Adaptive control method for electric scissors and electric scissors

Abstract

The application provides an electric scissors adaptive control method and electric scissors, wherein the electric scissors adaptive control method comprises: obtaining the running state of the electric scissors; when the electric scissors enter a debugging state, controlling the scissors head of the electric scissors to enter an automatic opening and closing process, and calibrating the opening angle of the scissors head and the position and / or the number of rotations of the rotor of the driving motor of the electric scissors in the automatic opening and closing process of the scissors head; wherein the driving motor is used for driving the scissors head to open and close. The method is used for debugging before the electric scissors leave the factory or after the electric scissors replace the corresponding mechanical structure. In the debugging (calibration) process of the electric scissors, the scissors head automatically opens and closes, without stopping at a certain position in the opening and closing process, which can effectively improve the efficiency of the electric scissors debugging, shorten the time of each electric scissors debugging, and facilitate the multiple debugging of the electric scissors in a short time.

Description

Technical Field

[0001] This invention relates to the field of electric shears technology, and more specifically, to an adaptive control method for electric shears and electric shears. Background Technology

[0002] Electric scissors need to be tested before leaving the factory or after the corresponding mechanical structure is replaced to ensure that the number of rotations of the motor driving the scissor head corresponds to the opening angle of the scissor head. This allows the motor to stop driving the scissor head in time after it has been opened or closed to the corresponding position, thus ensuring the normal and stable operation of the electric scissors and making them easy to operate.

[0003] However, in existing technologies, the adjustment of electric scissors generally requires the scissor head to pause at several fixed opening angles during the opening and closing process to verify and correct the number of motor rotations and the opening angle of the scissor head. For example, for electric scissors with three fixed opening angles of closed, small, and large opening, the adjustment process requires going through the following steps: leaving the closed opening - entering the small opening (closed to small opening) - leaving the small opening (small opening to large opening) - entering the large opening - leaving the large opening - entering the small opening (large opening to small opening) - leaving the small opening (small opening to closed) - entering the closed opening. This makes the adjustment of electric scissors time-consuming, laborious, and inefficient. Summary of the Invention

[0004] The problem this invention addresses is: how to improve the debugging efficiency of electric shears.

[0005] To address the above problems, this invention provides an adaptive control method for electric shears, comprising:

[0006] Obtain the operating status of the electric shears;

[0007] When the electric scissors enter the debugging state, the scissor head is controlled to enter an automatic opening and closing process, and the opening angle of the scissor head and the position and / or number of rotations of the rotor of the drive motor of the electric scissors are calibrated during the automatic opening and closing process; wherein, the drive motor is used to drive the opening and closing of the scissor head.

[0008] Optionally, controlling the scissor head of the electric scissors to enter the automatic opening and closing process includes:

[0009] The scissor head is controlled to perform the automatic opening and closing process at the maximum fixed opening angle currently set by the electric scissors.

[0010] Optionally, controlling the scissor head of the electric scissors to enter the automatic opening and closing process includes:

[0011] The automatic opening and closing process is controlled to perform the scissor head a first preset number of times.

[0012] Optionally, the scissor head includes a movable blade and a fixed blade that are rotatably connected, and the drive motor is used to drive the movable blade to rotate relative to the fixed blade;

[0013] The calibration of the opening angle of the scissor head and the position and / or number of rotations of the rotor of the drive motor of the electric scissors during the automatic opening and closing process includes:

[0014] During each automatic opening and closing process of the scissor head, the position of the movable blade and the position and / or number of rotations of the rotor of the drive motor are monitored and recorded synchronously.

[0015] Optionally, the electric scissors are provided with at least one fixed opening angle;

[0016] The synchronous monitoring and recording of the position of the movable blade and the position and / or number of rotations of the drive motor rotor during each automatic opening and closing process of the scissor head includes:

[0017] During each automatic opening and closing process of the scissor head, when the scissor head moves to the closed position and at each fixed opening angle, the position and / or number of rotations of the rotor of the drive motor are monitored and recorded synchronously.

[0018] Optionally, during each automatic opening and closing process of the scissor head, when the scissor head moves to the closed position and at each fixed opening angle, synchronously monitoring and recording the position and / or number of rotations of the drive motor rotor includes:

[0019] During each automatic opening and closing process, when the scissor head begins to open from the closed position, the monitoring and recording of the position and / or number of rotations of the drive motor rotor restarts; and / or, when the scissor head begins to close from the maximum fixed opening angle, the monitoring and recording of the position and / or number of rotations of the drive motor rotor restarts.

[0020] Optionally, after simultaneously monitoring and recording the position of the movable blade and the position and / or number of rotations of the rotor of the drive motor during each automatic opening and closing process of the scissor head, the step of simultaneously monitoring and recording the position of the movable blade and the position and / or number of rotations of the rotor of the drive motor during each automatic opening and closing process of the scissor head further includes:

[0021] Based on the recorded rotor positions of the drive motor when the scissor head moves to the closed position and at all the fixed opening angles during all the automatic opening and closing processes, the average value of all rotor positions corresponding to each scissor head position is determined as the final rotor position corresponding to the corresponding scissor head position; and / or, based on the recorded number of rotor rotations of the drive motor when the scissor head moves to the closed position and at all the fixed opening angles during all the automatic opening and closing processes, the average value of all rotor rotations corresponding to each scissor head position is determined as the final number of rotor rotations corresponding to the corresponding scissor head position.

[0022] Optionally, the step of determining the average value of all rotor positions corresponding to each scissor head position as the final rotor position corresponding to the corresponding scissor head position based on the recorded rotor positions of the drive motor when the scissor head moves to the closed position and all the fixed opening angles during all the automatic opening and closing processes; and / or, determining the average value of all rotor rotations corresponding to each scissor head position as the final rotor rotation number corresponding to the corresponding scissor head position based on the recorded number of rotor rotations of the drive motor when the scissor head moves to the closed position and all the fixed opening angles during all the automatic opening and closing processes, including:

[0023] After removing outliers from the recorded rotor positions of the drive motor when the scissor head moves to the closed position and at all the fixed opening angles during all the automatic opening and closing processes, the average value of all rotor positions corresponding to each scissor head position is determined as the final rotor position corresponding to the corresponding scissor head position; and / or, after removing outliers from the recorded number of rotor rotations of the drive motor when the scissor head moves to the closed position and at all the fixed opening angles during all the automatic opening and closing processes, the average value of all rotor rotations corresponding to each scissor head position is determined as the final number of rotor rotations corresponding to the corresponding scissor head position.

[0024] Optionally, after the electric shears have completed their commissioning, the adaptive control method for the electric shears further includes:

[0025] When the electric shears enter the working state, the electric shears are controlled to work according to the position of the shear head and its corresponding final rotor position and / or the number of rotations of the final rotor.

[0026] To address the above problems, the present invention also provides an electric scissors, comprising:

[0027] The acquisition unit is used to acquire the operating status of the electric shears;

[0028] The debugging unit is used to control the scissor head of the electric scissors to enter an automatic opening and closing process when the electric scissors enter the debugging state, and to calibrate the opening angle of the scissor head and the position and / or number of rotations of the rotor of the drive motor of the electric scissors during the automatic opening and closing process; wherein, the drive motor is used to drive the opening and closing of the scissor head.

[0029] Compared with existing technologies, this invention has the following advantages: This method is used for the debugging of electric shears before they leave the factory or after the corresponding mechanical structure of the electric shears has been replaced. During the debugging (calibration) process of the electric shears, the shear head opens and closes automatically without needing to stop at a certain position (opening angle) during the opening and closing process. This effectively improves the efficiency of electric shear debugging, shortens the time of each debugging session (corresponding to each automatic opening and closing process), and facilitates multiple debugging sessions of the electric shears in a short period of time. This ensures the efficiency of electric shear debugging while improving the accuracy and reliability of the debugging (calibration) results, as well as achieving robustness in electric shear debugging. Furthermore, this method simplifies the debugging work before the electric shears leave the factory or after the corresponding mechanical structure of the electric shears has been replaced. Attached Figure Description

[0030] Figure 1 This is a flowchart of the adaptive control method for electric shears in an embodiment of the present invention;

[0031] Figure 2 This is a sub-flowchart of step 200 in an embodiment of the present invention;

[0032] Figure 3 This is a flowchart of an adaptive control method for electric shears in another embodiment of the present invention;

[0033] Figure 4 This is a structural block diagram of the electric scissors in an embodiment of the present invention. Detailed Implementation

[0034] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0035] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in sequences other than those illustrated or described herein.

[0036] Combination Figure 1 As shown, this embodiment of the invention provides an adaptive control method for electric shears, comprising the following steps:

[0037] Step 100: Obtain the operating status of the electric shears.

[0038] Specifically, in step 100, when the electric shears are turned on (or started), the operating status of the electric shears is first acquired. The operating status of the electric shears includes a debugging state and a working state. When the electric shears are in the working state, they enter normal working mode and perform normal operations according to the current control logic (e.g., the opening and closing of the shear head is controlled by a trigger). When the electric shears are in the debugging state, they enter debugging mode and operate according to the subsequent corresponding steps of this method.

[0039] Step 200: When the electric scissors enter the debugging state, control the scissor head to enter the automatic opening and closing process, and calibrate the opening angle of the scissor head and the position and / or number of rotations of the rotor of the drive motor of the electric scissors during the automatic opening and closing process; wherein, the drive motor is used to drive the opening and closing of the scissor head.

[0040] In step 200, when it is determined through step 100 that the electric scissors are currently in the debugging state, the electric scissors enter the debugging mode. Specifically, the debugging mode controls the scissor head to enter the automatic opening and closing process, and during the automatic opening and closing process of the scissor head, at least one of the rotor position and the number of rotor rotations of the drive motor used to drive the opening and closing of the scissor head is calibrated (or checked, corrected) with the opening angle of the scissor head. That is, when the scissor head moves to its opening angle of the corresponding value, the rotor position and / or the number of rotor rotations of the drive motor are recorded simultaneously to realize the debugging (calibration) of the electric scissors. Thus, by calibrating the opening angle of the scissor head and the position and / or number of rotations of the drive motor rotor in the debugging mode, the electric scissors can be driven by the drive motor according to the calibration during debugging when operating normally. This ensures that the position and / or number of rotations of the drive motor rotor corresponds to the opening angle of the scissor head, allowing the drive motor to stop driving the scissor head promptly after it has opened or closed to the corresponding position (angle), and to continue driving the scissor head when it has not opened or closed to the corresponding position (angle). This prevents the drive motor from driving the scissor head too much or too little, which could cause the electric scissors to malfunction or be damaged, thereby ensuring the normal and stable operation of the electric scissors and making them easy to use.

[0041] This method, used for debugging electric shears before they leave the factory or after replacing their mechanical structure, allows the shear head to open and close automatically during debugging (calibration), eliminating the need to pause at a specific position (opening angle). This effectively improves debugging efficiency, shortens the time for each debugging session (corresponding to each automatic opening and closing process), and facilitates multiple debugging sessions within a short period. This ensures both efficiency and accuracy / reliability of the debugging (calibration) results, as well as robustness. Therefore, this method simplifies the debugging process before electric shears leave the factory or after replacing their mechanical structure. For example, for electric shear program developers (programmers), this method simplifies debugging and accelerates product development.

[0042] Optionally, controlling the electric scissors' blades to enter the automatic opening and closing process includes:

[0043] The scissor head is controlled to automatically open and close at the maximum fixed opening angle currently set by the electric scissors.

[0044] The scissor head of an electric scissor typically has a closed position and at least one fixed opening position (denoted as a fixed opening angle, such as a large opening position or a small opening position). To ensure that the electric scissor's adjustment process can go through all the fixed opening angles set by the scissor head, and to achieve calibration of the electric scissor in the closed position and at all fixed opening angles, as well as to ensure the comprehensiveness and completeness of the calibration, in step 200, the scissor head is controlled to automatically open and close at the maximum fixed opening angle currently set by the electric scissor; wherein, the maximum fixed opening angle is the maximum angle opened when the electric scissor is working under the current setting.

[0045] Optionally, controlling the electric scissors' blades to enter the automatic opening and closing process includes:

[0046] Control the scissor head to perform the first preset number of automatic opening and closing processes.

[0047] Specifically, in step 200, when the electric shears enter the debugging state, the shear head of the electric shears is controlled to perform an automatic opening and closing process a first preset number of times (e.g., ten times) to facilitate the debugging (calibration) of the electric shears for the first preset number of times. For example, the electric shears are debugged (calibrated) once during each automatic opening and closing process of the shear head. In this way, by calibrating the position and / or number of rotations of the drive motor rotor with the opening angle of the shear head multiple times during multiple automatic opening and closing processes, the accuracy and reliability of the electric shears debugging (calibration) results can be improved, avoiding the influence of random errors caused by too few debugging (calibration) times on the accuracy of the final debugging results.

[0048] Optionally, the number of times the electric scissors are adjusted shall not exceed the first preset number of times.

[0049] Optionally, the scissor head includes a movable blade and a fixed blade that are rotatably connected, and a drive motor is used to drive the movable blade to rotate relative to the fixed blade.

[0050] In this embodiment, the electric scissors include a housing, a scissor head disposed at the end of the housing, and a drive motor disposed inside the housing. The scissor head includes a movable blade and a fixed blade that are rotatably connected. The fixed blade is fixedly connected to the housing. The drive motor drives the movable blade to rotate relative to the fixed blade through a corresponding transmission structure, thereby realizing the opening and closing of the scissor head.

[0051] Combination Figure 1 , Figure 2 As shown, the calibration of the opening angle of the scissor head and the position and / or number of rotations of the rotor of the electric scissor's drive motor during the automatic opening and closing process includes:

[0052] Step 210: During each automatic opening and closing of the scissor head, synchronously monitor and record the position of the movable blade and the position and / or number of rotations of the drive motor rotor.

[0053] Specifically, the electric scissors are calibrated during each automatic opening and closing of the scissor head. During each automatic opening and closing of the scissor head, the position of the movable blade and the position and / or number of rotations of the drive motor rotor are simultaneously monitored and recorded. That is, when the movable blade moves to a certain position (corresponding to a certain opening angle of the scissor head), the position and / or number of rotations of the drive motor rotor at that moment are recorded. This position and / or number of rotations of the drive motor rotor at that moment correspond to the current position of the movable blade (or the current opening angle of the scissor head). In this way, during normal operation, the electric scissors can move the scissor head to the corresponding opening angle by driving the drive motor rotor to the corresponding position or rotation speed recorded during the calibration mode.

[0054] Optionally, the electric shears have at least one fixed opening angle;

[0055] During each automatic opening and closing process of the scissor head, the position of the movable blade and the position and / or number of rotations of the drive motor rotor are simultaneously monitored and recorded, including:

[0056] During each automatic opening and closing process of the scissor head, when the scissor head moves to the closed position and at each fixed opening angle, the position and / or number of rotations of the drive motor rotor are monitored and recorded synchronously.

[0057] Specifically, when the fixed opening angle of the shear head is set too large, it will still take a lot of time to cut thinner branches and other similar objects. Therefore, electric shears can adapt to different sizes of objects by adaptively setting a fixed opening angle or setting multiple different fixed opening angles, thereby improving the efficiency and ease of use of electric shears.

[0058] In this embodiment, by simultaneously monitoring and recording the position and / or number of rotations of the rotor of the current drive motor when the scissor head moves to the closed position and at each fixed opening angle, the electric scissors are calibrated at the closed position of the scissor head and at each fixed opening angle. This ensures that the electric scissors can smoothly, stably and accurately drive the scissor head to the corresponding closed position or the corresponding fixed opening angle by driving the drive motor during normal operation.

[0059] Optionally, during each automatic opening and closing process of the scissor head, when the scissor head moves to the closed position and at each fixed opening angle, the position and / or number of rotations of the drive motor rotor are simultaneously monitored and recorded, including:

[0060] During each automatic opening and closing process, when the scissor head begins to open from the closed position, the monitoring and recording of the position and / or number of rotations of the drive motor rotor restarts; and / or, when the scissor head begins to close from the maximum fixed opening angle, the monitoring and recording of the position and / or number of rotations of the drive motor rotor restarts.

[0061] To avoid interference between the rotor position and / or rotation count monitored and recorded during multiple automatic opening and closing processes, in this embodiment, it is preferable to re-monitor and record the rotor position and / or rotation count during each automatic opening and closing process. This ensures that the re-monitoring and recording of the rotor position and / or rotation count during each automatic opening and closing process are independent and complementary, thereby facilitating the discovery of outliers (i.e., recorded values ​​that differ significantly from those recorded during other automatic opening and closing processes) based on these recorded values ​​(rotor position and / or rotation count), and the averaging of the values ​​after removing outliers (as the final determined value).

[0062] Specifically, for each automatic opening and closing process, the monitoring and recording of the position and / or number of rotations of the drive motor rotor can restart when the scissor head begins to open from the closed position; or the monitoring and recording of the position and / or number of rotations of the drive motor rotor can restart when the scissor head begins to close from the maximum fixed opening angle; or the monitoring and recording of the position and / or number of rotations of the drive motor rotor can restart both when the scissor head begins to open from the closed position and when the scissor head begins to close from the maximum fixed opening angle.

[0063] Optionally, since the rotor rotation direction of the drive motor is different during the process of the scissor head moving from the closed position to the maximum fixed opening angle and during the process of the scissor head moving from the maximum fixed opening angle to the closed position, the rotor rotation direction can be combined with the recording when making records such as the number of rotor rotations, so as to distinguish the different directions of rotor rotation.

[0064] Optionally, combined Figure 1 , Figure 2 As shown, after step 210, during each automatic opening and closing process of the scissor head, synchronously monitoring and recording the position of the movable blade and the position and / or number of rotations of the drive motor rotor also includes:

[0065] Step 220: Based on the recorded rotor positions of the drive motors when the scissor head moves to the closed position and at all fixed opening angles during all automatic opening and closing processes, determine the average value of all rotor positions corresponding to each scissor head position as the final rotor position corresponding to the corresponding scissor head position; and / or, based on the recorded number of rotor rotations of the drive motors when the scissor head moves to the closed position and at all fixed opening angles during all automatic opening and closing processes, determine the average value of all rotor rotations corresponding to each scissor head position as the final number of rotor rotations corresponding to the corresponding scissor head position.

[0066] Specifically, to avoid random errors in single or few debugging results affecting the accuracy of the final debugging result, in step 220, based on the recorded rotor positions (rotor rotation counts) of the drive motor when the scissor head moves to the closed position and when all fixed opening angles are recorded during all automatic opening and closing processes, the average value of all rotor positions corresponding to each scissor head position is determined as the final rotor position (final rotor rotation count) corresponding to the corresponding scissor head position, so as to ensure the accuracy and reliability of the final debugging result.

[0067] For example, the following description uses the case where the rotor rotation count is recorded and the electric shears are set with a first fixed opening angle and a second fixed opening angle. When the electric shears are in the debugging state, the rotor rotation count is re-monitored and recorded during each automatic opening and closing process. Subsequently, the average value is calculated based on the rotor rotation count of the drive motor when the shear head moves to the closed position during all recorded automatic opening and closing processes. This average value is then used as the final rotor rotation count corresponding to the closed position of the shear head. Similarly, the average value is calculated based on the rotor rotation count of the drive motor when the shear head moves to the first fixed opening angle during all recorded automatic opening and closing processes. This average value is then used as the final rotor rotation count corresponding to the first fixed opening angle. Finally, the average value is calculated based on the rotor rotation count of the drive motor when the shear head moves to the second fixed opening angle during all recorded automatic opening and closing processes. This average value is then used as the final rotor rotation count corresponding to the second fixed opening angle. After completing the above debugging, when the electric shears enter the working state, if it is necessary for the shear head of the electric shears to move to the corresponding position (closed position, first fixed opening angle, or second fixed opening angle), the final number of rotor rotations corresponding to the corresponding position recorded during the debugging mode can be achieved by driving the motor (in the corresponding rotation direction) to rotate the rotor to the corresponding position.

[0068] Optionally, step 220 includes:

[0069] After removing outliers from the recorded rotor positions of the drive motors when the scissor head moves to the closed position and at all fixed opening angles during all automatic opening and closing processes, the average value of all rotor positions corresponding to each scissor head position is determined as the final rotor position corresponding to that scissor head position; and / or, after removing outliers from the recorded rotor rotation counts of the drive motors when the scissor head moves to the closed position and at all fixed opening angles during all automatic opening and closing processes, the average value of all rotor rotation counts corresponding to each scissor head position is determined as the final rotor rotation count corresponding to that scissor head position.

[0070] Specifically, when one or more abnormal values ​​(i.e., recorded values ​​that differ significantly from other recorded values ​​during automatic opening and closing processes) are among all the recorded values ​​(rotor position and / or number of rotations) monitored and recorded during multiple automatic opening and closing processes, abnormal values ​​are removed in step 220 to ensure the accuracy of the final debugging results.

[0071] For example, the following description uses the example of recording the number of rotor rotations and the electric shears being set with a first fixed opening angle and a second fixed opening angle. When the electric shears are in the debugging state, the number of rotor rotations is re-monitored and recorded during each automatic opening and closing process. Subsequently, outliers were removed from the recorded number of rotor rotations of the drive motor when the scissor head reached the closed position during all automatic opening and closing processes. The average value of all remaining recorded rotor rotations was then calculated, and this average value was used as the final rotor rotation count corresponding to the closed position of the scissor head. Similarly, outliers were removed from the recorded number of rotor rotations of the drive motor when the scissor head reached the first fixed opening angle during all automatic opening and closing processes. The average value of all remaining recorded rotor rotations was then calculated, and this average value was used as the final rotor rotation count corresponding to the first fixed opening angle. Finally, outliers were removed from the recorded number of rotor rotations of the drive motor when the scissor head reached the second fixed opening angle during all automatic opening and closing processes. The average value of all remaining recorded rotor rotations was then calculated, and this average value was used as the final rotor rotation count corresponding to the second fixed opening angle. After completing the above debugging, when the electric shears enter the working state, if it is necessary for the shear head of the electric shears to move to the corresponding position (closed position, first fixed opening angle, or second fixed opening angle), the final number of rotor rotations corresponding to the corresponding position recorded during the debugging mode can be achieved by driving the motor (in the corresponding rotation direction) to rotate the rotor to the corresponding position.

[0072] Optionally, after step 200, this method further includes:

[0073] Control the electric shears to turn off.

[0074] Specifically, after the electric shears are adjusted, control the electric shears to turn off immediately or after a period of time (such as five seconds).

[0075] Optionally, combined Figure 1 , Figure 3 As shown, after step 200, this method also includes:

[0076] Step 300: When the electric shears enter the working state, control the electric shears to work according to the position of the shear head and its corresponding final rotor position and / or the final number of rotor rotations.

[0077] After the electric shears are debugged in step 200, when the electric shears enter the working state, the control system operates the electric shears according to the position of the shear head and its corresponding final rotor position and / or the final number of rotor rotations. Specifically, if the shear head of the electric shears needs to move to a corresponding position (such as the closed position, the first fixed opening angle, or the second fixed opening angle, etc.), this can be achieved by driving the motor (in the corresponding rotation direction) to rotate the rotor to the corresponding position recorded during the debugging mode, corresponding to the final rotor position and / or the final number of rotor rotations. The electric shears generally determine the position to which the shear head needs to move based on the opening and closing of its trigger.

[0078] Optionally, in this method, the electric scissors can generally be debugged once before leaving the factory or after the electric scissors have their corresponding mechanical structure replaced (step 200).

[0079] Optionally, the electric shears include a drive circuit for driving a drive motor, a calculation recording circuit for recording and storing the final rotor position and / or the final number of rotor rotations, a rotor position monitoring circuit, and a shear head opening / closing angle monitoring circuit.

[0080] Specifically, the scissor head opening / closing angle monitoring circuit is used to monitor the opening / closing angle of the scissor head (or the position of the movable blade); the rotor position monitoring circuit is used to monitor the rotor position (or rotor rotation speed) information of the drive motor. Both the scissor head opening / closing angle monitoring circuit and the rotor position monitoring circuit are communicatively connected to the calculation and recording circuit, so that the calculation and recording circuit can record the rotor position (or rotor rotation speed) information of the drive motor when the scissor head moves to the corresponding opening / closing angle; and the calculation and recording circuit is used to remove outliers from all recorded values ​​and to calculate and record the corresponding average value after removing outliers, so as to record the final average value (final rotor position or final rotor rotation number). For example, the calculation and recording circuit is integrated into the corresponding microcontroller and has a memory such as EEPROM, so as to record the final rotor position and / or the final rotor rotation number through the corresponding memory.

[0081] Optionally, the electric scissors also include a trigger opening monitoring circuit, which monitors motion information such as the trigger opening of the electric scissors. The trigger opening monitoring circuit, drive circuit, and calculation and recording circuit are communicatively connected. Thus, when the electric scissors enter the working state, based on the motion information such as the trigger opening monitored by the trigger opening monitoring circuit, the calculation and recording circuit matches the current motion information of the trigger with the corresponding scissor head opening angle and the final rotor position and / or the final number of rotor rotations corresponding to that scissor head opening angle. The drive circuit then drives the rotor of the drive motor to move according to the final rotor position and / or the final number of rotor rotations to achieve the corresponding scissor head opening angle. In some embodiments, different motion information of the trigger corresponds to different scissor head opening angles, and the corresponding trigger motion information and the corresponding scissor head opening angle are recorded in the calculation and recording circuit.

[0082] Optionally, the drive circuit includes at least one of a Hall sensor, a back EMF monitoring circuit, and a short-time pulse monitoring circuit.

[0083] Optionally, both the scissor head opening angle monitoring circuit and the trigger opening degree monitoring circuit can use Hall sensors for corresponding opening degree monitoring.

[0084] Optionally, the scissor head opening monitoring circuit includes a Hall sensor located at the scissor head, and a magnet adapted to the Hall sensor is provided on the movable blade of the scissor head.

[0085] In this embodiment, the Hall sensor is mounted on the housing at the tip of the electric scissors to ensure the stability of its position. A magnet, used in conjunction with the Hall sensor to monitor the scissor tip opening, is positioned at the tail of the movable blade (the unsharpened end) and corresponds to the position of the Hall sensor. Thus, by using both the Hall sensor and the magnet, the scissor tip opening is monitored, and the accuracy of the monitoring results is ensured.

[0086] Optionally, the scissor head opening monitoring circuit may have multiple Hall sensors.

[0087] In this embodiment, the scissor head opening monitoring circuit sets multiple Hall sensors at the scissor head, and the multiple Hall sensors are arranged sequentially in the direction of movement of the movable blade tail, so as to accurately monitor the position of the scissor head (or movable blade) at different opening degrees; and the multiple Hall sensors can realize joint monitoring and verification of the position of the movable blade, further improving the accuracy of scissor head opening monitoring.

[0088] Optionally, the electric scissors also include a button circuit and an alarm circuit.

[0089] In this embodiment, the button circuit and alarm circuit are communicatively connected to corresponding circuits (such as the calculation and recording circuit). The switching of the electric scissors' operating state can be triggered by the trigger and / or the buttons on the button circuit. The alarm circuit is used to provide corresponding prompts and alarms, such as providing an audible and visual alarm after the electric scissors have been debugged. For example, the alarm circuit includes a flashing light and a buzzer.

[0090] Combination Figure 4 As shown, another embodiment of the present invention provides an electric scissor, comprising:

[0091] The acquisition unit is used to acquire the operating status of the electric shears;

[0092] The debugging unit is used to control the scissor head to enter the automatic opening and closing process when the electric scissors enter the debugging state, and to calibrate the opening angle of the scissor head and the position and / or number of rotations of the rotor of the drive motor of the electric scissors during the automatic opening and closing process; wherein, the drive motor is used to drive the opening and closing of the scissor head.

[0093] In this embodiment, the electric shears, through the cooperation of the acquisition unit, debugging unit and other structures, ensure that the electric shears' adaptive control method can be executed smoothly and stably, thereby effectively improving the efficiency of electric shear debugging, shortening the debugging time of each electric shear, and simplifying the debugging work before the electric shears leave the factory or after the electric shears have the corresponding mechanical structure replaced.

[0094] While the disclosure is as stated above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the protection scope of this invention.

Claims

1. A method for adaptive control of an electric scissors, characterized in that, include: Obtain the operating status of the electric shears; When the electric scissors enter the debugging state, the scissor head is controlled to enter an automatic opening and closing process, and the opening angle of the scissor head and the position and / or number of rotations of the rotor of the drive motor of the electric scissors are calibrated during the automatic opening and closing process; wherein, the drive motor is used to drive the opening and closing of the scissor head; When the electric shears enter the working state, the electric shears are controlled to work according to the position of the shear head and its corresponding final rotor position and / or the final number of rotor rotations.

2. The electric scissors adaptive control method according to claim 1, characterized in that, The process of controlling the scissor head of the electric scissors to enter the automatic opening and closing process includes: The scissor head is controlled to perform the automatic opening and closing process at the maximum fixed opening angle currently set by the electric scissors.

3. The electric scissors self-adaptive control method according to claim 1 or 2, characterized in that, The process of controlling the scissor head of the electric scissors to enter the automatic opening and closing process includes: The automatic opening and closing process is controlled to perform the scissor head a first preset number of times.

4. The adaptive control method of electric scissors as claimed in claim 3, characterized in that, The scissor head includes a movable blade and a fixed blade that are rotatably connected, and the drive motor is used to drive the movable blade to rotate relative to the fixed blade; The calibration of the opening angle of the scissor head and the position and / or number of rotations of the rotor of the drive motor of the electric scissors during the automatic opening and closing process includes: During each automatic opening and closing process of the scissor head, the position of the movable blade and the position and / or number of rotations of the rotor of the drive motor are monitored and recorded synchronously.

5. The adaptive control method of electric scissors as claimed in claim 4, characterized in that, The electric scissors are provided with at least one fixed opening angle; The synchronous monitoring and recording of the position of the movable blade and the position and / or number of rotations of the drive motor rotor during each automatic opening and closing process of the scissor head includes: During each automatic opening and closing process of the scissor head, when the scissor head moves to the closed position and at each fixed opening angle, the position and / or number of rotations of the rotor of the drive motor are monitored and recorded synchronously.

6. The adaptive control method of electric scissors as claimed in claim 5, characterized in that, During each automatic opening and closing process of the scissor head, when the scissor head moves to the closed position and at each fixed opening angle, the position and / or number of rotations of the drive motor rotor are simultaneously monitored and recorded, including: During each automatic opening and closing process, when the scissor head begins to open from the closed position, the monitoring and recording of the position and / or number of rotations of the drive motor rotor restarts; and / or, when the scissor head begins to close from the maximum fixed opening angle, the monitoring and recording of the position and / or number of rotations of the drive motor rotor restarts.

7. The adaptive control method of electric scissors as claimed in claim 5, characterized in that, The method of synchronously monitoring and recording the position of the movable blade and the position and / or number of rotations of the drive motor rotor during each automatic opening and closing process of the scissor head further includes: Based on the recorded rotor positions of the drive motor when the scissor head moves to the closed position and at all the fixed opening angles during all the automatic opening and closing processes, the average value of all rotor positions corresponding to each scissor head position is determined as the final rotor position corresponding to the corresponding scissor head position; and / or, based on the recorded number of rotor rotations of the drive motor when the scissor head moves to the closed position and at all the fixed opening angles during all the automatic opening and closing processes, the average value of all rotor rotations corresponding to each scissor head position is determined as the final number of rotor rotations corresponding to the corresponding scissor head position.

8. The adaptive control method of electric scissors as claimed in claim 7, characterized in that, The step of determining the average value of all rotor positions corresponding to each scissor head position as the final rotor position corresponding to the corresponding scissor head position based on the recorded rotor positions of the drive motor when the scissor head moves to the closed position and all the fixed opening angles during all the automatic opening and closing processes; and / or, determining the average value of all rotor rotations corresponding to each scissor head position as the final rotor rotation number corresponding to the corresponding scissor head position based on the recorded number of rotor rotations of the drive motor when the scissor head moves to the closed position and all the fixed opening angles during all the automatic opening and closing processes, includes: After removing outliers from the recorded rotor positions of the drive motor when the scissor head moves to the closed position and at all the fixed opening angles during all the automatic opening and closing processes, the average value of all rotor positions corresponding to each scissor head position is determined as the final rotor position corresponding to the corresponding scissor head position; and / or, after removing outliers from the recorded number of rotor rotations of the drive motor when the scissor head moves to the closed position and at all the fixed opening angles during all the automatic opening and closing processes, the average value of all rotor rotations corresponding to each scissor head position is determined as the final number of rotor rotations corresponding to the corresponding scissor head position.

9. An electric scissors, characterized in that include: The acquisition unit is used to acquire the operating status of the electric shears; The debugging unit is used to control the scissor head to enter an automatic opening and closing process when the electric scissors enter the debugging state, and to calibrate the opening angle of the scissor head and the position and / or number of rotations of the rotor of the drive motor of the electric scissors during the automatic opening and closing process; wherein, the drive motor is used to drive the opening and closing of the scissor head; when the electric scissors enter the working state, it controls the electric scissors to work according to the position of the scissor head and its corresponding final rotor position and / or final number of rotor rotations.

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