Nail gun control method and device

Abstract

The invention discloses a nail gun control method and device, and belongs to the technical field of nail gun control, and the method comprises the steps: receiving a nailing signal, and starting a brushless motor based on the nailing signal; receiving a counter electromotive force signal from the brushless motor, and generating a motor control instruction based on the voltage change of the counter electromotive force signal and the rotation state of the brushless motor; controlling a brushless motor to execute a nailing action based on the motor control instruction; the nailing point is positioned according to the incidence relation between the rotating state of the brushless motor and the running stroke of the brushless motor, the accuracy of positioning the nailing position is effectively improved, and the stability of the corresponding nail gun is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of nail gun control, and specifically to a nail gun control method and device. Background Art

[0002] A nail gun, as a tool for driving nails during construction, often uses electric energy, gunpowder or gas energy as power; among them, nail guns powered by gunpowder or gas energy have safety risks during use, and these safety risks are limited by the gunpowder or gas energy itself; nail guns powered by electric energy must rely on a motor to convert electric energy into power. In the prior art, a brushed motor is generally used for electric energy conversion. During the conversion process, the load of the motor changes greatly, resulting in a large amount of electric sparks at the contact position of the brushed motor, that is, at the brush, which shortens the service life of the nail gun; to solve the shortcomings of the brushed motor, researchers proposed using a brushless motor to replace the brushed motor. However, the nail gun corresponding to the brushless motor needs to rely on a sensor to locate the nail driving position to achieve functions such as resetting the nail gun, and the nail gun will vibrate during operation, resulting in low positioning accuracy of the sensor.

[0003] Chinese Patent, Publication No.: CN118192365A, Publication Date: June 14, 2024, discloses a rivet gun control circuit, including: a main control and trigger state detection module; the main control identifies the state of the rivet gun trigger switch through the trigger state detection module. When it is identified that the user presses the trigger switch, the main control drives the motor to rotate forward, so that the motor drives the riveting mechanism to move for riveting; the main control real-time obtains the first output voltage of the first Hall element. When the first output voltage reaches the first voltage threshold, the motor is controlled to stop; the first Hall element is used to monitor the riveting stroke of the rivet gun; when the main control identifies that the user releases the trigger switch, the main control drives the motor to rotate in reverse, so that the motor drives the riveting mechanism to move for resetting; the main control real-time obtains the second output voltage of the second Hall element. When the second output voltage reaches the second voltage threshold, the motor is controlled to stop; the second Hall element is used to monitor the reset stroke of the rivet gun; and the Hall element mentioned in this invention usually includes a Hall sensor, that is, this invention also does not consider the low positioning accuracy of the sensor caused by the vibration of the nail gun during operation, resulting in a large positioning error of the nail driving point, and there are risks such as nail jamming and motor damage, greatly reducing the stability of the nail gun. Summary of the Invention

[0004] The object of the present invention is to solve the problem that the stability of a nail gun is poor due to large positioning errors of nail - driving points in the prior art; a nail - gun control method and device are proposed. Based on a nail - driving signal, a brushless motor is started, and based on the voltage change of the back - electromotive - force signal of the brushless motor and the rotation state of the brushless motor, a motor control instruction is generated. When the brushless motor responds to the motor control instruction to perform a nail - driving action, the nail - driving point can be located through the correlation between the rotation state of the brushless motor and the running stroke of the brushless motor, effectively improving the accuracy of positioning the nail - driving position and significantly enhancing the stability of the corresponding nail gun.

[0005] In a first aspect, a technical solution provided in an embodiment of the present invention is a nail - gun control method and device, including the following steps: Receive a nail - driving signal and start a brushless motor based on the nail - driving signal; Receive a back - electromotive - force signal from the brushless motor and generate a motor control instruction based on the voltage change of the back - electromotive - force signal and the rotation state of the brushless motor; Control the brushless motor to perform a nail - driving action based on the motor control instruction.

[0006] In this solution, after receiving the nail - driving signal, the brushless motor is controlled to be powered on and started. The brushless motor generates a corresponding back - electromotive - force signal. Since the amplitude of the back - electromotive - force signal changes with the rotation of the rotor position, and the rotor position is an intuitive manifestation of the rotation state of the brushless motor, the theoretical commutation time point of the brushless motor can be determined through the mutual connection and the rotor position. Combining with the working principle of the brushless motor, that is, the brushless motor needs to continuously switch the energization conditions of the three phases to maintain rotation, a motor control instruction is generated based on the theoretical commutation time point, and further, the brushless motor is controlled to operate based on the motor control instruction to realize stages such as starting, compressing, nail - driving, and resetting during the rotation of the motor, that is, performing a nail - driving action. The nail - driving action and the corresponding nail - driving position are related to the rotation of the brushless motor, that is, there is a corresponding relationship between the running stroke of the brushless motor during rotation and the nail - driving position. The nail - driving position is determined through the corresponding relationship, effectively improving the accuracy of positioning the nail - driving position and significantly enhancing the stability of the working state of the corresponding nail gun.

[0007] Preferably, the nail - driving signal is generated based on the trigger - switch state, safety - switch state, and nail - driving mode of the corresponding nail gun.

[0008] In this solution, when the nailing mode is single nailing, the trigger switch and the safety switch are closed simultaneously once to generate a single nailing signal, and the corresponding nail gun performs a single nailing action. It should be noted that if the trigger switch and the safety switch do not release after being closed once, that is, they remain closed all the time, only one nailing signal is generated; when the nailing mode is continuous nailing, a nailing signal is generated when the trigger switch is in the closed state and the safety switch is also in the closed state. Different from single nailing, the nailing signal generated at this time is a continuous nailing signal, and the corresponding trigger switch can remain closed continuously. Then, the continuous nailing signal is controlled by the state of the safety switch, and the continuous nailing signal is generated when the safety switch is closed; in addition, only after the safety switch is released, the corresponding nail gun will respond to the next nailing action. Otherwise, the nail gun will always be in the continuous nailing signal period before the safety switch is released, avoiding accidental touch of the nail gun and helping the nail gun to reset, effectively improving the safety of the nail gun.

[0009] Preferably, before starting the brushless motor based on the nailing signal, it further includes: Obtain an illumination signal and generate an illumination instruction based on the illumination signal; Adjust the working state of the corresponding illumination module based on the illumination instruction to perform an illumination action.

[0010] In this solution, when the illumination signal is successfully obtained, an energization instruction for the corresponding illuminating lamp, that is, an illumination instruction, is generated based on the illumination signal. The illuminating lamp is powered on based on the energization instruction to work, realizing light supplementation in low-light and no-light working scenarios.

[0011] Preferably, before starting the brushless motor based on the nailing signal, it further includes: Obtain a voltage signal, and judge whether to end nailing based on the voltage signal and the undervoltage threshold. If the voltage signal is greater than or equal to the undervoltage threshold, it is determined that the voltage is normal and nailing continues. If the voltage signal is less than the undervoltage threshold, it is determined that there is undervoltage and nailing ends.

[0012] In this solution, if the power supply voltage is too small to support the normal operation of the nail gun, it will cause poor nailing effect of the nail gun. To monitor the real-time magnitude of the power supply voltage, the corresponding voltage signal is obtained, and it is judged whether to end nailing based on the voltage signal and the undervoltage threshold, effectively ensuring the nailing effect of the nail gun. It should be noted that the voltage signal is only obtained before the brushless motor starts. That is, if the voltage signal is less than the undervoltage threshold during nailing, the corresponding nail gun will continue the current nailing action until nailing is completed.

[0013] Preferably, before starting the brushless motor based on the nailing signal, it further includes: Obtain the temperature signal, and determine whether to end nailing based on the temperature signal and the high-temperature threshold. If the temperature signal is less than the high-temperature threshold, it is determined that the temperature is normal and nailing continues. If the temperature signal is greater than or equal to the high-temperature threshold, it is determined that the temperature is abnormal and nailing ends.

[0014] In this solution, if the temperature before nailing of the corresponding nail gun is too high, that is, the temperature signal is greater than or equal to the high-temperature threshold, it indicates that the nail gun has a fault and nailing needs to end. If nailing has been performed at this time, nailing will end after the current nailing action is completed.

[0015] Preferably, after starting the brushless motor based on the nailing signal, it further includes: Receive the time monitoring signal from the brushless motor, and determine whether to end nailing based on the time monitoring signal and the time threshold. If the time monitoring signal is less than the time threshold, it is determined to continue nailing and maintain the operation of the brushless motor. If the time monitoring signal is greater than or equal to the time threshold, it is determined to end nailing and issue a shutdown command for the brushless motor.

[0016] In this solution, the corresponding nail gun usually completes all nailing actions within a certain period. When the nail gun still performs nailing actions beyond the period, it can be directly determined that the nail gun has a fault. And the nailing action duration of the nail gun is directly related to the running time of the corresponding brushless motor. Then, based on the time monitoring signal of the brushless motor, the running time of the nail gun can be obtained. Judging whether to end nailing based on the time monitoring signal and the time threshold can ensure that the nail gun completes all nailing actions while avoiding the nail gun from idling for a long time due to a fault, effectively improving the safety of the nail gun.

[0017] Preferably, the specific process of generating the motor control instruction based on the voltage change of the back electromotive force signal and the rotation state of the brushless motor is as follows: Extract the voltage change of the back electromotive force signal, and determine the zero-crossing point based on the voltage change and the neutral point of the corresponding brushless motor; determine the rotor angle of the corresponding brushless motor based on the zero-crossing point, and determine the commutation node based on the rotor angle and the angle threshold; Arrange the commutation nodes to obtain the motor control instruction.

[0018] In this solution, when the voltage change of the back electromotive force signal is greater than zero and the voltage of the back electromotive force signal is equal to the voltage of the neutral point, the corresponding back electromotive force signal has a zero crossing point. When the zero crossing point occurs, the rotor of the brushless motor has theoretically rotated by an angle of 60°. Therefore, the real-time angle of the rotor, that is, the rotor angle, can be calculated based on the initial angle of the rotor, the number of rotation turns, and the 60° angle of the theoretical rotation of the rotor. Secondly, during the rotation of the rotor of the brushless motor, it is necessary to continuously switch the three-phase power-on situation to achieve operation, which leads to the need for commutation when the rotor rotates to a certain angle. Based on the rotor angle and the angle threshold, the commutation node is determined. When the rotor angle plus the reserved rotation angle is greater than or equal to the angle threshold, the time point corresponding to the reserved rotation angle is marked as the commutation node, that is, the time point obtained by adding the time required for the rotor to rotate an angle equal to the size of the reserved rotation angle to this time point is the commutation node. Organize all the commutation nodes to obtain the motor control instruction. It should be noted that the commutation node corresponds to the rotation angle of the motor, and the rotation angle of the motor determines the nailing speed and spacing. Therefore, the running stroke of the motor can be calculated cumulatively through the commutation node, and the nailing position can be judged according to the running stroke.

[0019] Preferably, during the process of performing the nailing action, it further includes: Determine the commutation time interval of the brushless motor based on the commutation node in the motor control instruction, and calculate the motor speed based on the commutation time interval; Statistical the motor speed to obtain the speed change characteristics, and determine the number of rotation turns of the brushless motor based on the speed change characteristics; Judge whether to end nailing based on the number of rotation turns and the turn threshold. If the number of rotation turns is greater than or equal to the turn threshold, it is determined to end nailing and issue a brushless motor stop instruction. If the number of rotation turns is less than the turn threshold, it is determined to continue nailing and maintain the operation of the brushless motor.

[0020] In this solution, based on the time series, the commutation time interval is obtained by taking the difference of the time points adjacent to the commutation node. Combining the corresponding relationship between the commutation node and the rotor angle of the brushless motor, the difference of the rotor angles corresponding to the adjacent commutation nodes is taken to obtain the rotation angle of the brushless motor within the commutation time interval. The motor speed is calculated based on the commutation time interval and the rotation angle. All the motor speeds and the corresponding currents during the nail driving operation are statistically analyzed to obtain the speed change characteristics of the brushless motor in the time series. The speed change characteristics at least include the speed change of the brushless motor and the current change of the brushless motor. The current can be directly obtained, so no specific limitation is made. Combining different stages in the motor rotation process, namely compression, nail driving, resetting, etc., the nail driving stage is obvious among all the stages of the motor rotation. That is, during the rotation of the motor, the current corresponding to the nail driving stage is the largest and the speed is the lowest. Based on this feature, the nail driving stage is marked, and the number of marks of the nail driving stage is marked as the number of rotations of the brushless motor. Secondly, a complete rotation of the brushless motor corresponds to one nail driving action. When the nail driving action is executed, the corresponding nail gun will move a corresponding distance to the next nail driving point. Counting the number of rotations of the brushless motor facilitates the control of the nail driving action and ensures that the last nail driving action stops at the target nail driving point.

[0021] Preferably, during the process of executing the nail driving action, it further includes: Receiving the power signal and the commutation time interval signal of the brushless motor, and calculating the motor speed based on the commutation time interval signal; statistically analyzing the matching degree between the power signal and the motor speed based on the time series, and judging whether a fault occurs based on the matching degree and the matching threshold. If the matching degree is less than or equal to the matching threshold, it is determined that the corresponding brushless motor is faulty, and a brushless motor shutdown instruction is issued. If the matching degree is greater than the matching threshold, it is determined that the corresponding brushless motor is normal, and the operation of the brushless motor is maintained.

[0022] In this solution, when the nail gun corresponding to the brushless motor works normally, the output power and the speed of the brushless motor will both be within an interval, namely the power interval and the speed interval. The speed can be calculated by the interval time corresponding to the commutation time interval signal and the rotor angle. When the output power at a certain moment is outside the power interval and the speed at the same moment is outside the speed interval, it is determined that the matching degree between the power signal and the motor speed is less than or equal to the matching threshold, and the corresponding brushless motor fails. When the output power at a certain moment is within the power interval and the speed at the same moment is within the speed interval, it is determined that the matching degree between the power signal and the motor speed is greater than the matching threshold, and the corresponding brushless motor is normal. It can discover the potential faults of the corresponding nail gun, and even discover the latent faults that have not occurred yet, effectively ensuring the safety of the corresponding nail gun.

[0023] On the other hand, another technical solution provided in the embodiments of the present invention is a nail gun control device, including: Control power supply module, control module, brushless motor; The control power supply module is used to obtain a nailing signal and transmit the nailing signal to the control module; The control module starts the brushless motor based on the nailing signal, and generates a motor control command based on the back electromotive force signal of the brushless motor and the rotation state of the brushless motor; The brushless motor performs a nailing action in response to the motor control command.

[0024] Advantages of the present invention: (1) In this application, when a nailing signal is received, the brushless motor is powered on and started. The brushless motor generates a corresponding back electromotive force signal. Since the amplitude of the back electromotive force signal changes with the rotation of the rotor position, the rotor position is an intuitive manifestation of the rotation state of the brushless motor. The theoretical commutation time point of the brushless motor can be determined through the interconnection and the rotor position. Combining with the working principle of the brushless motor, that is, the brushless motor needs to continuously switch the energization conditions of the three phases to maintain rotation. Based on the theoretical commutation time point, a motor control command is generated, and further, the brushless motor is controlled to operate based on the motor control command, realizing stages such as starting, compressing, nailing, and resetting during the rotation of the motor, that is, performing a nailing action. The nailing action and the corresponding nailing position are related to the rotation of the brushless motor, that is, there is a corresponding relationship between the running stroke of the brushless motor during rotation and the nailing position. The nailing position is determined through the corresponding relationship, effectively improving the accuracy of positioning the nailing position and significantly enhancing the stability of the working state of the corresponding nail gun; (2) In this application, when the nail gun corresponding to the brushless motor is working normally, the output power and speed of the brushless motor will both be within an interval, that is, a power interval and a speed interval. The speed can be calculated through the interval time corresponding to the commutation time interval signal and the rotor angle. When the output power at a certain moment is outside the power interval and the speed at the same moment is outside the speed interval, it is determined that the matching degree between the power signal and the motor speed is less than or equal to the matching threshold, and the corresponding brushless motor fails. When the output power at a certain moment is within the power interval and the speed at the same moment is within the speed interval, it is determined that the matching degree between the power signal and the motor speed is greater than the matching threshold, and the corresponding brushless motor is normal. It can be found that there are potential faults in the corresponding nail gun, and even potential hidden dangers that have not yet occurred can be discovered, effectively ensuring the safety of the corresponding nail gun. Description of the Drawings

[0025] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes, and advantages of the present invention will become more obvious. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components.

[0026] Figure 1Schematic flowchart of a nail gun control method provided by an embodiment of the present application; Figure 2 Schematic flowchart of a nail gun control method provided by another embodiment of the present application; Figure 3 Schematic structural diagram of a nail gun control device provided by an embodiment of the present application. Detailed implementation manners

[0027] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific implementation manners described herein are only the best embodiments of the present invention, which are only used to explain the present invention and do not limit the protection scope of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0028] Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of the operations (or steps) can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the operations can be rearranged. The process can be terminated when its operations are completed, but it can also have additional steps not included in the drawings; the process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0029] Embodiment 1: As Figure 1 shown, this embodiment provides a nail gun control method, including the following steps: Receive a nailing signal and start a brushless motor based on the nailing signal; The nailing signal is generated based on the trigger switch state, safety switch state, and nailing mode of the corresponding nail gun.

[0030] Specifically, in the implementation scenario of the present embodiment, when the nail gun is powered on and the trigger switch or the safety switch is closed, the nail gun control device corresponding to the nail gun control method is activated and started, and detects the trigger switch state, the safety switch state and the nailing mode. When the nailing mode is single nailing, the trigger switch and the safety switch are closed once at the same time, a nailing signal is generated, and the brushless motor runs a cycle, and the cycle at least includes a starting stage, a compression stage, a nailing stage, a reset stage and a shutdown stage. The corresponding nail gun performs a nailing action. It should be noted that if the trigger switch and the safety switch are not released after being closed once, that is, they are always kept in a closed state, and only one nailing signal is generated; when the nailing mode is continuous nailing, the trigger switch is in a closed state, and the safety switch is also in a closed state. A nailing signal is generated. Different from single nailing, the nailing signal generated at this time is a continuous nailing signal, and the corresponding trigger switch can be kept in a closed state continuously, then the continuous nailing signal The signal is controlled by the state of the safety switch, and the continuous nailing signal is generated when the safety switch is closed; in addition, the corresponding nail gun will respond to the next nailing action after the safety switch is released, otherwise the nail gun will be in the continuous nailing signal cycle before the safety switch is released, avoiding accidental contact of the nail gun and facilitating the reset of the nail gun, effectively improving the safety of the nail gun; after successfully receiving the nailing signal, the brushless motor is controlled to connect the power supply and start based on the nailing signal. Since the brushless motor has no brushes, it needs to use an electronic commutator to control the steering to realize the rotation of the motor during its operation. The principle of steering is to generate a magnetic field by controlling different phases to be energized, and drive the rotor to operate based on the change of the magnetic field to realize the rotation of the brushless motor. The phase is formed by the coil winding inside the brushless motor. Usually a brushless motor contains three phases. When the brushless motor is running, two phases are energized to generate a magnetic field, and the third phase is suspended to generate a back electromotive force signal. Different phases are controlled to be suspended at different times to realize the change of the magnetic field.

[0031] receiving a back-EMF signal from a brushless motor, and generating a motor control command based on a voltage change of the back-EMF signal and a rotation state of the brushless motor; Extracting the voltage change of the back-EMF signal, determining the zero-crossing point based on the voltage change and the neutral point of the corresponding brushless motor; determining the rotor angle of the corresponding brushless motor based on the zero-crossing point, and determining the commutation node based on the rotor angle and the angle threshold; Arranging the commutation nodes to obtain motor control instructions; The brushless motor is controlled to perform nailing action based on the motor control command.

[0032] Specifically, in the implementation scenario of this embodiment, after the brushless motor starts, it automatically generates a back electromotive force signal. Since the amplitude of the back electromotive force signal changes with the rotation of the rotor position, which is an intuitive manifestation of the rotation state of the brushless motor, the theoretical commutation time point of the brushless motor can be determined through the interconnection and the rotor position. When the voltage change of the back electromotive force signal is greater than zero and the voltage of the back electromotive force signal is equal to the voltage of the neutral point, the corresponding back electromotive force signal has a zero crossing point. When the zero crossing point occurs, the rotor of the corresponding brushless motor has theoretically rotated by an angle of 60°. Therefore, the real-time rotor angle, that is, the rotor angle, can be calculated based on the initial rotor angle, the number of rotation turns, and the 60° angle of the theoretical rotor rotation. The angle calculation formula corresponding to the rotor angle can be expressed as: θ = θo + N × 60°; In the formula, θ is the real-time rotor angle, θo is the initial rotor angle, and N is the number of rotation turns; When the rotor rotates to a certain angle, in order to ensure that the change of the magnetic field meets the actual needs of the corresponding nail gun, the brushless motor needs to continuously switch the energization conditions of the three phases to maintain rotation. The commutation node is determined based on the rotor angle and the angle threshold. When the rotor angle plus the reserved rotation angle is greater than or equal to the angle threshold, the reserved rotation angle is set to 30° according to the phase difference between the phase lag of the back electromotive force signal and the actual rotor position. Mark the time point corresponding to the reserved rotation angle as the commutation node, that is, the time point obtained by adding the time required for the rotor to rotate an angle equal to the size of the reserved rotation angle to the current time point is the commutation node. Organize all the commutation nodes to obtain the motor control instruction, and control the operation of the brushless motor based on the motor control instruction to realize the start, compression, nail driving, reset, etc. stages during the rotation of the motor, that is, execute the nail driving action; it should be noted that the commutation node corresponds to the rotation angle of the motor, and the rotation angle of the motor determines the speed and spacing of nail driving. Therefore, the running stroke of the motor can be calculated cumulatively through the commutation node, and the nail driving position can be judged according to the running stroke, effectively improving the recognition accuracy of the nail driving position.

[0033] In addition, during the implementation of this embodiment, factors such as the cylinder air pressure, spring elasticity, battery power, and assembly error of the specific nail gun will cause the nail driving cycle time of different nail guns to be different, but usually will not exceed a limit time. If the nail gun continues to work beyond the limit time, the nail gun may malfunction. At this time, after the brushless motor starts, that is, during the process of the nail gun executing the nail driving action: Receive the time monitoring signal from the brushless motor, and judge whether to end the nail driving based on the time monitoring signal and the time threshold. If the time monitoring signal is less than the time threshold, it is determined to continue nail driving and maintain the operation of the brushless motor. If the time monitoring signal is greater than or equal to the time threshold, it is determined to end the nail driving and issue a brushless motor shutdown instruction.

[0034] Specifically, since the cycle of the nailing action of the nail gun is determined by the running time of the brushless motor, and the typical duration of a single nailing action is 500 ms, the time threshold is set to 700 ms. Correspondingly, the time monitoring signal essentially corresponds to the time for the brushless motor to rotate one week. When the time monitoring signal is less than 700 ms, it proves that the corresponding nail gun is normal. When the time monitoring signal is greater than or equal to 700 ms, it proves that the corresponding nail gun may malfunction, and a brushless motor shutdown instruction is issued and the nailing is ended. This can ensure that the nail gun completes all nailing actions while avoiding long-term idling of the nail gun due to malfunctions, effectively improving the safety of the nail gun.

[0035] Secondly, in order to accurately control the target nailing position and ensure that the last nailing action stops at the target nailing point, the following steps are also included in the implementation process of this embodiment: Determine the commutation time interval of the brushless motor based on the commutation node in the motor control instruction, and calculate the motor speed based on the commutation time interval; Statistically obtain the rotational speed change characteristics of the motor, and determine the number of rotations of the brushless motor based on the rotational speed change characteristics; Judge whether to end the nailing based on the number of rotations and the rotation number threshold. If the number of rotations is greater than or equal to the rotation number threshold, it is determined to end the nailing and a brushless motor shutdown instruction is issued. If the number of rotations is less than the rotation number threshold, it is determined to continue nailing and the operation of the brushless motor is maintained.

[0036] Specifically, the difference between the time points adjacent to the commutation node is obtained based on the time series to get the commutation time interval. Combining the corresponding relationship between the commutation node and the rotor angle of the brushless motor, the difference between the rotor angles corresponding to the adjacent commutation nodes is obtained to get the rotation angle of the brushless motor within the commutation time interval. The motor speed is calculated based on the commutation time interval and the rotation angle. The motor speed formula corresponding to the motor speed is: In the formula, n is the motor speed, T is the commutation time interval, and θ1 is the rotation angle; The rotational speeds of all motors and the corresponding currents during the nailing operation are statistically obtained to acquire the rotational speed change characteristics of the brushless motor in the time series. The rotational speed change characteristics at least include the rotational speed change and current change of the brushless motor. Since the current can be directly obtained, no specific limitation is made. Considering different stages during the motor rotation process, namely compression, nailing, resetting, etc., the nailing stage is distinct among all stages of the motor rotation. That is, during the rotation of the motor, the current corresponding to the nailing stage is the largest and the rotational speed is the lowest. Based on this feature, the nailing stage is marked, and the number of marked times of the nailing stage is marked as the number of rotation cycles of the brushless motor. One complete rotation of the brushless motor corresponds to one nailing action. And when the nailing action is executed, the corresponding nail gun will move a corresponding distance to the next nailing point. Counting the number of rotation cycles of the brushless motor facilitates the control of the nailing action to ensure that the last nailing action stops at the target nailing point.

[0037] During the implementation of this embodiment, a special fault situation may occur. When the special fault occurs, the corresponding brushless motor may still continue to rotate. The essence of the characteristic fault is stalling. When the nail gun stalls, that is, the nailing is blocked, the rotational speed of the corresponding brushless motor drops rapidly. The brushless motor does not completely stop. Therefore, the accuracy of judging whether a fault occurs by the number of rotation cycles and running time of the brushless motor is low. Based on this, this embodiment uses the matching degree of the power and speed of the brushless motor to judge whether stalling occurs, including: Receiving the power signal and commutation time interval signal of the brushless motor, and calculating the motor rotational speed based on the commutation time interval signal; statistically calculating the matching degree of the power signal and the motor speed based on the time series, and judging whether a fault occurs based on the matching degree and the matching threshold. If the matching degree is less than or equal to the matching threshold, it is determined that the corresponding brushless motor has a fault, and a brushless motor shutdown instruction is issued. If the matching degree is greater than the matching threshold, it is determined that the corresponding brushless motor is normal, and the operation of the brushless motor is maintained.

[0038] Specifically, when the nail gun corresponding to the brushless motor is working properly, the output power of the brushless motor is positively correlated with the rotational speed. Considering that when nail guns of the same type are working, the parameters affecting the output power and rotational speed of the brushless motor, such as the corresponding voltage, current, working load, and the number of motor pole pairs, are clearly set, then both the output power and the rotational speed will be within a certain range, namely the power range and the rotational speed range. The rotational speed can be calculated through the interval time corresponding to the commutation time interval signal and the rotor angle, that is, the rotational speed of the brushless motor is calculated through the motor speed formula. When the output power at a certain moment is outside the power range and the rotational speed at the same moment is outside the rotational speed range, it is determined that the matching degree between the power signal and the motor speed is less than or equal to the matching threshold, and the corresponding brushless motor has a jamming fault. When the output power at a certain moment is within the power range and the rotational speed at the same moment is within the rotational speed range, it is determined that the matching degree between the power signal and the motor speed is greater than the matching threshold, and the corresponding brushless motor is normal. In this way, potential faults of the corresponding nail gun can be discovered, and even latent faults that have not occurred can be detected, effectively ensuring the safety of the corresponding nail gun.

[0039] In addition, when the implementation scenario of this embodiment is a low-light or even no-light working environment, before starting the brushless motor to perform the nailing action based on the nailing signal: Obtain the lighting signal and generate a lighting instruction based on the lighting signal; Adjust the working state of the corresponding lighting module based on the lighting instruction to perform the lighting action.

[0040] Specifically, when the lighting signal is successfully obtained, a power-on instruction for the corresponding lighting lamp is generated based on the lighting signal, that is, the lighting instruction. The lighting lamp is powered on and works based on the power-on instruction, realizing light supplementation in low-light and no-light working scenarios. Especially in a low-light working scenario, the lighting duration of the lighting lamp can be preset to 10s, and when it is necessary to confirm the nailing point, the lighting signal is obtained to make the lighting lamp light up and work.

[0041] Embodiment 2: As Figure 2 shown, this embodiment provides a nail gun control method, including the following steps: S1. Receive the nailing signal, which is generated based on the trigger switch state, safety switch state, and nailing mode of the corresponding nail gun; S11. Obtain the lighting signal and generate a lighting instruction based on the lighting signal; Adjust the working state of the corresponding lighting module based on the lighting instruction to perform the lighting action; S12. Obtain the voltage signal, and judge whether to end nailing based on the voltage signal and the undervoltage threshold. If the voltage signal is greater than or equal to the undervoltage threshold, it is determined that the voltage is normal and nailing continues. If the voltage signal is less than the undervoltage threshold, it is determined that there is undervoltage and nailing ends; S13. Obtain the temperature signal, and determine whether to end nailing based on the temperature signal and the high-temperature threshold. If the temperature signal is less than the high-temperature threshold, it is determined that the temperature is normal and nailing continues. If the temperature signal is greater than or equal to the high-temperature threshold, it is determined that the temperature is abnormal and nailing ends; S2. Start the brushless motor based on the nailing signal; S21. Receive the time monitoring signal from the brushless motor, and determine whether to end nailing based on the time monitoring signal and the time threshold. If the time monitoring signal is less than the time threshold, it is determined to continue nailing and maintain the operation of the brushless motor. If the time monitoring signal is greater than or equal to the time threshold, it is determined to end nailing and issue a brushless motor shutdown command; S22. Receive the back electromotive force signal from the brushless motor, and generate a motor control command based on the voltage change of the back electromotive force signal and the rotation state of the brushless motor; Extract the voltage change of the back electromotive force signal, and determine the zero-crossing point based on the voltage change and the neutral point of the corresponding brushless motor; Determine the rotor angle of the corresponding brushless motor based on the zero-crossing point, and determine the commutation node based on the rotor angle and the angle threshold; Organize the commutation nodes to obtain a motor control command; S3. Control the brushless motor to perform the nailing action based on the motor control command; S31. Determine the commutation time interval of the brushless motor based on the commutation node in the motor control command, and calculate the motor speed based on the commutation time interval; Statistically analyze the motor speed to obtain the speed change characteristics, and determine the number of rotations of the brushless motor based on the speed change characteristics; Determine whether to end nailing based on the number of rotations and the rotation threshold. If the number of rotations is greater than or equal to the rotation threshold, it is determined to end nailing and issue a brushless motor shutdown command. If the number of rotations is less than the rotation threshold, it is determined to continue nailing and maintain the operation of the brushless motor; S32. Receive the power signal and the commutation time interval signal of the brushless motor, and calculate the motor speed based on the commutation time interval signal; Statistically analyze the matching degree between the power signal and the motor speed based on the time series. Determine whether a fault occurs based on the matching degree and the matching threshold. If the matching degree is less than or equal to the matching threshold, it is determined that the corresponding brushless motor is faulty and a brushless motor shutdown command is issued. If the matching degree is greater than the matching threshold, it is determined that the corresponding brushless motor is normal and the operation of the brushless motor is maintained.

[0042] In the implementation scenario of this embodiment, in addition to specifying the voltage, current, and design parameters of the motor for the corresponding nail gun, specific size requirements for the temperature and power supply voltage are also set for the working state of the nail gun. Therefore, the difference between this embodiment and Embodiment 1 is that sub-steps S12 and S13 are added in step S1. Through steps S12 and S13, the corresponding power supply voltage and working temperature can be detected before the corresponding nail gun performs the nailing action.

[0043] Specifically, if the power supply voltage is too small, an obvious undervoltage situation occurs, that is, the voltage signal is less than the undervoltage threshold. At this time, if the nailing action is forcibly executed, the nailing effect of the nail gun will be poor. It should be noted that the voltage signal is only obtained before the brushless motor starts. That is, during the nailing process, if the voltage signal is less than the undervoltage threshold, the corresponding nail gun will continue the current nailing action until the nailing is completed; secondly, if the temperature of the corresponding nail gun is too high before nailing, that is, the temperature signal is greater than or equal to the high temperature threshold, it indicates that the nail gun has a fault and the nailing needs to be ended. If nailing has already been carried out at this time, the nailing will be ended after the current nailing action is completed.

[0044] Embodiment 3: As Figure 3 shown, this embodiment provides a nail gun control device, including: a control power supply module, a control module, and a brushless motor; The control power supply module is used to obtain a nailing signal and transmit the nailing signal to the control module; The control module starts the brushless motor based on the nailing signal and generates a motor control instruction based on the back electromotive force signal of the brushless motor and the rotation state of the brushless motor; The brushless motor executes the nailing action in response to the motor control instruction.

[0045] Specifically, in the implementation scenario of this embodiment, a trigger switch button circuit and a safety switch button circuit are provided on the control power supply module. The trigger switch button circuit is connected to the trigger switch of the corresponding nail gun, and the safety switch button circuit is connected to the safety switch of the corresponding nail gun; the control module includes a microcontroller, an indicator light driving circuit, a mode switching circuit, a back electromotive force signal detection circuit, and a motor driving circuit. The first controlled end of the microcontroller is electrically connected to the control power supply module, the first control end of the microcontroller is electrically connected to the indicator light driving circuit, the mode switching circuit is electrically connected to the second controlled end of the microcontroller, the mode switching circuit is connected to the nailing mode switching switch of the corresponding nail gun, the second control end of the microcontroller is electrically connected to the controlled end of the motor driving circuit, the data acquisition end of the microcontroller is electrically connected to the data collection end of the back electromotive force signal detection circuit, the control end of the motor driving circuit is electrically connected to the controlled end of the brushless motor, and the data acquisition end of the back electromotive force signal detection circuit is electrically connected to the first data collection end of the brushless motor.

[0046] In order to detect the temperature and voltage of a nail gun and prevent nail driving operations under the conditions of undervoltage and overheating, a temperature measurement module and a voltage measurement module are also provided in the corresponding nail gun control device in this embodiment. The data acquisition end of the temperature measurement module is electrically connected to the second data collection end of the brushless motor, the data collection end of the temperature measurement module is electrically connected to the temperature acquisition end of the microcontroller, the data acquisition end of the voltage measurement module is electrically connected to the power input end of the control power supply module, and the data collection end of the voltage measurement module is electrically connected to the voltage acquisition end of the microcontroller.

[0047] The embodiments of the present invention at least have the following substantial effects: (1) In the implementation scenario of the embodiment of the present application, when a nail driving signal is received, the brushless motor is controlled to be powered on and started. The brushless motor generates a corresponding back electromotive force signal. Since the amplitude of the back electromotive force signal changes with the rotation of the rotor position, which is an intuitive manifestation of the rotation state of the brushless motor, the theoretical commutation time point of the brushless motor can be determined through the mutual connection and the rotor position. Combining the working principle of the brushless motor, that is, the brushless motor needs to continuously switch the energization conditions of the three phases to maintain rotation, a motor control instruction is generated based on the theoretical commutation time point, and further, the brushless motor is controlled to operate based on the motor control instruction, realizing stages such as starting, compressing, nail driving, and resetting during the rotation of the motor, that is, performing the nail driving action. The nail driving action and the corresponding nail driving position are related to the rotation of the brushless motor, that is, there is a corresponding relationship between the operating stroke during the rotation of the brushless motor and the nail driving position. The nail driving position is determined through the corresponding relationship, effectively improving the accuracy of positioning the nail driving position and significantly enhancing the stability of the working state of the corresponding nail gun. (2) In the implementation scenario of the embodiment of the present application, when the nail gun corresponding to the brushless motor is working normally, the output power and rotation speed of the brushless motor will both be within an interval, that is, a power interval and a rotation speed interval. The rotation speed can be calculated through the interval time corresponding to the commutation time interval signal and the rotor angle. When the output power at a certain moment is outside the power interval and the rotation speed at the same moment is outside the rotation speed interval, it is determined that the matching degree between the power signal and the motor speed is less than or equal to the matching threshold, and the corresponding brushless motor fails. When the output power at a certain moment is within the power interval and the rotation speed at the same moment is within the rotation speed interval, it is determined that the matching degree between the power signal and the motor speed is greater than the matching threshold, and the corresponding brushless motor is normal. Potential faults of the corresponding nail gun can be discovered, and even latent faults that have not occurred can be discovered, effectively ensuring the safety of the corresponding nail gun.

[0048] The above specific implementation manners are the preferred implementation manners of the present invention, and do not limit the specific implementation scope of the present invention. The scope of the present invention includes but is not limited to this specific implementation manner. All equivalent changes made according to the shape, structure, and method of the present invention are within the protection scope of the present invention.

Claims

1. A nail gun control method, characterized in that, Including the following steps: Receiving a nailing signal and starting a brushless motor based on the nailing signal; Receiving a back electromotive force signal from the brushless motor and generating a motor control instruction based on the voltage change of the back electromotive force signal and the rotation state of the brushless motor; Controlling the brushless motor to perform a nailing action based on the motor control instruction.

2. The nail gun control method according to claim 1, characterized in that, The nailing signal is generated based on the trigger switch state, safety switch state and nailing mode of the corresponding nail gun.

3. The nail gun control method according to claim 1, characterized in that, Before starting the brushless motor based on the nailing signal, it further includes: Obtaining an illumination signal and generating an illumination instruction based on the illumination signal; Adjusting the working state of the corresponding illumination module based on the illumination instruction to perform an illumination action.

4. The nail gun control method according to claim 1, characterized in that, Before starting the brushless motor based on the nailing signal, it further includes: Obtaining a voltage signal and judging whether to end nailing based on the voltage signal and the undervoltage threshold. If the voltage signal is greater than or equal to the undervoltage threshold, it is determined that the voltage is normal and nailing continues. If the voltage signal is less than the undervoltage threshold, it is determined that there is undervoltage and nailing ends.

5. A nail gun control method according to claim 1 or 4, characterized in that, Before starting the brushless motor based on the nailing signal, it further includes: Obtaining a temperature signal and judging whether to end nailing based on the temperature signal and the high temperature threshold. If the temperature signal is less than the high temperature threshold, it is determined that the temperature is normal and nailing continues. If the temperature signal is greater than or equal to the high temperature threshold, it is determined that the temperature is abnormal and nailing ends.

6. The nail gun control method according to claim 1, characterized in that, After starting the brushless motor based on the nailing signal, it further includes: Receiving a time monitoring signal from the brushless motor and judging whether to end nailing based on the time monitoring signal and the time threshold. If the time monitoring signal is less than the time threshold, it is determined to continue nailing and maintain the operation of the brushless motor. If the time monitoring signal is greater than or equal to the time threshold, it is determined to end nailing and issue a brushless motor shutdown instruction.

7. A nail gun control method according to claim 1, characterized in that, The specific process of generating a motor control instruction based on the voltage change of the back electromotive force signal and the rotation state of the brushless motor is as follows: Extracting the voltage change of the back electromotive force signal and determining the zero crossing point based on the voltage change and the neutral point of the corresponding brushless motor; Determining the rotor angle of the corresponding brushless motor based on the zero crossing point and determining the commutation node based on the rotor angle and the angle threshold; Sorting out the commutation nodes to obtain a motor control instruction.

8. A nail gun control method according to claim 1, wherein During the process of performing the nailing action, it further includes: Determining the commutation time interval of the brushless motor based on the commutation node in the motor control instruction and calculating the motor speed based on the commutation time interval; Counting the motor speed to obtain the speed change characteristic and determining the rotation number of the brushless motor based on the speed change characteristic; Judging whether to end nailing based on the rotation number and the rotation number threshold. If the rotation number is greater than or equal to the rotation number threshold, it is determined to end nailing and issue a brushless motor shutdown instruction. If the rotation number is less than the rotation number threshold, it is determined to continue nailing and maintain the operation of the brushless motor.

9. A nail gun control method according to claim 1, characterized in that, During the process of performing the nailing action, it further includes: Receiving the power signal and the commutation time interval signal of the brushless motor and calculating the motor speed based on the commutation time interval signal; Based on the matching degree of the statistical power signal and the motor speed in the time series, it is judged whether a fault occurs based on the matching degree and the matching threshold. If the matching degree is less than or equal to the matching threshold, it is determined that the corresponding brushless motor has a fault, and a brushless motor shutdown instruction is issued. If the matching degree is greater than the matching threshold, it is determined that the corresponding brushless motor is normal, and the operation of the brushless motor is maintained.

10. A nail gun control device, characterized in that, It includes: a control power supply module, a control module, and a brushless motor; The control power supply module is used to obtain a nailing signal and transmit the nailing signal to the control module; The control module starts the brushless motor based on the nailing signal, and generates a motor control instruction based on the back electromotive force signal of the brushless motor and the rotation state of the brushless motor; The brushless motor executes a nailing action in response to the motor control instruction.

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