Electric rotary tool speed control system

Abstract

The invention discloses an electric rotating tool speed control system, which relates to the technical field of electric rotating tool speed control and comprises an electric rotating tool handheld posture detection module, a center calculation and control module, a rotating speed distribution control module, a mode switching module, a user-defined setting module and a mode prediction module. The posture data of the electric rotating tool can be collected, then the rotating direction and the rotating speed are automatically controlled according to the posture data, stepless control is achieved, and the control sensitivity and convenience of the electric rotating tool are improved; in addition, a self-defined rotating speed control program and a fixed operation control program can be set through the self-defined setting module so as to meet the individual requirements of the electric rotating tool in the actual use process, the set mode prediction module can achieve automatic prediction of the operation mode and conduct mode switching, and the autonomy of control over the electric rotating tool is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric rotary tool speed control, and in particular to an electric rotary tool speed control system. Background Art

[0002] There are many types of electric rotary tools, such as screwdrivers, electric drills and electric rotary tools. Electric rotary tools are used in many scenarios in people's daily lives and are used in almost every household.

[0003] Although electric rotary tools can achieve automatic rotation, the control of the rotation speed and direction during the rotation process requires active adjustment by the user. The degree of automation during use is still insufficient, and stepless automatic adjustment cannot be achieved, making the use of electric rotary tools less convenient. Therefore, the present invention proposes an electric rotary tool speed control system to solve the deficiencies in the prior art. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide an electric rotary tool speed control system. By configuring the electric rotary tool speed control system to consist of an electric rotary tool hand-held posture detection module, a central calculation and control module, a speed distribution control module, and a mode switching module, it is possible to collect the electric rotary tool posture data, and then automatically control the rotation direction and speed according to the posture data, thereby realizing stepless control and improving the control sensitivity and convenience of the electric rotary tool.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An electric rotary tool speed control system, comprising an electric rotary tool hand-held posture detection module, a central calculation and control module, a speed distribution control module, a mode switching module, a custom setting module and a mode prediction module;

[0007] The electric rotary tool hand-held posture detection module is used to collect posture data of the electric rotary tool generated by the user's hand movements when the user holds the electric rotary tool;

[0008] The central calculation and control module is used to fuse and identify the posture data obtained by the hand-held posture detection module of the electric rotary tool;

[0009] The rotation speed distribution control module is used to set different posture data to correspond to different rotation speeds and rotation directions of the electric rotary tool;

[0010] The mode switching module is used to switch the rotation speed according to the posture data;

[0011] The custom setting module is used for allowing the user to set one or more sets of custom speed control programs outside the speed distribution control module, and the custom setting module is also used for allowing the user to set one or more sets of fixed operation control programs;

[0012] The mode prediction module is used to judge the similarity between multiple continuous posture data and the corresponding multiple continuous posture data in the custom speed control program or the fixed operation control program within a set period, send the judgment result to the mode switching module, and use the mode switching module to perform subsequent operation mode switching control.

[0013] A further improvement is that the electric rotary tool hand-held posture detection module includes a three-axis gyroscope arranged in the electric rotary tool, and the three-axis gyroscope is used to detect the rotation direction and angular velocity data of the electric rotary tool generated by the user's hand movement when the user holds the electric rotary tool.

[0014] A further improvement is that the electric rotary tool hand-held posture detection module also includes an accelerometer and a magnetometer. The accelerometer is used to detect the acceleration change data of the electric rotary tool as the user holds the electric rotary tool with the user's hand movements. The magnetometer is used to detect the absolute direction data of the electric rotary tool as the user holds the electric rotary tool with the user's hand movements.

[0015] A further improvement is that when the central calculation and control module fuses the posture data obtained by the handheld posture detection module of the electric rotary tool, a Kalman filter algorithm is used to fuse the rotation direction and angular velocity data, the acceleration change data and the absolute direction data.

[0016] A further improvement is that when the central calculation and control module recognizes the fused posture data, a support vector machine is used to recognize the rotation direction and angular velocity of the electric rotary tool generated by the user's hand movement when the user holds the electric rotary tool.

[0017] A further improvement is that after the speed distribution control module sets different posture data corresponding to different speeds and rotation directions of the electric rotary tool, the one-to-one corresponding data is formed into an automatic operation control program with multiple automatic operation control instructions and stored in the central calculation and control module.

[0018] A further improvement is that when the mode switching module switches the rotation speed according to the posture data, the mode switching module is controlled by the central calculation and control module to execute the switching control instruction sent by the central calculation and control module.

[0019] A further improvement is that the custom speed control program is a custom speed control program for custom speed values ​​set by the user under different posture data, and the fixed operation control program is a fixed operation control program set by the user that is not controlled by posture data and includes rotation angle, speed and rotation time.

[0020] A further improvement is that when the pattern prediction module determines that the similarity between multiple continuous posture data within a set period and the corresponding multiple continuous posture data in the speed control program or the fixed operation control program reaches a preset threshold, the execution of the custom speed control program or the fixed operation control program is triggered by default, and then the control command to prepare to execute the custom speed control program or the fixed operation control program is first fed back to the display module of the electric rotary tool for user confirmation. After the user confirms, the execution of the custom speed control program or the fixed operation control program is officially started.

[0021] A further improvement is that when the pattern prediction module determines that the similarity between multiple continuous posture data within a set period and the corresponding multiple continuous posture data in the speed control program or the fixed operation control program reaches an unpredictable threshold, the automatic operation control program continues to be executed, and no pattern prediction is performed in the subsequent operation process until the single cycle rotation operation is completed.

[0022] The beneficial effects of the present invention are as follows: the present invention can collect the posture data of the electric rotary tool by configuring the electric rotary tool speed control system to consist of a handheld posture detection module of the electric rotary tool, a central calculation and control module, a rotation speed distribution control module, and a mode switching module, and then automatically control the rotation direction and rotation speed according to the posture data, thereby realizing stepless control and improving the control sensitivity and convenience of the electric rotary tool;

[0023] The control system of the present invention also includes a custom setting module that can realize the setting of custom speed control programs and fixed operation control programs to meet the personalized needs during the actual use of the electric rotary tool. The set mode prediction module can automatically predict the operation mode and perform mode switching, thereby improving the autonomy of the electric rotary tool control. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the system framework structure of the present invention;

[0025] Figure 2 The figure is a schematic diagram of the operation flow of the system of the present invention. DETAILED DESCRIPTION

[0026] In order to deepen the understanding of the present invention, the present invention will be further described in detail below in conjunction with examples. The examples are only used to explain the present invention and do not constitute a limitation on the protection scope of the present invention.

[0027] according to Figure 1-2 As shown, this embodiment proposes an electric rotary tool speed control system, including an electric rotary tool hand-held posture detection module, a central calculation and control module, a speed distribution control module, a mode switching module, a custom setting module and a mode prediction module;

[0028] The hand-held posture detection module for the electric rotary tool is used to collect posture data generated by the electric rotary tool as the user holds the electric rotary tool; the hand-held posture detection module for the electric rotary tool includes a three-axis gyroscope arranged in the electric rotary tool, and the three-axis gyroscope is used to detect the rotation direction and angular velocity data generated by the hand movement of the electric rotary tool when the user holds the electric rotary tool; and also includes an accelerometer and a magnetometer, the accelerometer is used to detect the acceleration change data generated by the hand movement of the electric rotary tool when the user holds the electric rotary tool, and the magnetometer is used to detect the absolute direction data of the electric rotary tool when the user holds the electric rotary tool as the user moves the hand;

[0029] The central computing and control module is used to fuse and identify the posture data obtained by the hand-held posture detection module of the electric rotary tool; when the central computing and control module fuses the posture data obtained by the hand-held posture detection module of the electric rotary tool, the Kalman filter algorithm is used to fuse the rotation direction and angular velocity data, the acceleration change data and the absolute direction data; when identifying the fused posture data, the support vector machine is used to identify the rotation direction and angular velocity generated by the electric rotary tool with the hand movement of the user when the user holds the electric rotary tool;

[0030] The specific steps of the Kalman filter algorithm to fuse the rotation direction and angular velocity data, acceleration change data and absolute direction data are as follows:

[0031] First, we need to define the state vector. In three-dimensional space, the state vector is defined as a vector containing position, velocity (or angular velocity) and possible deviation (such as the drift of a three-axis gyroscope). For electric rotary tools, it mainly refers to the rotation direction and angular velocity, so the state vector can be simplified as:

[0032]

[0033] Among them, θx, θy, θz represent the rotation angles on the three axes, ωx, ωy, ωz represent the angular velocities on the three axes;

[0034] Build a system model

[0035] Assuming the system model is linear and considering the drift of the three-axis gyroscope:

[0036] Xk=Ax1+Wk-1

[0037] Where A is the state transfer matrix, w k-1 is the process noise;

[0038] For the three-axis gyroscope, accelerometer, and magnetometer, we can define the observation equations respectively:

[0039]

[0040] Among them, Hgyr o is the observation matrix of the three-axis gyroscope, hac c and hmag are the nonlinear observation functions of the accelerometer and magnetometer, is the observation noise;

[0041] Since the observation models of the accelerometer and magnetometer are nonlinear, an extended Kalman filter (EKF) is needed to process them:

[0042] Prediction steps:

[0043]

[0044] Linearize the observation function:

[0045]

[0046] Update steps:

[0047]

[0048]

[0049] The speed distribution control module is used to set different posture data corresponding to different speeds and rotation directions of the electric rotary tool; after the speed distribution control module sets different posture data corresponding to different speeds and rotation directions of the electric rotary tool, the one-to-one corresponding data is formed into an automatic operation control program with multiple automatic operation control instructions and saved in the central calculation and control module;

[0050] The mode switching module is used to switch the rotation speed according to the posture data. The mode switching module is controlled by the central calculation and control module and is used to execute the switching control instruction sent by the central calculation and control module.

[0051] The custom setting module is used for allowing the user to set one or more sets of custom speed control programs outside the speed distribution control module, and the custom setting module is also used for allowing the user to set one or more sets of fixed operation control programs; the custom speed control program is a custom speed control program for custom speed values ​​set by the user under different posture data, and the fixed operation control program is a fixed operation control program set by the user that includes a rotation angle, a speed and a rotation time and is not controlled by the posture data;

[0052] The mode prediction module is used to judge the similarity between a plurality of continuous posture data and a plurality of continuous posture data corresponding to a custom speed control program or a fixed operation control program within a set period, and send the judgment result to the mode switching module, and use the mode switching module to perform subsequent operation mode switching control; when the mode prediction module judges that the similarity between a plurality of continuous posture data and a plurality of continuous posture data corresponding to a speed control program or a fixed operation control program within a set period reaches a preset threshold, the execution of the custom speed control program or the fixed operation control program is triggered by default, and then the control command to prepare to execute the custom speed control program or the fixed operation control program is fed back to The display module of the electric rotary tool is for the user to confirm. During the process of waiting for the user's confirmation, the electric rotary tool does not execute any instructions and does not perform rotation operations, so as to avoid action errors. After the user confirms, the custom speed control program or the fixed operation control program is officially started to execute; when the pattern prediction module determines that the similarity between multiple continuous posture data within a set cycle and the corresponding multiple continuous posture data in the speed control program or the fixed operation control program reaches an unpredictable threshold, the automatic operation control program continues to be executed, and no pattern prediction is performed in the subsequent operation process until the single cycle of rotation operation is completed. Efficient rotation operation control can be achieved through the pattern prediction module.

[0053] The present invention configures the electric rotary tool speed control system to consist of an electric rotary tool handheld posture detection module, a central calculation and control module, a speed distribution control module, and a mode switching module, thereby realizing the collection of electric rotary tool posture data, and then automatically controlling the rotation direction and speed according to the posture data, thereby realizing stepless control and improving the control sensitivity and convenience of the electric rotary tool; the control system of the present invention also includes a custom setting module that can realize the setting of a custom speed control program and a fixed operation control program to meet the personalized needs during the actual use of the electric rotary tool; the set mode prediction module can realize automatic prediction of the operation mode and perform mode switching, thereby improving the autonomy of the electric rotary tool control.

[0054] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. Electric rotary tool speed control system, characterized in that: It includes an electric rotary tool hand-held posture detection module, a central calculation and control module, a speed distribution control module, a mode switching module, a custom setting module and a mode prediction module; The electric rotary tool hand-held posture detection module is used to collect posture data of the electric rotary tool generated by the user's hand movements when the user holds the electric rotary tool; The central calculation and control module is used to fuse and identify the posture data obtained by the hand-held posture detection module of the electric rotary tool; The rotation speed distribution control module is used to set different posture data to correspond to different rotation speeds and rotation directions of the electric rotary tool; The mode switching module is used to switch the rotation speed according to the posture data; The custom setting module is used for allowing the user to set one or more sets of custom speed control programs outside the speed distribution control module, and the custom setting module is also used for allowing the user to set one or more sets of fixed operation control programs; The mode prediction module is used to judge the similarity between multiple continuous posture data and the corresponding multiple continuous posture data in the custom speed control program or the fixed operation control program within a set period, send the judgment result to the mode switching module, and use the mode switching module to perform subsequent operation mode switching control.

2. The electric rotary tool speed control system according to claim 1, characterized in that: The electric rotary tool hand-held posture detection module includes a three-axis gyroscope arranged in the electric rotary tool, and the three-axis gyroscope is used to detect the rotation direction and angular velocity data of the electric rotary tool generated by the user's hand movement when the user holds the electric rotary tool.

3. The electric rotary tool speed control system according to claim 1, characterized in that: The electric rotary tool hand-held posture detection module also includes an accelerometer and a magnetometer. The accelerometer is used to detect acceleration change data generated by the electric rotary tool as the user holds the electric rotary tool with the user's hand movements. The magnetometer is used to detect absolute direction data of the electric rotary tool as the user holds the electric rotary tool with the user's hand movements.

4. The electric rotary tool speed control system according to claim 3, characterized in that: When the central calculation and control module fuses the posture data obtained by the handheld posture detection module of the electric rotary tool, the Kalman filter algorithm is used to fuse the rotation direction and angular velocity data, the acceleration change data and the absolute direction data.

5. The electric rotary tool speed control system according to claim 3, characterized in that: When the central calculation and control module recognizes the fused posture data, a support vector machine is used to recognize the rotation direction and angular velocity of the electric rotary tool generated by the user's hand movement when the user holds the electric rotary tool.

6. The electric rotary tool speed control system according to claim 1, characterized in that: After the speed distribution control module sets different posture data to correspond to different speeds and rotation directions of the electric rotary tool, the one-to-one corresponding data is formed into an automatic operation control program with multiple automatic operation control instructions and stored in the central calculation and control module.

7. The electric rotary tool speed control system according to claim 1, characterized in that: When the mode switching module switches the rotation speed according to the posture data, the mode switching module is controlled by the central calculation and control module and is used to execute the switching control instruction sent by the central calculation and control module.

8. The electric rotary tool speed control system according to claim 1, characterized in that: The custom speed control program is a custom speed control program with custom speed values ​​set by the user under different posture data, and the fixed operation control program is a fixed operation control program set by the user that is not controlled by posture data and includes rotation angle, speed and rotation time.

9. The electric rotary tool speed control system according to claim 6, characterized in that: When the pattern prediction module determines that the similarity between multiple continuous posture data within a set period and the corresponding multiple continuous posture data in the speed control program or the fixed operation control program reaches a preset threshold, the custom speed control program or the fixed operation control program is triggered to execute by default, and then the control command to prepare to execute the custom speed control program or the fixed operation control program is first fed back to the display module of the electric rotary tool for user confirmation. After the user confirms, the custom speed control program or the fixed operation control program is officially executed.

10. The electric rotary tool speed control system according to claim 9, characterized in that: When the pattern prediction module determines that the similarity between multiple continuous posture data within a set period and the corresponding multiple continuous posture data in the speed control program or the fixed operation control program reaches an unpredictable threshold, the automatic operation control program continues to be executed, and no pattern prediction is performed in the subsequent operation process until the single cycle rotation operation is completed.

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