Recoil detection method and device for electric tool, storage medium, controller and electric tool

Abstract

The invention provides a recoil detection method and device for an electric tool, a storage medium, a controller and the electric tool, according to the recoil detection method for the electric tool provided by the invention, the recoil can be detected according to the angular acceleration data of a tool shell of the electric tool within a preset time period and the angular acceleration data of the tool shell of the electric tool within the preset time period; the acceleration data is used for reflecting the deceleration operation condition of a working head of the electric tool in a preset time period, and recoil parameters of the electric tool are obtained through calculation; when the recoil event occurs in the electric tool, numerical values of the angular acceleration data of the tool shell and the acceleration data corresponding to the deceleration operation condition of the working head are generally large, so that when the recoil parameter of the electric tool reaches the first threshold value, it can be determined that the recoil event occurs in the electric tool; therefore, the recoil event occurring at the electric tool can be detected efficiently, conveniently and accurately.

Description

Technical Field

[0001] This invention relates to the field of power tool technology, and in particular to a method, apparatus, storage medium, controller, and power tool for detecting recoil. Background Technology

[0002] With the continuous development of technology and the improvement of people's living standards, the types and sales volume of power tools on the market are also increasing, and users' requirements for the safety of power tools during use are also constantly rising. When a power tool experiences kickback, the working parts may suddenly jam, causing the tool to be subjected to a reaction force, resulting in a rebound and deviation from its original working center. This can easily damage the workpiece and the power tool, and also cause personal injury to the operator. Therefore, it is necessary to identify kickback events in power tools promptly and accurately. Summary of the Invention

[0003] Based on this, the present invention provides a method, apparatus, storage medium, controller and power tool for detecting backlash in power tools. Using this method for detecting backlash in power tools, backlash events occurring at the power tool can be detected efficiently, conveniently and accurately.

[0004] On one hand, the present invention provides a method for detecting recoil in power tools, the method comprising:

[0005] Obtain the angular acceleration data of the tool housing within a preset time period;

[0006] Acquire acceleration data to reflect the deceleration of the working head during the preset time period;

[0007] The recoil parameter of the power tool is calculated based on the angular acceleration data and the acceleration data; wherein, both the angular acceleration data and the acceleration data are positively correlated with the recoil parameter.

[0008] If the recoil parameter of the power tool reaches a first threshold, it is determined that a recoil event has occurred in the power tool.

[0009] Furthermore, in some embodiments, acquiring the angular acceleration data of the tool housing within a preset time period includes:

[0010] The angular velocity data of the tool housing collected by a first sensor located at the other end of the tool housing within the preset time period is obtained.

[0011] Based on the angular velocity data, the angular acceleration data of the tool housing within the preset time period is determined.

[0012] Furthermore, in some embodiments, determining the angular acceleration data of the tool housing within the preset time period based on the angular velocity data includes:

[0013] Based on the angular velocity data, calculate the target angular acceleration data corresponding to the rotation of the tool housing around each preset coordinate axis within the preset time period;

[0014] The maximum value of the target angular acceleration data corresponding to the rotation of the tool housing around each preset coordinate axis within the preset time period is determined, and the angular acceleration data of the tool housing within the preset time period is obtained.

[0015] Furthermore, in some embodiments, if the working head is a rotary working head, the preset coordinate axis includes at least: a preset coordinate axis parallel to the rotation axis of the working head, and a preset coordinate axis perpendicular to the rotation axis of the working head.

[0016] Furthermore, in some embodiments, acquiring acceleration data reflecting the deceleration of the working head during the preset time period includes:

[0017] The rotational speed data of the motor used to drive the working head during the preset time period is obtained from the control board of the power tool;

[0018] Based on the motor's rotational speed data, calculate the motor's rotational acceleration data within the preset time period;

[0019] If the speed acceleration data reflects that the motor is in a deceleration state, then the speed acceleration data is determined as acceleration data reflecting the deceleration of the working head within the preset time period; or,

[0020] The second sensor at the power tool acquires the operating speed data of the output shaft of the transmission mechanism within the preset time period; wherein the transmission mechanism is used to transmit the driving force of the motor to the working head through the output shaft;

[0021] Based on the operating speed data of the output shaft, calculate the operating acceleration data of the output shaft within the preset time period;

[0022] If the running acceleration data reflects that the output shaft is in a deceleration state, then the running acceleration data is determined as acceleration data used to reflect the deceleration state of the working head within the preset time period.

[0023] Furthermore, in some embodiments, calculating the recoil parameters of the power tool based on the angular acceleration data and the acceleration data includes:

[0024] Calculate the weighted product of the angular acceleration data and the acceleration data to obtain the recoil parameters of the power tool; or,

[0025] The recoil parameters of the power tool are obtained by calculating the weighted sum of the angular acceleration data and the acceleration data.

[0026] Furthermore, in some embodiments, calculating the recoil parameter of the power tool based on the angular acceleration data and the acceleration data further includes:

[0027] Based on the relevant operating parameters of the power tool, determine the target working condition type to which the power tool belongs;

[0028] Obtain a preset angular acceleration weight and a preset acceleration weight that have a preset correspondence with the target working condition type; wherein, the preset angular acceleration weight and the preset acceleration weight are preset weights required to calculate the recoil parameter.

[0029] Furthermore, in some embodiments, the target working condition type includes any one of the following: moving working condition, rotating working condition, and stationary working condition.

[0030] Furthermore, in some embodiments, before determining that the power tool has experienced a backlash event, the method further includes:

[0031] Determine whether the angular acceleration data reaches the second threshold and / or the acceleration data reaches the third threshold, and obtain the determination result;

[0032] The determination that the power tool has experienced a backlash event specifically includes:

[0033] If the recoil parameter of the power tool reaches a first threshold, and the angular acceleration data reaches a second threshold and / or the acceleration data reaches a third threshold, then it is determined that a recoil event has occurred in the power tool.

[0034] Furthermore, in some embodiments, after determining that the power tool has experienced a backlash event, the method further includes:

[0035] If the power tool does not have an emergency braking function, a first control command is generated to brake the power tool using the basic braking function at the power tool; wherein the braking efficiency of the basic braking function is lower than the braking efficiency of the emergency braking function.

[0036] If the power tool has the emergency braking function, a second control command is generated to brake the power tool using the emergency braking function.

[0037] Furthermore, in some embodiments, after determining that the power tool has experienced a backlash event, the method further includes:

[0038] An alarm command is generated for the recoil event; the alarm command is used to control the activation of a preset indicator light at the power tool, and / or to control the sound player at the power tool to broadcast a preset recoil event prompt message, and / or to control the electronic screen at the power tool to display the preset recoil event prompt message.

[0039] On the other hand, the present invention also provides a backlash detection device for power tools, the power tool comprising: a tool housing, and a working head disposed at one end of the tool housing; the device comprising:

[0040] The first acquisition module is used to acquire the angular acceleration data of the tool housing within a preset time period;

[0041] The second acquisition module is used to acquire acceleration data that reflects the deceleration operation of the working head within the preset time period;

[0042] The recoil parameter calculation module is used to calculate the recoil parameter of the power tool based on the angular acceleration data and the acceleration data; wherein the angular acceleration data and the acceleration data are both positively correlated with the recoil parameter;

[0043] The recoil event determination module is used to determine that a recoil event has occurred in the power tool if the recoil parameter of the power tool reaches a first threshold.

[0044] On the other hand, the present invention also provides a storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method.

[0045] On the other hand, the present invention also provides a controller, comprising: a processor and a memory; wherein the memory stores computer-readable instructions adapted to be loaded by the processor and to perform the steps of the method described above.

[0046] On the other hand, the present invention also provides a power tool, comprising: a tool housing, a working head disposed at one end of the tool housing, and the aforementioned recoil detection device or the aforementioned controller.

[0047] The recoil detection method for power tools provided by this invention can calculate the recoil parameters of the power tool based on the angular acceleration data of the tool housing within a preset time period and the acceleration data reflecting the deceleration of the working head within the preset time period. Since the values ​​of the angular acceleration data of the tool housing and the acceleration data corresponding to the deceleration of the working head are usually large when a recoil event occurs, a recoil event can be determined when the recoil parameters of the power tool reach a first threshold, thereby efficiently, conveniently, and accurately detecting recoil events at the power tool. This method not only helps reduce the false alarm rate and false negative rate of recoil events for power tools, but also reduces the time consumption and hardware cost of recoil detection due to its simple calculation logic, fewer types of data acquisition modules required, and low cost, making it suitable for widespread application.

[0048] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0049] Figure 1 This is a schematic flowchart of a backflush detection method for power tools provided in an embodiment of the present invention;

[0050] Figure 2 A schematic diagram of the structure of a power tool provided in an embodiment of the present invention;

[0051] Figure 3 This is a schematic diagram of another power tool provided in an embodiment of the present invention;

[0052] Figure 4 This is a schematic diagram of a backlash detection device for power tools provided in an embodiment of the present invention;

[0053] Figure 5 This is a schematic diagram of the structure of a controller provided in an embodiment of the present invention. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0055] In the description of one or more embodiments of the present invention, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0056] Kickback, also known as springback, refers to the phenomenon where a power tool's working parts become stuck or deviate from their center due to factors such as abnormalities in the workpiece (e.g., uneven hardness or moisture, or internal defects), improper use (e.g., sudden increase in force, change in force direction, or deviation during operation), or tool design flaws. This causes the power tool to be subjected to a reaction force and rebound uncontrollably. Because kickback can easily damage both the workpiece and the power tool, and can also cause personal injury to the operator, it is crucial to identify kickback events in power tools promptly and accurately.

[0057] Currently, some power tool manufacturers have begun deploying sensors such as inertial measurement units and accelerometers in their power tools. By detecting the direction and acceleration of the power tool's housing when it moves left-right, forward-backward, or up-down, they aim to identify whether a recoil event has occurred during user operation. However, due to interference from mechanical vibrations during operation and variations in user habits, the aforementioned recoil detection scheme based on the housing's direction and acceleration is not only computationally complex and time-consuming, but it is also prone to misidentifying normal operation as a recoil event, or failing to correctly identify an actual recoil event, resulting in low accuracy of the recoil detection results.

[0058] Therefore, how to efficiently, conveniently and accurately detect backlash events occurring at power tools, in order to reduce the false alarm rate, false negative rate and detection cost of backlash events at power tools, has become an urgent technical problem to be solved.

[0059] Based on this, the present invention proposes a backlash detection method for power tools. This method can calculate the backlash parameters of the power tool based on the angular acceleration data of the tool housing within a preset time period and the acceleration data reflecting the deceleration of the working head within the preset time period. Since the values ​​of the angular acceleration data of the tool housing and the acceleration data corresponding to the deceleration of the working head are usually large when a backlash event occurs, a backlash event can be determined when the backlash parameters of the power tool reach a first threshold, thereby efficiently, conveniently and accurately detecting backlash events at the power tool. This method not only helps to reduce the false alarm rate and false negative rate of backlash events for power tools, but also reduces the time consumption and hardware cost of backlash detection due to its simple calculation logic, fewer types of data acquisition modules required, and low cost, making it suitable for widespread application.

[0060] Please see Figure 1 This is a schematic flowchart illustrating a backlash detection method for power tools provided in an embodiment of the present invention. From a programming perspective, the execution entity of this process can be an application program mounted on the control board or controller of the power tool. Alternatively, the execution entity can also be the control board or controller of the power tool, or other devices capable of communicating with the control board or controller of the power tool; no specific limitation is made in this regard.

[0061] The power tool may include at least: a tool housing, and a working head disposed at one end of the tool housing.

[0062] The following is about Figure 1 The process shown is described in detail. The backflush detection method for power tools may specifically include the following steps:

[0063] Step S102: Obtain the angular acceleration data of the tool housing within a preset time period.

[0064] In this embodiment of the invention, when a backlash event occurs, the main body of the power tool is usually subjected to a reaction force and rebounds and rotates uncontrollably, causing the tool housing of the power tool to generate a large angular acceleration in a short period of time. Therefore, the angular acceleration data of the tool housing of the power tool within a preset time period can be obtained to identify whether a backlash event has occurred in the power tool based on the angular acceleration data of the tool housing.

[0065] In practical applications, during the operation of power tools, it is common practice to periodically detect whether a backlash event has occurred. For any given detection cycle, any time interval reaching a specified duration within that cycle can be used as the preset time interval to acquire angular acceleration data of the tool housing collected within that preset time interval. The duration of both the detection cycle and the preset time interval can be set according to actual needs, for example, from a few milliseconds to hundreds of milliseconds, without specific limitations.

[0066] Step S104: Obtain acceleration data to reflect the deceleration of the working head during the preset time period.

[0067] In this embodiment of the invention, when a backlash event occurs in a power tool, the working head of the power tool usually jams, causing the operating speed of the working head to decrease rapidly within a short period of time. This results in a large acceleration data value that reflects the deceleration of the working head. Based on this, acceleration data reflecting the deceleration of the working head within a preset time period can be obtained to identify whether a backlash event has occurred in the power tool.

[0068] In this embodiment of the invention, the working head of the power tool may include a rotary working head, that is, a working head that works by generating rotational motion. In practical applications, the type of working head can be various, for example, including but not limited to circular saw blades, angle grinder discs, electric drill bits, blower blades, etc., without specific limitation.

[0069] Step S106: Calculate the recoil parameter of the power tool based on the angular acceleration data and the acceleration data; wherein the angular acceleration data and the acceleration data are both positively correlated with the recoil parameter.

[0070] In this embodiment of the invention, when the angular acceleration data is large and the acceleration data is small, it may be due to the operator manually rotating the power tool during workpiece processing. When the angular acceleration data is small and the acceleration data is large, it may be due to the operator manually turning off the power tool or gradually controlling the working head to contact the workpiece to start work. When both the angular acceleration data and the acceleration data are large, it is usually due to a backlash event of the power tool.

[0071] Based on this, a recoil parameter that is positively correlated with both the angular acceleration data and the acceleration data can be calculated by combining the angular acceleration data and the acceleration data. Furthermore, a sufficiently large recoil parameter indicates that a recoil event has occurred in the power tool; conversely, a small recoil parameter indicates that no recoil event has occurred. Not only is the calculation logic simple, but its accuracy in detecting recoil events is also good.

[0072] Step S108: If the recoil parameter of the power tool reaches the first threshold, it is determined that a recoil event has occurred in the power tool.

[0073] In this embodiment of the invention, a first threshold for the recoil parameter required to detect recoil events can be preset according to actual needs; and the first threshold can be stored in the control board or controller of the power tool so as to determine whether a recoil event has occurred in the power tool by comparing the currently calculated recoil parameter of the power tool with the first threshold.

[0074] Figure 1 The Chinese method calculates the recoil parameters of the power tool based on the angular acceleration data of the tool housing and the acceleration data of the working head. When the recoil parameters of the power tool reach a first threshold, a recoil event is determined to have occurred. This method can efficiently, conveniently, and accurately detect recoil events occurring at the power tool. It not only helps to reduce the false alarm rate and false negative rate of recoil events for power tools, but also reduces the time consumption and hardware cost of recoil detection due to its simple calculation logic, fewer types of data acquisition modules required, and low cost. It is suitable for widespread application.

[0075] In one feasible implementation, acquiring the angular acceleration data of the tool housing within a preset time period may include:

[0076] The angular velocity data of the tool housing is acquired by a first sensor located at the other end of the tool housing within the preset time period.

[0077] Based on the angular velocity data, the angular acceleration data of the tool housing within the preset time period is determined.

[0078] In this embodiment of the invention, angular acceleration is a physical quantity that describes the rate and direction of change of angular velocity. Specifically, when a particle rotates around an axis, its angular velocity may also change with time. We can call the change in angular velocity per unit time angular acceleration. Therefore, we can first measure the angular velocity data of the tool housing within a preset time period, and then calculate the angular acceleration data of the tool housing within the preset time period based on the angular velocity data of the tool housing.

[0079] In practical applications, when a power tool experiences a recoil event, the end of the tool housing where the working head is located is lifted, causing the power tool to approximately rotate around the end of the tool housing furthest from the working head, thus generating a significant angular velocity. Therefore, to improve the accuracy of the collected angular velocity of the tool housing, a first sensor for collecting the angular velocity data can be placed at the end of the tool housing furthest from the working head. This first sensor can be, but is not limited to, a gyroscope, a Hall effect angular velocity sensor, a capacitive angular velocity sensor, or a piezoelectric angular velocity sensor.

[0080] In practical applications, the power tool can be a handheld power tool, in which case the end of the tool housing furthest from the working head can be the handheld part. Alternatively, the power tool can be a robotic arm integrated into an automated mechanical device, in which case the end of the tool housing furthest from the working head can be the end connected to the main body of the automated mechanical device. No specific limitations are imposed in this regard.

[0081] Optionally, determining the angular acceleration data of the tool housing within the preset time period based on the angular velocity data may include:

[0082] Based on the angular velocity data, the target angular acceleration data corresponding to the rotation of the tool housing around each preset coordinate axis within the preset time period are calculated.

[0083] The maximum value of the target angular acceleration data corresponding to the rotation of the tool housing around each preset coordinate axis within the preset time period is determined, and the angular acceleration data of the tool housing within the preset time period is obtained.

[0084] In this embodiment of the invention, the rebound and rotation directions of the power tool caused by a recoil event may differ when the user uses the power tool under different working conditions. However, the angular acceleration values ​​of the power tool in one or more directions will still be relatively large, thus significantly different from the angular acceleration corresponding to the power tool under normal working conditions. Therefore, in order to improve the applicability and accuracy of the recoil detection scheme, the target angular acceleration data corresponding to the rotation of the tool housing around multiple preset coordinate axes within a preset time period can be calculated. The maximum value among the target angular acceleration data is then selected as the angular acceleration data of the tool housing within the preset time period.

[0085] It is understandable that if the maximum value of each target angular acceleration data is still relatively small, the power tool usually has not experienced a recoil event; otherwise, it can usually be said that the power tool is more likely to have experienced a recoil event, which will not be elaborated further.

[0086] Optionally, if the working head is a rotary working head, the preset coordinate axis may include at least: a preset coordinate axis parallel to the rotation axis of the working head, and a preset coordinate axis perpendicular to the rotation axis of the working head.

[0087] In this embodiment of the invention, when the working head of the power tool is a rotary working head, the working head can rotate around a rotation axis during operation. If the working head jams and causes a backlash event, the power tool will typically be subjected to a force opposite to the rotation direction of the working head, causing the power tool to move around a preset coordinate axis parallel to the rotation axis of the working head. On the other hand, if the working head and the workpiece being processed are in a state of mutual compression, the power tool will typically also be subjected to a reverse force perpendicular to the contact surface between the two, causing the power tool to rebound and move around a preset coordinate axis perpendicular to the rotation axis of the working head.

[0088] Therefore, when detecting recoil events at power tools, angular velocity data corresponding to the power tool's rotation around a preset coordinate axis parallel to the working head's axis of rotation, and angular velocity data corresponding to its rotation around a preset coordinate axis perpendicular to the working head's axis of rotation, can be obtained. This helps ensure that the maximum angular velocity data of the power tool in each direction is obtained, thereby improving the accuracy and effectiveness of recoil event detection. Of course, in addition to obtaining the above angular velocity data, angular velocity data corresponding to the power tool's rotation in other directions can also be obtained to improve the comprehensiveness of the obtained angular velocity data of the power tool in each direction, which helps to reduce the false negative and false positive rates for recoil events. No specific limitations are made in this regard.

[0089] For ease of understanding, Figure 2 This is a schematic diagram of the structure of a power tool provided in an embodiment of the present invention, which is illustrated herein in conjunction with... Figure 2 The principle of acquiring the angular acceleration data of the tool housing within a preset time period is illustrated with an example. For example... Figure 2 As shown, one end of the tool housing 201 of the power tool can be provided with a working head 202 (e.g., a grinding head) that rotates around a rotation axis 203. Based on this, a first sensor can be provided at the other end of the tool housing 201 to collect angular velocity data corresponding to the rotation of the tool housing 201 around a preset coordinate axis 204 parallel to the rotation axis 203 of the working head 202, as well as angular velocity data corresponding to the rotation around preset coordinate axes 205, 206, etc., perpendicular to the rotation axis 203 of the working head 202. The maximum angular acceleration data corresponding to the rotation of the tool housing around the preset coordinate axes 204-206 can then be calculated, which serves as the angular acceleration data of the tool housing within a preset time period required for calculating the recoil parameters. Further details are omitted here.

[0090] Figure 3 This is a schematic diagram of the structure of another power tool provided in an embodiment of the present invention, which is illustrated herein in conjunction with... Figure 3 The principle of acquiring the angular acceleration data of the tool housing within a preset time period is illustrated with an example. For example... Figure 3 As shown, one end of the tool housing 301 of the power tool may be provided with a rotation axis ( Figure 3 The working head 302 (not shown) rotates (e.g., an electric drill bit). The direction of the central axis of the working head is usually consistent with the direction of the central axis of the rotation axis. Based on this, a first sensor can be installed at the other end of the tool housing 301 (e.g., the handheld part) to collect angular velocity data corresponding to the rotation of the tool housing 301 around a preset coordinate axis 303 parallel to the rotation axis of the working head 302, and angular velocity data corresponding to the rotation around preset coordinate axes 304, 305, etc., perpendicular to the rotation axis of the working head 302. The maximum angular acceleration data corresponding to the rotation of the tool housing around the preset coordinate axes 303-305 is then calculated, which serves as the angular acceleration data of the tool housing within a preset time period required for calculating the recoil parameter. Further details are omitted here.

[0091] In one feasible implementation, acquiring acceleration data reflecting the deceleration of the working head during the preset time period may include:

[0092] The rotational speed data of the motor used to drive the working head during the preset time period is obtained from the control board of the power tool.

[0093] Based on the motor's rotational speed data, calculate the motor's rotational acceleration data within the preset time period.

[0094] If the speed acceleration data reflects that the motor is in a deceleration state, then the speed acceleration data is determined as acceleration data used to reflect the deceleration state of the working head within the preset time period.

[0095] In this embodiment of the invention, the power tool is typically equipped with a motor for driving the working head. The motor's rotational speed and the working head's operating speed are usually positively correlated. Therefore, the motor's rotational speed data within a preset time period can be obtained, and the motor's rotational acceleration data can be calculated. If the motor's rotational acceleration data indicates that the motor is decelerating, the working head is usually also decelerating. Thus, the motor's rotational acceleration data can be used as acceleration data to reflect the deceleration of the working head within the preset time period. Furthermore, if the motor's rotational acceleration data indicates that the motor is accelerating, the power tool typically does not experience a backlash event. Therefore, the process can proceed to the end without further steps to calculate backlash parameters, saving computational resources.

[0096] In practical applications, the control board of a power tool is usually equipped with control modules and circuits for controlling the power tool to work. In the process of controlling the motor that drives the working head, the control board of the power tool can usually obtain the speed data of the motor. Based on this, the speed data of the motor within a preset time period can be obtained directly from the control board of the power tool without the need to set up additional sensors to measure the speed of the motor. This is convenient, quick and easy, and helps to save on the implementation cost of the solution.

[0097] In one feasible implementation, acquiring acceleration data reflecting the deceleration of the working head during the preset time period may further include:

[0098] The second sensor at the power tool acquires the operating speed data of the output shaft of the transmission mechanism within the preset time period; wherein the transmission mechanism is used to transmit the driving force of the motor to the working head through the output shaft.

[0099] Based on the operating speed data of the output shaft, calculate the operating acceleration data of the output shaft within the preset time period.

[0100] If the running acceleration data reflects that the output shaft is in a deceleration state, then the running acceleration data is determined as acceleration data used to reflect the deceleration state of the working head within the preset time period.

[0101] In this embodiment of the invention, the power tool is typically equipped with a transmission mechanism. This transmission mechanism is connected to a motor on one hand, and also to a working head via its output shaft on the other. The motor's driving force is transmitted to the working head through the output shaft of the transmission mechanism, enabling the working head to operate. Since the operating speed of the transmission mechanism's output shaft is usually positively correlated with the operating speed of the working head, a second sensor (e.g., a rotary encoder, tachometer, etc.) can be used to collect the operating speed data of the transmission mechanism's output shaft within a preset time period, and then the operating acceleration data of the transmission mechanism's output shaft can be calculated. If the operating acceleration data of the transmission mechanism's output shaft indicates that the output shaft is decelerating, then the working head is usually also in a decelerating state. Therefore, the operating acceleration data of the transmission mechanism's output shaft can be used as acceleration data to reflect the deceleration of the working head within the preset time period. Furthermore, if the operating acceleration data of the transmission mechanism's output shaft indicates that the output shaft is accelerating, then the power tool usually has not experienced a backlash event, and the process can jump to the end without continuing to execute the subsequent backlash parameter calculation step, which helps save computational resources.

[0102] Of course, in practical applications, other sensors can also be used to directly measure the operating speed data of the working head within a preset time period, and the operating acceleration data of the working head within the preset time period can be calculated based on the operating speed data. If the operating acceleration data of the working head reflects that the working head is in a deceleration state, then the operating acceleration data of the working head is used to calculate the recoil parameter, without specific limitations.

[0103] In one feasible implementation, calculating the recoil parameter of the power tool based on the angular acceleration data and the acceleration data may include:

[0104] Calculate the weighted product of the angular acceleration data and the acceleration data to obtain the recoil parameters of the power tool; or,

[0105] The recoil parameters of the power tool are obtained by calculating the weighted sum of the angular acceleration data and the acceleration data.

[0106] In this embodiment of the invention, by calculating the weighted product or weighted sum of the angular acceleration data and the acceleration data as the recoil parameter of the power tool, not only can the angular acceleration data and the acceleration data be positively correlated with the recoil parameter, thereby meeting actual needs and ensuring the accuracy of the recoil event detection results generated based on the recoil parameter, but it can also simplify the calculation logic, reduce the calculation time, and thus help improve the real-time performance of the recoil detection scheme.

[0107] Optionally, calculating the recoil parameters of the power tool based on the angular acceleration data and the acceleration data may further include:

[0108] Based on the relevant operating parameters of the power tool, the target working condition type of the power tool is determined. The target working condition type may include any one of the following: moving working condition, rotating working condition, and stationary working condition.

[0109] Obtain a preset angular acceleration weight and a preset acceleration weight that have a preset correspondence with the target working condition type; wherein, the preset angular acceleration weight and the preset acceleration weight are preset weights required to calculate the recoil parameter.

[0110] In this embodiment of the invention, when a user uses a power tool to work, the user may move the power tool left and right, up and down, back and forth, or rotate the power tool to process the workpiece from all angles. Of course, the user may also keep the power tool stationary and continue to process the same position of the workpiece. Therefore, the power tool may operate under different working conditions.

[0111] Due to varying operating conditions, the angular acceleration data of the power tool housing may deviate to varying degrees from the acceleration data reflecting the deceleration of the working head. For example, when the user manually controls the power tool housing to rotate slowly, the measured angular acceleration data of the housing may be too high; similarly, when the user continuously changes the pressure between the working head and the workpiece, or when the user moves the working head left and right, causing the pressure between the working head and the workpiece to change continuously, the measured acceleration data reflecting the deceleration of the working head may also be too high.

[0112] Therefore, preset angular acceleration weights and preset acceleration weights with pre-defined correspondences to various working conditions can be set according to actual needs. Alternatively, a preset weight calculation strategy can be used to calculate the required preset angular acceleration weights and preset acceleration weights based on the relevant operating parameters of the power tool and the target working condition type. By weighting these weights with the corresponding angular acceleration data of the tool housing and the acceleration data of the working head, the interference of various working conditions on the recoil parameters can be reduced, improving the accuracy and effectiveness of the calculated recoil parameters. This, in turn, ensures the accuracy of the recoil detection results generated based on the recoil parameters, reducing the false alarm rate and false negative rate for recoil events.

[0113] In one possible implementation, before determining that the power tool has experienced a backlash event, the process may further include:

[0114] Determine whether the angular acceleration data reaches the second threshold and / or the acceleration data reaches the third threshold, and obtain the determination result.

[0115] Correspondingly, determining that the power tool has experienced a backlash event can specifically include:

[0116] If the recoil parameter of the power tool reaches a first threshold, and the angular acceleration data reaches a second threshold and / or the acceleration data reaches a third threshold, then it is determined that a recoil event has occurred in the power tool.

[0117] In this embodiment of the invention, to avoid the adverse effects of noise data, the recoil event of the power tool can be determined only after the recoil parameter of the power tool reaches a first threshold, and the angular acceleration data reaches a second threshold and / or the acceleration data reaches a third threshold, which helps to improve the accuracy of the recoil detection results.

[0118] In one feasible implementation, after determining that the power tool has experienced a backlash event, the process may further include:

[0119] If the power tool does not have an emergency braking function, a first control command is generated to brake the power tool using the basic braking function at the power tool; wherein the braking efficiency of the basic braking function is lower than the braking efficiency of the emergency braking function.

[0120] If the power tool has the emergency braking function, a second control command is generated to brake the power tool using the emergency braking function.

[0121] In this embodiment of the invention, the power tool typically has at least a basic braking function to control the motor to gradually stop rotating, thereby stopping the working head. In addition, some power tools may also have an emergency braking function to accelerate the motor's deceleration process, thereby improving the braking efficiency of the working head. In practical applications, the emergency braking function can be achieved by applying a reverse magnetic field to the motor, or other methods can be used; no specific limitation is made.

[0122] Because backlash from power tools can easily damage both the workpiece and the tool itself, and can also cause personal injury to the operator, it is essential to quickly brake the motor and working head upon detecting a backlash event. This will bring them to a rapid stop. Therefore, it can be determined whether the power tool has an emergency braking function. If so, the emergency braking function can be activated upon confirming a backlash event; otherwise, the basic braking function can be activated, ensuring the safety of the operator and the power tool while maintaining good flexibility.

[0123] In one feasible implementation, after determining that the power tool has experienced a backlash event, the process may further include:

[0124] An alarm command is generated for the recoil event; the alarm command is used to control the activation of a preset indicator light at the power tool, and / or to control the sound player at the power tool to broadcast a preset recoil event prompt message, and / or to control the electronic screen at the power tool to display the preset recoil event prompt message.

[0125] In this embodiment of the invention, after a backlash event is detected at the power tool, an alarm command is generated for the backlash event so that an alarm can be issued to the user using one or more of the following methods: a preset indicator light, a sound player, or an electronic screen. This allows the user to be aware of and handle the backlash event at the power tool in a timely manner, which helps to ensure the user's operational safety and improve the user experience.

[0126] Please see Figure 4This is a schematic diagram of a backlash detection device for power tools provided in an embodiment of the present invention. Figure 4 As shown, the recoil detection device 04 for power tools can be implemented as all or part of the controller through software, hardware, or a combination of both. The power tool may include: a tool housing, and a working head disposed at one end of the tool housing.

[0127] According to some embodiments, the backlash detection device 04 for power tools may include a first acquisition module 41, a second acquisition module 42, a backlash parameter calculation module 43, and a backlash event determination module 44, specifically:

[0128] The first acquisition module 41 is used to acquire the angular acceleration data of the tool housing within a preset time period.

[0129] The second acquisition module 42 is used to acquire acceleration data that reflects the deceleration operation of the working head within the preset time period.

[0130] The recoil parameter calculation module 43 is used to calculate the recoil parameter of the power tool based on the angular acceleration data and the acceleration data; wherein the angular acceleration data and the acceleration data are both positively correlated with the recoil parameter.

[0131] The recoil event determination module 44 is used to determine that a recoil event has occurred in the power tool if the recoil parameter of the power tool reaches a first threshold.

[0132] Optionally, the first acquisition module 41 may include:

[0133] The first acquisition unit is used to acquire the angular velocity data of the tool housing collected by the first sensor located at the other end of the tool housing within the preset time period.

[0134] The first determining unit is used to determine the angular acceleration data of the tool housing within the preset time period based on the angular velocity data.

[0135] Optionally, the first determined unit can be used for:

[0136] Based on the angular velocity data, the target angular acceleration data corresponding to the rotation of the tool housing around each preset coordinate axis within the preset time period are calculated.

[0137] The maximum value of the target angular acceleration data corresponding to the rotation of the tool housing around each preset coordinate axis within the preset time period is determined, and the angular acceleration data of the tool housing within the preset time period is obtained.

[0138] Optionally, if the working head is a rotary working head, the preset coordinate axis may include at least: a preset coordinate axis parallel to the rotation axis of the working head, and a preset coordinate axis perpendicular to the rotation axis of the working head.

[0139] Optionally, the second acquisition module 42 may include:

[0140] The second acquisition unit is used to acquire the rotational speed data of the motor used to drive the working head during the preset time period from the control board of the power tool.

[0141] The first calculation unit is used to calculate the speed acceleration data of the motor within the preset time period based on the motor speed data.

[0142] The second determining unit is configured to, if the speed acceleration data reflects that the motor is in a deceleration state, determine the speed acceleration data as acceleration data reflecting the deceleration state of the working head within the preset time period. Alternatively,

[0143] The third acquisition unit is used to acquire the operating speed data of the output shaft of the transmission mechanism collected by the second sensor at the power tool within the preset time period; wherein the transmission mechanism is used to transmit the driving force of the motor to the working head through the output shaft.

[0144] The second calculation unit is used to calculate the running acceleration data of the output shaft within the preset time period based on the running speed data of the output shaft.

[0145] The third determining unit is used to determine the running acceleration data as acceleration data that reflects the deceleration of the working head within the preset time period if the running acceleration data reflects that the output shaft is in a deceleration running state.

[0146] Optionally, the recoil parameter calculation module 43 may include:

[0147] The third calculation unit is used to calculate the weighted product of the angular acceleration data and the acceleration data to obtain the recoil parameters of the power tool; or,

[0148] The fourth calculation unit is used to calculate the weighted sum of the angular acceleration data and the acceleration data to obtain the recoil parameters of the power tool.

[0149] Optionally, the recoil parameter calculation module 43 may also include:

[0150] The fourth determining unit is used to determine the target working condition type of the power tool based on the relevant operating parameters of the power tool.

[0151] The fourth acquisition unit is used to acquire a preset angular acceleration weight and a preset acceleration weight that have a preset correspondence with the target working condition type; wherein the preset angular acceleration weight and the preset acceleration weight are preset weights required to calculate the recoil parameter.

[0152] Optionally, the target working condition type may include any one of the following: moving working condition, rotating working condition, and stationary working condition.

[0153] Optional, Figure 4 The device may further include:

[0154] The judgment module is used to determine whether the angular acceleration data reaches the second threshold and / or the acceleration data reaches the third threshold, and obtain the judgment result.

[0155] The recoil event determination module 44 can be specifically used for:

[0156] If the recoil parameter of the power tool reaches a first threshold, and the angular acceleration data reaches a second threshold and / or the acceleration data reaches a third threshold, then it is determined that a recoil event has occurred in the power tool.

[0157] Optional, Figure 4 The device may further include:

[0158] The first instruction generation unit is configured to generate a first control instruction for braking the power tool using its basic braking function if the power tool does not have an emergency braking function; wherein the braking efficiency of the basic braking function is lower than that of the emergency braking function.

[0159] The second instruction generation unit is configured to generate a second control instruction for braking the power tool using the emergency braking function if the power tool has the emergency braking function.

[0160] Optional, Figure 4 The device may further include:

[0161] The third instruction generation unit is used to generate an alarm instruction for the recoil event; the alarm instruction is used to control the activation of a preset indicator light at the power tool, and / or to control the sound player at the power tool to broadcast a preset recoil event prompt message, and / or to control the electronic screen at the power tool to display the preset recoil event prompt message.

[0162] The above-described apparatus embodiments correspond to the method embodiments, and detailed descriptions can be found in the description of the method embodiments section, which will not be repeated here. The apparatus embodiments are derived based on the corresponding method embodiments and have the same technical effects as the corresponding method embodiments; detailed descriptions can be found in the corresponding method embodiments.

[0163] The present invention also provides a storage medium that can store a computer program. When the computer program is executed by a processor, it can implement the backlash detection method for power tools as described in the above embodiments. For the specific execution process, please refer to the detailed description in the above embodiments, which will not be repeated here.

[0164] In one embodiment, the present invention also provides Figure 5 The diagram shows the structure of the controller. Figure 5 At the hardware level, the controller may include a processor 51 and a memory 55, and may also include an internal bus 52, a network interface 53, a memory 54, and other hardware required for the business. The controller can be installed in the power tool. The processor 51 can read corresponding computer-readable instructions from the memory 55 into the memory and then execute them to implement the aforementioned backlash detection method for the power tool. The specific execution process can be found in the detailed descriptions of the above embodiments, and will not be repeated here.

[0165] In one embodiment, the present invention also provides a power tool, including: a tool housing, a working head disposed at one end of the tool housing, and the aforementioned backlash detection device or controller for the power tool, to perform the steps of the backlash detection method for the power tool through the backlash detection device or controller for the power tool. The specific execution process can be referred to the specific descriptions in the above embodiments, and will not be repeated here.

[0166] Finally, the various embodiments in this invention are described in a progressive manner, and the same or similar parts between the embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for embodiments such as storage media, controllers, and power tools, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments. Furthermore, the execution order between the various steps involved in the method embodiments can be set according to actual needs, and the connection order between the various modules involved in the device embodiments can also be set according to actual needs, without specific limitations.

[0167] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A method for detecting recoil in power tools, the power tools comprising: Tool housing, and a working head disposed at one end of the tool housing; The method includes: Obtain the angular acceleration data of the tool housing within a preset time period; Acquire acceleration data to reflect the deceleration of the working head during the preset time period; The recoil parameter of the power tool is calculated based on the angular acceleration data and the acceleration data; wherein, both the angular acceleration data and the acceleration data are positively correlated with the recoil parameter. If the recoil parameter of the power tool reaches a first threshold, it is determined that a recoil event has occurred in the power tool.

2. The method according to claim 1, wherein acquiring the angular acceleration data of the tool housing within a preset time period comprises: The angular velocity data of the tool housing collected by a first sensor located at the other end of the tool housing within the preset time period is obtained. Based on the angular velocity data, the angular acceleration data of the tool housing within the preset time period is determined.

3. The method according to claim 2, wherein determining the angular acceleration data of the tool housing within the preset time period based on the angular velocity data comprises: Based on the angular velocity data, calculate the target angular acceleration data corresponding to the rotation of the tool housing around each preset coordinate axis within the preset time period; The maximum value of the target angular acceleration data corresponding to the rotation of the tool housing around each preset coordinate axis within the preset time period is determined, and the angular acceleration data of the tool housing within the preset time period is obtained.

4. The method according to claim 3, wherein if the working head is a rotary working head, the preset coordinate axis includes at least: A preset coordinate axis parallel to the rotation axis of the working head, and a preset coordinate axis perpendicular to the rotation axis of the working head.

5. The method according to claim 1, wherein acquiring acceleration data reflecting the deceleration of the working head during the preset time period comprises: The rotational speed data of the motor used to drive the working head during the preset time period is obtained from the control board of the power tool; Based on the motor's rotational speed data, calculate the motor's rotational acceleration data within the preset time period; If the speed acceleration data reflects that the motor is in a deceleration state, then the speed acceleration data is determined as acceleration data reflecting the deceleration of the working head within the preset time period; or, The second sensor at the power tool acquires the operating speed data of the output shaft of the transmission mechanism within the preset time period; wherein the transmission mechanism is used to transmit the driving force of the motor to the working head through the output shaft; Based on the operating speed data of the output shaft, calculate the operating acceleration data of the output shaft within the preset time period; If the running acceleration data reflects that the output shaft is in a deceleration state, then the running acceleration data is determined as acceleration data used to reflect the deceleration state of the working head within the preset time period.

6. The method according to claim 1, wherein calculating the recoil parameter of the power tool based on the angular acceleration data and the acceleration data comprises: The recoil parameters of the power tool are obtained by calculating the weighted product of the angular acceleration data and the acceleration data; or, The recoil parameters of the power tool are obtained by calculating the weighted sum of the angular acceleration data and the acceleration data.

7. The method according to claim 6, wherein calculating the recoil parameter of the power tool based on the angular acceleration data and the acceleration data further comprises: Based on the relevant operating parameters of the power tool, determine the target working condition type to which the power tool belongs; Obtain a preset angular acceleration weight and a preset acceleration weight that have a preset correspondence with the target working condition type; wherein, the preset angular acceleration weight and the preset acceleration weight are preset weights required to calculate the recoil parameter.

8. The method according to claim 7, wherein the target operating condition type includes: Any one of the following working conditions: moving, rotating, or stationary.

9. The method of claim 1, further comprising, before determining that the power tool has experienced a backlash event: Determine whether the angular acceleration data reaches the second threshold and / or the acceleration data reaches the third threshold, and obtain the determination result; The determination that the power tool has experienced a backlash event specifically includes: If the recoil parameter of the power tool reaches a first threshold, and the angular acceleration data reaches a second threshold and / or the acceleration data reaches a third threshold, then it is determined that a recoil event has occurred in the power tool.

10. The method of claim 1, further comprising, after determining that the power tool has experienced a backlash event: If the power tool does not have an emergency braking function, a first control command is generated to brake the power tool using the basic braking function at the power tool; wherein the braking efficiency of the basic braking function is lower than the braking efficiency of the emergency braking function. If the power tool has the emergency braking function, a second control command is generated to brake the power tool using the emergency braking function.

11. The method of claim 1, further comprising, after determining that the power tool has experienced a backlash event: An alarm command is generated for the recoil event; the alarm command is used to control the activation of a preset indicator light at the power tool, and / or to control the sound player at the power tool to broadcast a preset recoil event prompt message, and / or to control the electronic screen at the power tool to display the preset recoil event prompt message.

12. A backlash detection device for a power tool, the power tool comprising: Tool housing, and a working head disposed at one end of the tool housing; The device includes: The first acquisition module is used to acquire the angular acceleration data of the tool housing within a preset time period; The second acquisition module is used to acquire acceleration data that reflects the deceleration operation of the working head within the preset time period; The recoil parameter calculation module is used to calculate the recoil parameter of the power tool based on the angular acceleration data and the acceleration data; wherein the angular acceleration data and the acceleration data are both positively correlated with the recoil parameter; The recoil event determination module is used to determine that a recoil event has occurred in the power tool if the recoil parameter of the power tool reaches a first threshold.

13. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method according to any one of claims 1 to 11.

14. A controller, comprising: A processor and a memory; wherein the memory stores computer-readable instructions adapted to be loaded by the processor and to perform the steps of the method as claimed in any one of claims 1 to 11.

15. An electric tool, comprising: A tool housing, a working head disposed at one end of the tool housing, and a backlash detection device as described in claim 12 or a controller as described in claim 14.

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