Cutting tool recoil protection method and system, cutting tool and storage medium

Abstract

The invention provides a cutting tool recoil protection method and system, a cutting tool and a storage medium, and relates to the technical field of mechanical control, and the cutting tool recoil protection method comprises the steps that when a motor of the cutting tool is started, the angular speed of complete machine rotation when the complete machine of the cutting tool rotates is obtained; judging according to the angular velocity, and determining the recoil risk level of the cutting tool; when the recoil risk grade is a high risk, the motor is controlled to stop running; and when the recoil risk grade is a medium risk, the rotation angle of the whole cutting tool is obtained in real time, and the recoil risk grade is updated according to the rotation angle. Through real-time monitoring, dynamic adjustment and an automatic recoil protection mechanism, the operation burden of an operator in an emergency is reduced, the safety risk caused by untimely or incorrect operation is reduced, and the reliability and stability of a cutting tool are enhanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical control, in particular to a cutting tool recoil protection method, system, cutting tool and storage medium. BACKGROUND

[0002] Cutting type electric tools, such as circular saws, ring saws, chain saws, cutting machines, slotting machines, etc., all drive blades or saw blades to rotate at high speed through motors to achieve cutting of materials such as concrete, stone, and steel bars, and are widely used in fire rescue, emergency demolition, construction, etc. They have the characteristics of high power and deep cutting, but in actual use, when the cutting angle is improper, or when hard impurities such as steel bars or gravel are encountered, the huge torque will cause the tool to suddenly recoil out of control.

[0003] In the prior art, the shutdown mode of cutting type electric tools mainly relies on manual operation, usually manual pressing of the start switch to shut down, or going to the power connection to cut off the power. However, when recoil out of control occurs, the situation is urgent, and due to the cumbersome process, it is not possible to prevent the cutting tool from causing harm to the human body in time, resulting in poor safety of the cutting tool. SUMMARY

[0004] The problem solved by the present application is how to improve the safety of the cutting tool.

[0005] To solve the above problems, the present application provides a cutting tool recoil protection method, system, cutting tool and storage medium.

[0006] In a first aspect, the present application provides a cutting tool recoil protection method, comprising: When the motor of the cutting tool is started, the angular velocity of the whole machine when the whole machine of the cutting tool rotates is obtained; According to the angular velocity, the recoil risk level of the cutting tool is determined; When the recoil risk level is high risk, the motor is controlled to stop running; When the recoil risk level is medium risk, the rotation angle of the whole machine of the cutting tool is obtained in real time, and the recoil risk level is updated according to the rotation angle.

[0007] Optionally, when the motor of the cutting tool is started, the angular velocity of the cutting tool is obtained, comprising: When the motor of the cutting tool is started, the motion angular velocity signal of the whole machine when the whole machine of the cutting tool rotates is obtained through the angular velocity sensor arranged on the cutting tool; According to the motion angular velocity signal, the angular velocity of the whole machine of the cutting tool is obtained.

[0008] Optionally, the determining the kickback risk level of the cutting tool according to the angular velocity comprises: determining the kickback risk level according to a size relationship between the angular velocity and a preset first threshold value and a preset second threshold value, wherein the preset first threshold value is greater than the preset second threshold value; wherein, when the angular velocity is greater than or equal to the preset first threshold value, the kickback risk level is determined as the high risk; when the angular velocity is less than the preset first threshold value and greater than or equal to the preset second threshold value, the kickback risk level is determined as the medium risk.

[0009] Optionally, when the kickback risk level is the medium risk, the real-time acquisition of the rotation angle of the cutting tool comprises: when the kickback risk level is the medium risk, the angular velocity of the whole machine rotation of the cutting tool is acquired at a preset frequency; integrating the angular velocity to determine the rotation angle of the whole machine rotation of the cutting tool under the medium risk.

[0010] Optionally, the determining the kickback risk level of the cutting tool according to the angular velocity comprises: updating the kickback risk level according to the rotation angle and a preset angle threshold value; wherein, when the rotation angle is greater than or equal to the preset angle threshold value, the kickback risk level is updated from the medium risk to the high risk; when the rotation angle is less than the preset angle threshold value, the kickback risk level is kept at the medium risk.

[0011] Optionally, the determining the kickback risk level of the cutting tool according to the angular velocity comprises: determining an angular velocity change rate in a preset time interval according to an angular velocity change amount of the angular velocity in the preset time interval; when the angular velocity change rate is greater than or equal to a preset rate threshold value, the kickback risk level is determined as the high risk; when the angular velocity change rate is less than a preset rate threshold value, the kickback risk level is determined as the medium risk.

[0012] Optionally, the kickback protection method of the cutting tool further comprises: when the motor of the cutting tool is started, the load current and the cutting feed speed of the cutting tool are acquired in real time; determining the hardness parameter of the cutting material according to the load current and the cutting feed speed; The preset first threshold, the preset second threshold, and the preset angle threshold are adjusted according to the hardness parameter. The preset first threshold, the preset second threshold, and the preset angle threshold are all inversely proportional to the hardness parameter.

[0013] In a second aspect, the present invention provides a cutting tool recoil protection system, comprising: A sensing unit is used to acquire the angular velocity of the cutting tool when the motor of the cutting tool is started; The determination unit is used to determine the recoil risk level of the cutting tool based on the angular velocity. The control unit is used to control the motor to stop running when the recoil risk level is high; and to acquire the rotation angle of the cutting tool in real time when the recoil risk level is medium, and to determine and update the recoil risk level based on the rotation angle.

[0014] Thirdly, a cutting tool of the present invention includes: a processor and a memory, the memory being used to store a computer program; When the computer program is loaded by the processor, it causes the processor to execute the cutting tool backflush protection method described above.

[0015] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, characterized in that, when the computer program is executed by a processor, it implements the cutting tool recoil protection method described above.

[0016] The present invention relates to a cutting tool recoil protection method, system, cutting tool, and storage medium. By monitoring the angular velocity of the cutting tool during its rotation in real time and quickly determining the recoil risk level, it can react rapidly in the initial stage of recoil runaway. When a high risk is determined, the motor is immediately stopped, effectively preventing injury to the user caused by sudden tool recoil due to runaway, such as scratches or cuts, thus improving the safety of the cutting tool during use. In medium-risk situations, the recoil risk level is further updated by acquiring the rotation angle in real time. By dynamically monitoring the angular velocity and rotation angle, the system can provide real-time feedback on the operating status of the cutting tool and automatically adjust the risk level and control strategy according to the actual situation.

[0017] This invention, through real-time monitoring and dynamic adjustment and an automated recoil protection mechanism, reduces the operator's workload in emergency situations, lowers safety risks caused by untimely or incorrect operation, and enhances the reliability and stability of cutting tools. Furthermore, this invention is applicable to various cutting power tools, such as circular saws, ring saws, chainsaws, cutting machines, and grooving machines, meeting the needs of different scenarios such as emergency demolition and construction. In complex operating environments, such as when cutting concrete, stone, and steel bars, this invention effectively addresses recoil caused by improper cutting angles or encountering hard impurities, ensuring safe operation of the cutting tool under various conditions and enhancing its environmental adaptability. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating the cutting tool recoil protection method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the process for determining the backlash loss of the cutting tool according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the cutting tool structure according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the integrated gyroscope sensor on the controller board according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the cutting tool recoil protection system according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the cutting tool according to an embodiment of the present invention. Detailed Implementation

[0019] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0020] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0021] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0022] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0023] Combination Figure 1 As shown, an embodiment of the present invention provides a method for protecting a cutting tool from recoil, comprising: When the motor of the cutting tool starts, the angular velocity of the entire machine's rotation is obtained when the cutting tool rotates.

[0024] Specifically, once the motor of the cutting tool starts, a gyroscope sensor (angular velocity sensor) mounted on the motor or saw blade acquires the angular velocity of the entire machine as it rotates in real time. The gyroscope sensor can accurately measure the change in angular velocity of the tool during rotation and transmit this data to the controller. The controller processes the received angular velocity data in real time for subsequent assessment of the recoil risk level.

[0025] The recoil risk level of the cutting tool is determined based on the angular velocity.

[0026] Specifically, the recoil risk level of the cutting tool is determined based on the acquired angular velocity data and a preset judgment threshold.

[0027] In an optional embodiment of the present invention, the risk level of backlash can be determined by setting a threshold. Specifically, in conjunction with... Figure 2As shown, the gyroscope sensor is initialized to prepare for reading angular velocity data. The current angular velocity data is read from the gyroscope sensor. Two angular velocity judgment thresholds are set, threshold 1 and threshold 2, with threshold 1 being greater than threshold 2. Threshold 1 is used to quickly determine high-risk recoil situations, and threshold 2 is used to identify medium-risk recoil situations. It is determined whether the read angular velocity is greater than the preset threshold 1. When the angular velocity exceeds threshold 1, the controller directly determines it as a high-risk recoil situation. When the angular velocity does not exceed threshold 1 but exceeds threshold 2, the medium-risk judgment process begins. In the medium-risk judgment process, the controller calculates the integral value of the angular velocity after exceeding threshold 2 to determine the total angle rotated during this period and determines whether the cumulative angle rotated is greater than a preset judgment angle. If the rotation angle exceeds the preset judgment angle, it is determined as recoil loss of control. If the rotation angle does not exceed the preset judgment angle, the sensor data continues to be read for further monitoring and judgment.

[0028] When the recoil risk level is high, the motor is controlled to stop running.

[0029] Specifically, when the controller determines that the backlash risk level is high, it immediately cuts off the drive output to the motor through the control circuit, causing the motor to stop rotating. This process is completed automatically without manual intervention from the operator, thereby avoiding injury to the human body from tool backlash in the shortest possible time.

[0030] For example, in practical applications, the controller can cut off the motor power within milliseconds of detecting a high-risk backlash signal, ensuring that the tool stops operating quickly.

[0031] When the recoil risk level is medium risk, the rotation angle of the entire cutting tool is obtained in real time, and the recoil risk level is updated according to the rotation angle.

[0032] Specifically, when the controller determines the recoil risk level to be medium risk, the system enters a dynamic evaluation phase. It continues to acquire real-time rotation angle data of the entire cutting tool via a gyroscope sensor. The gyroscope sensor continuously monitors the tool's rotation and transmits the data to the controller in real time. Based on the real-time acquired rotation angle data, the system dynamically evaluates changes in the recoil risk level. If the rotation angle continues to increase and exceeds a preset judgment angle, the risk level is updated to high risk, and the motor power is immediately cut off. If the rotation angle does not exceed the judgment angle, and the angular velocity gradually decreases, the system maintains a medium risk state and continues to monitor the tool's operating status until the angular velocity returns to normal.

[0033] In a preferred embodiment of the present invention, the commonly used structure of cutting tools is as follows: Figure 3As shown, the structure mainly includes the following components: a power supply provides electrical energy to the controller, driving the entire system. The controller, as the core control unit of the system, is responsible for receiving signals from the start switch and controlling the motor's start and stop accordingly. Furthermore, the controller is responsible for implementing the recoil protection function described in this invention, including but not limited to monitoring parameters such as angular velocity, load current, and cutting feed speed, and dynamically adjusting preset thresholds based on these parameters. The motor, as a power output unit, converts the electrical energy provided by the controller into mechanical energy, driving the saw blade to rotate and cut. The saw blade is connected to the motor, and the rotation of the motor achieves the cutting of the target material. The start switch, as a user input device, is used to send start or stop command signals to the controller. In this embodiment, the start switch is electrically connected to the controller, the controller is electrically connected to the motor, the motor is mechanically connected to the saw blade, and the power supply is electrically connected to the controller to achieve the supply of electrical energy. When the start switch receives a start command from the user, the controller receives the command signal and controls the motor to start, thereby driving the saw blade to rotate for cutting operations. When it is necessary to stop cutting, the user sends a stop command through the start switch. After receiving the command, the controller controls the motor to stop operating, and the saw blade stops rotating accordingly. In addition, the controller also includes circuitry for monitoring and processing various sensor signals, such as angular velocity sensors, load current sensors, and cutting feed speed sensors, enabling real-time monitoring and protection against potential backlash risks during the cutting process. This structural design improves the safety of the cutting tool and reduces the risk of accidents caused by uncontrolled backlash.

[0034] The backlash protection method for cutting tools in this embodiment monitors the angular velocity of the cutting tool during its rotation in real time and quickly determines the backlash risk level, enabling a rapid response in the initial stage of backlash loss of control. When a high risk is determined, the motor is immediately stopped, effectively preventing injury to the user caused by sudden tool backlash due to backlash loss of control, such as scratches or cuts, thus improving the safety of the cutting tool during use. In medium-risk situations, the backlash risk level is further updated by acquiring the rotation angle in real time. By dynamically monitoring the angular velocity and rotation angle, the system can provide real-time feedback on the operating status of the cutting tool and automatically adjust the risk level and control strategy according to the actual situation.

[0035] This embodiment, through real-time monitoring and dynamic adjustment, and an automated recoil protection mechanism, reduces the operator's workload in emergency situations, lowers safety risks caused by untimely or incorrect operation, and enhances the reliability and stability of the cutting tool. Furthermore, this embodiment is applicable to various cutting power tools, such as circular saws, ring saws, chainsaws, cutting machines, and grooving machines, meeting the needs of different scenarios such as emergency demolition and construction. In complex operating environments, such as when cutting concrete, stone, and steel bars, this embodiment effectively handles recoil caused by improper cutting angles or encountering hard impurities, ensuring safe operation of the cutting tool under various conditions and enhancing its environmental adaptability.

[0036] Optionally, obtaining the angular velocity of the cutting tool when its motor is started includes: When the motor of the cutting tool is started, the angular velocity sensor installed on the cutting tool acquires the motion angular velocity signal of the entire machine when the cutting tool rotates. The angular velocity of the entire cutting tool is obtained by converting the motion angular velocity signal.

[0037] Specifically, when the motor of the cutting tool starts, an angular velocity sensor acquires the motion angular velocity signal. An angular velocity sensor is a sensor capable of measuring the rotational angular velocity of an object in real time, typically implemented using a gyroscope sensor. The gyroscope sensor can accurately detect changes in the rotational angle of the entire cutting tool and output these changes as electrical signals. After receiving the motion angular velocity signal from the angular velocity sensor, the controller first amplifies the received signal, since the signal is usually weak. The amplifier amplifies the weak electrical signal output by the sensor to a suitable amplitude range for subsequent processing; for example, amplifying a millivolt-level signal to a volt-level signal. The amplified signal may contain noise components, which may originate from the sensor itself or external interference. The controller filters the signal using a filter to remove high-frequency noise and interference signals, thus obtaining a cleaner angular velocity signal. For example, a low-pass filter can be used to allow low-frequency signals to pass while filtering out high-frequency noise. The amplified and filtered analog signal needs to be further converted into a digital signal for subsequent digital processing by the controller. The controller converts the analog signal into a digital signal using an analog-to-digital converter (ADC). The ADC samples the analog signal at a certain sampling frequency and converts the signal value of each sample point into a corresponding digital value. These digital values ​​are then stored and processed by the controller for subsequent backlash risk assessment.

[0038] In a preferred embodiment of the present invention, the angular velocity sensor (gyroscope sensor) is integrated within the controller board; that is, the sensor is fixed inside the controller, rather than being directly mounted on the motor shaft, saw blade, or other moving parts. This design allows the sensor to stably monitor the rotational state of the entire tool, rather than just the movement of a single component. The controller is fixed to the overall structure of the cutting tool, so when the cutting tool rotates, whether due to normal operation or recoil, the gyroscope sensor can detect this rotational information. This mounting method ensures that the sensor can monitor the changes in angular velocity and acceleration of the entire tool, thereby providing the controller with accurate data to determine if there is a risk of recoil. In this embodiment, the gyroscope sensor is mounted inside the controller and fixed to the overall structure. This location allows the sensor to monitor the rotational state of the entire cutting tool. The sensor detects the rotational angular velocity of the cutting tool through its internal sensitive element, such as a microelectromechanical system (MEMS) gyroscope, and converts it into an electrical signal. These electrical signals are then sent to the controller for further processing via signal transmission lines, providing the necessary data support for the recoil protection function.

[0039] For example, combined Figure 4 The diagram illustrates the internal structure of a cutting tool controller. Specifically, the controller acts as the control center of the entire system, receiving and processing data from the gyroscope sensor and controlling the motor's operation based on this data. The gyroscope sensor, integrated within the controller board, monitors the cutting tool's rotational state in real time, including angular velocity and acceleration. The gyroscope accurately detects rotational changes during recoil loss of control, such as a sudden increase in angular velocity. The MCU is the core processing unit of the controller, responsible for processing the data provided by the gyroscope sensor. The MCU analyzes the angular velocity and acceleration data detected by the gyroscope sensor according to preset algorithms and thresholds to determine whether recoil loss of control has occurred. The drive module receives control signals from the MCU and controls the motor's start, stop, and operating status accordingly. When the MCU detects recoil loss of control and issues a control signal, the drive module quickly cuts off the motor power, stopping the motor and thus achieving recoil protection. In this embodiment, when the cutting tool experiences recoil loss of control, the gyroscope sensor detects a significant increase in angular velocity. After receiving this data, the MCU makes a judgment based on preset thresholds. If the angular velocity exceeds a preset threshold, the MCU immediately sends a control signal to the drive module. Upon receiving the signal, the drive module quickly cuts off the motor power, stopping the motor and preventing injury to the operator from recoil runaway. By integrating a gyroscope sensor into the controller, this embodiment achieves real-time monitoring and rapid response to recoil runaway of the cutting tool, significantly improving the safety of using the cutting tool. This design is not only simple in structure but also effectively prevents accidents caused by recoil runaway.

[0040] In this optional embodiment, by using an angular velocity sensor and performing signal conversion processing, this embodiment can achieve real-time and accurate monitoring of the angular velocity of the cutting tool. The sensor's installation position design ensures accurate signal acquisition, and signal amplification, filtering, and digital processing further improve the reliability and usability of the data. The accurate angular velocity monitoring technology provides a data foundation for subsequent recoil risk assessment, enabling the system to accurately determine the operating status of the cutting tool at the first moment.

[0041] Optionally, determining the recoil risk level of the cutting tool based on the angular velocity includes: The recoil risk level is determined based on the relationship between the angular velocity and a preset first threshold and a preset second threshold, wherein the preset first threshold is greater than the preset second threshold. Wherein, when the angular velocity is greater than or equal to the preset first threshold, the recoil risk level is determined to be high risk; When the angular velocity is less than the preset first threshold and greater than or equal to the preset second threshold, the recoil risk level is determined to be medium risk.

[0042] Specifically, the controller presets two angular velocity thresholds: a first threshold and a second threshold, with the first threshold being greater than the second threshold. In this embodiment, these two thresholds are set based on empirical data of the angular velocity changes of the cutting tool during normal operation and recoil runaway states, and are used to distinguish recoil situations of different risk levels. After the controller acquires the angular velocity of the cutting tool, it compares this angular velocity with the preset first and second thresholds in real time. Through comparison, the system can quickly determine whether the current operating state of the cutting tool is within a safe range, thereby determining its recoil risk level.

[0043] When the controller detects that the angular velocity of the cutting tool is greater than or equal to a preset first threshold, the system immediately determines the recoil risk level to be high. The first threshold typically corresponds to the maximum angular velocity value that the cutting tool may exhibit under extreme conditions, such as when it suddenly encounters a hard impurity, causing severe recoil. When the angular velocity reaches or exceeds this threshold, it indicates that the cutting tool is in a severe recoil runaway state. At this time, the system will quickly activate the high-risk protection mechanism, such as immediately cutting off the motor power supply to stop the tool from running, in order to prevent serious injury to the operator.

[0044] For example, in practical applications, assuming the preset first threshold is 1000 rad / s, when the angular velocity detected by the angular velocity sensor reaches or exceeds this value, the controller will immediately determine it as a high risk and trigger an emergency shutdown procedure.

[0045] Specifically, when the controller detects that the angular velocity of the cutting tool is less than a preset first threshold but greater than or equal to a preset second threshold, the system determines the recoil risk level to be medium risk. The second threshold typically corresponds to the range of angular velocities that the cutting tool may exhibit under mild recoil conditions. When the angular velocity is within this range, it indicates that the cutting tool may be in a state of mild recoil, but has not yet reached the severity of a high risk. In this case, the system enters a medium-risk monitoring mode to further monitor the changes in the rotation angle of the cutting tool in real time to dynamically assess the further development of the recoil risk. For example, assuming the preset second threshold is 500 rad / s, when the angular velocity detected by the angular velocity sensor is between 500 rad / s and 1000 rad / s, the controller will determine it to be medium risk and initiate a medium-risk monitoring program, such as calculating the integral value of the angular velocity in real time to determine whether the rotation angle exceeds the preset judgment angle, thereby further determining whether it is necessary to upgrade the risk level and take stronger protective measures.

[0046] In this optional embodiment, a dual-threshold determination method can quickly and accurately identify the recoil risk level of the cutting tool. The preset first and second thresholds correspond to high-risk and medium-risk angular velocity ranges, respectively, enabling the system to react rapidly under different recoil conditions. When the angular velocity exceeds the first threshold, the system immediately determines it as high-risk and takes emergency shutdown measures, effectively preventing serious accidents. Under medium-risk conditions, the system further monitors the rotation angle to dynamically assess the risk, avoiding misjudgments while ensuring safety. This graded determination mechanism not only improves the accuracy of recoil risk identification but also enhances the system's response speed and reliability, significantly improving the safety of the cutting tool under complex working conditions and providing more reliable protection for operators.

[0047] Optionally, when the recoil risk level is medium risk, acquiring the rotation angle of the cutting tool in real time includes: When the recoil risk level is medium risk, the angular velocity of the entire cutting tool rotation is obtained at a preset frequency; The angular velocity is integrated to determine the rotation angle of the cutting tool under the medium-risk condition.

[0048] Specifically, when the controller determines that the recoil risk level of the cutting tool is medium risk, it continuously acquires the angular velocity data of the cutting tool at a preset sampling frequency. The sampling frequency is typically set based on the actual operating characteristics and safety requirements of the cutting tool; for example, it can be set to sample 100 times per second or higher. Through high-frequency sampling, the system can monitor changes in angular velocity in real time, ensuring accurate tracking of the cutting tool's operating status under medium-risk conditions. In practical applications, the controller receives angular velocity signals at a preset frequency through an angular velocity sensor and stores them in memory for further processing and analysis. For example, if the preset sampling frequency is 100Hz, the controller will receive angular velocity data every 10 milliseconds, thus enabling timely detection of minute changes in angular velocity.

[0049] Meanwhile, to determine the rotation angle of the cutting tool under medium-risk conditions, the controller performs an integral operation on the acquired angular velocity data, calculating the cumulative change of angular velocity over time to obtain the rotation angle. Specifically, the controller accumulates the angular velocity data acquired at a preset frequency and multiplies it by the sampling time interval, i.e., the sampling period. For example, if the sampling frequency is 100Hz and the sampling period is 0.01 seconds, the controller multiplies the angular velocity value obtained from each sample by 0.01 seconds and then accumulates these values. Through the above integral operation, the controller obtains the total rotation angle of the cutting tool under medium-risk conditions. The total rotation angle reflects the actual rotation amplitude of the tool during recoil and is an important basis for judging whether the recoil risk has further escalated. The controller updates the calculated rotation angle in real time and dynamically adjusts the recoil risk level according to the changes in the rotation angle. If the rotation angle exceeds the preset judgment angle, for example, 30 degrees, the risk level is raised to high risk, and corresponding protective measures are immediately taken, such as cutting off the motor power supply.

[0050] In this optional embodiment, by acquiring angular velocity at a preset frequency and performing integration calculations to determine the rotation angle under medium-risk conditions, refined monitoring of the cutting tool's recoil process is achieved. This embodiment captures minute changes in angular velocity in real time and accurately calculates the tool's rotation angle through integration calculations, thus providing precise data support for the dynamic assessment of recoil risk. This dynamic monitoring and assessment mechanism not only avoids misjudgments caused by brief fluctuations in angular velocity but also allows for timely responses when risks escalate, further enhancing the system's safety and reliability. Furthermore, it reduces reliance on operators, lowers safety risks caused by delays in human response, significantly improves the safety of cutting tools under complex working conditions, and provides more reliable protection for operators.

[0051] Optionally, determining and updating the recoil risk level based on the rotation angle includes: The recoil risk level is updated based on the rotation angle and the preset angle threshold. Specifically, when the rotation angle is greater than or equal to the preset angle threshold, the recoil risk level is updated from medium risk to high risk. When the rotation angle is less than the preset angle threshold, the recoil risk level is maintained at the medium risk level.

[0052] In this optional embodiment, when the cutting tool is in a medium-risk state, the real-time calculated rotation angle is compared with a preset angle threshold to determine whether the recoil risk level needs to be updated. This process is completed automatically by the controller without manual intervention, ensuring that the system can respond quickly and accurately judge changes in risk. When the rotation angle reaches or exceeds the preset angle threshold, the system immediately updates the recoil risk level from medium to high risk and triggers the corresponding high-risk protection mechanism, such as emergency shutdown, to prevent further damage or injury. Conversely, if the rotation angle does not reach the preset angle threshold, the medium-risk state is maintained, and changes in the rotation angle continue to be monitored in real time to dynamically assess whether the risk has escalated further. This dynamic assessment mechanism can effectively avoid misjudgments and ensure that measures are taken in a timely manner when the risk escalates, further improving the safety and reliability of the system.

[0053] Optionally, determining the recoil risk level of the cutting tool based on the angular velocity includes: The rate of change of angular velocity within the preset time interval is determined based on the amount of change of angular velocity within the preset time interval; When the rate of change of angular velocity is greater than or equal to a preset rate threshold, the recoil risk level is determined to be high risk. When the rate of change of angular velocity is less than a preset rate threshold, the recoil risk level is determined to be medium risk.

[0054] Specifically, in this embodiment, to more accurately determine the recoil risk level of the cutting tool, the system not only monitors the absolute value of the angular velocity but also calculates the rate of change of the angular velocity within a preset time interval. In practice, the controller continuously collects angular velocity data within the preset time interval, such as 10 milliseconds or 50 milliseconds, and calculates the change in angular velocity during this period. By dividing the change in angular velocity by the time interval, the rate of change of angular velocity is obtained. This rate reflects the rapid change in the angular velocity of the cutting tool within a short period and is an important basis for judging the recoil risk. If the calculated rate of change of angular velocity is greater than or equal to a preset rate threshold, the system determines the recoil risk level to be high. The preset rate threshold is set based on extreme recoil situations that may occur in actual use of the cutting tool and is usually determined through experiments and data analysis. When the rate of change of angular velocity exceeds this threshold, it indicates that the cutting tool may have encountered severe recoil, such as violent recoil caused by suddenly cutting into hard impurities. In this case, the system will immediately activate a high-risk protection mechanism, such as emergency shutdown, to prevent serious injury to the operator. If the rate of change of angular velocity is less than the preset rate threshold, the system determines the recoil risk level to be medium. In this situation, although there may be some risk of backlash from the cutting tool, it has not yet reached the point where immediate high-risk protection measures are required. The system will enter a medium-risk monitoring mode to further monitor changes in angular velocity and rotation angle in real time, dynamically assessing whether the backlash risk has escalated further, thereby avoiding unnecessary downtime and improving work efficiency while ensuring safety.

[0055] In a preferred embodiment of the present invention, not only the rate of change of angular velocity but also the rotation angle are considered to achieve a multi-dimensional assessment of recoil risk. Specifically, considering both the rate of change of angular velocity and the rotation angle, the system continuously collects angular velocity data within a preset time interval and calculates the change in angular velocity during this period to obtain the rate of change of angular velocity. Simultaneously, the system also monitors the change in the rotation angle of the cutting tool within the same time interval. When the system detects that the angular velocity is greater than or equal to a preset angular velocity threshold and the rate of change of angular velocity is greater than or equal to a preset rate threshold, the recoil risk level is determined to be high risk. Furthermore, if the rotation angle also exceeds a preset angle threshold, it is also determined to be high risk. This comprehensive determination can more comprehensively identify severe recoil situations, such as violent recoil caused by sudden cutting into hard impurities. If either the angular velocity or the rate of change of angular velocity exceeds a preset threshold, but both conditions are not met simultaneously, the system determines the recoil risk level to be medium risk. In this case, although there is a certain risk of recoil, it has not yet reached the level of high risk, and the system will enter a medium risk monitoring mode, continuing to monitor the changes in angular velocity, rate of change of angular velocity, and rotation angle in real time, dynamically assessing whether the recoil risk has further escalated. If the angular velocity, rate of change of angular velocity, and rotation angle all do not exceed their respective preset thresholds, the system determines the recoil risk level to be low. In this low-risk state, the system will not take high-risk protection measures such as emergency shutdown, but will continue normal operation while maintaining monitoring of the recoil risk to ensure timely response if the risk escalates. Through this comprehensive judgment mechanism, this invention can more accurately identify and assess the recoil risk of the cutting tool under different working conditions, thereby avoiding unnecessary downtime and improving work efficiency while ensuring safety. This multi-dimensional assessment method significantly improves the system's intelligence and safety, providing more reliable protection for operators.

[0056] For example, suppose the cutting tool is a handheld circular saw, and a preset rate threshold of 1000 is set. This indicates a rapid increase in angular velocity within an extremely short period of time. The preset angle threshold is 15 degrees, indicating that the circular saw body has experienced a significant and dangerous lift or twist. For example, when a carpenter is sawing a plank, the saw blade suddenly encounters a hidden hardwood knot or nail, causing the saw blade to jam momentarily and the circular saw body to violently recoil. The rate of change of angular velocity instantly spikes to 1000. If the speed exceeds the threshold, and due to the violent recoil force, the angle of the circular saw backward quickly reaches 20 degrees, i.e., the angle exceeds the threshold, the system determines that if two conditions are met simultaneously within a certain time, the angular velocity change rate (1500) ≥ the speed threshold (1000) and the rotation angle (20) ≥ the angle threshold (15), it is immediately determined to be a high risk, and the motor is stopped to prevent the recoil from continuing to expand and to protect the safety of the user. For example, a carpenter needs to quickly move a running circular saw from point A on the board to a more distant point B, and lifts and rotates the tool. Due to the rapid movement, the speed of the tool may reach 1200. If the angular velocity changes rapidly, but the overall lifting angle of the tool is only 8 degrees within the system's detection cycle (angle < threshold), then although the angular velocity changes rapidly, the rotational displacement is very small and does not constitute a runaway recoil. Because the angle condition is not met, the system determines it to be low-risk, and the motor continues to operate normally without interruption, thus effectively avoiding misjudgment and improving the tool's working efficiency and user experience. Alternatively, if the user's posture is improper or the force is insufficient during cutting, the circular saw body will deflect very slowly and gradually, with the deflection angle gradually accumulating to 18 degrees (angle > threshold). However, because the entire process occurs slowly, the angular velocity hardly changes abruptly, and its rate of change remains very low, for example, 100 degrees. If the rate is less than the threshold, even if the fuselage angle is already large, the system determines it to be low-risk because the rate condition is not met. The motor will not stop urgently. This embodiment introduces a dual threshold judgment logic for angle and rate, ensuring that the highest level of protection is triggered only when the two core recoil characteristics of drastic dynamic changes and significant displacement occur simultaneously, greatly reducing the false alarm rate. This embodiment continuously monitors these two parameters in parallel, and even if both exceed the threshold within the same calculation cycle, the response speed remains extremely fast.

[0057] In this optional embodiment, by introducing a mechanism for determining the rate of change of angular velocity, the system can more sensitively capture rapid changes in the angular velocity of the cutting tool within a short period of time, thereby more accurately determining the level of recoil risk. This embodiment not only improves the system's response speed to sudden recoil situations but also allows for early judgment before the risk fully manifests, avoiding serious accidents caused by delayed responses. Furthermore, by distinguishing between high and medium risks, the system can avoid unnecessary downtime and improve work efficiency while ensuring safety.

[0058] Optionally, the cutting tool recoil protection method further includes: When the motor of the cutting tool starts, the load current and cutting feed speed of the cutting tool are acquired in real time. The hardness parameters of the material to be cut are determined based on the load current and the cutting feed speed. The preset first threshold, the preset second threshold, and the preset angle threshold are adjusted according to the hardness parameter. The preset first threshold, the preset second threshold, and the preset angle threshold are all inversely proportional to the hardness parameter.

[0059] Specifically, after the motor of the cutting tool is started, two key parameters, load current and cutting feed speed, are monitored and acquired in real time. Load current reflects the actual load on the motor during the cutting process, while cutting feed speed reflects the speed at which the cutting tool moves across the material.

[0060] In a preferred embodiment of the present invention, these two parameters are acquired in real time by sensors installed on the motor and the tool. For example, the load current sensor can be installed on the power supply line of the motor, and the cutting feed speed sensor can be installed on the feed mechanism of the tool to ensure the accuracy and real-time nature of the data.

[0061] Based on real-time acquired load current and cutting feed speed, the hardness parameters of the material to be cut are calculated using a pre-trained algorithm, such as a deep learning model. When cutting harder materials, the motor load current typically increases while the cutting feed speed decreases; conversely, when cutting softer materials, the load current decreases while the feed speed increases. By analyzing the relationship between load current and cutting feed speed, the hardness parameters of the material to be cut are derived. Based on the calculated hardness parameters, the system dynamically adjusts preset first threshold, second threshold, and angle threshold. These thresholds are inversely proportional to the hardness parameters; that is, the harder the material, the lower the threshold; and the softer the material, the higher the threshold. This dynamic adjustment mechanism ensures that the system can accurately determine the recoil risk level during the cutting of materials with different hardness levels.

[0062] For example, when the hardness parameter is high, meaning the material being cut is hard, the system lowers the preset first and second thresholds, while also reducing the preset angle threshold. This allows for more sensitive detection of recoil risk, thus providing greater safety during the cutting of hard materials. Conversely, when the hardness parameter is low, meaning the material being cut is soft, the system appropriately raises these thresholds to avoid misjudgments caused by normal fluctuations during the cutting of soft materials.

[0063] In this optional embodiment, by acquiring the load current and cutting feed speed in real time during the cutting tool's operation and dynamically adjusting the preset threshold accordingly, this embodiment can flexibly adjust the recoil protection strategy based on the hardness characteristics of different cutting materials. This dynamic adjustment mechanism enables the system to more sensitively detect recoil risks when cutting hard materials, taking timely protective measures to avoid injury to operators caused by severe recoil due to hard materials; simultaneously, when cutting soft materials, the threshold is appropriately relaxed to avoid misjudgments caused by normal fluctuations, reducing unnecessary downtime and improving work efficiency. This embodiment's material hardness-based adaptive protection mechanism significantly improves the safety and reliability of the cutting tool under various working conditions, enhances the system's intelligence level, and provides operators with more precise and reliable protection.

[0064] Combination Figure 5 As shown, an embodiment of the present invention provides a cutting tool recoil protection system, comprising: A sensing unit is used to acquire the angular velocity of the cutting tool when the motor of the cutting tool is started; The determination unit is used to determine the recoil risk level of the cutting tool based on the angular velocity. The control unit is used to control the motor to stop running when the recoil risk level is high; and to acquire the rotation angle of the cutting tool in real time when the recoil risk level is medium, and to determine and update the recoil risk level based on the rotation angle.

[0065] The cutting tool recoil protection system of the present invention has the same advantages over the prior art as the cutting tool recoil protection method described above, and will not be repeated here.

[0066] Combination Figure 6 As shown, an embodiment of the present invention provides a cutting tool, including: a processor and a memory, wherein the memory is used to store a computer program; When the computer program is loaded by the processor, it causes the processor to execute the cutting tool backflush protection method described above.

[0067] The cutting tool of the present invention has the same advantages over the prior art as the above-mentioned cutting tool recoil protection method over the prior art, and will not be repeated here.

[0068] This invention also provides a computer-readable storage medium storing a computer program thereon, characterized in that, when the computer program is executed by a processor, it implements the cutting tool recoil protection method described above.

[0069] The advantages of the computer-readable storage medium of the present invention compared to the prior art are the same as those of the above-described cutting tool recoil protection method compared to the prior art, and will not be repeated here.

[0070] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A method of kickback protection for a cutting tool, the method comprising: The method comprises the following steps: When the motor of the cutting tool is started, the angular velocity of the cutting tool when the cutting tool rotates as a whole is obtained; According to the angular velocity, the kickback risk level of the cutting tool is determined; When the kickback risk level is high, the motor is controlled to stop running; When the kickback risk level is medium, the rotation angle of the cutting tool when the cutting tool rotates as a whole is obtained in real time, and the kickback risk level is updated according to the rotation angle.

2. The cutting tool recoil protection method of claim 1, wherein, When the motor of the cutting tool is started, the angular velocity of the cutting tool is obtained, which comprises the following steps: When the motor of the cutting tool is started, the motion angular velocity signal of the cutting tool when the cutting tool rotates as a whole is obtained through the angular velocity sensor arranged on the cutting tool; According to the motion angular velocity signal, the angular velocity of the cutting tool when the cutting tool rotates as a whole is obtained.

3. The cutting tool recoil protection method of claim 1, wherein, According to the angular velocity, the kickback risk level of the cutting tool is determined, which comprises the following steps: According to the size relationship between the angular velocity and the preset first threshold value and the preset second threshold value, the kickback risk level is determined, wherein the preset first threshold value is greater than the preset second threshold value; When the angular velocity is greater than or equal to the preset first threshold value, it is determined that the kickback risk level is high; When the angular velocity is less than the preset first threshold value and greater than or equal to the preset second threshold value, it is determined that the kickback risk level is medium.

4. The cutting tool recoil protection method of claim 1, wherein, When the kickback risk level is medium, the rotation angle of the cutting tool is obtained in real time, which comprises the following steps: When the kickback risk level is medium, the angular velocity of the cutting tool when the cutting tool rotates as a whole is obtained at a preset frequency; The angular velocity is integrated to determine the rotation angle of the cutting tool when the cutting tool rotates as a whole under the medium risk.

5. The cutting tool recoil protection method of claim 3, wherein, According to the rotation angle, the kickback risk level is updated, which comprises the following steps: According to the rotation angle and the preset angle threshold value, the kickback risk level is updated; When the rotation angle is greater than or equal to the preset angle threshold value, the kickback risk level is updated from medium to high; When the rotation angle is less than the preset angle threshold value, the kickback risk level is kept at medium.

6. The cutting tool recoil protection method of claim 1, wherein, According to the angular velocity, the kickback risk level of the cutting tool is determined, which comprises the following steps: According to the angular velocity change amount of the angular velocity in a preset time interval, the angular velocity change rate in the preset time interval is determined; When the angular velocity change rate is greater than or equal to a preset rate threshold value, it is determined that the kickback risk level is high; When the angular velocity change rate is less than a preset rate threshold value, it is determined that the kickback risk level is medium.

7. The cutting tool recoil protection method of claim 5, wherein, The method further comprises the following steps: When the motor of the cutting tool is started, the load current and the cutting feed speed of the cutting tool are obtained in real time; According to the load current and the cutting feed speed, the hardness parameter of the cutting material is determined; According to the hardness parameter, the preset first threshold value, the preset second threshold value and the preset angle threshold value are adjusted; The preset first threshold, the preset second threshold, and the preset angle threshold are inversely proportional to the hardness parameter.

8. A kickback protection system for a cutting tool, characterized by The method comprises the steps of: a sensing unit configured to acquire an angular velocity of the cutting tool when a motor of the cutting tool is started; a determining unit configured to determine a kickback risk level of the cutting tool according to the angular velocity; a control unit configured to control the motor to stop running when the kickback risk level is high, and to acquire a rotation angle of the cutting tool in real time and update the kickback risk level according to the rotation angle when the kickback risk level is medium.

9. A cutting tool characterized by, The method comprises the steps of: a processor and a memory configured to store a computer program; the computer program, when loaded by the processor, causes the processor to execute the cutting tool kickback protection method according to any one of claims 1-7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, the computer program, when executed by the processor, implements the cutting tool kickback protection method according to any one of claims 1-7.

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