Control method, control system and equipment of electric tool and storage medium

Abstract

The invention relates to the technical field of electric tool control, and discloses a control method, a control system and equipment of an electric tool and a storage medium, and the method comprises the following steps: if the electric tool meets a preset condition, collecting the working current of the electric tool for multiple times at a working sampling interval; obtaining the working current and calculating the variable quantity of the working current; and if the absolute value of the variable quantity is smaller than a preset threshold value and the working current is not smaller than the no-load current, calculating a load according to a preset rule and the working current. According to the method, the current abnormity is judged and avoided through the duty ratio in the soft start stage, and the load monitoring is realized based on the working current calculation of the electric tool by using the preset rule, so that the accuracy of load acquisition is optimized on the premise of not increasing a sensor.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of power tool control, and particularly to a control method, a control system, a device and a storage medium for a power tool. Background Art

[0002] During the use of power tools such as cutters, angle grinders, wrenches, electric drills, etc., it is necessary to display the load of the power tool in real time, or present the current load state through current. However, most of the current load calculation and display methods calculate the current load parameters of the machine by means of sensors. Adding sensors will increase the overall cost, weight and volume of the machine, and since the machine starts up, due to the too short soft start time, the current will abnormally increase, resulting in calculation errors of the load parameters. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a control method, a control system, a device and a storage medium for a power tool, which can avoid the error of the load parameters caused by the soft start part by judging the soft start part of the machine, and realize the accuracy of obtaining the current load parameters of the machine.

[0004] To solve the above technical problems, an embodiment of the present application provides a control method for a power tool, the method includes: if the power tool meets a preset condition, collect the working current of the power tool multiple times at a working sampling interval; obtain the working current and calculate the change amount of the working current; if the absolute value of the change amount is less than a preset threshold, and the working current is not less than the no-load current, calculate the load according to a preset rule and the working current.

[0005] An embodiment of the present application also provides a control system for a power tool, the system includes: a current calculation module, configured to collect the working current of the power tool multiple times at a working sampling interval if the power tool meets a preset condition, and obtain the working current and calculate the change amount of the working current; a load calculation module, configured to calculate the load according to the working current if the absolute value of the change amount is less than a preset threshold, and the working current is not less than the no-load current.

[0006] An embodiment of the present application also provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the control method for the power tool as described above.

[0007] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the control method for the power tool as described above is implemented.

[0008] In the embodiments of the present application, compared with the prior art, by collecting the working current in real time and calculating its change amount, and combining the preset threshold and the current-load correspondence table, accurate load calculation is achieved. Through the above method, it is realized to avoid abnormal current through duty cycle judgment in the soft start stage, and use the correspondence table to calculate the working current of the power tool to realize load monitoring, so as to optimize the accuracy of load display without adding sensors.

[0009] In addition, if the power tool meets the preset conditions, the working current of the power tool is collected multiple times at the working sampling interval, and it further includes: determining the duty cycle of the power tool in real time; if the duty cycle reaches the target duty cycle, the working current of the power tool is collected at the working sampling interval, where the target duty cycle is the preset duty cycle of the target working gear when the power tool is running.

[0010] In addition, the preset threshold is determined based on the current value of the preset working gear of the power tool.

[0011] In addition, the preset threshold is determined in the following manner: obtaining the current value when the power tool runs at the preset working gear, sampling the current value multiple times at the threshold sampling interval and taking the average value as the threshold, where the duration of the threshold sampling interval is greater than or equal to the duration of the working sampling interval.

[0012] In addition, the preset rule is the correspondence table between the working current and the real load, where the working current and the real load have different corresponding relationships when the power tool is in different gears.

[0013] In addition, after calculating the load according to the preset rule and the working current, the method further includes: when the power tool is in no-load, stopping calculating the real-time load; or, when the power tool adjusts the working gear, pausing calculating the real-time load, and after reaching the preset pause duration, collecting the real-time working current of the power tool multiple times at the working sampling interval, and calculating the change amount of the real-time working current, and judging whether to calculate the real-time load of the power tool according to the change amount.

[0014] In addition, the pause duration is the duration required for the duty cycle before adjustment to reach the duty cycle of the adjusted working gear. Description of the Drawings

[0015] One or more embodiments are exemplarily illustrated by the pictures in the corresponding drawings. These exemplary illustrations do not limit the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the drawings in the figures do not constitute a proportional limitation.

[0016] Figure 1 It is a schematic structural diagram of a control system for a power tool provided by an embodiment of the present application;

[0017] Figure 2 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application;

[0018] Figure 3 It is a flowchart of a control method for a power tool provided by an embodiment of the present application;

[0019] Figure 4 It is a schematic diagram of the current change of a power tool involved in the control method of the power tool provided by an embodiment of the present application;

[0020] Figure 5 It is a flowchart of a control method for a power tool provided by another embodiment of the present application;

[0021] Figure 6 It is a flowchart of a control method for a power tool provided by another embodiment of the present application. Detailed implementation manners

[0022] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the following will elaborate on each embodiment of the present application with reference to the accompanying drawings. However, those of ordinary skill in the art can understand that in each embodiment of the present application, many technical details are proposed for the convenience of readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present application can still be implemented. The following division of each embodiment is for the convenience of description and should not constitute any limitation on the specific implementation manner of the present application. Each embodiment can be combined and cross-referenced with each other on the premise of not being contradictory.

[0023] It should be noted that the terms "first", "second", etc. in the specification, claims and above-mentioned drawings of the present application are used to distinguish similar objects and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0024] Most of the current load calculation and display methods use sensors to calculate the current load parameters of the machine. Adding sensors will increase the overall cost, weight, and volume of the machine. Moreover, when the machine starts up, due to the too short soft start time, the current will increase abnormally, resulting in calculation errors in the load parameters. An embodiment of the present application provides a control system for an electric tool, as Figure 1 shown. The system includes: a current calculation module and a load calculation module. The current calculation module is configured to collect the working current of the electric tool multiple times at a working sampling interval if the electric tool meets a preset condition, and obtain the working current and calculate the change amount of the working current. The load calculation module is configured to calculate the load based on the working current if the absolute value of the change amount is less than a preset threshold and the working current is not less than the no-load current. The working sampling interval is the time interval set for collecting the working current.

[0025] An embodiment of the present application also provides an electronic device, as Figure 2 shown, including: at least one processor; and a memory communicatively connected to the at least one processor. The memory stores instructions executable by the at least one processor. When the instructions are executed by the at least one processor, the at least one processor is enabled to execute the control method for the electric tool provided by the embodiment of the present application (which will be elaborated in detail later in this article and will not be repeated here).

[0026] Among them, the memory and the processor are connected by a bus. The bus may include any number of interconnected buses and bridges. The bus connects various circuits of one or more processors and the memory together. The bus may also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art. Therefore, they will not be further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be an element or multiple elements, such as multiple receivers and transmitters, and provides a unit for communicating with various other devices on the transmission medium. The data processed by the processor is transmitted over the wireless medium through the antenna. Further, the antenna also receives data and transmits the data to the processor. The processor is responsible for managing the bus and general processing, and may also provide various functions, including timing, peripheral interface, voltage regulation, power management, and other control functions. The memory may be used to store the data used by the processor when performing operations.

[0027] Meanwhile, an embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium may be built into a device implementing the control method for the electric tool and is used to store a computer program. When the computer program is executed by a processor, it implements the control method for the electric tool provided by the embodiment of the present application (which will be elaborated in detail later in this article and will not be repeated here).

[0028] Those skilled in the art can understand that all or part of the steps in implementing the above embodiments or the methods in the following embodiments can be completed by instructing relevant hardware through a program. This program is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods in various embodiments of the present application. The aforementioned storage medium includes: USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, optical disks, and other various media that can store program codes.

[0029] Through the above embodiments of the present application, a control system, an electronic device, and a computer-readable storage medium of an electric tool are built. Thus, load calculation can be carried out based on this system or device. By judging the soft start part of the machine through the control method of the electric tool provided by the embodiments of the present application, the error of the load parameters caused by the soft start part is avoided, and the accuracy of obtaining the current load parameters of the machine is realized.

[0030] Under the above software and hardware operating environment, most of the current load calculation and display methods adopt sensors to calculate the current load parameters of the machine. Adding sensors will increase the overall cost, weight, and volume of the machine. And because when the machine starts at the beginning, due to the too short soft start time, the current will rise abnormally, thus causing problems such as calculation errors of the load parameters. The embodiments of the present application provide a control method for an electric tool. This method realizes accurate load calculation by collecting the working current in real time and calculating its change amount, combining a preset threshold and a current-load correspondence table. Through the above method, it is realized to avoid abnormal current through duty cycle judgment in the soft start stage, and use the correspondence table to realize load monitoring based on the calculation of the working current of the electric tool, thereby optimizing the accuracy of load acquisition without adding sensors.

[0031] In some embodiments, the flow of the control method of the electric tool is as Figure 3 shown and includes the following steps.

[0032] Step 101, if the electric tool meets the preset conditions, collect the working current of the electric tool multiple times at the working sampling interval; obtain the working current and calculate the change amount of the working current.

[0033] Step 102, if the absolute value of the change amount is less than the preset threshold and the working current is not less than the no-load current, calculate the load according to the preset rules and the working current.

[0034] In this way, by collecting the working current in real time and calculating its change amount, and combining the preset threshold and the current-load correspondence relationship, accurate load calculation is achieved. Through the above method, it is realized to avoid abnormal current through duty ratio judgment in the soft start stage, and use the correspondence relationship to calculate the working current of the power tool to realize load monitoring, so as to optimize the accuracy of load acquisition without adding sensors.

[0035] For better understanding by those skilled in the art Figure 3 of the control method of the power tool shown below, the steps will be further described.

[0036] In step 101, if the power tool meets the preset conditions, the working current of the power tool is collected multiple times at the working sampling interval. By periodically collecting the working current, the change of the current data during the operation of the power tool can be obtained, providing basic data for subsequent analysis. The setting of this sampling interval is determined according to the characteristics and actual requirements of the power tool, which should not only ensure that the change of the current can be captured in time, but also not be too frequent to cause waste of system resources. In the embodiments of the present application, the time unit of the sampling interval is calculated in ms. Among them, the working sampling interval can be set according to different application scenarios and different power tools. For example, for power tools with a relatively fast soft start or scenarios where the working gear of the power tool needs to be frequently changed, the working sampling interval can be set to a relatively short duration, such as 1 ms, so as to sample and update the current working current of the power tool sensitively, efficiently and in time; or for power tools with a relatively long soft start time and small sudden changes in current values, the working sampling interval can be set to a relatively long duration, such as 10 ms. The change amount of the current can reflect the dynamic change of the load of the power tool. If the change amount of the current is large, it indicates that the load may be changing greatly; if the change amount is small, it indicates that the load is relatively stable. Among them, the change amount of the working current is determined by the difference between the current values of two adjacent samplings, that is, ΔI = I n -I n-1 , in this way, the stable load stage can be identified through the change amount of the current, or it can be determined whether the power tool is in the start-up impact according to the sudden load change.

[0037] In step 102, when the absolute value of the change amount of the current is less than the preset threshold and the working current is not less than the no-load current, it indicates that the soft start stage of the power tool has ended at this time. According to the preset rules and the current working current, calculating the load can obtain a more accurate load of the power tool at the current working gear.

[0038] Among them, under normal working conditions, the current change of the power tool is as Figure 4 shown. Figure 4The position of the middle dashed line indicates that the current value reaches the peak value, at which time the duty cycle of the power tool reaches the target duty cycle, and then the current will gradually decrease. In this application, by determining whether the absolute value of the current change amount is less than a preset threshold value, it is determined whether the load of the power tool is in a relatively stable state. Generally speaking, when the load enters a relatively stable state, it means that the soft start of the power tool has ended. That is to say, in general, it is possible to judge whether the soft start process of the power tool has ended only by the change of the current. The preset threshold value here is determined based on a large number of experiments and the working characteristics of the power tool in advance, and it is an important reference value for judging whether the load is stable.

[0039] In this way, according to the change amount of the current, it can be determined whether the soft start of the machine has ended, and after the soft start ends, the error of the load-carrying parameters caused by the soft start part can be avoided, so as to realize the real-time and accurate acquisition of the current load parameters of the machine, reduce the cost, and improve the reliability of the power tool control.

[0040] In some embodiments, for the preset threshold value of step 102, the preset threshold value is determined based on the current value of the preset working gear of the power tool, and specifically, it can be determined by the following method: obtain the current value when the power tool runs at the preset working gear, sample the current value multiple times at the threshold sampling interval and take the average value as the threshold value. Among them, the duration of the threshold sampling interval is greater than or equal to the duration of the working sampling interval, and the threshold sampling interval is the sampling interval set to confirm the threshold value.

[0041] Among them, the power tool runs at a speed reduced by 10% based on the speed corresponding to its minimum working gear, and the current value in the current working state is obtained in real time. After sampling the current value multiple times at the threshold sampling interval, calculate the average value of the multiple current values as the threshold value. In actual operation, the current of the power tool may be affected by factors such as power supply fluctuations and external interference and cause instantaneous changes. Sampling multiple times and taking the average value can effectively reduce the influence of these accidental factors. The duration of the threshold sampling interval is greater than or equal to the duration of the working sampling interval. The working sampling interval is used to collect the working current to calculate the change amount, and then judge the load situation; the threshold sampling interval is used to determine the preset threshold value. The setting of the threshold sampling interval duration needs to comprehensively consider the characteristics and actual needs of the power tool. It is necessary to ensure that when obtaining the current value, it can fully reflect the current characteristics of this working gear and will not cause waste of system resources due to too frequent sampling. If the threshold sampling interval is too short, it may not be able to accurately reflect the stable state of the current and is prone to errors; if it is too long, it may not be able to obtain the current change information in time.

[0042] In some embodiments, if the power tool meets the preset conditions, the working current of the power tool is collected multiple times at the working sampling interval, including as Figure 5 shown, the load calculation and determination of the power tool can be realized through the following steps.

[0043] Step 103: Determine the duty cycle of the power tool in real time; if the duty cycle reaches the target duty cycle, collect the working current of the power tool at the working sampling interval, where the target duty cycle is the preset duty cycle of the target working gear when the power tool is running.

[0044] In Step 103, the duty cycle is the ratio of the high-level duration in the pulse signal to the entire cycle, and is usually used to control the motor speed or output power (such as by adjusting the PWM signal). The target duty cycle is a preset value when the power tool runs stably at a specific gear. For example, a high-speed gear corresponds to a high duty cycle (such as 80%); a low-speed gear corresponds to a low duty cycle (such as 30%). When the power tool starts, the duty cycle gradually increases (such as linearly rising from 0% to the target value) to avoid current surges. At this time, the motor speed is not yet stable, and the current may abnormally increase due to motor acceleration. When the water pressure is insufficient, the motor speed is unstable, and the current fluctuates frequently. The fluctuating current will cause load calculation errors and even misjudgment as a high load. Therefore, it is not possible to determine whether the soft start is over only by the current.

[0045] When the duty cycle reaches the target value, the motor speed is stable and the current tends to be stable. At this time, the current data can truly reflect the load status. For example, assume that the power tool starts from a 0% duty cycle and gradually rises to the target value (such as 50%). When the duty cycle has not reached 50%, the motor is still accelerating, and the current may fluctuate due to dynamic adjustment; after reaching 50%, the motor runs stably, and the current change is only determined by the load. When the current duty cycle reaches the target value, start collecting the current to ensure that the subsequent collected current data is a true reflection of the load when the motor runs stably. In this way, by judging the control sampling timing through the duty cycle, a strategy of sampling the current value to calculate the load after the power tool runs stably is realized, effectively avoiding the current abnormality in the soft start stage and ensuring the accuracy of the load calculation.

[0046] In some embodiments, the preset condition can also be a set time, which is set according to the actual situation or is not less than the time when the soft start is completed.

[0047] In the above embodiments, the present application establishes a mapping relationship between the working current and the real load, determines the over-current - load relationship table, so as to calculate the load of the power tool based on the working current. In some embodiments, the preset rule is the correspondence table between the working current and the real load. Among them, when the power tool is in different gears, the working current and the real load have different corresponding relationships. By establishing an independent current - load relationship table for each gear, the system can select the corresponding mapping rule according to the current gear to ensure that the load calculation matches the actual working conditions.

[0048] Specifically, in a laboratory or a specific test environment, professional external instruments are used to test the power tool. These instruments can accurately measure various parameters of the power tool under different working conditions, such as current, load magnitude, etc. Further, the power tool is operated at different gears, and various different load conditions are simulated through external instruments; then a large amount of current and load data measured by the external instruments are collected and sorted. Software is used to analyze and process the sorted data to establish the corresponding relationship between current and load. This corresponding relationship can be expressed as a mathematical model, such as a linear function, a non-linear function, etc., or presented in the form of a relationship table. In this way, setting the corresponding relationship through the data obtained from actual measurement can more accurately reflect the current-load characteristics of the power tool in the real working scenario. Compared with theoretical estimation or general empirical formulas, the corresponding relationship based on actual measurement can better adapt to the individual differences and specific working environments of power tools. Through the preset mapping relationship between the working current and the real load at different gears, the real-time current value is converted into a load, and low-cost and high-precision real-time load monitoring is achieved through a pure software algorithm.

[0049] In some embodiments, the preset rules include, but are not limited to, a relationship table, a calculation formula, or an intelligent model.

[0050] After the power tool runs stably, when the tool is in no-load condition, the working current is close to zero (e.g., less than the no-load current threshold). When the gear is switched, the system needs to adjust the Pulse Width Modulation (PWM) duty cycle to match the speed / torque requirements of the new gear (e.g., when switching from a high-speed gear to a low-speed gear, the duty cycle may drop from 80% to 30%). At this time, the change in the duty cycle will cause the motor speed to be dynamically adjusted, resulting in current fluctuations (such as starting impact or braking current). That is to say, in the above scenario, obvious errors will occur when calculating the load based on the real-time collected current. Therefore, in some embodiments, when the power tool is in no-load or the gear is switched, the control method of the present application also gives a strategy to pause calculating the load, and by dynamically controlling the calculation timing, the problems of invalid calculation and misjudgment in the transition stage are solved, such as Figure 6 shown, including the following steps.

[0051] Step 104, when the power tool is in no-load, stop calculating the real-time load; or, when the power tool adjusts the working gear, pause calculating the real-time load. After reaching the preset pause duration, collect the real-time working current of the power tool multiple times at the working sampling interval, and calculate the change amount of the real-time working current. Determine whether to calculate the real-time load of the power tool according to the change amount.

[0052] In step 104, when the power tool is in no-load state, its working current will be at a relatively low level. In the no-load condition, continuing to calculate the real-time load is meaningless. Instead, it will consume system resources and increase the computing burden on the processor. Stopping the calculation can avoid meaningless data processing, reduce power consumption, and improve the system operation efficiency. At the same time, there may be some minor fluctuations in the current during no-load. If the load is continuously calculated, these fluctuations may cause the load value to be unstable, resulting in misjudgment and affecting the user's judgment of the tool state. In addition, when the power tool adjusts the working gear, it is equivalent to a change in the target duty cycle, and the motor speed, power output, etc. inside it will all change, which will cause a large fluctuation in the working current. At this time, the current fluctuation is not caused by the load change. If the real-time load is continuously calculated based on these unstable current data, an incorrect load result will be obtained, and the actual load situation of the power tool cannot be truly reflected. Therefore, it is necessary to pause the calculation to avoid misjudgment caused by current fluctuations.

[0053] After the gear is switched, the pause duration is set to the duration required for the duty cycle before adjustment to reach the duty cycle of the adjusted working gear. This is because during this period, the internal state of the power tool (such as motor speed, voltage, etc.) is transitioning from one stable state to another. Only when the duty cycle stabilizes at the value corresponding to the new working gear, the working current will tend to be stable and can truly reflect the load situation.

[0054] In some embodiments, for the pause duration in step 104, it is the duration required for the duty cycle before adjustment to reach the duty cycle of the adjusted working gear. For example, assume that the power tool switches from a low gear to a high gear. The duty cycle of the low gear is 30%, and the duty cycle of the high gear is 60%. It takes 500 milliseconds for the duty cycle to increase from 30% to 60%. This 500 milliseconds is the pause duration. During this period, the system pauses the load calculation. After 500 milliseconds, the duty cycle stabilizes at 60%, the motor speed and current are stable, and the system then collects the working current, calculates the change amount, and determines whether to calculate the load according to the set process to ensure the accuracy of the calculation result. After reaching the preset pause duration, the real-time working current of the power tool is collected multiple times at the working sampling interval, and the change amount of the current is calculated. According to the change amount, it is determined whether to calculate the real-time load. If the absolute value of the change amount is less than the preset threshold and the working current is not less than the no-load current, it indicates that the power tool has entered a stable working state. At this time, the real-time load is calculated based on the preset rules and the working current, and the obtained result is accurate and reliable.

[0055] In this way, the control method of the power tool of the present application is implemented through steps 101 to 104. This method realizes accurate load calculation by collecting the working current in real time, calculating its change amount, and combining the preset threshold and the current-load correspondence. Through the above method, it is realized to avoid abnormal current through duty cycle judgment in the soft start stage, and use the correspondence to realize load monitoring based on the working current calculation of the power tool, so as to optimize the accuracy of load acquisition without adding sensors.

[0056] In some embodiments, the power tool is provided with a display function, and the accuracy of load data acquisition is realized through the above control method and displayed in real time to ensure the accuracy of load display.

[0057] It should be noted that in the above different embodiments, the steps with the same reference numerals are substantially the same. The main difference lies in the different combination methods of the relevant steps in different embodiments. However, the above embodiments are only examples provided for easy understanding. In some embodiments, two or more of the above embodiments can be combined with each other, which will not be elaborated here one by one.

[0058] The step division of the above various methods is only for clear description. When implemented, they can be combined into one step or some steps can be split into multiple steps. As long as the same logical relationship is included, they are all within the protection scope of the present application; making insignificant modifications to the algorithm or process or introducing insignificant designs, but not changing the core design of its algorithm and process are all within the protection scope of this application.

[0059] Those of ordinary skill in the art can understand that the above embodiments are specific embodiments for implementing the present application, and in actual applications, various changes can be made in form and details without departing from the spirit and scope of the present application.

Claims

1. A control method for a power tool, characterized in that, The method includes: If the power tool meets a preset condition, collect the operating current of the power tool multiple times at an operating sampling interval; Obtain the operating current and calculate the change amount of the operating current; If the absolute value of the change amount is less than a preset threshold and the operating current is not less than the no-load current, calculate the load according to a preset rule and the operating current.

2. The control method of the power tool according to claim 1, wherein The step of if the power tool meets a preset condition, collect the operating current of the power tool multiple times at an operating sampling interval includes: Determine the duty cycle of the power tool in real time; If the duty cycle reaches a target duty cycle, collect the operating current of the power tool at the operating sampling interval, where the target duty cycle is the preset duty cycle of the target operating gear when the power tool is running.

3. The control method of the power tool according to claim 1, wherein The preset threshold is determined based on the current value of the preset operating gear of the power tool.

4. The control method of the power tool according to claim 3, characterized in that, The preset threshold is determined by the following method: Obtain the current value when the power tool operates at the preset operating gear, sample the current value multiple times at a threshold sampling interval and take the average value as the threshold, where the duration of the threshold sampling interval is greater than or equal to the duration of the operating sampling interval.

5. The control method of the power tool according to claim 1, wherein, Wherein, The preset rule is a correspondence table between the operating current and the real load, where When the power tool is at different gears, the operating current and the real load have different corresponding relationships.

6. The control method of the power tool according to claim 1, characterized in that, After calculating the load according to the preset rule and the operating current, the method further includes: When the power tool is in no-load, stop calculating the real-time load; or, When the power tool adjusts the operating gear, pause calculating the real-time load. After reaching a preset pause duration, collect the real-time operating current of the power tool multiple times at the operating sampling interval, calculate the change amount of the real-time operating current, and determine whether to calculate the real-time load of the power tool according to the change amount.

7. The control method of the power tool according to claim 6, characterized in that, The pause duration is the duration required for the duty cycle before adjustment to reach the duty cycle of the adjusted operating gear.

8. A control system for a power tool, characterized in that, The system includes: A current calculation module, configured to if the power tool meets a preset condition, collect the operating current of the power tool multiple times at an operating sampling interval, and obtain the operating current and calculate the change amount of the operating current; A load calculation module, configured to if the absolute value of the change amount is less than a preset threshold and the operating current is not less than the no-load current, calculate the load according to a preset rule and the operating current.

9. An electronic device, characterized in that, Including: At least one processor; And, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the control method of the power tool according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the control method of the power tool according to any one of claims 1 to 7.

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