A vibration feedback-based decoration impact drill control method and system

Abstract

This invention relates to the field of intelligent control technology, specifically a vibration feedback-based control method and system for a construction impact drill. The method includes: real-time vibration signal acquisition of the impact drill under control using a vibration sensor to obtain the original impact drill vibration signal; feature extraction based on the original impact drill vibration signal to obtain a vibration feedback feature map; analysis of drilling parameters using the vibration feedback feature map and a wall drilling database to obtain the current drilling parameters; error calculation based on the current drilling parameters and the initial drilling parameters to obtain the current parameter adjustment error; and adjustment of the drilling parameters using the current parameter adjustment error and a PID controller to obtain the target drilling parameters. This invention can improve the adaptive adjustment accuracy of the impact drill's drilling parameters and enhance the automation level of the impact drill control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent control, and particularly relates to a decoration impact drill control method and system based on vibration feedback. BACKGROUND

[0002] In the decoration construction process, whether the drilling parameters of the impact drill are suitable for the wall material directly affects the drilling quality and operation safety. Since different walls differ in hardness, density, brittleness and the like, if the drilling parameters are not properly set, the drill bit is easily damaged, the wall edge is easily collapsed, the hole is easily deviated, and even safety accidents are easily caused.

[0003] The traditional technology usually manually sets the fixed drilling parameters of the impact drill according to the experience of the user. This fixed parameter mode depending on manual experience cannot adapt to the dynamic changes of different wall materials. When facing walls with large differences such as concrete, ceramic tiles and hollow bricks, the drilling quality is easily reduced, the drill bit is easily worn out, and the operation safety is easily hidden. SUMMARY

[0004] The present application provides a decoration impact drill control method based on vibration feedback and a computer readable storage medium, which mainly aims to improve the adaptive adjustment precision of the drilling parameters of the impact drill and improve the automation degree of the impact drill control.

[0005] To achieve the above-mentioned purpose, the present application provides a decoration impact drill control method based on vibration feedback, comprising: receiving an impact drill control instruction, and confirming initial drilling parameters based on the impact drill control instruction, wherein the impact drill control instruction is initiated by a to-be-controlled impact drill, and the to-be-controlled impact drill is installed with a vibration sensor; based on the vibration sensor, collecting real-time vibration signals of the to-be-controlled impact drill to obtain original impact drill vibration signals, wherein the original impact drill vibration signals include a plurality of original vibration sampling values; performing feature extraction according to the original impact drill vibration signals to obtain a vibration feedback feature map; performing drilling parameter analysis by using the vibration feedback feature map and a preset wall drilling database to obtain current drilling parameters, wherein the wall drilling database includes a plurality of similar wall drilling data sets; performing error calculation according to the current drilling parameters and the initial drilling parameters to obtain a current parameter adjustment error, performing drilling parameter adjustment by using the current parameter adjustment error and a pre-constructed PID controller to obtain target drilling parameters; taking the target drilling parameters as the initial drilling parameters, and returning to the step of collecting real-time vibration signals of the to-be-controlled impact drill based on the vibration sensor until a preset stop drilling instruction is received, and completing the decoration impact drill control based on vibration feedback.

[0006] Optionally, the step of extracting features from the original impact drill vibration signal to obtain a vibration feedback feature map includes: The original impact drill vibration signal is framed to obtain multiple framed impact drill vibration signals. Energy features were extracted from multiple frame-segmented impact drill vibration signals to obtain multiple vibration signal energy spectra, wherein the vibration signal energy spectra correspond one-to-one with the frame-segmented impact drill vibration signals. Obtain a vibration signal filter bank, wherein the vibration signal filter bank includes multiple vibration signal filters, and the vibration signal filters are Gammatone filters; The vibration energy matrix is ​​obtained by filtering and calculating the energy spectra of multiple vibration signals using a vibration signal filter bank. The vibration energy matrix is ​​subjected to discrete cosine transform to obtain the vibration feedback feature map, which includes multiple vibration feedback feature vectors, and each vibration feedback feature vector corresponds to a different frame-by-frame impact drill vibration signal.

[0007] Optionally, the step of extracting energy features from multiple frame-segmented impact drill vibration signals to obtain multiple vibration signal energy spectra includes: For each frame of the impact drilling vibration signal in the multiple frame impact drilling vibration signals, the following operation is performed: A fast Fourier transform is performed on the framed impact drill vibration signal to obtain the complex spectrum of the vibration signal, which includes multiple frequency values. Frequency energy is calculated based on the complex spectrum of the vibration signal to obtain the vibration signal energy spectrum, wherein the vibration signal energy spectrum includes multiple energy values, and each energy value corresponds one-to-one with the frequency value; By summing the vibration signal energy spectra corresponding to the vibration signals of the impact drill in each frame, multiple vibration signal energy spectra are obtained.

[0008] Optionally, the step of using a vibration signal filter bank to filter and calculate the energy spectra of multiple vibration signals to obtain a vibration energy matrix includes: The vibration signal energy spectrum is extracted sequentially from multiple vibration signal energy spectra, and the extracted vibration signal energy spectrum is recorded as the energy spectrum to be filtered. The following operation is performed on each vibration signal filter in the vibration signal filter bank: The vibration filtering energy is obtained by multiplying and summing the energy spectrum of the vibration signal filter point by point. Logarithmic calculation of the vibration filtering energy yields the vibration logarithmic energy; The vibration logarithmic energy corresponding to each vibration signal filter is summarized to obtain the vibration logarithmic energy set; By summing the vibration logarithmic energy groups corresponding to the energy spectrum of each vibration signal, multiple vibration logarithmic energy groups are obtained, and a vibration energy matrix is ​​constructed based on the multiple vibration logarithmic energy groups.

[0009] Optionally, the step of analyzing drilling parameters using vibration feedback feature maps and a preset wall drilling database to obtain current drilling parameters includes: Perform the following operations on each similar wall drilling dataset in the wall drilling database: Feature map identification was performed on similar wall drilling datasets to obtain similar vibration feature map sets, which include multiple similar vibration feature maps; The average vibration feature map is obtained by averaging the feature maps based on similar vibration feature map sets. The vibration feature similarity is calculated by combining the average vibration feature map and the vibration feedback feature map. By summing the vibration feature similarity of each similar wall drilling dataset, multiple vibration feature similarities are obtained; Identify the maximum feature similarity among multiple vibration feature similarities, and record the drilling dataset of the same type of wall corresponding to the maximum feature similarity as the comparison wall drilling dataset; The current drilling parameters are obtained by comparing the wall drilling dataset and vibration feedback feature map.

[0010] Optionally, obtaining the current drilling parameters based on the comparison wall drilling dataset and vibration feedback feature map includes: In the comparative wall drilling dataset, comparative wall drilling data are extracted sequentially, and comparative vibration feature maps and comparative drilling parameters in the extracted comparative wall drilling data are identified. The similarity of the comparative features is calculated based on the comparative vibration feature map and the vibration feedback feature map. The similarity of comparative features and the comparative drilling parameters corresponding to the drilling data of each comparative wall are summarized to obtain the set of comparative feature similarity and the set of comparative drilling parameters. Normalization is performed based on the comparative feature similarity set to obtain the normalized feature similarity set; The current drilling parameters are obtained by weighted summation of the normalized feature similarity set and the comparative drilling parameter set.

[0011] Optionally, before analyzing drilling parameters using vibration feedback feature maps and a preset wall drilling database to obtain the current drilling parameters, the method further includes: Obtain a set of test drilled walls, which includes multiple test drilled walls; For each test drill wall in the test drill wall set, the following operations shall be performed: Based on the impact drill to be controlled, obtain an impact drill of the same model, and use the same model impact drill to drill and adjust the test wall to obtain the optimal drilling parameters. During the drilling process of the same type of impact drill into the test wall, the vibration characteristics of the same type of impact drill were extracted to obtain the test vibration characteristic map; By combining the optimal drilling parameters and the experimental vibration characteristic diagram, the drilling data of the test wall were obtained; The drilling data of each test wall is summarized to obtain the test wall drilling dataset; The test drill wall set was classified into multiple drill wall groups of the same type, and each drill wall group of the same type included multiple drill walls of the same type. The test wall drilling dataset was classified by using multiple similar drilling wall groups to obtain multiple similar wall drilling datasets; A wall drilling database was constructed based on multiple similar wall drilling datasets.

[0012] Optionally, the step of using the same type of impact drill to drill and adjust the test wall to obtain optimal drilling parameters includes: Establish a range of drilling parameters, and determine the initial drilling parameters based on the range of drilling parameters; Based on the initial drilling parameters, the drilling parameters of the same type of impact drill are set to obtain the current impact drill; Using the current impact drill and the preset drilling unit time, the test drilling wall is drilled to obtain the drilling wall to be evaluated; The drilling effect is evaluated based on the wall to be drilled, and the experimental drilling effect data is obtained. The experimental drilling effect data includes: experimental drilling efficiency, damage value of the depression area, handheld comfort and experimental drilling energy consumption. The comprehensive drilling effect value is obtained by weighting the experimental drilling effect data; The initial drilling parameters are linearly adjusted within the drilling parameter range to obtain the adjusted drilling parameters; Adjust the drilling parameters as the starting drilling parameters, and return to the step of setting the drilling parameters of the same type of impact drill based on the starting drilling parameters, until a preset stop adjustment command is received; The initial drilling parameters and the overall drilling effect values ​​are summarized separately to obtain the initial drilling parameter set and the overall drilling effect value set; Curve fitting is performed based on the initial drilling parameter set and the comprehensive drilling effect value set to obtain the drilling effect variation curve. The horizontal axis of the drilling effect variation curve represents the initial drilling parameters, and the vertical axis of the drilling effect variation curve represents the comprehensive drilling effect value. Identify the maximum points in the drilling effect change curve and determine the optimal drilling parameters based on the maximum points.

[0013] Optionally, the step of evaluating the drilling effect based on the wall to be evaluated to obtain experimental drilling effect data includes: The drilling depth of the wall to be evaluated is measured to obtain the test drilling depth. The ratio of the test drilling depth to the drilling unit time is calculated to obtain the test drilling efficiency. The drilling depression area in the wall to be evaluated was identified, and the endoscopic image of the drilling depression area was fitted to obtain the current depression area outline. The current concave region contour is compared with the preset standard concave region contour to obtain the concave region damage value. Record the average vibration amplitude, vibration amplitude variance, and average working power during the current drilling process of the impact drill; Handheld comfort is calculated based on average vibration amplitude and vibration amplitude variance. The energy consumption of the test drilling was calculated by multiplying the average working power and the drilling unit time. The experimental drilling results data were obtained by summarizing the drilling efficiency, damage value in the depression area, handheld comfort, and energy consumption of the experimental drilling.

[0014] To achieve the above objectives, the present invention also provides a vibration feedback-based control system for a construction impact drill, comprising: The control command receiving module is used to receive the control command of the impact drill and determine the initial drilling parameters based on the control command. The control command is initiated by the impact drill to be controlled and the impact drill to be controlled is equipped with a vibration sensor. The vibration signal sampling module is used to collect the vibration signal of the impact drill to be controlled in real time based on the vibration sensor, and obtain the original impact drill vibration signal, which includes multiple original vibration sampling values. The vibration feature extraction module is used to extract features from the original impact drill vibration signal to obtain a vibration feedback feature map. The vibration feedback feature map and the preset wall drilling database are used to analyze the drilling parameters and obtain the current drilling parameters. The wall drilling database includes multiple similar wall drilling datasets. The drilling parameter calculation module is used to calculate the error based on the current drilling parameters and the initial drilling parameters to obtain the current parameter adjustment error. The drilling parameters are then adjusted using the current parameter adjustment error and a pre-built PID controller to obtain the target drilling parameters. The target drilling parameters are used as the initial drilling parameters, and the process returns to the step of real-time vibration signal acquisition of the impact drill to be controlled based on the vibration sensor, until a preset stop drilling command is received.

[0015] To address the above problems, the present invention also provides an electronic device, the electronic device comprising: Memory, storing at least one instruction; The processor executes the instructions stored in the memory to implement the vibration feedback-based control method for the decoration impact drill described above.

[0016] To address the aforementioned problems, the present invention also provides a computer-readable storage medium storing at least one instruction, which is executed by a processor in an electronic device to implement the aforementioned vibration feedback-based control method for a decoration impact drill.

[0017] To address the problems described in the background section, this invention first extracts features from the original impact drill vibration signal to obtain a vibration feedback feature map. This step replaces the traditional Mel filter bank with a Gammatone filter bank, which mimics the characteristics of the basilar membrane in the human ear, for filtering calculations. This more accurately captures the low-frequency impact characteristics in the impact drill vibration, thereby generating a vibration feedback feature map that better reflects the characteristics of the wall material. This lays a reliable foundation for subsequent high-precision parameter matching. Furthermore, this solution utilizes the vibration feedback feature map and a wall drilling database to analyze drilling parameters and obtain the current drilling parameters. This step involves intelligent matching and weighted fusion of real-time vibration features with the pre-stored wall drilling database. This invention overcomes the limitations of traditional methods that rely on manual experience to determine wall type and then manually adjust parameters. It achieves automatic identification and adaptive parameter output for different wall materials, thereby improving the accuracy and adaptability of parameter adjustment. Finally, this solution uses the target drilling parameters as the initial drilling parameters and returns to the step of real-time vibration signal acquisition of the impact drill under control based on vibration sensors until a stop drilling command is received. This step, by feeding the target drilling parameters back to the input to form a closed-loop iterative mechanism, achieves dynamic real-time optimization of the drilling process. This ensures that the impact drill can continuously and automatically adjust itself according to changes in drilling depth or the inhomogeneity of the wall's internal structure, thereby improving the quality and safety of the entire drilling process. Therefore, this invention can improve the adaptive adjustment accuracy of the drilling parameters of the impact drill and enhance the automation level of impact drill control. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating a vibration feedback-based control method for a decoration impact drill according to an embodiment of the present invention. Figure 2 A functional block diagram of a vibration feedback-based impact drill control system for home renovation provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of an electronic device for implementing the vibration feedback-based control method for a decoration impact drill, according to an embodiment of the present invention.

[0019] Explanation of reference numerals in the attached figures: 10. Electronic device; 11. Processor; 12. Memory; 13. Bus.

[0020] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0022] This application provides a vibration feedback-based control method for a home improvement impact drill. The execution entity of this vibration feedback-based control method includes, but is not limited to, at least one of the following electronic devices that can be configured to execute the method provided in this application: a server, a terminal, etc. In other words, the vibration feedback-based control method can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cloud server cluster.

[0023] Reference Figure 1 The diagram shown is a flowchart illustrating a vibration feedback-based control method for a renovation impact drill according to an embodiment of the present invention. In this embodiment, the vibration feedback-based control method for a renovation impact drill includes: S1. Receive the impact drill control command and determine the initial drilling parameters based on the impact drill control command. The impact drill control command is initiated by the impact drill to be controlled and the impact drill to be controlled is equipped with a vibration sensor.

[0024] It is clear that the impact drill control command refers to the command automatically initiated by the impact drill to adjust the initial drilling parameters. The impact drill to be controlled refers to an impact drill requiring initial drilling parameter adjustment, specifically a hammer drill or impact drill used in construction with automatic parameter adjustment capabilities. The initial drilling parameters refer to the default drilling parameters of the impact drill at startup, including adjustable parameters such as drill bit speed, impact frequency, impact gear level, axial feed speed, or feed pressure. The vibration sensor refers to a sensing device used to collect the vibration amplitude of the impact drill in the axial direction in real time; a MEMS capacitive vibration sensor can be selected as this vibration sensor. In the renovation industry, users with limited experience or lack of professional training in using impact drills often encounter difficulties when drilling walls with a controlled impact drill. This is because they cannot control the drilling parameters (such as drill bit speed) according to different wall types, leading to drill bit damage, wall chipping, hole deviation, and even safety accidents. Therefore, this solution introduces a control method for impact drills. This method automatically identifies the wall type and optimizes drilling parameters such as drill bit speed in real time based on vibration feedback, thereby lowering the operational threshold and improving drilling quality and safety. For example, let's consider Zhang as a user of the controlled impact drill. Zhang uses the drill to drill a hole in a wall. After contacting the wall, the drill will periodically issue control commands. These commands adjust the initial drilling parameters of the drill, ensuring that the adjusted initial parameters (such as subsequent target drilling parameters) are suitable for the currently drilled wall type.

[0025] S2. Real-time vibration signal acquisition of the impact drill to be controlled is performed based on the vibration sensor to obtain the original impact drill vibration signal, which includes multiple original vibration sampling values.

[0026] Understandably, the original impact drill vibration signal refers to continuous data collected by a vibration sensor over a certain period of time, showing the change in the vibration amplitude of the impact drill to be controlled along the axial direction over time. This original impact drill vibration signal consists of multiple original vibration sample values, where each original vibration sample value represents the vibration amplitude at a certain point in time.

[0027] S3. Extract features from the original impact drill vibration signal to obtain a vibration feedback feature map.

[0028] It is clear that the vibration feedback feature map refers to a matrix representing the characteristics of the original vibration impact drill vibration signal.

[0029] In detail, the step of extracting features from the original impact drill vibration signal to obtain a vibration feedback feature map includes: The original impact drill vibration signal is framed to obtain multiple framed impact drill vibration signals. Energy features were extracted from multiple frame-segmented impact drill vibration signals to obtain multiple vibration signal energy spectra, wherein the vibration signal energy spectra correspond one-to-one with the frame-segmented impact drill vibration signals. Obtain a vibration signal filter bank, wherein the vibration signal filter bank includes multiple vibration signal filters, and the vibration signal filters are Gammatone filters; The vibration energy matrix is ​​obtained by filtering and calculating the energy spectra of multiple vibration signals using a vibration signal filter bank. The vibration energy matrix is ​​subjected to discrete cosine transform to obtain the vibration feedback feature map, which includes multiple vibration feedback feature vectors, and each vibration feedback feature vector corresponds to a different frame-by-frame impact drill vibration signal.

[0030] It should be explained that the framed impact drill vibration signal refers to a short-time vibration signal of the original impact drill vibration signal obtained after framing. Framing the original impact drill vibration signal means cutting the continuous original vibration signal into multiple overlapping or non-overlapping small segments of vibration signal at fixed time lengths. Each small segment is a framed impact drill vibration signal. This framing step is used to transform the long-term non-stationary impact drill vibration signal into a short-term stationary signal. The vibration signal energy spectrum refers to the vector obtained after energy feature extraction. This vibration signal energy spectrum can represent the energy distribution of the framed impact drill vibration signal. The detailed method of energy feature extraction will be given in subsequent embodiments. The vibration signal filter bank refers to a set of multiple vibration signal filters. In this scheme, the vibration signal filter can be a Gammatone filter, which is a bandpass filter that mimics the filtering characteristics of the basilar membrane of the human ear.

[0031] Furthermore, since traditional Mel filter banks have insufficient resolution in the low-frequency band, while Gammatone filters have a narrower bandwidth in the low-frequency band and are more suitable for capturing the low-frequency impact characteristics of impact drill vibrations, this scheme introduces a vibration signal filter bank composed of multiple Gammatone filters. The vibration energy matrix refers to the matrix obtained after filtering calculations, representing the energy distribution of the corresponding framed impact drill vibration signal within the passband of each Gammatone filter. The vibration feedback feature map refers to the matrix obtained after performing a discrete cosine transform on the vibration energy matrix. Each row of this vibration feedback feature map is a vibration feedback feature vector, which is a numerical sequence obtained after performing a discrete cosine transform (DCT) on a vibration feedback feature vector in the vibration energy matrix, used to represent the characteristics of the framed impact drill vibration signal in the cepstral domain. The above-mentioned discrete cosine transform of the vibration energy matrix refers to performing a discrete cosine transform independently on each row of the vibration energy matrix (i.e., a subsequent logarithmic energy group of vibration), thereby transforming the row from the frequency domain to the cepstral domain. The transformed row is a vibration feedback eigenvector. The vibration energy matrix after performing discrete cosine transform on all rows is the vibration feedback eigenmap.

[0032] In detail, the energy feature extraction of multiple frame-segmented impact drill vibration signals to obtain multiple vibration signal energy spectra includes: For each frame of the impact drilling vibration signal in the multiple frame impact drilling vibration signals, the following operation is performed: A fast Fourier transform is performed on the framed impact drill vibration signal to obtain the complex spectrum of the vibration signal, which includes multiple frequency values. Frequency energy is calculated based on the complex spectrum of the vibration signal to obtain the vibration signal energy spectrum, wherein the vibration signal energy spectrum includes multiple energy values, and each energy value corresponds one-to-one with the frequency value; By summing the vibration signal energy spectra corresponding to the vibration signals of the impact drill in each frame, multiple vibration signal energy spectra are obtained.

[0033] It should be explained that the complex spectrum of the vibration signal refers to the frequency sequence obtained after performing a Fast Fourier Transform (FFT) on the framed impact drill vibration signal. This complex spectrum includes multiple frequency values, where each frequency value is obtained after the FFT. The FFT in this step is used to convert the time-domain signal (i.e., the framed impact drill vibration signal) to the frequency domain. The specific formula for this FFT is existing technology and will not be elaborated here. The energy value refers to the energy amplitude corresponding to a certain frequency value in the vibration signal energy spectrum. The energy value is calculated as follows: take the complex modulus of each frequency value in the complex spectrum of the vibration signal, and then square the complex modulus. The squared value is the energy value corresponding to that frequency value. Summarizing the energy values ​​corresponding to each frequency value yields multiple energy values, which constitute the vibration signal energy spectrum.

[0034] In detail, the step of using a vibration signal filter bank to filter and calculate the energy spectra of multiple vibration signals to obtain a vibration energy matrix includes: The vibration signal energy spectrum is extracted sequentially from multiple vibration signal energy spectra, and the extracted vibration signal energy spectrum is recorded as the energy spectrum to be filtered. The following operation is performed on each vibration signal filter in the vibration signal filter bank: The vibration filtering energy is obtained by multiplying and summing the energy spectrum of the vibration signal filter point by point. Logarithmic calculation of the vibration filtering energy yields the vibration logarithmic energy; The vibration logarithmic energy corresponding to each vibration signal filter is summarized to obtain the vibration logarithmic energy set; By summing the vibration logarithmic energy groups corresponding to the energy spectrum of each vibration signal, multiple vibration logarithmic energy groups are obtained, and a vibration energy matrix is ​​constructed based on the multiple vibration logarithmic energy groups.

[0035] It should be explained that the vibration filtering energy refers to the scalar value obtained by multiplying and summing the energy spectrum to be filtered point by point. This vibration filtering energy represents the total energy of the framed impact drill vibration signal within the passband of the current Gammatone filter. The above-mentioned point-by-point multiplication and summation of the energy spectrum to be filtered using the vibration signal filter means multiplying the vibration signal filter by each energy value in the energy spectrum to be filtered, and then summing all the multiplied values. The summed value is the vibration filtering energy. The vibration logarithmic energy refers to the vibration filtering energy after logarithmic calculation. Logarithmic calculation of the vibration filtering energy means taking the natural logarithm of the vibration filtering energy to obtain the vibration logarithmic energy. This logarithmic calculation is used to compress the numerical range of energy values, allowing weak energy components (i.e., smaller energy values) to be prominently represented, providing a more stable numerical basis for subsequent discrete cosine transform. The above-mentioned construction of a vibration energy matrix based on multiple vibration logarithmic energy groups means treating each vibration logarithmic energy group as a row in a matrix, thus obtaining the vibration energy matrix.

[0036] S4. Analyze drilling parameters using vibration feedback feature maps and a preset wall drilling database to obtain the current drilling parameters. The wall drilling database includes multiple similar wall drilling datasets.

[0037] It should be explained that the wall drilling database refers to a database composed of multiple similar wall drilling datasets. The specific method for obtaining similar wall drilling datasets will be given in subsequent embodiments. The current drilling parameters refer to the drilling parameters most suitable for the wall being drilled.

[0038] In detail, the step of using vibration feedback feature maps and a preset wall drilling database to analyze drilling parameters and obtain current drilling parameters includes: Perform the following operations on each similar wall drilling dataset in the wall drilling database: Feature map identification was performed on similar wall drilling datasets to obtain similar vibration feature map sets, which include multiple similar vibration feature maps; The average vibration feature map is obtained by averaging the feature maps based on similar vibration feature map sets. The vibration feature similarity is calculated by combining the average vibration feature map and the vibration feedback feature map. By summing the vibration feature similarity of each similar wall drilling dataset, multiple vibration feature similarities are obtained; Identify the maximum feature similarity among multiple vibration feature similarities, and record the drilling dataset of the same type of wall corresponding to the maximum feature similarity as the comparison wall drilling dataset; The current drilling parameters are obtained by comparing the wall drilling dataset and vibration feedback feature map.

[0039] It should be explained that the "similar vibration feature map set" refers to a collection of multiple similar vibration feature maps, where a similar vibration feature map refers to the test vibration feature map contained in a specific wall drilling data set within the similar wall drilling dataset. The "average vibration feature map" refers to the matrix obtained after feature map averaging. The aforementioned feature map averaging based on the similar vibration feature map set refers to taking the arithmetic mean of the element values ​​at the same position of all similar vibration feature maps in the set; the matrix formed by all arithmetic means is the average vibration feature map. The vibration feature similarity refers to a numerical value representing the degree of similarity between the average vibration feature map and the vibration feedback feature map. The vibration feature similarity is calculated as follows:

[0040] in, The similarity of vibration features is represented by m, where m represents the number of rows in the matrix corresponding to the average vibration feature map, and n represents the number of columns in the matrix corresponding to the average vibration feature map. The matrix corresponding to the average vibration characteristic map is the first... line, number Column matrix elements, The matrix corresponding to the vibration feedback feature map is the first... line, number Column matrix elements, This indicates taking the absolute value.

[0041] Furthermore, the maximum feature similarity refers to the vibration feature similarity with the largest value among multiple vibration feature similarities. The wall type corresponding to the same type of wall drilling dataset with the maximum feature similarity is most similar to the wall type corresponding to the vibration feedback feature map. Therefore, the same type of wall drilling dataset corresponding to the maximum feature similarity is denoted as the comparison wall drilling dataset.

[0042] Specifically, obtaining the current drilling parameters based on the comparative wall drilling dataset and vibration feedback feature map includes: In the comparative wall drilling dataset, comparative wall drilling data are extracted sequentially, and comparative vibration feature maps and comparative drilling parameters in the extracted comparative wall drilling data are identified. The similarity of the comparative features is calculated based on the comparative vibration feature map and the vibration feedback feature map. The similarity of comparative features and the comparative drilling parameters corresponding to the drilling data of each comparative wall are summarized to obtain the set of comparative feature similarity and the set of comparative drilling parameters. Normalization is performed based on the comparative feature similarity set to obtain the normalized feature similarity set; The current drilling parameters are obtained by weighted summation of the normalized feature similarity set and the comparative drilling parameter set.

[0043] It should be explained that the comparative vibration feature map refers to the experimental vibration feature map in the extracted comparative wall drilling data. The comparative drilling parameters refer to the optimal drilling parameters in the extracted comparative wall drilling data. The comparative feature similarity refers to a numerical value that quantifies the similarity between the comparative vibration feature map and the vibration feedback feature map. The calculation method of the comparative feature similarity is the same as that of the vibration feature similarity, and will not be repeated here. The larger the comparative feature similarity, the greater the proportion of the comparative drilling parameters corresponding to the comparative feature similarity in the subsequent weighted summation. The normalized feature similarity set refers to the set of comparative feature similarities after normalization. The purpose of normalization is to make the sum of all normalized feature similarities in the normalized feature similarity set equal to 1. The normalization method is as follows: calculate the sum of all comparative feature similarities in the comparative feature similarity set, and divide each comparative feature similarity in the comparative feature similarity set by the sum. The set of values ​​obtained after division is the normalized feature similarity set. The specific method for weighted summation based on the comparison feature similarity set and the comparison drilling parameter set is as follows: multiply the normalized feature similarity in the normalized feature similarity set by the comparison drilling parameter at the corresponding position in the comparison drilling parameter set, and add all the multiplied values ​​together. The sum is the current drilling parameter.

[0044] In detail, before analyzing drilling parameters using vibration feedback feature maps and a pre-set wall drilling database to obtain the current drilling parameters, the method further includes: Obtain a set of test drilled walls, which includes multiple test drilled walls; For each test drill wall in the test drill wall set, the following operations shall be performed: Based on the impact drill to be controlled, obtain an impact drill of the same model, and use the same model impact drill to drill and adjust the test wall to obtain the optimal drilling parameters. During the drilling process of the same type of impact drill into the test wall, the vibration characteristics of the same type of impact drill were extracted to obtain the test vibration characteristic map; By combining the optimal drilling parameters and the experimental vibration characteristic diagram, the drilling data of the test wall were obtained; The drilling data of each test wall is summarized to obtain the test wall drilling dataset; The test drill wall set was classified into multiple drill wall groups of the same type, and each drill wall group of the same type included multiple drill walls of the same type. The test wall drilling dataset was classified by using multiple similar drilling wall groups to obtain multiple similar wall drilling datasets; A wall drilling database was constructed based on multiple similar wall drilling datasets.

[0045] It should be explained that the "test drilling wall set" refers to a collection of multiple test drilling walls. A test drilling wall refers to a wall constructed for subsequent drilling debugging or a wall from previous actual work, such as a concrete-poured test wall, a tiled test wall, a hollow brick test wall, an aerated concrete block wall, or a red brick wall. The "same model impact drill" refers to an impact drill of the same model as the one to be controlled. The "optimal drilling parameters" refer to the drilling parameters obtained after drilling debugging that provide the best drilling effect on the test drilling wall. The "test vibration characteristic map" refers to the vibration feedback characteristic map recorded during the drilling of the test drilling wall by the same model impact drill. The steps for obtaining this test vibration characteristic map are the same as those described above for feature extraction from the original impact drill vibration signal to obtain the vibration feedback characteristic map, and will not be repeated here. The "test wall drilling data" refers to the data set composed of the optimal drilling parameters and the test vibration characteristic map.

[0046] Furthermore, the "same type of drilled wall group" refers to a collection of multiple drilled walls of the same type obtained after wall classification. Here, a "same type of drilled wall" refers to a test drilled wall classified into a specific wall type. Since the test drilled wall set contains many walls with significant differences in environment and materials—for example, concrete walls and hollow brick walls have different hardness and density, and ceramic tile walls and red brick walls have different surface brittleness—it is necessary to further subdivide these test drilled walls beforehand to accelerate the adjustment process during real-time drilling parameter adjustment (i.e., the step of obtaining the current drilling parameters). The basis for this subdivision is to place multiple test drilled walls of the same type into the same "same type of wall drilling dataset." In this way, subsequent adjustments only require identifying the most matching "same type of wall drilling dataset" (i.e., the comparison wall drilling dataset) within this dataset, and then adjusting the drilling parameters based on this most matching dataset, thereby accelerating the efficiency of drilling parameter adjustment. The aforementioned wall classification of the experimental drilling wall set refers to dividing the experimental drilling wall set into multiple sets of experimental drilling walls with the same wall type (i.e., similar drilling wall groups) according to multiple preset wall types. Here, wall type refers to types with significant differences in environment and materials, defined artificially based on practical experience, such as concrete walls, ceramic tile walls, hollow brick walls, aerated concrete block walls, red brick walls, and gypsum board walls. The aforementioned classification of the experimental wall drilling dataset using multiple similar drilling wall groups refers to further dividing the individual experimental wall drilling data within the experimental wall drilling dataset into multiple sets of experimental wall drilling data (i.e., similar wall drilling datasets) based on the division of these sets. These multiple similar wall drilling datasets constitute the wall drilling database.

[0047] In detail, the process of using the same type of impact drill to drill and adjust the test wall to obtain optimal drilling parameters includes: Establish a range of drilling parameters, and determine the initial drilling parameters based on the range of drilling parameters; Based on the initial drilling parameters, the drilling parameters of the same type of impact drill are set to obtain the current impact drill; Using the current impact drill and the preset drilling unit time, the test drilling wall is drilled to obtain the drilling wall to be evaluated; The drilling effect is evaluated based on the wall to be drilled, and the experimental drilling effect data is obtained. The experimental drilling effect data includes: experimental drilling efficiency, damage value of the depression area, handheld comfort and experimental drilling energy consumption. The comprehensive drilling effect value is obtained by weighting the experimental drilling effect data; The initial drilling parameters are linearly adjusted within the drilling parameter range to obtain the adjusted drilling parameters; Adjust the drilling parameters as the starting drilling parameters, and return to the step of setting the drilling parameters of the same type of impact drill based on the starting drilling parameters, until a preset stop adjustment command is received; The initial drilling parameters and the overall drilling effect values ​​are summarized separately to obtain the initial drilling parameter set and the overall drilling effect value set; Curve fitting is performed based on the initial drilling parameter set and the comprehensive drilling effect value set to obtain the drilling effect variation curve. The horizontal axis of the drilling effect variation curve represents the initial drilling parameters, and the vertical axis of the drilling effect variation curve represents the comprehensive drilling effect value. Identify the maximum points in the drilling effect change curve and determine the optimal drilling parameters based on the maximum points.

[0048] It should be explained that the drilling parameter range refers to the maximum adjustable range of the drilling parameters set manually. For example, if the drilling parameter is the drill bit speed, the range can be set to 500 rpm to 3000 rpm based on the upper limit of the rated speed of the impact drill motor and safety operating procedures. If the drilling parameter is the impact gear, it can be set to gear 1 to gear 5. The starting drilling parameter refers to the drilling parameter with the smallest value in the drilling parameter range. The current impact drill refers to the same model of impact drill with the drilling parameter value set as the starting drilling parameter. The drilling unit time refers to the time used for drilling the test drilling wall, which can be determined by the test personnel or operators.

[0049] It is clear that the drilled wall to be evaluated refers to the test drilled wall after drilling. Drilling the test drilled wall using the current impact drill and a preset drilling unit time means that the operator or test personnel hold the current impact drill and drill along a direction perpendicular to the test drilled wall, with the drilling time being the drilling unit time. The test drilling effect data refers to the data obtained after drilling effect evaluation, used to assess the drilling effect. The specific method for obtaining this test drilling effect data will be given in subsequent embodiments. The test drilling efficiency refers to the depth drilled per unit time when drilling the test drilled wall. The depression area damage value refers to the degree of damage to the test drilled wall when drilling. The handheld comfort refers to the comfort level of the test personnel or operator holding the current impact drill. The test drilling energy consumption refers to the energy consumed when drilling the test drilled wall.

[0050] Furthermore, since different operators have different emphases on different test drilling effects in actual work, it is necessary to receive multiple weights set by the operators and calculate the test drilling efficiency, depression area damage value, handheld comfort, and test drilling energy consumption based on these weights to obtain a comprehensive drilling effect value. This comprehensive drilling effect value refers to the comprehensive quantitative value of the drilling effect; the larger the comprehensive drilling effect value, the better the drilling effect. The specific method of the above weighted calculation is as follows: First, retrieve the preference values ​​for each drilling effect set by the operator. The drilling effect is the aforementioned test drilling efficiency, depression area damage value, handheld comfort, and test drilling energy consumption. The preference value is a value between 0 and 1, and the sum of all preference values ​​is 1. The larger the preference value, the more important the operator is to the drilling effect corresponding to that preference value. The calculation method of the comprehensive drilling effect value is as follows: ,in, This represents the overall drilling effect value. , , and These represent the preferred values ​​for experimental drilling efficiency, damage value in the depression area, handheld comfort, and experimental drilling energy consumption, respectively. This represents the normalization function, used to eliminate the influence of dimensions. , , and These represent the experimental drilling efficiency, the damage value of the depression area, the handheld comfort, and the experimental drilling energy consumption, respectively. The adjusted drilling parameters refer to the initial drilling parameters after linear adjustment, where linear adjustment means unidirectionally increasing the current initial drilling parameters at fixed step sizes. The stop adjustment command is initiated when the adjusted drilling parameters are not less than the maximum value within the drilling parameter range. The drilling effect variation curve represents the relationship between the overall drilling effect value and the initial drilling parameters. The maximum point refers to the coordinate point corresponding to the maximum vertical coordinate in the drilling effect variation curve; the optimal drilling parameters are the horizontal coordinate corresponding to this maximum point.

[0051] In detail, the process of evaluating the drilling effect based on the wall to be evaluated, and obtaining experimental drilling effect data, includes: The drilling depth of the wall to be evaluated is measured to obtain the test drilling depth. The ratio of the test drilling depth to the drilling unit time is calculated to obtain the test drilling efficiency. The drilling depression area in the wall to be evaluated was identified, and the endoscopic image of the drilling depression area was fitted to obtain the current depression area outline. The current concave region contour is compared with the preset standard concave region contour to obtain the concave region damage value. Record the average vibration amplitude, vibration amplitude variance, and average working power during the current drilling process of the impact drill; Handheld comfort is calculated based on average vibration amplitude and vibration amplitude variance. The energy consumption of the test drilling was calculated by multiplying the average working power and the drilling unit time. The experimental drilling results data were obtained by summarizing the drilling efficiency, damage value in the depression area, handheld comfort, and energy consumption of the experimental drilling.

[0052] It should be explained that the test drilling depth refers to the maximum depth of the wall to be evaluated that has been drilled to at the end of the drilling process. The test drilling efficiency is calculated by dividing the test drilling depth by the drilling unit time; the resulting value is the test drilling efficiency. The drilling depression area refers to the hole formed on the surface of the wall to be evaluated due to the impact and rotation of the drill bit of the current impact drill. The current depression area contour refers to the shape curve of the edge of the drilling depression area obtained by fitting endoscopic images. Endoscopic image fitting of the drilling depression area involves: taking an internal image of the drilling depression area using an endoscope, performing edge detection and curve fitting on the internal image, and extracting the coordinate point sequence of the boundary of the drilling depression area. The closed contour formed by these coordinate point sequences is the current depression area contour.

[0053] The standard concave area contour refers to the theoretical hole contour formed under ideal drilling conditions, such as a cylindrical contour with a diameter equal to the nominal diameter of the drill bit. The contour comparison refers to comparing the shape differences between the current concave area contour and the standard concave area contour. The damage value of the concave area can be quantified by calculating the overlap ratio of the two contours (i.e., the current concave area contour and the standard concave area contour) and the average distance between the contour lines. The larger the damage value, the greater the shape difference between the current concave area contour and the standard concave area contour, indicating more severe damage to the drilled wall being evaluated. The average vibration amplitude and vibration amplitude variance refer to the average value and variance of the vibration amplitude recorded by the vibration sensor during the drilling process of the current impact drill, respectively. The average working power refers to the average power during the drilling process of the current impact drill. The specific formula for calculating handheld comfort based on the average vibration amplitude and vibration amplitude variance is as follows:

[0054] in, Indicates handheld comfort. Indicates the average vibration amplitude. This represents the variance of the vibration amplitude. The larger the average vibration amplitude or the variance of the vibration amplitude, the more violent the fluctuation and the worse the hand-held comfort.

[0055] S5. Calculate the error based on the current drilling parameters and the initial drilling parameters to obtain the current parameter adjustment error. Use the current parameter adjustment error and the pre-built PID controller to adjust the drilling parameters and obtain the target drilling parameters.

[0056] It is clear that the current parameter adjustment error refers to the difference between the current drilling parameters and the initial drilling parameters. The PID controller refers to a proportional-integral-derivative (PID) controller, and the target drilling parameters refer to the initial drilling parameters after parameter adjustment by the PID controller. The above-mentioned drilling parameter adjustment using the current parameter adjustment error and the pre-built PID controller refers to: using the current parameter adjustment error as the input of the PID controller, calculating the adjustment amount after proportional, integral, and derivative calculations, and adding this adjustment amount to the initial drilling parameters to obtain the target drilling parameters. The specific principle and implementation method of the PID controller are all existing methods, such as incremental PID controllers.

[0057] S6. Take the target drilling parameters as the initial drilling parameters and return to the step of real-time vibration signal acquisition of the impact drill to be controlled based on the vibration sensor until a preset stop drilling command is received, thus completing the vibration feedback-based control of the decoration impact drill.

[0058] It is clear that the stop drilling command is an instruction initiated by the operator to stop drilling. For example, when the operator moves the impact drill to be controlled away from the wall or sets the impact setting of the impact drill to 0 (no impact force), it is considered that the stop drilling command has been initiated.

[0059] To address the problems described in the background section, this invention first extracts features from the original impact drill vibration signal to obtain a vibration feedback feature map. This step replaces the traditional Mel filter bank with a Gammatone filter bank, which mimics the characteristics of the basilar membrane in the human ear, for filtering calculations. This more accurately captures the low-frequency impact characteristics in the impact drill vibration, thereby generating a vibration feedback feature map that better reflects the characteristics of the wall material. This lays a reliable foundation for subsequent high-precision parameter matching. Furthermore, this solution utilizes the vibration feedback feature map and a wall drilling database to analyze drilling parameters and obtain the current drilling parameters. This step involves intelligent matching and weighted fusion of real-time vibration features with the pre-stored wall drilling database. This invention overcomes the limitations of traditional methods that rely on manual experience to determine wall type and then manually adjust parameters. It achieves automatic identification and adaptive parameter output for different wall materials, thereby improving the accuracy and adaptability of parameter adjustment. Finally, this solution uses the target drilling parameters as the initial drilling parameters and returns to the step of real-time vibration signal acquisition of the impact drill under control based on vibration sensors until a stop drilling command is received. This step, by feeding the target drilling parameters back to the input to form a closed-loop iterative mechanism, achieves dynamic real-time optimization of the drilling process. This ensures that the impact drill can continuously and automatically adjust itself according to changes in drilling depth or the inhomogeneity of the wall's internal structure, thereby improving the quality and safety of the entire drilling process. Therefore, this invention can improve the adaptive adjustment accuracy of the drilling parameters of the impact drill and enhance the automation level of impact drill control.

[0060] like Figure 2 The diagram shown is a functional block diagram of a vibration feedback-based impact drill control system provided in an embodiment of the present invention.

[0061] The vibration feedback-based impact drill control system 100 of this invention can be installed in an electronic device. Depending on the functions implemented, the vibration feedback-based impact drill control system 100 may include a control command receiving module 101, a vibration signal sampling module 102, a vibration feature extraction module 103, and a drilling parameter calculation module 104. The module described in this invention can also be called a unit, which refers to a series of computer program segments that can be executed by the processor of an electronic device and can perform a fixed function, and which are stored in the memory of the electronic device. The control command receiving module 101 is used to receive the impact drill control command and determine the initial drilling parameters based on the impact drill control command. The impact drill control command is initiated by the impact drill to be controlled and the impact drill to be controlled is equipped with a vibration sensor. The vibration signal sampling module 102 is used to collect the vibration signal of the impact drill to be controlled in real time based on the vibration sensor to obtain the original impact drill vibration signal, wherein the original impact drill vibration signal includes multiple original vibration sampling values. The vibration feature extraction module 103 is used to extract features based on the original impact drill vibration signal to obtain a vibration feedback feature map, and to analyze drilling parameters using the vibration feedback feature map and a preset wall drilling database to obtain the current drilling parameters. The wall drilling database includes multiple similar wall drilling datasets. The drilling parameter calculation module 104 is used to calculate the error based on the current drilling parameters and the initial drilling parameters to obtain the current parameter adjustment error. The drilling parameters are then adjusted using the current parameter adjustment error and a pre-built PID controller to obtain the target drilling parameters. The target drilling parameters are then used as the initial drilling parameters, and the process returns to the step of real-time vibration signal acquisition of the impact drill to be controlled based on the vibration sensor, until a preset stop drilling command is received.

[0062] In detail, the modules in the vibration feedback-based impact drill control system 100 described in this embodiment of the invention employ the same methods as described above during use. Figure 1 The method used is the same as the vibration feedback-based control method for decoration impact drills described above, and it can produce the same technical effect, so it will not be repeated here.

[0063] like Figure 3 The diagram shown is a structural schematic of an electronic device for implementing a vibration feedback-based control method for a decoration impact drill, according to an embodiment of the present invention.

[0064] The electronic device 1 may include a processor 10, a memory 11 and a bus 12, and may also include a computer program stored in the memory 11 and executable on the processor 10, such as a vibration feedback-based control method program for a decoration impact drill.

[0065] The memory 11 includes at least one type of readable storage medium, such as flash memory, portable hard drive, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, disk, optical disk, etc. In some embodiments, the memory 11 can be an internal storage unit of the electronic device 1, such as the portable hard drive of the electronic device 1. In other embodiments, the memory 11 can be an external storage device of the electronic device 1, such as a plug-in portable hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the electronic device 1. Furthermore, the memory 11 includes both internal storage units and external storage devices of the electronic device 1. The memory 11 can be used not only to store application software and various types of data installed on the electronic device 1, such as the code of a vibration feedback-based control method program for a decoration impact drill, but also to temporarily store data that has been output or will be output.

[0066] In some embodiments, the processor 10 may be composed of integrated circuits, such as a single packaged integrated circuit or multiple integrated circuits with the same or different functions, including combinations of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The processor 10 is the control unit of the electronic device, connecting various components of the entire electronic device through various interfaces and lines. It executes programs or modules stored in the memory 11 (e.g., a vibration feedback-based control method program for a construction impact drill) and calls data stored in the memory 11 to perform various functions of the electronic device 1 and process data.

[0067] The bus 12 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus 12 can be divided into an address bus, a data bus, a control bus, etc. The bus 12 is configured to realize the connection and communication between the memory 11 and at least one processor 10, etc.

[0068] Figure 3 Only electronic devices with components are shown; it will be understood by those skilled in the art that... Figure 3The structure shown does not constitute a limitation on the electronic device 1, and may include fewer or more components than shown, or combine certain components, or have different component arrangements.

[0069] For example, although not shown, the electronic device 1 may also include a power supply (such as a battery) to power the various components. Preferably, the power supply can be logically connected to the at least one processor 10 through a power management device, thereby enabling functions such as charging management, discharging management, and power consumption management. The power supply may also include one or more DC or AC power supplies, recharging devices, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components. The electronic device 1 may also include various sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be described in detail here.

[0070] Furthermore, the electronic device 1 may also include a network interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a Wi-Fi interface, a Bluetooth interface, etc.), which is typically used to establish communication connections between the electronic device 1 and other electronic devices.

[0071] Optionally, the electronic device 1 may further include a user interface, which may be a display, an input unit (such as a keyboard), and optionally, a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen, etc. The display may also be appropriately referred to as a screen or display unit, used to display information processed in the electronic device 1 and to display a visual user interface.

[0072] The vibration feedback-based control method program for a decoration impact drill, stored in the memory 11 of the electronic device 1, is a combination of multiple instructions. When run in the processor 10, it can achieve the following: Receive the control command of the impact drill, and determine the initial drilling parameters based on the control command. The control command is initiated by the impact drill to be controlled, and the impact drill to be controlled is equipped with a vibration sensor. The vibration signal of the impact drill to be controlled is acquired in real time based on the vibration sensor to obtain the original impact drill vibration signal, which includes multiple original vibration sampling values. Feature extraction is performed on the original impact drill vibration signal to obtain a vibration feedback feature map; Drilling parameters are analyzed using vibration feedback feature maps and a pre-set wall drilling database to obtain the current drilling parameters. The wall drilling database includes multiple similar wall drilling datasets. The error is calculated based on the current drilling parameters and the initial drilling parameters to obtain the current parameter adjustment error. The drilling parameters are then adjusted using the current parameter adjustment error and the pre-built PID controller to obtain the target drilling parameters. The target drilling parameters are used as the initial drilling parameters, and the process returns to the step of real-time vibration signal acquisition of the impact drill to be controlled based on the vibration sensor, until a preset stop drilling command is received, thus completing the vibration feedback-based control of the decoration impact drill.

[0073] Specifically, the processor 10's implementation method for the above instructions can be found in [reference needed]. Figures 1 to 3 The descriptions of the relevant steps in the corresponding embodiments are not repeated here.

[0074] Furthermore, if the modules / units integrated in the electronic device 1 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, or a read-only memory (ROM).

[0075] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor of an electronic device, can perform the following: Receive the control command of the impact drill, and determine the initial drilling parameters based on the control command. The control command is initiated by the impact drill to be controlled, and the impact drill to be controlled is equipped with a vibration sensor. The vibration signal of the impact drill to be controlled is acquired in real time based on the vibration sensor to obtain the original impact drill vibration signal, which includes multiple original vibration sampling values. Feature extraction is performed on the original impact drill vibration signal to obtain a vibration feedback feature map; Drilling parameters are analyzed using vibration feedback feature maps and a pre-set wall drilling database to obtain the current drilling parameters. The wall drilling database includes multiple similar wall drilling datasets. The error is calculated based on the current drilling parameters and the initial drilling parameters to obtain the current parameter adjustment error. The drilling parameters are then adjusted using the current parameter adjustment error and the pre-built PID controller to obtain the target drilling parameters. The target drilling parameters are used as the initial drilling parameters, and the process returns to the step of real-time vibration signal acquisition of the impact drill to be controlled based on the vibration sensor, until a preset stop drilling command is received, thus completing the vibration feedback-based control of the decoration impact drill.

[0076] In the embodiments provided by this invention, it should be understood that the disclosed devices, systems, and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative, and actual implementations may have other classification methods.

[0077] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0078] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0079] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A control method for a construction impact drill based on vibration feedback, characterized in that, The method includes: Receive the control command of the impact drill, and determine the initial drilling parameters based on the control command. The control command is initiated by the impact drill to be controlled, and the impact drill to be controlled is equipped with a vibration sensor. The vibration signal of the impact drill to be controlled is acquired in real time based on the vibration sensor to obtain the original impact drill vibration signal, which includes multiple original vibration sampling values. Feature extraction is performed on the original impact drill vibration signal to obtain a vibration feedback feature map; Drilling parameters are analyzed using vibration feedback feature maps and a pre-set wall drilling database to obtain the current drilling parameters. The wall drilling database includes multiple similar wall drilling datasets. The error is calculated based on the current drilling parameters and the initial drilling parameters to obtain the current parameter adjustment error. The drilling parameters are then adjusted using the current parameter adjustment error and the pre-built PID controller to obtain the target drilling parameters. The target drilling parameters are used as the initial drilling parameters, and the process returns to the step of real-time vibration signal acquisition of the impact drill to be controlled based on the vibration sensor, until a preset stop drilling command is received, thus completing the vibration feedback-based control of the decoration impact drill.

2. The vibration feedback-based control method for a decoration impact drill as described in claim 1, characterized in that, The step of extracting features from the original impact drill vibration signal to obtain a vibration feedback feature map includes: The original impact drill vibration signal is framed to obtain multiple framed impact drill vibration signals. Energy features were extracted from multiple frame-segmented impact drill vibration signals to obtain multiple vibration signal energy spectra, wherein the vibration signal energy spectra correspond one-to-one with the frame-segmented impact drill vibration signals. Obtain a vibration signal filter bank, wherein the vibration signal filter bank includes multiple vibration signal filters, and the vibration signal filters are Gammatone filters; The vibration energy matrix is ​​obtained by filtering and calculating the energy spectra of multiple vibration signals using a vibration signal filter bank. The vibration energy matrix is ​​subjected to discrete cosine transform to obtain the vibration feedback feature map, which includes multiple vibration feedback feature vectors, and each vibration feedback feature vector corresponds to a different frame-by-frame impact drill vibration signal.

3. The vibration feedback-based control method for a decoration impact drill as described in claim 2, characterized in that, The energy feature extraction of multiple frame-segmented impact drill vibration signals yields multiple vibration signal energy spectra, including: For each frame of the impact drilling vibration signal in the multiple frame impact drilling vibration signals, the following operation is performed: A fast Fourier transform is performed on the framed impact drill vibration signal to obtain the complex spectrum of the vibration signal, which includes multiple frequency values. Frequency energy is calculated based on the complex spectrum of the vibration signal to obtain the vibration signal energy spectrum, wherein the vibration signal energy spectrum includes multiple energy values, and each energy value corresponds one-to-one with the frequency value; By summing the vibration signal energy spectra corresponding to the vibration signals of the impact drill in each frame, multiple vibration signal energy spectra are obtained.

4. The vibration feedback-based control method for a decoration impact drill as described in claim 3, characterized in that, The process of filtering and calculating the energy spectra of multiple vibration signals using a vibration signal filter bank to obtain a vibration energy matrix includes: The vibration signal energy spectrum is extracted sequentially from multiple vibration signal energy spectra, and the extracted vibration signal energy spectrum is recorded as the energy spectrum to be filtered. The following operation is performed on each vibration signal filter in the vibration signal filter bank: The vibration filtering energy is obtained by multiplying and summing the energy spectrum of the vibration signal filter point by point. Logarithmic calculation of the vibration filtering energy yields the vibration logarithmic energy; The vibration logarithmic energy corresponding to each vibration signal filter is summarized to obtain the vibration logarithmic energy set; By summing the vibration logarithmic energy groups corresponding to the energy spectrum of each vibration signal, multiple vibration logarithmic energy groups are obtained, and a vibration energy matrix is ​​constructed based on the multiple vibration logarithmic energy groups.

5. The vibration feedback-based control method for a decoration impact drill as described in claim 4, characterized in that, The drilling parameters are analyzed using vibration feedback feature maps and a pre-set wall drilling database to obtain the current drilling parameters, including: Perform the following operations on each similar wall drilling dataset in the wall drilling database: Feature map identification was performed on similar wall drilling datasets to obtain similar vibration feature map sets, which include multiple similar vibration feature maps; The average vibration feature map is obtained by averaging the feature maps based on similar vibration feature map sets. The vibration feature similarity is calculated by combining the average vibration feature map and the vibration feedback feature map. By summing the vibration feature similarity of each similar wall drilling dataset, multiple vibration feature similarities are obtained; Identify the maximum feature similarity among multiple vibration feature similarities, and record the drilling dataset of the same type of wall corresponding to the maximum feature similarity as the comparison wall drilling dataset; The current drilling parameters are obtained by comparing the wall drilling dataset and vibration feedback feature map.

6. The vibration feedback-based control method for a decoration impact drill as described in claim 5, characterized in that, The step of obtaining the current drilling parameters based on the comparative wall drilling dataset and vibration feedback feature map includes: In the comparative wall drilling dataset, comparative wall drilling data are extracted sequentially, and comparative vibration feature maps and comparative drilling parameters in the extracted comparative wall drilling data are identified. The similarity of the comparative features is calculated based on the comparative vibration feature map and the vibration feedback feature map. The similarity of comparative features and the comparative drilling parameters corresponding to the drilling data of each comparative wall are summarized to obtain the set of comparative feature similarity and the set of comparative drilling parameters. Normalization is performed based on the comparative feature similarity set to obtain the normalized feature similarity set; The current drilling parameters are obtained by weighted summation of the normalized feature similarity set and the comparative drilling parameter set.

7. The vibration feedback-based control method for a construction impact drill as described in claim 6, characterized in that, Before analyzing drilling parameters using vibration feedback feature maps and a pre-set wall drilling database to obtain the current drilling parameters, the method further includes: Obtain a set of test drilled walls, which includes multiple test drilled walls; For each test drill wall in the test drill wall set, the following operations shall be performed: Based on the impact drill to be controlled, obtain an impact drill of the same model, and use the same model impact drill to drill and adjust the test wall to obtain the optimal drilling parameters. During the drilling process of the same type of impact drill into the test wall, the vibration characteristics of the same type of impact drill were extracted to obtain the test vibration characteristic map; By combining the optimal drilling parameters and the experimental vibration characteristic diagram, the drilling data of the test wall were obtained; The drilling data of each test wall is summarized to obtain the test wall drilling dataset; The test drill wall set was classified into multiple drill wall groups of the same type, and each drill wall group of the same type included multiple drill walls of the same type. The test wall drilling dataset was classified by using multiple similar drilling wall groups to obtain multiple similar wall drilling datasets; A wall drilling database was constructed based on multiple similar wall drilling datasets.

8. The vibration feedback-based control method for a decoration impact drill as described in claim 7, characterized in that, The process of using the same type of impact drill to drill and adjust the test wall to obtain optimal drilling parameters includes: Establish a range of drilling parameters, and determine the initial drilling parameters based on the range of drilling parameters; Based on the initial drilling parameters, the drilling parameters of the same type of impact drill are set to obtain the current impact drill; Using the current impact drill and the preset drilling unit time, the test drilling wall is drilled to obtain the drilling wall to be evaluated; The drilling effect is evaluated based on the wall to be drilled, and the experimental drilling effect data is obtained. The experimental drilling effect data includes: experimental drilling efficiency, damage value of the depression area, handheld comfort and experimental drilling energy consumption. The comprehensive drilling effect value is obtained by weighting the experimental drilling effect data; The initial drilling parameters are linearly adjusted within the drilling parameter range to obtain the adjusted drilling parameters; Adjust the drilling parameters as the starting drilling parameters, and return to the step of setting the drilling parameters of the same type of impact drill based on the starting drilling parameters, until a preset stop adjustment command is received; The initial drilling parameters and the overall drilling effect values ​​are summarized separately to obtain the initial drilling parameter set and the overall drilling effect value set; Curve fitting is performed based on the initial drilling parameter set and the comprehensive drilling effect value set to obtain the drilling effect variation curve. The horizontal axis of the drilling effect variation curve represents the initial drilling parameters, and the vertical axis of the drilling effect variation curve represents the comprehensive drilling effect value. Identify the maximum points in the drilling effect change curve and determine the optimal drilling parameters based on the maximum points.

9. The vibration feedback-based control method for a decoration impact drill as described in claim 8, characterized in that, The process of evaluating the drilling effect based on the wall to be evaluated, and obtaining experimental drilling effect data, includes: The drilling depth of the wall to be evaluated is measured to obtain the test drilling depth. The ratio of the test drilling depth to the drilling unit time is calculated to obtain the test drilling efficiency. The drilling depression area in the wall to be evaluated was identified, and the endoscopic image of the drilling depression area was fitted to obtain the current depression area outline. The current concave region contour is compared with the preset standard concave region contour to obtain the concave region damage value. Record the average vibration amplitude, vibration amplitude variance, and average working power during the current drilling process of the impact drill; Handheld comfort is calculated based on average vibration amplitude and vibration amplitude variance. The energy consumption of the test drilling was calculated by multiplying the average working power and the drilling unit time. The experimental drilling results data were obtained by summarizing the drilling efficiency, damage value in the depression area, handheld comfort, and energy consumption of the experimental drilling.

10. A vibration feedback-based control system for a construction impact drill, characterized in that, The system includes: The control command receiving module is used to receive the control command of the impact drill and determine the initial drilling parameters based on the control command. The control command is initiated by the impact drill to be controlled and the impact drill to be controlled is equipped with a vibration sensor. The vibration signal sampling module is used to collect the vibration signal of the impact drill to be controlled in real time based on the vibration sensor, and obtain the original impact drill vibration signal, which includes multiple original vibration sampling values. The vibration feature extraction module is used to extract features from the original impact drill vibration signal to obtain a vibration feedback feature map. The vibration feedback feature map and the preset wall drilling database are used to analyze the drilling parameters and obtain the current drilling parameters. The wall drilling database includes multiple similar wall drilling datasets. The drilling parameter calculation module is used to calculate the error based on the current drilling parameters and the initial drilling parameters to obtain the current parameter adjustment error. The drilling parameters are then adjusted using the current parameter adjustment error and a pre-built PID controller to obtain the target drilling parameters. The target drilling parameters are used as the initial drilling parameters, and the process returns to the step of real-time vibration signal acquisition of the impact drill to be controlled based on the vibration sensor, until a preset stop drilling command is received.

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