WO2024060755A1 - 一种电流检测方法、电动工具及计算机可读介质 - Google Patents

一种电流检测方法、电动工具及计算机可读介质 Download PDF

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Publication number
WO2024060755A1
WO2024060755A1 PCT/CN2023/103420 CN2023103420W WO2024060755A1 WO 2024060755 A1 WO2024060755 A1 WO 2024060755A1 CN 2023103420 W CN2023103420 W CN 2023103420W WO 2024060755 A1 WO2024060755 A1 WO 2024060755A1
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Prior art keywords
current
storage queue
value
current sampling
max
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PCT/CN2023/103420
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English (en)
French (fr)
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陆春雷
金艳
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江苏东成工具科技有限公司
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Publication of WO2024060755A1 publication Critical patent/WO2024060755A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
    • G01R19/0092—Arrangements for measuring currents or voltages or for indicating presence or sign thereof measuring current only
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/24—Arrangements for stopping
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Definitions

  • the invention relates to the field of electric tools, and in particular to a current detection method and an electric tool with a current detection function.
  • the control module in the power tool implements stop control of the motor through current detection.
  • the control module in the power tool such as MCU, implements stop control of the motor through current detection.
  • the motor is controlled to perform the reversal self-stop function, that is, by detecting whether the current is less than a fixed value, when the current changes from When it is greater than the fixed value and less than the fixed value, it is judged that the current suddenly changes; the point corresponding to the fixed value is the current sudden change point.
  • the equipment status is identified and controlled.
  • Chinese Patent No. 113283502 reveals that after determining the historical operating status data corresponding to the equipment, the historical operating status data is clustered to divide the historical operating status data into different categories. status, and then identify the device status threshold based on the value difference data corresponding to clusters between different statuses. That is, the equipment status threshold can be calculated only through historical data, which can effectively improve the efficiency of determining the equipment working status.
  • the above method can improve the determination efficiency, it requires equipment with strong processing capabilities.
  • the chip processing capabilities of general power tools are weak and it is difficult to provide the processing capabilities required by the above method. Although high-performance chips can be used, This undoubtedly greatly increases the cost.
  • the purpose of the present invention is to provide an electric tool that is low in cost and can achieve efficient threshold value determination.
  • a current detection method the method includes:
  • Storage step save the plurality of current sampling values in sequence into a storage queue of length N;
  • Processing steps Determine the maximum value I max and the minimum value I min of the N current sampling values in the storage queue; determine the current mutation point according to the difference between I max and I min .
  • a further improvement scheme is: the method further includes: when the current sampling value in the storage queue is updated, re-determine the maximum value I max and the minimum value I min of the current sampling value in the storage queue; when I max is equal to When the difference in I min is greater than the preset threshold, the current mutation point is determined.
  • a further improvement is that the method further includes determining the change period T of the current based on the waveform change of the current, and determining the preset time interval ⁇ T based on the length N of the storage queue and the change period T of the current.
  • a further improvement is that the current variation period T, the length N of the storage queue and the preset time interval ⁇ T satisfy the following relationship: N* ⁇ T ⁇ T.
  • a further improvement solution is: the storage queue is a first-in-first-out queue.
  • the invention also provides an electric tool, which has a current detection function, and includes:
  • Sampling module used to conduct current sampling according to the time interval ⁇ T during the operation of the motor, and obtain multiple current sampling values
  • Storage module used to save the multiple current sampling values in sequence into a storage queue of length N;
  • Processing module used to determine the maximum value I max and the minimum value I min of the current sampling value in the storage queue; determine the current mutation point according to the difference between I max and I min .
  • a further improvement scheme is: the processing module is also used to detect the storage queue, and when it is detected that the current sampling value in the storage queue is updated, re-determine the maximum value I of the current sampling value in the storage queue. max and the minimum value I min ; when the difference between I max and I min is greater than the preset threshold, the current mutation point is determined.
  • a further improvement solution is: the storage queue is a first-in-first-out queue.
  • the present invention has the following beneficial effects: the current detection method provided by the present invention performs current sampling according to the time interval ⁇ T to obtain multiple current sampling values; the multiple current sampling values are sequentially saved to a In a storage queue of length N; determine the maximum value I max and the minimum value I min of N current sampling values in the storage queue; determine the current mutation point according to the difference between I max and I min .
  • the present invention only the latest N current sampling values are stored in the storage queue, and the mutation point of the current is determined by comparing the maximum value and the minimum value. Therefore, the existing chip can be used to realize the detection of the current, and at the same time, the detection of the current is improved. efficiency and the accuracy of identifying current mutation points.
  • Figure 1 is a change trend diagram of motor current waveform in the prior art
  • Figure 2 is a method flow chart of a preferred embodiment of the present invention.
  • Figure 3 is a change trend diagram of the motor current waveform according to the preferred embodiment of the present invention.
  • Figure 4 is a structural block diagram of a preferred embodiment of the present invention.
  • Figure 5 is a circuit structure diagram of a preferred embodiment of the present invention.
  • the present invention creatively proposes a new type of current detection method based on the changing characteristics of the current, which can accurately and timely obtain the current mutation point, so that the MCU can perform motor control in a timely manner according to the current mutation point.
  • the method can be applied to electric tools such as electric wrenches, so that the MCU can control the motor in time according to the current mutation point, realize the reverse self-stop function, and achieve the effect of stopping the bolt immediately once it is loosened, so that the bolt and the screw can Column is in almost snug condition.
  • the current detection method includes:
  • Storage step saving the multiple current sampling values in sequence into a storage queue with a length of N;
  • Processing steps Determine the maximum value I max and the minimum value I min of the N current sampling values in the storage queue; determine the current mutation point according to the difference between I max and I min .
  • the mutation point of the current is determined by comparing the maximum value and the minimum value.
  • the calculation is simple and the requirements for the MCU chip are low. This can utilize the existing MCU chip to realize current detection, while improving the current detection efficiency and the accuracy of the current mutation point.
  • the maximum value I max and the minimum value I min of the current sampling value in the storage queue are re-determined; when the difference between I max and I min When it is greater than the preset threshold, the current mutation point is determined; that is, when the difference between I max and I min is greater than the preset threshold, it means that the current The current mutation point occurs, and the current mutation point can be determined; since the current mutation point usually appears in the process of continuous decline of the current, the current mutation point determined at this time is the current sampling point corresponding to the updated I min .
  • the state conversion function is started, such as controlling the motor to perform a reverse rotation self-stop function.
  • the preset threshold is determined by those skilled in the art by testing electric tools such as electric wrenches to obtain the highest current during startup, the stable current during stable operation, and the falling current after the current continues to decrease for a certain period of time. Confirm;
  • the preset threshold can be 5A, or 10% of the stable current during normal operation, etc., wherein the stable current can be represented by the rated current;
  • the specific confirmation process is determined by those skilled in the art combined with the Some experience and/or implementation of evaluation methods, functions, etc. are common methods in this field and will not be described again here.
  • the storage queue is a first-in-first-out queue.
  • the length of the storage queue may be 8.
  • the current is sampled and the first current sample value is obtained.
  • the first current sample value is marked as current No. 1 and stored in the storage queue.
  • the current sample value is measured again. Sampling, mark the current sampling value as current No. 2, perform the sampling and storage steps in sequence, and obtain current No. 3, current No. 4, current No. 5, current No. 6, current No. 7, and current No. 8; convert the above current sampling values Stored in the storage queue in turn.
  • the 8 current numbers are full, the current sampling value obtained by subsequent sampling is stored in current No. 8, the original current No.
  • 8 value is stored in current No. 7, and the previous current No. 2 is stored in current No. 1. This ensures that 8 The current signal is always the last generated current value. Then judge whether there is a current mutation point in these 8 current signals, which specifically includes: comparing these 8 current sampling values to compare the maximum difference; that is, obtaining the maximum and minimum values of the above 8 current sampling values to obtain the maximum The difference between the value and the minimum value. When the difference is greater than the preset threshold, it is determined that a sudden change in the current has occurred; otherwise, it means that the current does not suddenly change. Preferably, whenever a new current is detected, the above operation is performed to obtain the maximum value and minimum value in the current queue, and then the difference between the maximum value and the minimum value is obtained.
  • the current mutation point can be confirmed; the method is simple and can be used for the MCU chip.
  • the processing power requirement is small and can be achieved using existing MCU chips; moreover, the accuracy of identifying current mutation points can be significantly improved.
  • the method further includes determining the change period T of the current according to the waveform change of the current, and determining the preset time interval ⁇ T according to the length N of the storage queue and the change period T of the current, where the change period of the current T sets the interval period according to the actual work requirements, and performs periodic updates according to the interval period.
  • the current change period T, the length of the storage queue N and the preset time interval ⁇ T satisfy the following relationship: N* ⁇ T ⁇ T.
  • the changing law of the current is identified to obtain the changing waveform of the current, as shown in Figure 3.
  • a rising process and a falling process of the current can be defined as a cycle. , based on which the value of the current change period T is determined; and then the above relationship is used to ensure that the time length of the N current sampling values stored in the queue is less than one period, thereby improving the sampling accuracy and improving the accuracy of the method.
  • the change period T of the current, the length N of the storage queue, and the preset time interval ⁇ T can also satisfy the following relationship: 0.5T ⁇ N* ⁇ T ⁇ T; through the above settings, it is guaranteed that the data stored in the storage queue
  • the current sampling value can cover at least half of the current change cycle, preventing misjudgment of the current mutation point caused by the continuous decline of current due to the influence of the external environment, and further improving the accuracy of detection.
  • the present invention also provides an electric tool, which has the current detection function as described in Embodiment 1.
  • the electric tool includes: a sampling module, a storage module, and a processing module.
  • the storage module can be an independent module, or can be integrated inside the processing module.
  • Sampling module used to conduct current sampling according to the time interval ⁇ T during the operation of the motor to obtain multiple current sampling values
  • Storage module used to save the multiple current sampling values in sequence into a storage queue of length N;
  • Processing module used to determine the maximum value I max and the minimum value I min of the current sampling value in the storage queue; determine the current mutation point according to the difference between I max and I min .
  • the mutation point of the current is determined by comparing the maximum value and the minimum value.
  • the calculation is simple and the requirements for the MCU chip are low. This can utilize the existing MCU chip to realize current detection, while improving the current detection efficiency and the accuracy of the current mutation point.
  • the maximum value I max and the minimum value I min of the current sampling value in the storage queue are re-determined; when the difference between I max and I min When it is greater than the preset threshold, the current mutation point is determined; that is, when the difference between I max and I min is greater than the preset threshold, it means that the current has mutated, and the current mutation point can be determined; because the current mutation point usually appears when the current continues. In the process of decreasing, the current mutation point determined at this time is the current sampling point corresponding to the updated I min .
  • the state conversion function is started, such as controlling the motor to perform a reverse rotation self-stop function.
  • the preset threshold is determined by those skilled in the art by testing electric tools such as electric wrenches to obtain the highest current during startup, the stable current during stable operation, and the falling current after the current continues to decrease for a certain period of time. Confirm;
  • the preset threshold can be 5A, or 10% of the stable current during normal operation, etc., wherein the stable current can be represented by the rated current;
  • the specific confirmation process is determined by those skilled in the art combined with the Some experience and/or implementation of evaluation methods, functions, etc. are common methods in this field and will not be described again here.
  • the storage queue is a first-in-first-out queue, and its length may be 8 as an example.
  • the current is sampled and the first current sample value is obtained.
  • the first current sample value is marked as current No. 1 and stored in the storage queue.
  • the current sample value is measured again.
  • Sampling mark the current sampling value as current No. 2, perform the sampling and storage steps in sequence, and obtain current No. 3, current No. 4, current No. 5, current No. 6, current No. 7, and current No. 8; convert the above current sampling values Stored in the storage queue in turn.
  • the 8 current numbers are full, the current sampling value obtained by subsequent sampling is stored in current No. 8, the original current No.
  • 8 value is stored in current No. 7, and the previous current No. 2 is stored in current No. 1. This ensures that 8 The current signal is always the last generated current value. Then judge whether there is a current mutation point in these 8 current signals, which specifically includes: comparing these 8 current sampling values to compare the maximum difference; that is, obtaining the maximum and minimum values of the above 8 current sampling values to obtain the maximum The difference between the value and the minimum value. When the difference is greater than the preset threshold, it is determined that a sudden change in the current has occurred; otherwise, it means that the current does not suddenly change. Preferably, whenever a new current is detected, the above operation is performed to obtain the maximum value and minimum value in the current queue, and then the difference between the maximum value and the minimum value is obtained.
  • the difference is greater than the preset threshold , it is deemed that a current mutation has occurred at this time, and the sampling point corresponding to the minimum current sampling value at this time is the current mutation point.
  • the current mutation point can be confirmed; the method is simple and can be used for the MCU chip.
  • the processing power requirement is small and can be achieved using existing MCU chips; moreover, the accuracy of the current mutation point can be significantly improved.
  • the method further includes determining the change period T of the current according to the waveform change of the current, and determining the preset time interval ⁇ T according to the length N of the storage queue and the change period T of the current, where the change period of the current T sets the interval period according to the actual work requirements, and performs periodic updates according to the interval period.
  • the current change period T, the length of the storage queue N and the preset time interval ⁇ T The following relationship is satisfied: N* ⁇ T ⁇ T.
  • the changing law of the current is identified to obtain the changing waveform of the current, as shown in Figure 3.
  • a rising process and a falling process of the current can be defined as a cycle, and the value of the current changing cycle T is determined accordingly; then, the above relationship is used to ensure that the time length of the N current sampling values stored in the queue is less than one cycle, thereby improving the sampling accuracy and the accuracy of the method.
  • the change period T of the current, the length N of the storage queue, and the preset time interval ⁇ T can also satisfy the following relationship: 0.5T ⁇ N* ⁇ T ⁇ T; through the above settings, it is guaranteed that the data stored in the storage queue
  • the current sampling value can cover at least half of the current change cycle, preventing misjudgment of the current mutation point caused by the continuous decline of current due to the influence of the external environment, and further improving the accuracy of detection.
  • the present invention also provides an electric tool, which has the current detection function as described in Embodiment 1, as shown in Figure 5, wherein Q1 to Q6 are N-channel MOS tubes used to control the brushless motor; RS1 The current sensing resistor is used to detect the motor running current. R1 and C2 form an RC filter circuit for filtering the current. C1 is an electrolytic capacitor used to absorb peak current.
  • U1 is MCU used to control brushless motors and current sampling, system control logic, etc.
  • U2 provides 5V power supply to the MCU for the LDO regulated power supply.
  • S1 controls the switch for the main loop, controlling system power on and motor operation.
  • the electric tool includes:
  • the sampling circuit includes a current sensing resistor RS1, used to detect the operating current of the motor to obtain the current sampling value;
  • the MCU is used to control the brushless motor and process current sampling values, including setting up a storage queue to save the current sampling values to the storage queue in sequence; according to the maximum value I max and the minimum value of the current sampling value in the storage queue Value I min ; determine the current mutation point based on the difference between I max and I min .
  • the mutation point of the current is determined by comparing the maximum value and the minimum value.
  • the calculation is simple and the requirements for the MCU chip are low. This can utilize the existing MCU chip to realize current detection, while improving the current detection efficiency and the accuracy of the current mutation point.
  • the maximum value I max and the minimum value I min of the current sampling value in the storage queue are re-determined; when the difference between I max and I min When it is greater than the preset threshold, the current mutation point is determined; that is, when the difference between I max and I min is greater than the preset threshold, it means that the current has mutated, and the current mutation point can be determined; because the current mutation point usually appears when the current continues. In the process of decreasing, the current mutation point determined at this time is the current sampling point corresponding to the updated I min .
  • the state conversion function is started, such as controlling the motor to perform a reverse rotation self-stop function.
  • the preset threshold is determined by those skilled in the art by testing electric tools such as electric wrenches to obtain the highest current during startup, the stable current during stable operation, and the falling current after the current continues to decrease for a certain period of time. Confirm;
  • the preset threshold can be 5A, or 10% of the stable current during normal operation, etc., wherein the stable current can be represented by the rated current;
  • the specific confirmation process is determined by those skilled in the art combined with the Some experience and/or implementation of evaluation methods, functions, etc. are common methods in this field and will not be described again here.
  • the storage queue is a first-in-first-out queue, and its length may be 8 as an example.
  • the S1 switch When the S1 switch is closed, the motor starts running, and the MCU controls the brushless motor to start running. At this time, the current is sampled, and the first current sampling value is obtained.
  • the first current sampling value is marked as current No. 1 and stored in the storage queue.
  • a fixed time interval such as 5ms, perform current sampling again, mark the current sampling value as current No. 2, and perform the sampling and storage steps in sequence to obtain current No. 3, current No. 4, current No. 5, and current No. 6. , current No. 7, current No. 8; store the above current sampling values into the storage queue in sequence.
  • the current sampling value obtained by subsequent sampling is stored in the battery.
  • Stream No. 8 the original current No. 8 value is stored in current No. 7, and the previous current No. 2 is stored in current No. 1. This ensures that the 8 current numbers will always be the last generated current values.
  • judge whether there is a current mutation point in these 8 current signals which specifically includes: comparing these 8 current sampling values to compare the maximum difference; that is, obtaining the maximum and minimum values of the above 8 current sampling values to obtain the maximum The difference between the value and the minimum value. When the difference is greater than the preset threshold, it is determined that a sudden change in the current has occurred; otherwise, it means that the current does not suddenly change.
  • the above operation is performed to obtain the maximum value and minimum value in the current queue, and then the difference between the maximum value and the minimum value is obtained.
  • the difference is greater than the preset threshold , it is deemed that a sudden change in current has occurred at this time.
  • the sampling point corresponding to the minimum current sampling value is the current mutation point.
  • the present invention also provides an electric tool, which includes a memory and a processor.
  • the memory stores a computer program that can be run on the processor.
  • the processor executes the computer program, the above-mentioned Embodiment 1 is implemented. methods involved.
  • the present invention also provides a computer-readable medium having non-volatile program code executable by a processor, and the program code causes the processor to execute the method described in Embodiment 1.
  • the solution provided by the present invention conducts current sampling according to the time interval ⁇ T to obtain multiple current sampling values; saves the multiple current sampling values in sequence to a storage queue with a length of N; determines N current samples in the storage queue The maximum value I max and the minimum value I min of the value are determined; the current mutation point is determined based on the difference between I max and I min .
  • the existing chip can be used to realize the detection of the current, and at the same time, the detection of the current is improved. efficiency and the accuracy of identifying current mutation points.
  • the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present invention essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code. .

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Abstract

一种电流检测方法及电动工具，方法包括：按照时间间隔进行电流采样，获取多个电流采样值；将多个电流采样值依次保存到长度为N的存储队列中；确定存储队列中N个电流采样值的最大值I max和最小值I min；根据I max与I min的差值确定电流突变点。本方法中，存储队列中仅存储最新的N个电流采样值，通过最大值和最小值的比较确定电流的突变点，能够利用现有的芯片实现电流的检测，同时提高了电流的检测效率以及识别电流突变点的准确性。

Description

一种电流检测方法、电动工具及计算机可读介质 【技术领域】
本发明涉及一种电动工具领域，特别涉及一种电流检测方法及具有电流检测功能的电动工具。
【背景技术】
电动工具依靠电机进行工作，电动工具中的控制模块如MCU通过电流检测实现电机的停机控制。以电动扳手为例，通常具有反转自停功能，通过电流检测进行控制，当检测到电流突变点时，控制电机执行反转自停功能，即通过检测电流是否小于一个固定值，当电流从大于固定值到小于固定值时判断电流发生突变；该固定值对应的点即为电流突变点，通过电流突变点的判定，进行设备状态的识别控制。然而这种判断方式存在2个问题，1.如果固定值选在a处，如图1所示，由于较接近正常电流值容易造成误判情况；2.如果固定值选在b处，如图1所示，这样是不会造成误判情况，但由于电流下降到b处时间较长，这样判断的电流突变时间延迟较大，错过真正电流突变点。
为了进一步提高设备工作状态阈值的判定效率，中国专利第113283502号揭示了：在确定设备对应的历史运行状态数据后，通过对历史运行状态数据进行聚类处理，从而将历史运行状态数据划分至不同状态，而后基于不同状态间聚簇对应的值差数据，识别设备状态阈值。即只需要通过历史数据即可计算出设备状态阈值，可以有效提高设备工作状态的判定效率。上述方法虽然能够提高判定效率，但是需要设备具有较强的处理能力，然而，一般的电动工具的芯片处理能力较弱，难以提供上述方法所要求的处理能力，虽然可以使用高性能的芯片，但是这无疑大大增加了成本。
鉴于此，确有必要提供一种改进的电动工具，以克服现有技术存在的缺陷。
【发明内容】
针对现有技术的不足，本发明的目的在于提供一种成本低廉，且能够实现阈值高效判定的电动工具。
本发明解决现有技术问题可采用如下技术方案：一种电流检测方法，所述方法包括：
采样步骤：在电机运行过程中，按照时间间隔△T进行电流采样，获取多个电流采样值；
存储步骤：将所述多个电流采样值依次保存到长度为N的存储队列中；
处理步骤：确定所述存储队列中N个电流采样值的最大值Imax和最小值Imin；根据Imax与Imin的差值确定电流突变点。
进一步改进方案为：所述方法还包括：当存储队列中的所述电流采样值发生更新时，重新确定所述存储队列中电流采样值的最大值Imax和最小值Imin；当Imax与Imin的差值大于预设阈值时，确定电流突变点。
进一步改进方案为：所述方法还包括根据电流的波形变化确定电流的变化周期T，根据存储队列的长度N和电流的变化周期T确定预设的时间间隔△T。
进一步改进方案为：电流的变化周期T、存储队列的长度N和预设的时间间隔△T满足以下关系：N*ΔT<T。
进一步改进方案为：所述存储队列为先入先出队列。
本发明还提供了一种电动工具，所述电动工具具有电流检测功能，所述电动工具包括：
采样模块：用于在电机运行过程中，按照时间间隔△T进行电流采样，获取多个电流采样值；
存储模块：用于将所述多个电流采样值依次保存到长度为N的存储队列中；
处理模块：用于确定所述存储队列中电流采样值的最大值Imax和最小值Imin；根据Imax与Imin的差值确定电流突变点。
进一步改进方案为：所述处理模块还用于对存储队列进行检测，当检测到所述存储队列中的所述电流采样值发生更新时，重新确定所述存储队列中电流采样值的最大值Imax和最小值Imin；当Imax与Imin的差值大于预设阈值时，确定电流突变点。
进一步改进方案为：所述存储队列为先入先出队列。
与现有技术相比，本发明具有如下有益效果：本发明提供的电流检测方法，按照时间间隔△T进行电流采样，获取多个电流采样值；将所述多个电流采样值依次保存到一个长度为N的存储队列中；确定所述存储队列中N个电流采样值的最大值Imax和最小值Imin；根据Imax与Imin的差值确定电流突变点。本发明中，存储队列中仅存储最新的N个电流采样值，通过最大值和最小值的比较确定电流的突变点，由此能够利用现有的芯片实现电流的检测，同时提高了电流的检测效率以及识别电流突变点的准确性。
【附图说明】
下面结合附图对本发明的具体实施方式做进一步详细的说明:
图1是现有技术中电机电流波形变化趋势图；
图2是本发明优选实施例的方法流程图；
图3是本发明优选实施例的电机电流波形变化趋势图；
图4是本发明优先实施例的结构框图；
图5是本发明优选实施例的电路结构图。
【具体实施方式】
下面结合附图和实施方式对本发明作进一步详细说明。
在本发明中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。
实施例一
针对现有技术的不足，本发明结合电流的变化特点，创造性的提出了一种新型的电流检测方法，能够准确、及时的获取电流突变点，以便MCU根据所述电流突变点及时的进行电机控制，优选的，所述方法可以应用于电动扳手等电动工具，以便MCU根据所述电流突变点及时的进行电机控制，实现反转自停功能，达到螺栓一旦拧松立马停止效果，使得螺栓与螺柱几乎贴合状态。如图2所示，所述电流检测方法包括：
采样步骤：在电机运行过程中，按照时间间隔△T进行电流采样，获取多个电流采样值；
存储步骤：将所述多个电流采样值依次保存到长度为N的存储队列中；
处理步骤：确定所述存储队列中N个电流采样值的最大值Imax和最小值Imin；根据Imax与Imin的差值确定电流突变点。
在本实施例中，优选的，所述存储队列中仅存储最新的N个电流采样值，通过最大值和最小值的比较确定电流的突变点，计算简单，对MCU芯片的要求较低，由此能够利用现有的MCU芯片实现电流的检测，同时提高了电流的检测效率以及电流突变点的准确性。
在本实施例中，当存储队列中的所述电流采样值发生更新时，重新确定所述存储队列中电流采样值的最大值Imax和最小值Imin；当Imax与Imin的差值大于预设阈值时，确定电流突变点；即当Imax与Imin的差值大于预设阈值时，说明电 流发生了突变，由此可以确定电流突变点；由于电流突变点通常出现在电流持续下降的过程中，此时确定的电流突变点即为更新的Imin对应的电流采样点。优选的，当检测到所述电流突变点时，启动状态转换功能，如控制电机执行反转自停功能。其中，所述预设阈值由本领域技术人员通过对如电动扳手等电动工具的测试，获取启动过程中的最高电流、稳定工作时的稳定电流，以及当电流持续下降一定时间后的下降电流，进行确认；示例性的，所述预设阈值可以为5A，或是正常工作时稳定电流的10％等，其中，所述稳定电流可以使用额定电流表示；具体的确认过程是本领域技术人员结合已有的经验和、或评估方法、函数等实现的，是本领域的常见方式，在此不再赘述。
在本发明中，所述存储队列为先入先出队列，示例性的，所述存储队列的长度可以为8。在电机正常运行时，进行电流的采样，得到第一个电流采样值，将第一个电流采样值标记为电流1号，存储到存储队列中，间隔一固定时间间隔，例如5ms，再次进行电流采样，将该电流采样值标记为电流2号，依次执行采样及存储步骤，得到电流3号、电流4号、电流5号、电流6号、电流7号、电流8号；将上述电流采样值依次存储到存储队列中。在8个电流号取满时，后面通过采样得到的电流采样值存入电流8号，原电流8号值存入电流7号，依次往前电流2号存入电流1号，这样保证了8个电流号永远为最后产出的电流值。然后判断这8个电流号是否存在出电流突变点，具体包括：将这8个电流采样值进行比较，比较出最大差值；即获取上述8个电流采样值的最大值和最小值，获得最大值和最小值的差值，当所述差值大于预设阈值时，则认定此时已经发生电流突变；反之则说明电流未发生突变。优选的，每当检测到一个新的电流时，均进行上述操作，以获取当前队列中的最大值和最小值，然后获得最大值和最小值的差值，当所述差值大于预设阈值时，则认定此时已经发生 电流突变，此时的电流采样最小值对应的采样点即为电流突变点。通过上述方式，能够有效的防止电流突变点的误判，提高判定的准确性和及时性。
通过上述方式，利用先入先出存储队列的特点，保存最新的电流采样值，然后筛选出最大值和最小值，进行差值计算，即可实现电流突变点的确认；方法简单，对MCU芯片的处理能力要求较小，使用现有的MCU芯片即可实现；而且，能够显著的提高电流突变点的识别准确性。
在本实施例中，所述方法还包括根据电流的波形变化确定电流的变化周期T，根据存储队列的长度N和电流的变化周期T确定预设的时间间隔△T，其中，电流的变化周期T根据实际的工作需求设置间隔周期，根据所述间隔周期进行周期性的更新。电流的变化周期T、存储队列的长度N和预设的时间间隔△T满足以下关系：N*ΔT<T。
在本发明中，在电机正常运行过程中，对电流的变化规律进行识别，得到电流的变化波形，如图3所示，示例性的，电流的一个上升过程和一个下降过程可以定义为一个周期，据此确定电流的变化周期T的值；然后通过上述关系保证队列中存储的N个电流采样值的时间长度小于一个周期，由此提高了采样的精度，提高了方法的准确性。
在优选实施例中，电流的变化周期T、存储队列的长度N和预设的时间间隔△T还可以是满足以下关系：0.5T<N*ΔT<T；通过上述设置保证存储队列中存储的电流采样值能够至少覆盖半个电流变化周期，防止因外部环境影响导致的电流持续下降带来的电流突变点的误判，进一步提高了检测的准确性。
实施例二
本发明还提供了一种电动工具，所述电动工具具有如实施例1所述的电流检测功能，如图4所示，所述电动工具包括：采样模块、存储模块、处理模块， 其中，所述存储模块可以是独立的模块，也可以集成于处理模块内部。
采样模块：用于在电机运行过程中，按照时间间隔△T进行电流采样，获取多个电流采样值；
存储模块：用于将所述多个电流采样值依次保存到长度为N的存储队列中；
处理模块：用于确定所述存储队列中电流采样值的最大值Imax和最小值Imin；根据Imax与Imin的差值确定电流突变点。
在本实施例中，优选的，所述存储队列中仅存储最新的N个电流采样值，通过最大值和最小值的比较确定电流的突变点，计算简单，对MCU芯片的要求较低，由此能够利用现有的MCU芯片实现电流的检测，同时提高了电流的检测效率以及电流突变点的准确性。
在本实施例中，当存储队列中的所述电流采样值发生更新时，重新确定所述存储队列中电流采样值的最大值Imax和最小值Imin；当Imax与Imin的差值大于预设阈值时，确定电流突变点；即当Imax与Imin的差值大于预设阈值时，说明电流发生了突变，由此可以确定电流突变点；由于电流突变点通常出现在电流持续下降的过程中，此时确定的电流突变点即为更新的Imin对应的电流采样点。优选的，当检测到所述电流突变点时，启动状态转换功能，如控制电机执行反转自停功能。其中，所述预设阈值由本领域技术人员通过对如电动扳手等电动工具的测试，获取启动过程中的最高电流、稳定工作时的稳定电流，以及当电流持续下降一定时间后的下降电流，进行确认；示例性的，所述预设阈值可以为5A，或是正常工作时稳定电流的10％等，其中，所述稳定电流可以使用额定电流表示；具体的确认过程是本领域技术人员结合已有的经验和、或评估方法、函数等实现的，是本领域的常见方式，在此不再赘述。
在本发明中，所述存储队列为先入先出队列，示例性的，其长度可以为8。 在电机正常运行时，进行电流的采样，得到第一个电流采样值，将第一个电流采样值标记为电流1号，存储到存储队列中，间隔一固定时间间隔，例如5ms，再次进行电流采样，将该电流采样值标记为电流2号，依次执行采样及存储步骤，得到电流3号、电流4号、电流5号、电流6号、电流7号、电流8号；将上述电流采样值依次存储到存储队列中。在8个电流号取满时，后面通过采样得到的电流采样值存入电流8号，原电流8号值存入电流7号，依次往前电流2号存入电流1号，这样保证了8个电流号永远为最后产出的电流值。然后判断这8个电流号是否存在出电流突变点，具体包括：将这8个电流采样值进行比较，比较出最大差值；即获取上述8个电流采样值的最大值和最小值，获得最大值和最小值的差值，当所述差值大于预设阈值时，则认定此时已经发生电流突变；反之则说明电流未发生突变。优选的，每当检测到一个新的电流时，均进行上述操作，以获取当前队列中的最大值和最小值，然后获得最大值和最小值的差值，当所述差值大于预设阈值时，则认定此时已经发生电流突变，此时的电流采样最小值对应的采样点即为电流突变点。通过上述方式，能够有效的防止电流突变点的误判，提高判定的准确性和及时性。
通过上述方式，利用先入先出存储队列的特点，保存最新的电流采样值，然后筛选出最大值和最小值，进行差值计算，即可实现电流突变点的确认；方法简单，对MCU芯片的处理能力要求较小，使用现有的MCU芯片即可实现；而且，能够显著的提高电流突变点的准确性。
在本实施例中，所述方法还包括根据电流的波形变化确定电流的变化周期T，根据存储队列的长度N和电流的变化周期T确定预设的时间间隔△T，其中，电流的变化周期T根据实际的工作需求设置间隔周期，根据所述间隔周期进行周期性的更新。电流的变化周期T、存储队列的长度N和预设的时间间隔△T 满足以下关系：N*ΔT<T。
在本发明中，在电机正常运行过程中，对电流的变化规律进行识别，得到电流的变化波形，如图3所示，示例性的，电流的一个上升过程和一个下降过程可以定义为一个周期，据此确定电流的变化周期T的值；然后通过上述关系保证队列中存储的N个电流采样值的时间长度小于一个周期，由此提高了采样的精度，提高了方法的准确性。
在优选实施例中，电流的变化周期T、存储队列的长度N和预设的时间间隔△T还可以是满足以下关系：0.5T<N*ΔT<T；通过上述设置保证存储队列中存储的电流采样值能够至少覆盖半个电流变化周期，防止因外部环境影响导致的电流持续下降带来的电流突变点的误判，进一步提高了检测的准确性。
实施例三
本发明还提供了一种电动工具，所述电动工具具有如实施例1所述的电流检测功能，如图5所示，其中，Q1～Q6为N沟道MOS管用于控制无刷电机；RS1为检流电阻用于检测电机运行电流。R1、C2组成RC滤波电路用于对电流进行滤波处理。C1为电解电容用于吸收尖峰电流。U1为MCU用于控制无刷电机及电流采样，系统控制逻辑等。U2为LDO稳压电源提供5V电源给MCU。S1为主回路控制开关，控制系统上电和电机运行。
为了提高了电流的检测效率以及电流突变点的准确性；所述电动工具包括：
采样电路，所述采样电路包括检流电阻RS1，用于检测电机的运行电流，以获得电流采样值；
MCU用于控制无刷电机及电流采样值的处理，包括设置存储队列，用于将所述电流采样值依次保存到存储队列中；根据所述存储队列中电流采样值的最大值Imax和最小值Imin；根据Imax与Imin的差值确定电流突变点。
在本实施例中，优选的，所述存储队列中仅存储最新的N个电流采样值，通过最大值和最小值的比较确定电流的突变点，计算简单，对MCU芯片的要求较低，由此能够利用现有的MCU芯片实现电流的检测，同时提高了电流的检测效率以及电流突变点的准确性。
在本实施例中，当存储队列中的所述电流采样值发生更新时，重新确定所述存储队列中电流采样值的最大值Imax和最小值Imin；当Imax与Imin的差值大于预设阈值时，确定电流突变点；即当Imax与Imin的差值大于预设阈值时，说明电流发生了突变，由此可以确定电流突变点；由于电流突变点通常出现在电流持续下降的过程中，此时确定的电流突变点即为更新的Imin对应的电流采样点。优选的，当检测到所述电流突变点时，启动状态转换功能，如控制电机执行反转自停功能。其中，所述预设阈值由本领域技术人员通过对如电动扳手等电动工具的测试，获取启动过程中的最高电流、稳定工作时的稳定电流，以及当电流持续下降一定时间后的下降电流，进行确认；示例性的，所述预设阈值可以为5A，或是正常工作时稳定电流的10％等，其中，所述稳定电流可以使用额定电流表示；具体的确认过程是本领域技术人员结合已有的经验和、或评估方法、函数等实现的，是本领域的常见方式，在此不再赘述。
在本发明中，所述存储队列为先入先出队列，示例性的，其长度可以为8。当S1开关闭合时，电机启动运行，MCU控制无刷电机启动运行，此时进行电流的采样，得到第一个电流采样值，将第一个电流采样值标记为电流1号，存储到存储队列中，间隔一固定时间间隔，例如5ms，再次进行电流采样，将该电流采样值标记为电流2号，依次执行采样及存储步骤，得到电流3号、电流4号、电流5号、电流6号、电流7号、电流8号；将上述电流采样值依次存储到存储队列中。在8个电流号取满时，后面通过采样得到的电流采样值存入电 流8号，原电流8号值存入电流7号，依次往前电流2号存入电流1号，这样保证了8个电流号永远为最后产出的电流值。然后判断这8个电流号是否存在出电流突变点，具体包括：将这8个电流采样值进行比较，比较出最大差值；即获取上述8个电流采样值的最大值和最小值，获得最大值和最小值的差值，当所述差值大于预设阈值时，则认定此时已经发生电流突变；反之则说明电流未发生突变。优选的，每当检测到一个新的电流时，均进行上述操作，以获取当前队列中的最大值和最小值，然后获得最大值和最小值的差值，当所述差值大于预设阈值时，则认定此时已经发生电流突变。电流采样最小值对应的采样点即为电流突变点。通过上述方式，能够有效的防止电流突变点的误判，提高判定的准确性和及时性。
本发明还提供了一种电动工具，包括存储器、处理器，所述存储器上存储有可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现上述实施例1所涉及的方法。
本发明还提供了一种具有处理器可执行的非易失的程序代码的计算机可读介质，所述程序代码使所述处理器执行所述实施例1所述的方法。
本发明提供的方案按照时间间隔△T进行电流采样，获取多个电流采样值；将所述多个电流采样值依次保存到长度为N的存储队列中；确定所述存储队列中N个电流采样值的最大值Imax和最小值Imin；根据Imax与Imin的差值确定电流突变点。本发明中，存储队列中仅存储最新的N个电流采样值，通过最大值和最小值的比较确定电流的突变点，由此能够利用现有的芯片实现电流的检测，同时提高了电流的检测效率以及识别电流突变点的准确性。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统和装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此 不再赘述。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上所述实施例，仅为本发明的具体实施方式，用以说明本发明的技术方案，而非对其限制，本发明的保护范围并不局限于此，尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解:任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，其依然可以对前述实施例所记载的技术方案进行修改或可轻易想到变化，或者对其中部分技术特征进行等同替换；而这些修改、变化或者替换，并不使相应技术方案的本质脱离本发明实施例技术方案的精神和范围，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。

Claims (10)

  1. 一种电流检测方法，其特征在于，所述方法包括：
    采样步骤：在电机运行过程中，按照时间间隔△T进行电流采样，获取多个电流采样值；
    存储步骤：将所述多个电流采样值依次保存到长度为N的存储队列中；
    处理步骤：确定所述存储队列中N个电流采样值的最大值Imax和最小值Imin；
    根据Imax与Imin的差值确定电流突变点。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：当存储队列中的所述电流采样值发生更新时，重新确定所述存储队列中电流采样值的最大值Imax和最小值Imin；当Imax与Imin的差值大于预设阈值时，确定电流突变点。
  3. 根据权利要求1所述的方法，其特征在于，所述方法还包括根据电流的波形变化确定电流的变化周期T，根据存储队列的长度N和电流的变化周期T确定预设的时间间隔△T。
  4. 根据权利要求3所述的方法，其特征在于，电流的变化周期T、存储队列的长度N和预设的时间间隔△T满足以下关系：
    N*ΔT<T。
  5. 根据权利要求1-4任一项所述的方法，其特征在于，所述存储队列为先入先出队列。
  6. 一种电动工具，其特征在于，所述电动工具具有电流检测功能，所述电动工具包括：
    采样模块：用于在电机运行过程中，按照时间间隔△T进行电流采样，获取多个电流采样值；
    存储模块：用于将所述多个电流采样值依次保存到长度为N的存储队列中；
    处理模块：用于确定所述存储队列中电流采样值的最大值Imax和最小值Imin；
    根据Imax与Imin的差值确定电流突变点。
  7. 根据权利要求6所述的电动工具，其特征在于，所述处理模块还用于对存储队列进行检测，当检测到所述存储队列中的所述电流采样值发生更新时，重新确定所述存储队列中电流采样值的最大值Imax和最小值Imin；当Imax与Imin的差值大于预设阈值时，确定电流突变点。
  8. 根据权利要求6-7任一项所述的电动工具，其特征在于，所述存储队列为先入先出队列。
  9. 一种电动工具，包括存储器、处理器，所述存储器上存储有可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现上述权利要求1-5所述的方法。
  10. 一种具有处理器可执行的非易失的程序代码的计算机可读介质，其特征在于，所述程序代码使所述处理器执行所述权利要求1-5所述的方法。
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