制器被配置为：在接收到所述一对电力线传输的所述通信数据之后，对所述通信数据进行抗干扰处理。
  8. 一种电动工具，包括：
    主机，包括工作组件和控制单元；
    操作装置，连接至所述主机，具有产生操作指令的操作模块；
    电源模块，被配置为为所述电动工具提供电源；
    驱动马达，被配置为为所述电动工具提供驱动力；
    传输线，能够传输电力或通信数据；
    所述控制单元或所述操作模块或所述电源模块或所述驱动马达电连接在所述传输线上，可选择性的从所述传输线上接收通信数据或传输通信数据至所述传输线。
  9. 根据权利要求8所述的电动工具，其中，所述传输线传输通信数据的传输频率大于或等于10KHz。
  10. 一种割草机，包括：
    主机，包括控制单元、切割组件和行走组件；
    所述切割组件，被配置为切割植被；
    所述行走组件，被配置为带动所述割草机行走；
    第一驱动马达，被配置为驱动所述切割组件执行割草工作；
    第二驱动马达，被配置为驱动所述行走组件行走；
    把手装置，可连接至所述主机，具有能产生操作指令的操作模块；
    电源模块，被配置为为所述割草机提供电源；
    传输线，能够传输电力或通信数据；
    所述控制单元或所述第一驱动马达或所述第二驱动马达或所述操作模块或所述电源模块电连接在所述传输线上，可选择性的从所述传输线上接收通信数据或传输通信数据至所述传输线。
  11. 一种适用于电动工具的数据通信方法，所述电动工具包括传输线，能够传输电力或通信数据；多个功能模块，电连接在所述传输线上，可选择性的从所述传输线上接收所述通信数据或传输所述通信数据至所述传输线；所述功能模块包括微控制器，具有发送或接收所述通信数据的数据端口；多个微控制之间的数据通信方法包括：
    按照设定时间间隔向数据通信系统中的节点发送握手信号，以请求与所述数据通信系统中的节点组网；
    接收支持组网的节点反馈的应答信息并与所述支持组网的节点组网；
    根据所述应答信息确定总线状态；
    根据所述总线状态向目标节点发送令牌，以供所述目标节点使用所述令牌传输数据。
  12. 根据权利要求11所述的方法，其中，所述目标节点的数量为一个；
    所述目标节点为反馈所述应答信息的节点。
  13. 根据权利要求12所述的方法，所述方法还包括：根据所述应答信息确定令牌传输路径。
  14. 根据权利要求13所述的方法，其中，所述根据所述总线状态向目标节点发送令牌，以供所述目标节点使用所述令牌传输数据，包括：
    根据所述总线状态向目标节点发送令牌，以供所述目标节点在传输数据之后按照所述令牌传输路径将所述令牌发送至下一跳节点；或者，
    根据所述总线状态向目标节点发送令牌，以供所述目标节点在不传输数据的情况下按照所述令牌传输路径将所述令牌发送至下一跳节点。
  15. 根据权利要求12所述的方法，所述方法还包括：
    基于所述令牌在组网中的任意节点滞留的时间超出固定时间的判断结果，强制该节点将所述令牌发送至下一跳节点。
  16. 根据权利要求12所述的方法，所述方法还包括：
    基于在设定时间内未接收到令牌的判断结果，重新根据所述总线状态向所述目标节点发送令牌；
    其中，所述设定时间大于或等于组网中的节点数量与令牌发送异常判别时间的乘积。
  17. 根据权利要求12所述的方法，所述方法还包括：
    基于检测到所述令牌在组网中的任意节点丢失的判断结果，重新向所述目标节点发送所述令牌；
    重新发送所述令牌设定次数后，基于所述令牌仍被丢失的判断结果，重新按照设定时间间隔向数据通信系统中的节点发送握手信号，以请求与所述数据通信系统中的节点重新组网。
  18. 根据权利要求11所述的方法，其中，所述应答信息包括每个所述支持组网的节点对应的优先级和发送频率。
  19. 根据权利要求18所述的方法，其中，所述目标节点包括每个所述支持组网的节点；
    所述根据所述总线状态向目标节点发送令牌，包括：
    按照各所述支持组网的节点对应的优先级分别向各所述支持组网的节点发送所述令牌。
  20. 根据权利要求19所述的方法，其中，所述按照各所述支持组网的节点对应的优先级分别向各所述支持组网的节点发送所述令牌，包括：
    在向每个支持组网的节点发送所述令牌之后，接收该节点的反馈信号；
    在接收到该节点的反馈信号之后，按照各所述支持组网的节点对应的优先级向下一个支持组网的节点发送所述令牌。
  21. 一种适用于电动工具的数据通信方法，所述电动工具包括传输线，能够传输电力或通信数据；多个功能模块，电连接在所述传输线上，可选择性的从所述传输线上接收所述通信数据或传输所述通信数据至所述传输线；所述功能模块包括微控制器，具有发送或接收所述通信数据的数据端口；多个微控制之间的数据通信方法包括：
    检测设定时间段内差分信号线上的差分信号电平；
    根据所述差分信号电平确定总线状态；
    根据所述总线状态传输当前节点的待传输数据。
  22. 根据权利要求21所述的方法，其中，所述根据所述差分信号电平确定总线状态，包括：
    基于所述差分信号电平为变化电平的判断结果，所述总线状态为忙；
    基于所述差分信号电平为固定电平的判断结果，所述总线状态为闲。
  23. 根据权利要求22所述的方法，其中，所述根据所述总线状态传输当前节点的待传输数据，包括：
    基于所述总线状态为闲的判断结果，通过所述传输线传输当前节点的待传输数据；
    基于所述总线状态为忙的判断结果，返回执行检测设定时间段内差分信号线上的差分信号电平的操作。
  24. 根据权利要求21所述的方法，其中，所述根据所述总线状态传输当前节点的待传输数据，包括：
    基于当前节点处于工厂模式的判断结果，等待所述工厂模式解除后，根据所述总线状态传输当前节点的待传输数据。
  25. 一种适用于电动工具的数据通信方法，所述电动工具包括传输线，能够传输电力或通信数据；多个功能模块，电连接在所述传输线上，可选择性的从所述传输线上接收所述通信数据或传输所述通信数据至所述传输线；所述功能模块包括微控制器，具有发送或接收所述通信数据的数据端口；多个微控制之间的数据通信方法包括：
    设置指示通信系统中所述传输线的忙闲状态的忙闲指示信号；
    判断所述通信系统的忙闲状态，并根据不同节点的判断时间确定当前发送数据的目标节点，控制所述目标节点发送通信数据。
  26. 一种电动工具，包括：
    工具壳体；
    马达，被配置为产生驱动力；
    驱动电路，包括多个开关元件；
    工具控制器，至少与所述驱动电路电连接，被配置为输出控制信号控制所述驱动电路中的开关元件改变导通状况，以控制所述马达的工作状态；
    工具电力端子，能与电源装置连接以为所述马达供电；
    第一调制单元，与所述工具控制器连接，能对第一通信数据进行信号调制，并将调制得的第一调制信号耦合至所述工具电力端子以供输出；
    第一解调单元，被配置为接入所述工具电力端子输入的第二调制信号，并解调出所述电源装置传输的第二通信数据，将所述第二通信数据发送至所述工具控制器。
  27. 根据权利要求26所述的电动工具，其中，
    所述电源装置的供电电流大于0安培(A)且小于等于150A。
  28. 根据权利要求26所述的电动工具，所述电动工具还包括：
    第一抗干扰元件，连接在所述第一调制单元与所述工具电力端子之间，以消除所述第一调制信号的第一电力干扰，或者
    连接在所述第一解调单元和所述工具电力端子之间，以消除所述第一调制信号的第一电力干扰。
  29. 根据权利要求26所述的电动工具，所述电动工具还包括：
    第二抗干扰元件，连接在所述第一调制单元与所述工具电力端子之间，以消除所述第一调制信号的第二电力干扰，或者
    连接在所述第一解调单元和所述工具电力端子之间，以消除所述第一调制信号的第二电力干扰。
  30. 一种电池包，包括：
    电芯组，被配置为存储电能；
    电池电力端子，被配置为传输电力至电动工具；
    电池控制器，被配置为控制所述电池包的放电状态；
    第二调制单元，与所述电池控制器连接，能对第二通信数据进行信号调制，并将调制得的第二调制信号耦合至所述电池电力端子以供输出；
    第二解调单元，被配置为接入所述电池电力端子输入的第一调制信号，并解调出所述电动工具传输的第一通信数据，将所述第一通信数据发送至所述电池控制器。
  31. 根据权利要求30所述的电池包，其中，
    所述电池包的标称电压小于等于120伏特(V)。
  32. 根据权利要求30所述的电池包，其中，
    所述电池包的输出电流小于等于150A。
  33. 根据权利要求30所述的电池包，所述电池包还包括：
    第三抗干扰元件，连接在所述第二调制单元与所述电池电力端子之间，以消除所述第二调制信号的第一电力干扰，或者
    连接在所述第二解调单元和所述电池电力端子之间，以消除所述第二调制信号的第一电力干扰。
  34. 根据权利要求30所述的电池包，所述电池包还包括：
    第四抗干扰元件，连接在所述第二调制单元与所述电池电力端子之间，以消除所述第二调制信号的第二电力干扰，或者
    连接在所述第二解调单元和所述电池电力端子之间，以消除所述第二调制信号的第二电力干扰。
  35. 一种工具系统，包括如权利要求26-29任一项所述的电动工具。
  36. 一种工具系统，包括如权利要求30-34任一项所述的电池包。
PCT/CN2022/116563 2021-10-29 2022-09-01 电动工具、割草机、数据通信方法、电池包及工具系统 WO2023071520A1 (zh)

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CN205986867U (zh) * 2016-07-27 2017-02-22 绿友机械集团股份有限公司 园林电动工具与电池包的通信装置
CN106656268A (zh) * 2017-03-14 2017-05-10 西安电子科技大学 一种利用电力线载波技术的监控设备及其监控方法
US20190245583A1 (en) * 2016-07-07 2019-08-08 Safran Electrical & Power Communication method and system for modules interconnected by power line communication
CN110651584A (zh) * 2018-06-29 2020-01-07 创科（澳门离岸商业服务）有限公司 手扶式电动园艺装置

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US20190245583A1 (en) * 2016-07-07 2019-08-08 Safran Electrical & Power Communication method and system for modules interconnected by power line communication
CN205986867U (zh) * 2016-07-27 2017-02-22 绿友机械集团股份有限公司 园林电动工具与电池包的通信装置
CN106656268A (zh) * 2017-03-14 2017-05-10 西安电子科技大学 一种利用电力线载波技术的监控设备及其监控方法
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