A security control method, intelligent device and computer readable medium

Abstract

The application provides a safety control method, an intelligent device and a computer readable medium. The safety control method comprises the following steps: acquiring a plurality of angle values corresponding to each spatial angle in different spatial angles; determining a deviation value of each spatial angle according to a maximum value and a minimum value in the plurality of angle values corresponding to each spatial angle; determining an error value according to the deviation value of each spatial angle; and determining whether to trigger a protection operation according to the deviation value and / or the error value. In the triggering process of the safety operation, the mutual influence between different spatial angles is comprehensively considered, the false triggering of the safety operation is effectively prevented, and the control precision of the anti-twisting operation is improved. Meanwhile, the scheme provided by the application supports the adjustment of the triggering operation precision, can meet the safety requirements of different users, and improves the user experience.

Description

[0001] The present application relates to the field of intelligent manufacturing, in particular to a safety control method applied to electric tools, an intelligent device and a computer readable medium.

[0002] With the increasing demand of daily life, the use of electric tools is becoming more and more widespread, and the target population is also becoming more and more diverse. With the increase of the target population, electric tools are not limited to the use of professionals, and many families will also purchase electric tools for use. Due to the difference in professional skills, some dangers may occur during the use of electric tools, and tool kickback is a common danger.

[0003] In order to prevent tool kickback, many anti-twist technologies are provided, such as Chinese patent No. CN213616506U, which proposes a solution to prevent the electric tool from being bound in the workpiece, thereby causing kickback, which may cause safety problems. The solution uses a combination of directional sensor 345 and motion sensor 350 to monitor the roll position of the electric tool 102a, i.e. the rotation angle, and the sensors 345 and 340 allow the movement of the electric tool to be monitored from one axis to nine axes; compare the initial initial roll position with the current roll position during operation, when the change is greater than a preset amount (operation angle range), kickback occurs; safety control is performed according to the detection result. However, the above-mentioned solution detects a single parameter, which is prone to misjudgment; at the same time, it cannot be personalized according to the user's needs, and the user experience is poor.

[0004] Therefore, it is necessary to provide an improved electric tool to overcome the defects of the prior art.

[0005] In view of the deficiencies of the prior art, the purpose of the present application is to provide an improved solution which has the characteristics of high safety control precision and can be personalized for different users to meet the needs of different users.

[0006] The present application solves the problems of the prior art and can adopt the following technical solutions:

[0007] A safety control method, the method comprising:

[0008] The acquisition step is used to acquire data of different space angles and obtain a plurality of angle values corresponding to each space angle in different space angles;

[0009] The calculation step is to obtain the maximum and minimum values of the plurality of angle values corresponding to each space angle, and determine the deviation value of each space angle according to the maximum and minimum values;

[0010] ​​​The processing step comprises: determining error values according to the deviation values of the respective spatial angles; determining whether to trigger a protection operation according to the deviation values and / or the error values.

[0011] The method further comprises: obtaining a safety coefficient of the user, and determining a safety threshold of the deviation values and / or the error values according to the safety coefficient.

[0012] The step of determining whether to perform a protection operation according to the deviation values and / or the error values comprises: comparing the deviation values and / or the error values with corresponding safety thresholds respectively, and obtaining comparison results.

[0013] When all the comparison results meet the condition of triggering the protection operation, the protection operation is performed.

[0014] The different spatial angles comprise a first spatial direction, a second spatial direction, and a third spatial direction.

[0015] The acquisition step comprises: obtaining a plurality of angle values of the first, second, and third spatial directions.

[0016] The calculation step comprises: calculating angle deviation values of the first, second, and third spatial directions respectively.

[0017] The processing step comprises: cross-comparing the angle deviation values of the first, second, and third spatial directions to determine a plurality of error values.

[0018] The step of determining whether to trigger a protection operation according to at least one angle deviation value and at least one error value.

[0019] The cross-comparing the angle deviation values of the first, second, and third spatial directions to determine a plurality of error values comprises:

[0020] Determining a first error value according to the angle deviation values of the first and second spatial directions.

[0021] Determining a second error value according to the angle deviation values of the first and third spatial directions.

[0022] Determining whether to trigger a protection operation according to the angle deviation value of the first spatial direction, the first error value, and the second error value.

[0023] The method further comprises: after obtaining a plurality of angle values corresponding to each spatial angle in the different spatial angles, storing the plurality of angle values in a plurality of queues respectively.

[0024] Obtaining a maximum value and a minimum value in each queue, and determining the deviation value of each spatial angle according to the maximum value and the minimum value.

[0025] The application further provides a smart device, which comprises:

[0026] The acquisition module is used for acquiring data of different spatial angles and obtaining a plurality of angle values corresponding to each spatial angle in different spatial angles.

[0027] The calculation module is used for obtaining a maximum value and a minimum value in the plurality of angle values corresponding to each spatial angle, and determining a deviation value of each spatial angle according to the maximum value and the minimum value.

[0028] The processing module is used for determining an error value according to the deviation value of each spatial angle, and determining whether to trigger a protection operation according to the deviation value and / or the error value.

[0029] The application further provides a smart device, which comprises:

[0030] The acquisition sensor is used for acquiring data of different spatial angles and obtaining a plurality of angle values corresponding to each spatial angle in different spatial angles.

[0031] The processor is used for obtaining a maximum value and a minimum value in the plurality of angle values corresponding to each spatial angle, and determining a deviation value of each spatial angle according to the maximum value and the minimum value; determining an error value according to the deviation value of each spatial angle; and determining whether to trigger a protection operation according to the deviation value and / or the error value.

[0032] Further improvement is that the acquisition sensor is a six-axis sensor.

[0033] The application further provides a smart device comprising a memory and a processor, wherein the memory stores a computer program capable of running on the processor, and the processor implements the method when executing the computer program.

[0034] The application further provides a computer readable medium having non-volatile program code executable by a processor, wherein the program code causes the processor to execute the method.

[0035] Compared with the prior art, the safety control method and the intelligent device provided by the application have the following beneficial effects: the safety control method and the intelligent device provided by the application obtain a plurality of angle values corresponding to each spatial angle in different spatial angles; determine a deviation value of each spatial angle according to a maximum value and a minimum value in the plurality of angle values corresponding to each spatial angle; determine an error value according to the deviation value of each spatial angle; and determine whether to trigger a protection operation according to the deviation value and / or the error value. In the triggering process of the safety operation, the mutual influence between different spatial angles is comprehensively considered, the false triggering of the safety operation is effectively prevented, and the control precision of the anti-twist operation is improved. Meanwhile, the scheme provided by the application supports the adjustment of the triggering operation precision, can meet the safety requirements of different users, and improves the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0036] The specific embodiments of the application will be further described in detail below with reference to the accompanying drawings:

[0037] Figure 1 is a method flowchart of the preferred embodiment of the application;

[0038] Figure 2 is a method flowchart of the preferred embodiment of the application;

[0039] Figure 3 is a structural schematic diagram of the preferred embodiment of the application. DETAILED DESCRIPTION

[0040] The application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0041] The terms used in the application are only for the purpose of describing specific embodiments, and are not intended to limit the application.

[0042] The intelligent device described in the application can be an electric tool / electric device, wherein the electric tool / electric device can be a garden tool, a handheld tool, or other automated devices with an anti-twist function; as long as the above-mentioned devices / tools can adopt the essential content of the technical scheme disclosed below, they can fall within the protection scope of the application.

[0043] Due to the difference in professional skills of personnel, some dangers are generated in the process of using electric tools, and tool recoil is a common dangerous phenomenon. The anti-twist technology is one of the safety functions to ensure the safety of users during the use of tools. However, in the prior art, the judgment method is simple during the triggering process of the anti-twist operation, which is easy to cause misjudgment; and the personalized setting according to the user's demand cannot be performed, and the user experience is poor. In view of the deficiencies of the prior art, the purpose of the application is to provide an improved scheme, which has the characteristics of high safety control precision and can perform personalized setting for different users to meet the needs of different users.

[0044] The present application solves the problems in the prior art and can adopt the following technical scheme: a safety control method, as shown in the accompanying drawings, the method comprises: Figure 1

[0045] The collecting step is used for collecting data of different spatial angles and obtaining a plurality of angle values corresponding to each spatial angle in different spatial angles;

[0046] The calculating step is used for obtaining a maximum value and a minimum value in the plurality of angle values corresponding to each spatial angle, and determining a deviation value of each spatial angle according to the maximum value and the minimum value;

[0047] The processing step is used for determining an error value according to the deviation value of each spatial angle, and determining whether to trigger a protection operation according to the deviation value and / or the error value.

[0048] By obtaining a plurality of angle values corresponding to each spatial angle in different spatial angles, determining a deviation value of each spatial angle according to a maximum value and a minimum value in the plurality of angle values corresponding to each spatial angle, determining an error value according to the deviation value of each spatial angle, and determining whether to trigger a protection operation according to the deviation value and / or the error value, the mutual influence between different spatial angles is comprehensively considered in the triggering process of the safety operation, the false triggering of the safety operation is effectively prevented, and the control precision of the anti-twisting operation is improved.

[0049] Preferably, the method further comprises obtaining a safety coefficient of a user, determining a safety threshold of the deviation value and / or the error value according to the safety coefficient, and determining whether to perform the protection operation according to the deviation value and / or the error value, which comprises comparing the deviation value and / or the error value with the corresponding safety threshold respectively to obtain comparison results, and performing the protection operation when all the comparison results meet the condition of triggering the protection operation.

[0050] Preferably, the determination of the safety threshold can be realized by a man-machine interaction module. Since different users have different needs for the safety operation, that is, each user has different control strength for the rotation angle, the tool can provide a recommended value or a default value; for skilled users or new users, the safety threshold can also be set according to their own needs.

[0051] In the preferred embodiment, because the handheld tool will produce shaking or necessary artificial slight twisting in actual work, the position angle will change, so time measurement must be added on the basis of angle detection. It is found in actual measurement that, taking an electric hammer as an example, when the drill bit of the electric hammer is stuck on the wall surface, the machine body will rotate at a very fast speed (the trigger switch is not set to be disconnected) after the handle is loosened. The preliminary rotation speed of the machine body at this time is about 1-3 rounds per second, and the corresponding angle is 360°-1080°.

[0052] ​ Rotation number Time (ms) Rotation angle (°) Minimum number of rotations 1 1000 360 Maximum number of rotations 3 1000 1080

[0053] If the anti-torsion protection is started after 1 second of detection, the body has already rotated a large angle, which can injure the user; in general, the faster the trigger of the protection operation, the better. Based on this, the angle value of rotation in each time can be calculated.

[0054]

[0055] When the body rotates 108° in 100ms, it means that there is a danger and the user can not react in time, so when setting the safety threshold, it must be controlled within this range. According to the actual measurement, 3 rounds in 1 second, the user's hand can not control the rotating body; when 1 round in 1 second, it is basically at the zero point. Therefore, the threshold parameter can be set according to the proficiency of use. Further, to prevent false positives and false triggers of the anti-torsion operation, the safety threshold is further adjusted, and the parameters are as follows.

[0056]

[0057] Preferably, in order to facilitate the user to set the safety through the man-machine operation module, the angle or the number of rounds (i.e. the safety factor) can be set, such as providing the following safety threshold suggestion information, the user can set or adjust according to the following information. Professional users familiar with tools can adjust or set with low-precision detection requirements; new users can adjust or set according to high-precision detection requirements; thus different user use requirements can be met, and the user experience can be improved.

[0058]

[0059] Preferably, the different spatial angles include a first spatial direction, a second spatial direction, and a third spatial direction; preferably, the first spatial direction, the second spatial direction, and the third spatial direction are respectively an X spatial direction, a Y spatial direction, and a Z spatial direction in a three-dimensional space; taking the X direction as an example of the anti-torsion direction: the angle obtained in a unit time is collected, and n groups of data are collected, wherein the unit time can be set by the user or according to the safety number of rounds, such as 10ms, 30ms, 100ms, etc.; n can be the length of the storage space, such as when an array is used for storage, n is the length of the array, and when a queue is used for storage, n is the length of the queue. The collection step includes obtaining a plurality of angle values of the first, second, and third spatial directions;

[0060] Preferably, the X, Y, and Z spatial angles are detected and calculated every 10ms; the intelligent device collects every interval unit time, and when the trigger condition is met, such as when the time is at 30ms, 100ms, etc. or the storage data is n, the anti-torsion judgment is performed. Figure 2The tool collects angle data according to preset sampling period.

[0061]

[0062] When the data collection is completed, the maximum value Max and the minimum value Min in the plurality of angle values corresponding to each spatial angle are obtained:

[0063] Maximum value of the angle taken Minimum value of the angle taken Max(x) = {X1, X2, X3... Xn} Min(x) = {X1, X2, X3... Xn} Max(y) = {Y1, Y2, Y3... Yn} Min(y) = {Y1, Y2, Y3... Yn} Max(z) = {Z1, Z2, Z3... Zn} Min(z) = {Z1, Z2, Z3... Zn}

[0064] The calculating step includes calculating the angle deviation values of the first, second and third spatial directions respectively, and specifically includes determining the deviation values of the respective spatial angles according to the maximum value and the minimum value:

[0065] Deviation value Calculate the deviation value Err(x) Err(x) = Max(x) - Min(x) Err(y) Err(y) = Max(y) - Min(y) Err(z) Err(z) = Max(z) - Min(z)

[0066] The processing step includes cross-comparing the angle deviation values of the first, second and third spatial directions to determine a plurality of error values.

[0067] According to at least one angle deviation value and at least one error value, it is determined whether a protection operation needs to be triggered.

[0068] Preferably, the cross-comparison of the angle deviation values of the first, second and third spatial directions to determine a plurality of error values includes:

[0069] According to the angle deviation values of the first and second spatial directions, a first error value is determined, such as the first error value Err(xy) of the X and Y directions.

[0070]

[0071] According to the angle deviation values of the first and third spatial directions, a second error value is determined, such as the second error value Err(xz) of the X and Z directions.

[0072]

[0073] Maximum difference value Err(n) Calculate the error value Err(y) Err(xy) = Err(x) - Err(y) Err(z) Err(xz) = Err(x) - Err(z)

[0074] According to the angle deviation value of the first spatial direction, the first error value and the second error value, it is determined whether a protection operation needs to be triggered. Preferably, the safety operation of the anti-twist protection is triggered according to actual requirements, such as at least one of the following conditions. Taking the first direction as the X direction as an example:

[0075]

[0076] Exemplarily, under 30ms and 100ms, the conditions for triggering the anti-twist protection are as follows:

[0077] ​​

[0078] Preferably, when taking the Y direction as an example, Err(y), Err(yx), and Err(yz) are compared with a set selection angle, and the anti-twist protection is triggered according to the comparison result; when taking the Z direction as an example, Err(z), Err(zx), and Err(zy) are compared with a set selection angle, and the anti-twist protection is triggered according to the comparison result. The set rotation angle is the safety threshold, and the specific setting manner is as described above and will not be repeated here.

[0079] Preferably, after obtaining a plurality of angle values corresponding to each spatial angle in different spatial angles, the plurality of angle values are respectively stored in a plurality of queues; the maximum value and the minimum value in each queue are obtained, and the deviation value of each spatial angle is determined according to the maximum value and the minimum value. When storing data, the data can be selected for storage, or a queue can be used for storage. When using an array for storage, the safety protection operation, i.e., the anti-twist protection, is triggered when every predetermined time or the array storage data reaches a predetermined value; wherein the predetermined time and the predetermined value are set according to actual needs, which is a common means and will not be repeated here. When using a storage queue for storage, preferably, a first-in-first-out queue is used, and the queue length is n; thus the device only needs to update and process n data in the queue; further, each spatial angle corresponds to a first-in-first-out queue; the maximum value and the minimum value in each queue are calculated respectively, and the deviation value is determined according to the maximum value and the minimum value to realize the triggering operation of safety protection. The first-in-first-out queue can reduce the data storage pressure of the system, and each data collected can be judged and identified, which can effectively improve the detection frequency; at the same time, the improvement of the detection frequency will effectively improve the detection accuracy and improve the safety factor of the product.

[0080] Compared with the prior art, the safety control method provided by the application obtains a plurality of angle values corresponding to each spatial angle in different spatial angles; determines the deviation value of each spatial angle according to the maximum value and the minimum value in the plurality of angle values corresponding to each spatial angle; determines an error value according to the deviation value of each spatial angle; and determines whether to trigger a protection operation according to the deviation value and / or the error value. In the triggering process of the safety operation, the mutual influence between different spatial angles is comprehensively considered, the false triggering of the safety operation is effectively prevented, and the control accuracy of the anti-twist operation is improved; at the same time, the scheme provided by the application supports the adjustment of the triggering operation accuracy, can meet the safety needs of different users, and improves the user experience.

[0081] Embodiment two

[0082] The application further provides an intelligent device, and the scheme described in embodiment one is realized by the intelligent device; the intelligent device comprises:

[0083] The acquisition module is used for acquiring data of different spatial angles and obtaining a plurality of angle values corresponding to each spatial angle in different spatial angles.

[0084] The calculation module is used for obtaining a maximum value and a minimum value in the plurality of angle values corresponding to each spatial angle, and determining a deviation value of each spatial angle according to the maximum value and the minimum value.

[0085] The processing module is used for determining an error value according to the deviation value of each spatial angle, and determining whether to trigger a protection operation according to the deviation value and / or the error value.

[0086] In an alternative, the present application further provides an intelligent device, by which the scheme as described in Embodiment I is realized; as shown in the figure, the intelligent device comprises an acquisition sensor, a processor, a control switch, a power supply module, a motor, etc.; after the control switch is turned on, the power supply module supplies power to the control module and the motor, the intelligent device starts to work, and the processor triggers a safety protection operation according to the information of the acquisition sensor. Figure 3

[0087] The intelligent device comprises:

[0088] The acquisition sensor is used for acquiring data of different spatial angles and obtaining a plurality of angle values corresponding to each spatial angle in different spatial angles.

[0089] The processor is used for obtaining a maximum value and a minimum value in the plurality of angle values corresponding to each spatial angle, and determining a deviation value of each spatial angle according to the maximum value and the minimum value; determining an error value according to the deviation value of each spatial angle; and determining whether to trigger a protection operation according to the deviation value and / or the error value.

[0090] Further improvement scheme is that the acquisition sensor is a six-axis sensor.

[0091] Preferably, the safety coefficient of the user is obtained, a safety threshold value of the deviation value and / or the error value is determined according to the safety coefficient, and whether to perform a protection operation is determined according to the deviation value and / or the error value, which comprises: comparing the deviation value and / or the error value with the corresponding safety threshold value respectively to obtain a comparison result; and when all the comparison results meet the condition of triggering the protection operation, the protection operation is performed.

[0092] Preferably, the determination of the safety threshold value can be realized by a man-machine interaction module. Since different users have different needs for safety operation, i.e., each user has different control strength for the rotation angle, the tool can provide a recommended value or a default value; for a skilled user or a new user, the safety threshold value can also be set according to the needs of the user.

[0093] ​In the preferred embodiment, because in actual work, handheld tools will produce jitter or necessary human light twist, will produce changes in position angle, so on the basis of angle detection, must add the measurement of time. It is found that, for example, when the drill bit of the electric hammer is stuck in the wall, the handle is loosened, and the body will rotate at a very fast speed (the trigger switch is not set to be disconnected). The preliminary rotation speed of the body at this time is about 1-3 turns per second, corresponding to an angle of 360°-1080°.

[0094] Rotation number Time (ms) Rotation angle (°) Minimum number of rotations 1 1000 360 Maximum number of rotations 3 1000 1080

[0095] If the anti-twist protection is started after 1 second of detection, the body will have rotated a large angle, injuring the user; in general, the faster the trigger of the protection operation, the better. Based on this, the angle value rotated in each time can be calculated.

[0096]

[0097] When the body rotates 108° in 100ms, it means that there is a danger that the user may not be able to react, so when setting the safety threshold, it must be controlled within this range. According to the actual measurement, 3 turns per second, the user's hand may not be able to control the rotating body; when 1 turn per second, it is basically at the zero point. Therefore, the threshold parameter can be set according to the proficiency of use. Further, to prevent false positives and false triggers of the anti-twist operation, the safety threshold is further adjusted, with the following parameters.

[0098]

[0099] Preferably, in order to facilitate the user to set the safety through the man-machine operation module, the angle or the number of turns can be set, such as providing the following safety threshold suggestion information, the user can set or adjust according to the following information. For example, professional users familiar with the tool can adjust or set with low-precision detection requirements; new users can adjust or set according to high-precision detection requirements; thus different user use requirements can be met, and the user experience can be improved.

[0100]

[0101] Preferably, the different spatial angles include a first spatial direction, a second spatial direction, and a third spatial direction; preferably, the first spatial direction, the second spatial direction, and the third spatial direction are respectively an X spatial direction, a Y spatial direction, and a Z spatial direction in a three-dimensional space; taking the X direction as an example of a direction that is resistant to twisting: angles obtained in a unit time are collected, and n groups of data are collected, where the unit time can be set by a user or set according to a number of safety circles, such as 10 ms, 30 ms, 100 ms, etc.; n can be the length of a storage space, such as the length of an array when using an array for storage or the length of a queue when using a queue for storage. The collection step includes obtaining a plurality of angle values of the first, second, and third spatial directions;

[0102] Preferably, the X, Y, and Z spatial angles are detected and calculated every 10 ms; the intelligent device collects data every unit time, and when a triggering condition is met, such as when the time is located at, for example, 30 ms, 100 ms, etc., or when the stored data is n, a twist prevention determination is performed, such as shown in FIG. 6. Figure 2

[0103]

[0104] When the data collection is complete, a maximum value Max and a minimum value Min are obtained from a plurality of angle values corresponding to each spatial angle:

[0105] Maximum value of the angle taken Minimum value of the angle taken Max(x) = {X1, X2, X3... Xn} Min(x) = {X1, X2, X3... Xn} Max(y) = {Y1, Y2, Y3... Yn} Min(y) = {Y1, Y2, Y3... Yn} Max(z) = {Z1, Z2, Z3... Zn} Min(z) = {Z1, Z2, Z3... Zn}

[0106] The calculation step includes calculating an angle deviation value of the first, second, and third spatial directions, respectively; specifically, the angle deviation value of each spatial angle is determined according to the maximum value and the minimum value:

[0107] Deviation value Calculate the deviation value Err(x) Err(x) = Max(x) - Min(x) Err(y) Err(y) = Max(y) - Min(y) Err(z) Err(z) = Max(z) - Min(z)

[0108] The processing step includes cross-comparing the angle deviation values of the first, second, and third spatial directions to determine a plurality of error values.

[0109] According to at least one angle deviation value and at least one error value, it is determined whether a protection operation needs to be triggered.

[0110] Preferably, cross-comparing the angle deviation values of the first, second, and third spatial directions to determine a plurality of error values includes:

[0111] According to the angle deviation values of the first and second spatial directions, a first error value is determined, such as a first error value Err(xy) of the X direction and the Y direction;

[0112]

[0113] ​​According to the angle deviation value in the first and third spatial directions, a second error value is determined, such as X direction and

[0114] Z direction second error value Err(xz);

[0115] Maximum difference value Err(n) Calculate the error value Err(y) Err(xy) = Err(x) - Err(y) Err(z) Err(xz) = Err(x) - Err(z)

[0116] According to the angle deviation value in the first spatial direction, the first error value and the second error value, it is determined whether the protection operation needs to be triggered. Preferably, the safety operation of anti-twist protection is triggered, which can be set according to actual needs, such as triggering when at least one of the following conditions is met. Taking the first direction as the X direction as an example:

[0117]

[0118] Exemplarily, at 30ms and 100ms, the conditions for triggering anti-twist protection are as follows:

[0119]

[0120] Preferably, when taking the Y direction as an example, Err(y), Err(yx), and Err(yz) are compared with the set selection angle, and the anti-twist protection is triggered according to the comparison result; when taking the Z direction as an example, Err(z), Err(zx), and Err(zy) are compared with the set selection angle, and the anti-twist protection is triggered according to the comparison result. The set rotation angle is the safety threshold, and the specific setting method is as described above and will not be repeated here.

[0121] Preferably, after obtaining a plurality of angle values corresponding to each spatial angle in different spatial angles, the plurality of angle values are respectively stored in a plurality of queues; the maximum value and the minimum value in each queue are obtained, and the deviation value of each spatial angle is determined according to the maximum value and the minimum value. When storing data, data can be selected for storage, or a queue can be used for storage. When using an array for storage, when every predetermined time or the array storage data reaches a predetermined value, the safety protection operation, i.e., the anti-twist protection, is triggered; wherein the preset time and the predetermined value are set according to actual needs, which is a common means and will not be repeated here. When using a storage queue for storage, preferably, a first-in-first-out queue is used, and the queue length is n; thus the device only needs to update and process n data in the queue; further, a first-in-first-out queue corresponding to each spatial angle is used; the maximum value and the minimum value in each queue are calculated, and the deviation value is determined according to the maximum value and the minimum value to realize the triggering operation of safety protection. Through the first-in-first-out queue, the data storage pressure of the system can be reduced, and each data collected can be identified, which can effectively improve the detection frequency; at the same time, the improvement of the detection frequency will effectively improve the detection accuracy and the safety factor of the product.

[0122] The application further provides a smart device, comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, and the processor implements the method in the first embodiment when executing the computer program.

[0123] The application further provides a computer readable medium having non-volatile program codes executable by a processor, wherein the program codes enable the processor to execute the method in the first embodiment.

[0124] Compared with the prior art, the safety control scheme provided by the application, by acquiring a plurality of angle values corresponding to each spatial angle in different spatial angles, determining a deviation value of each spatial angle according to a maximum value and a minimum value in the plurality of angle values corresponding to each spatial angle, determining an error value according to the deviation value of each spatial angle, and determining whether to trigger a protection operation according to the deviation value and / or the error value, comprehensively considers the mutual influence between different spatial angles in the triggering process of the safety operation, effectively prevents the false triggering of the safety operation, and improves the control precision of the anti-twisting operation; meanwhile, the scheme provided by the application supports the adjustment of the triggering operation precision, can meet the safety requirements of different users, and improves the user experience.

[0125] Those skilled in the art should understand that the embodiments of the application can be provided as a method, a system, or a computer program product. Therefore, the application can adopt a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the application can adopt the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0126] The application is described with reference to flowcharts and / or block diagrams of the method, device (system), and computer program product according to the embodiments of the application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the computer or other programmable data processing devices produce a device for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 The function of one flow or multiple flows and / or blocks Figure 1 The function of one flow or multiple flows and / or blocks

[0127] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the flow Figure 1 one or more flows and / or blocks Figure 1 one or more blocks or multiple blocks.

[0128] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions executed on the computer or other programmable apparatus provide steps for implementing the flow Figure 1 one or more flows and / or blocks Figure 1 one or more blocks or multiple blocks.

[0129] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the above-described system and device can refer to the corresponding process in the foregoing method embodiment, which will not be described here.

[0130] Finally, it should be noted that: the above-described embodiments are merely specific embodiments of the present application, used to illustrate the technical solutions of the present application, and not to limit them, the protection scope of the present application is not limited thereto, although the foregoing embodiments of the present application have been described in detail, those skilled in the art should understand: any person skilled in the art within the technical range disclosed by the present application, can still modify or easily think of changes to the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications, changes or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A safety control method characterized by, The method is applied to power tools, and the method includes: Data acquisition steps: This step is used to acquire data from different spatial angles and obtain multiple angle values ​​corresponding to each spatial angle; wherein, the different spatial angles include a first spatial direction, a second spatial direction, and a third spatial direction; Calculation steps: Obtain the maximum and minimum values ​​among the multiple angle values ​​corresponding to each spatial angle, and determine the deviation value of each spatial angle based on the maximum and minimum values ​​to obtain the angle deviation values ​​of the first, second and third spatial directions; Processing steps: Cross-compare the angular deviation values ​​in the first, second, and third spatial directions to determine multiple error values; determine whether to trigger a protection operation based on the deviation values ​​and error values; wherein, triggering the protection operation includes: triggering the anti-torsion function; Determining whether to perform a protection operation based on the deviation value and the error value includes: comparing the deviation value and the error value with the corresponding safety thresholds respectively, and obtaining the comparison results; When all comparison results meet the conditions for triggering the protection operation, the protection operation is executed.

2. The safety control method according to claim 1, characterized by, The method further includes: obtaining the user's security coefficient, and determining the security thresholds for deviation and error values ​​based on the security coefficient.

3. The safety control method according to claim 1, characterized by, Based on a cross-comparison of the angular deviation values ​​in the first, second, and third spatial directions, multiple error values ​​are determined, including: The first error value is determined based on the angular deviation values ​​of the first and second spatial directions; The second error value is determined based on the angular deviation values ​​between the first and third spatial directions; Whether protection operation needs to be triggered is determined based on the angular deviation value of the first spatial direction, the first error value, and the second error value.

4. The safety control method according to any one of claims 1 to 3, characterized by, After obtaining multiple angle values ​​corresponding to each spatial angle in different spatial angles, the multiple angle values ​​are stored in multiple queues respectively; Obtain the maximum and minimum values ​​in each queue, and determine the deviation value of each spatial angle based on the maximum and minimum values.

5. A smart device, comprising: The intelligent device is a power tool, and the intelligent device includes: Acquisition module: used to acquire data from different spatial angles and obtain multiple angle values ​​corresponding to each spatial angle; wherein, the different spatial angles include a first spatial direction, a second spatial direction, and a third spatial direction; Calculation module: Obtain the maximum and minimum values ​​among multiple angle values ​​corresponding to each spatial angle, and determine the deviation value of each spatial angle based on the maximum and minimum values ​​to obtain the angle deviation values ​​of the first, second and third spatial directions; Processing module: cross-compares the angular deviation values ​​in the first, second, and third spatial directions to determine multiple error values; determines whether to trigger a protection operation based on the deviation values ​​and error values; wherein, triggering the protection operation includes: triggering the anti-torsion function; The step of determining whether to perform a protection operation based on the deviation value and the error value includes: comparing the deviation value and the error value with the corresponding safety thresholds respectively, and obtaining the comparison results; When all comparison results meet the conditions for triggering the protection operation, the protection operation is executed.

6. A smart device, comprising: The intelligent device is a power tool, and the intelligent device includes: Data acquisition sensor: used to acquire data from different spatial angles and obtain multiple angle values ​​corresponding to each spatial angle; wherein, the different spatial angles include a first spatial direction, a second spatial direction, and a third spatial direction; Processor: Obtains the maximum and minimum values ​​among multiple angle values ​​corresponding to each spatial angle, determines the deviation value of each spatial angle based on the maximum and minimum values, and obtains the angle deviation values ​​of the first, second, and third spatial directions; performs cross-comparison based on the angle deviation values ​​of the first, second, and third spatial directions to determine multiple error values; determines whether to trigger a protection operation based on the deviation value and the error value; wherein, triggering the protection operation includes: triggering the anti-torsion function; The step of determining whether to perform a protection operation based on the deviation value and the error value includes: comparing the deviation value and the error value with the corresponding safety thresholds respectively, and obtaining the comparison results; When all comparison results meet the conditions for triggering the protection operation, the protection operation is executed. 7.The smart device of claim 6, wherein, The sensor used for data acquisition is a six-axis sensor.

8. A smart device, comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, characterized in that, When the processor executes the computer program, it implements the method described in any one of claims 1-4.

9. A computer-readable medium having processor-executable non-volatile program code, characterized in that, The program code causes the processor to execute the method described in any one of claims 1-4.

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