Power tool system and power tool

Abstract

A power tool system, comprising a power tool (10); a battery pack (300), which is coupled to the power tool (10) so as to provide power for the power tool (10), wherein at least one of the power tool (10) and the battery pack (300) is provided with a force receiving component (70a); and at least one miniature force sensor (600), which is mounted in the power tool (10) or battery pack (300), wherein the miniature force sensor (600) measures at least one of a parameter of a deformation quantity of a preset part of the force receiving component (70a) or a parameter of an applied force value of the preset part of the force receiving component (70a), and the working current of the miniature force sensor (600) is less than or equal to 10 mA.

Description

Power tool systems and power tools

[0001] This application claims priority to the Chinese patent applications filed with the China Patent Office on January 5, 2024, with application number 202410020344.2, filed with the China Patent Office on March 25, 2024, with application number 202410340869.4, filed with the China Patent Office on December 10, 2024, with application number 202423055369.0, and filed with the China Patent Office on December 10, 2024, with application number 202411816380.6. The entire contents of the above applications are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of power tools, for example, to an electric tool system and an electric tool. Background Art

[0003] In related technologies, electric tools, battery packs, and charging equipment have increasingly higher requirements for product safety and control accuracy. Therefore, various electronic control components are used more and more. The more electronic control components there are, the more power they consume and the larger the space they use.

[0004] This section provides background information related to this application which is not necessarily prior art. This section provides background information related to this application which is not necessarily prior art. Summary of the Invention

[0005] One object of the present application is to solve or at least alleviate part or all of the above problems. To this end, one object of the present application is to provide a power tool system and power tool that uses a low-power, precisely controlled miniature force sensor to control the working state.

[0006] In order to achieve the above objectives, this application adopts the following technical solutions:

[0007] A power tool system comprises: a power tool; a battery pack coupled to the power tool to provide power to the power tool; at least one of the power tool and the battery pack is provided with a force-bearing component; at least one miniature force sensor installed in the power tool or the battery pack, the miniature force sensor being configured to detect at least one of a parameter of a deformation amount of a preset portion of the force-bearing component or a parameter of a force value applied to the preset portion of the force-bearing component; the operating current of the miniature force sensor being less than or equal to 10 mA.

[0008] In some embodiments, the power tool includes a motor-driven power tool, outdoor walking equipment, or non-motor-driven electrical equipment.

[0009] In some embodiments, the power tool includes a housing with a receiving space; the battery pack includes a battery pack shell with a receiving space, and the micro force sensor is installed to the inner side of the housing of the power tool or the inner side of the battery pack shell.

[0010] In some embodiments, the force-bearing component is formed or connected to the casing or the force-bearing component is formed or connected to the battery pack casing, the force-bearing component includes a force-bearing surface, and the micro force sensor is arranged on the back or side of the force-bearing surface or on the periphery of the force-bearing surface.

[0011] In some embodiments, the power tool includes a controller, which is disposed in a housing and connected to a micro force sensor. The controller determines a detection value of the micro force sensor and sends a corresponding signal based on the detection value to control the working state of the power tool.

[0012] In some embodiments, the power tool also includes a motor, which is disposed in the housing and can rotatably drive an output part coupled to the motor; a micro force sensor detects at least one of the parameters of the deformation amount of a preset part of the output part or the parameters of the force value applied to the preset part of the output part; the controller is configured to: determine the detection value of the micro force sensor and control the operating state of the motor according to the detection value.

[0013] In some embodiments, the controller determines the actual output torque of the power tool based on at least one of the parameters of the deformation variable or the force value detected by the micro force sensor, and determines the operating status of the motor based on the comparison result of the actual output torque and the preset torque.

[0014] In some embodiments, the output portion includes: an output mechanism including an output shaft for connecting to a working accessory and driving the working accessory to rotate.

[0015] In some embodiments, the output part includes: an output mechanism, including an output shaft for connecting a working accessory and driving the working accessory to rotate; a transmission mechanism, arranged between the motor and the output mechanism, for realizing power transmission between the motor and the output mechanism.

[0016] In some embodiments, the power tool also includes a motor, which is disposed in the housing and configured to drive the output shaft to rotate; an actuating sleeve, which is operable to rotate around the output shaft for the user to set a torque threshold, and when the actuating sleeve rotates, the actuating sleeve produces an axial displacement in a direction parallel to the output shaft; the micro force sensor is configured to: when the actuating sleeve rotates, detect at least one of the parameters of the deformation amount of a preset part of the actuating sleeve or the parameters of the applied force value, and the force-bearing surface of the micro force sensor intersects with the output shaft.

[0017] In some embodiments, the controller is configured to: obtain at least one of the parameters of the deformation variable or the force value detected by the micro force sensor, and determine the torque threshold based on the obtained data, and the controller controls the operating state of the motor based on the torque threshold.

[0018] In some embodiments, the total capacity of the battery pack is greater than or equal to 1.5 Ah and less than or equal to 5 Ah.

[0019] In some embodiments, the size of the miniature force sensor is less than or equal to 3 mm.

[0020] In some embodiments, the measurement frequency of the micro force sensor is greater than or equal to 500 Hz.

[0021] In some embodiments, the micro force sensor includes a substrate portion, and the substrate portion includes a silicon-based circuit board.

[0022] In some embodiments, the battery pack further includes a human-computer interaction device, which includes a force-bearing surface and a micro-force sensor, and the micro-force sensor is disposed inside the shell.

[0023] In some embodiments, the battery pack further includes a battery cell module disposed in the battery pack housing, the battery cell module including at least one battery cell unit; a terminal assembly electrically connected to the battery cell module and configured to power the power tool.

[0024] In some embodiments, the force-bearing surface is a limited area of ​​the battery pack housing, or the force-bearing surface is a touch screen or a touchpad provided on the battery pack housing.

[0025] In some embodiments, the battery pack also includes a controller, which is disposed in the battery pack shell and connected to the micro force sensor. The controller determines the detection value of the micro force sensor and sends a corresponding signal based on the detection value to control the working state of the battery pack.

[0026] In some embodiments, the total capacity of the battery pack is greater than or equal to 1.5 Ah.

[0027] In some embodiments, the battery pack is removably connected to the power tool.

[0028] In some embodiments, the electric tool includes a power connection portion, the power connection portion is configured with a receiving portion, and the battery pack is non-detachably disposed in the receiving portion.

[0029] In some embodiments, when the difference between the force value and the reference value is greater than or equal to a first threshold, the controller determines that the force-bearing surface is subjected to external force from the user and executes a related function.

[0030] In some embodiments, the reference value is relative to a baseline.

[0031] In some embodiments, the controller is further configured to update the baseline at a predetermined frequency.

[0032] In some embodiments, the controller updates the baseline by comparing the force value to an autocalibrated threshold.

[0033] In some embodiments, a buffer is provided between the force-bearing surface and the micro force sensor, and the buffer comprises rubber or silicone.

[0034] In some embodiments, a circuit board is provided between the buffer and the micro force sensor, and the micro force sensor is combined with the circuit board.

[0035] An electric tool comprises: a housing; a motor configured to rotatably drive an output portion coupled to the motor; a controller disposed in the housing; a force-bearing component receiving an external force or a force generated by the movement of the motor; at least one miniature force sensor configured to detect at least one of a parameter of a deformation amount of a preset portion of the force-bearing component or a parameter of a force value applied to a preset portion of the output portion; the controller sends a corresponding signal based on the detection value of the miniature force sensor to control the working state of the electric tool, and the size of the miniature force sensor is less than or equal to 3 mm.

[0036] In some embodiments, the force-bearing member is formed on or connected to the housing.

[0037] In some embodiments, the force-bearing component includes a force-bearing surface, which is used to receive external force and generate different deformation amounts when the external force changes.

[0038] In some embodiments, the micro force sensor is disposed inside the housing.

[0039] In some embodiments, the micro force sensor is disposed on the back side or side of the force-bearing surface or on the periphery of the force-bearing surface.

[0040] In some embodiments, the force-bearing component includes a moving part driven by a motor or a supporting part that supports the moving part.

[0041] In some embodiments, the moving part forms or is connected to the output part; the micro force sensor is connected to the moving part or the supporting part; and the moving part includes: at least one of an output shaft, a gear transmission structure, or a cylinder for outputting torque.

[0042] In some embodiments, the supporting portion is directly or indirectly connected to the moving portion, and the supporting portion is configured to deform or displace in response to the movement when the moving portion is driven by the motor to move.

[0043] A charging combination system includes: a battery pack coupled to an electric tool and providing power to the electric tool; a charging device coupled to the battery pack or the electric tool and used to charge the battery pack; the charging device is provided with a force-bearing component; at least one miniature force sensor installed in the charging device, the miniature force sensor being configured to detect at least one of a parameter of a deformation amount of a preset portion of the force-bearing component or a parameter of a force value applied to the preset portion of the force-bearing component; the operating current of the miniature force sensor is less than or equal to 10 mA.

[0044] In some embodiments, the power tool includes a motor-driven power tool, outdoor walking equipment, or non-motor-driven electrical equipment.

[0045] In some embodiments, the charging device includes a charging shell provided with a receiving space; the micro force sensor is mounted on the inner side of the charging shell.

[0046] In some embodiments, the force-bearing component is formed on or connected to the charging shell, the force-bearing component includes a force-bearing surface, and the micro force sensor is connected to the back or side of the force-bearing surface or the outer periphery of the force-bearing surface.

[0047] In some embodiments, the force-bearing surface is used to receive external force and deform or displace in response to a change in the external force.

[0048] A battery pack includes: a battery pack shell configured to be coupled to an electric tool; a battery cell module disposed in the shell, the battery cell module including at least one battery cell unit; a terminal assembly electrically connected to the battery cell module for powering the electric tool; the battery pack also includes a human-computer interaction device, the human-computer interaction device including a force-bearing surface and a miniature force sensor, and the miniature force sensor is disposed inside the shell.

[0049] In some embodiments, when the difference between the force value and the reference value is greater than or equal to a first threshold, the controller determines that the force-bearing surface is subjected to external force from the user and executes a related function.

[0050] In some embodiments, the related functions include enabling or disabling discharge of the battery pack.

[0051] In some embodiments, the human-computer interaction device further includes a display unit for being operated or providing feedback information, and related functions include: lighting up the display unit.

[0052] In some embodiments, the battery pack is waterproof to at least IPX6.

[0053] An electric device comprises: a housing; a battery pack interface disposed on the housing and configured to couple with a battery pack to charge the battery pack or be powered by the battery pack; the battery pack is configured to power an electric tool; a control panel disposed on the housing and configured to be operated to control the electric device; the control panel comprising a flat touch surface and at least three miniature force sensors disposed within the housing.

[0054] In some embodiments, the control panel includes a touch screen or touchpad.

[0055] In some embodiments, the material of the force-bearing surface is configured as at least one of glass, plastic, and organic glass.

[0056] In some embodiments, the force-bearing surface is configured as a rectangle, and the micro force sensors are configured at corners of the rectangle.

[0057] In some embodiments, the number of the micro force sensors is greater than or equal to four, and at least one micro force sensor is provided at each corner of the force-bearing surface.

[0058] In some embodiments, the control panel has a diagonal dimension greater than or equal to 2.4 inches and less than or equal to 13 inches.

[0059] In some embodiments, the control panel has a water resistance of at least IPX6.

[0060] In some embodiments, the control panel includes a circuit board bonded to the force-bearing surface, and the miniature force sensor is coupled to the circuit board.

[0061] In some embodiments, the electrical device includes an electric tool, which includes a motor-driven electric tool, outdoor walking equipment, or non-motor-driven electric equipment.

[0062] In some embodiments, the electrical device includes a charging device, which includes a power input portion for accessing an external power source, and an output portion coupled to a battery pack or an electric tool for charging the battery pack.

[0063] An electric tool includes: a motor configured to rotatably drive an output portion coupled to the motor; a speed regulating mechanism for obtaining user input; a controller communicatively connected to the speed regulating mechanism and determining a target speed of the motor based on the output of the speed regulating mechanism; and the speed regulating mechanism includes a micro force sensor.

[0064] In some embodiments, the speed regulating mechanism includes a long force-bearing surface, and the micro force sensor is disposed on the back side of the force-bearing surface.

[0065] In some embodiments, the power tool further comprises a housing, and the force-bearing surface is a defined area of ​​the housing.

[0066] In some embodiments, two micro force sensors are respectively disposed on either side of the midpoint of the strip.

[0067] In some embodiments, the controller determines the target speed of the motor based on the ratio of the outputs of the two micro force sensors.

[0068] In some embodiments, the controller linearly adjusts the actual speed of the motor according to the ratio of the outputs of the two micro force sensors.

[0069] In some embodiments, the controller starts or stops the motor based on the output of one of the micro-force sensors.

[0070] In some embodiments, the minimum value measured by the micro force sensor is less than or equal to 10 g.

[0071] An electric tool comprises: a working part electrically driven to perform sound and / or light functions; an adjustment mechanism for obtaining user input; a controller communicatively connected to the adjustment mechanism and determining a target working state of the working part based on the output of the adjustment mechanism; the adjustment mechanism includes a miniature force sensor.

[0072] In some embodiments, the adjustment mechanism includes a force-bearing surface, and the micro force sensor is disposed on the back side of the force-bearing surface.

[0073] In some embodiments, the power tool further comprises a housing, and the force-bearing surface is a defined area of ​​the housing.

[0074] In some embodiments, the working state includes the working part making a sound or lighting up, the working part being closed, and the output form of changing the sound / light state.

[0075] In some embodiments, a power tool includes a motor configured to rotatably drive an output coupled to the motor.

[0076] An electric tool comprises: a housing; a motor disposed in the housing, the motor being configured to rotatably drive an output portion coupled to the motor; a controller disposed in the housing, the controller controlling the rotation of the motor; at least one miniature force sensor configured to detect at least one of parameters of a deformation amount of a preset portion of the output portion or parameters of a force value applied to the preset portion of the output portion; the controller being connected to the miniature force sensor, the controller being configured to: obtain a detection value of the miniature force sensor, and control the operating state of the motor according to the detection value.

[0077] In some embodiments, the controller determines the actual output torque of the power tool based on the detection value of the micro force sensor, and determines the operating state of the motor based on the comparison result between the actual output torque and the preset torque.

[0078] In some embodiments, the detected value includes at least one of a parameter of a deformation variable of a preset portion of the output part, a parameter of a force value, a parameter change rate of the deformation variable, or a parameter change rate of the force value.

[0079] In some embodiments, the transmission mechanism includes a target member configured to receive the load torque of the output shaft and cause at least one of a parameter of a deformation amount of a preset position or apply pressure to the preset position.

[0080] In some embodiments, the transmission mechanism includes a planetary gear assembly, the planetary gear assembly includes an inner ring gear, the target member is abutted by the inner ring gear, and the inner ring gear applies torque to the target member.

[0081] In some embodiments, the micro force sensor detects at least one of the parameters of the deformation amount or the force value of a preset position, and the controller determines the torque applied by the inner ring gear to the target part. When the controller determines that the torque applied by the inner ring gear to the target part is greater than the preset torque threshold, the motor is controlled to operate in a preset manner.

[0082] In some embodiments, the micro force sensor obtains parameters of the deformation of the output shaft to determine the output torque of the output shaft. When the controller determines that the output torque of the output shaft is greater than the preset torque, the motor is controlled to stop or decelerate.

[0083] In some embodiments, the preset torque is set by a torque setting unit, which includes a torque cup. The torque cup includes a sensor and an actuating sleeve. The actuating sleeve is operable to rotate around the output shaft for user setting. The sensor sends a corresponding signal to the controller according to the rotation of the actuating sleeve, and the controller confirms the preset torque based on the signal from the sensor.

[0084] An electric tool comprises: a housing; a motor disposed in the housing, the motor being configured to drive an output shaft to rotate; a controller disposed in the housing, the controller controlling the rotation of the motor; an actuating sleeve being operable to rotate around the output shaft for a user to set a torque threshold, wherein when the actuating sleeve rotates, the actuating sleeve generates an axial displacement in a direction extending parallel to the output shaft; a micro force sensor configured to detect at least one of a parameter of a deformation amount of a preset portion of the actuating sleeve or a parameter of an applied force value when the actuating sleeve rotates, the force-bearing surface of the micro force sensor intersecting the output shaft; a controller connected to the micro force sensor, the controller being configured to: obtain a detection value of the micro force sensor, and determine a torque threshold based on the obtained detection value, wherein the controller controls the operating state of the motor based on the torque threshold.

[0085] In some embodiments, when the controller determines that the output torque of the output shaft is greater than a torque threshold, the controller controls the motor to stop or run at a reduced speed.

[0086] In some embodiments, the micro force sensor is disposed on the back or side of the predetermined location or on the periphery of the predetermined location.

[0087] In some embodiments, the power tool includes a torque setting unit, which includes: an actuating sleeve and a micro force sensor; and also includes: an elastic member, which is used to apply corresponding force to the micro force sensor when the actuating sleeve rotates and displaces axially parallel to the extension direction of the output shaft.

[0088] In some embodiments, the preset torque is set by a torque setting unit, which includes a human-computer interaction component for receiving a user's operation instruction and sending an operation instruction signal to a controller, and the controller confirms the preset torque.

[0089] In some embodiments, the preset torque is set by a torque setting unit, which includes a communication unit and an external device. The communication unit is used to receive an operation signal from the external device, and the controller confirms the preset torque based on the operation signal from the external device.

[0090] In some embodiments, when the difference between the force value and the reference value is greater than or equal to a first threshold, the controller determines that the force-bearing surface is subjected to external force from the user and executes a related function.

[0091] In some embodiments, the reference value is relative to a baseline.

[0092] In some embodiments, the controller is further configured to update the baseline at a predetermined frequency.

[0093] In some embodiments, the controller updates the baseline by comparing the force value to an autocalibrated threshold.

[0094] In some embodiments, a buffer is provided between the force-bearing surface and the micro force sensor, and the buffer comprises rubber or silicone.

[0095] In some embodiments, a circuit board is provided between the buffer and the micro force sensor, and the micro force sensor is combined with the circuit board.

[0096] A handheld power tool comprises: a housing; a grip portion formed or connected to the housing; a motor disposed in the housing, the motor being configured to rotatably drive an output portion coupled to the motor; a controller disposed in the housing, for controlling the operation of the motor; at least one miniature force sensor for detecting at least one of a parameter of a deformation variable of a preset portion of the grip portion or a parameter of a force value applied to the preset portion of the grip portion; a controller connected to the miniature force sensor, the controller being configured to: determine a detection value of the miniature force sensor, and control the operating state of the motor according to the detection value, wherein the detection value includes at least one of a parameter of a deformation variable of a preset portion of the grip portion, a parameter of a force value, a parameter change rate of the deformation variable, or a parameter change rate of the force value.

[0097] In some embodiments, the grip portion includes a force-bearing surface, which is used to receive external force and generate different deformations when the external force changes, and the micro force sensor is disposed in the grip portion.

[0098] In some embodiments, the gripping portion includes a first gripping portion and a second gripping portion, and at least one of the first gripping portion and the second gripping portion is provided with a micro force sensor.

[0099] In some embodiments, the handheld power tool comprises a handheld cutting tool,

[0100] In some embodiments, the controller is configured as follows: when the detection value of the micro force sensor exceeds a threshold value, the controller determines that the handheld cutting tool has recoiled, and the controller limits the operation of the motor. The detection value includes: at least one of the parameters of the deformation variable of a preset part of the gripping part, the parameters of the force value, the parameter change rate of the deformation variable, or the parameter change rate of the force value.

[0101] In some embodiments, the handheld power tool comprises a handheld rotary output tool,

[0102] In some embodiments, the controller is configured as follows: when the detection value of the micro-force sensor exceeds a threshold value, the controller determines that the user's grip force is insufficient to control the handheld rotary output tool, and the controller limits the operation of the motor, and the detection value includes: at least one of a parameter of the deformation variable of a preset part of the gripping part, a parameter of the force value, a parameter change rate of the deformation variable, or a parameter change rate of the force value.

[0103] In some embodiments, the micro force sensor is disposed within the housing.

[0104] An electric tool comprises: a motor configured to rotatably drive an output portion coupled to the motor; a trigger for obtaining user input instructions; at least one miniature force sensor disposed near the trigger and configured to detect at least one of parameters of a deformation amount of a preset portion or parameters of an applied force value when the trigger is activated and travels; a controller connected to the miniature force sensor, obtaining at least one of parameters of the deformation amount of the miniature force sensor or parameters of the applied force value, and determining target parameters of the motor based on detection data from the miniature force sensor.

[0105] In some embodiments, the trigger includes: a contact portion, which contacts the user's finger; a linkage portion, which deforms a preset portion or applies a force value to the preset portion; a controller, which is connected to the micro force sensor, obtains at least one of the parameters of the deformation variable detected by the micro force sensor or the parameters of the applied force value, and determines the rotation direction and target parameters of the motor based on the parameters of the deformation variable or the parameters of the force value detected by the micro force sensor.

[0106] An electric tool comprises: a housing; a motor disposed in the housing, the motor being configured to rotatably drive an output portion coupled to the motor; a controller disposed in the housing, for controlling rotation of the motor; wherein the output portion comprises an accessory, the accessory being used to process a workpiece, at least one miniature force sensor being configured to detect at least one of parameters of a deformation amount or a parameter of an applied force value of at least one preset portion of the accessory or the workpiece; the controller being connected to the at least one miniature force sensor, the controller being configured to determine a state of the accessory or the workpiece based on at least one of parameters of a deformation amount or a parameter of a force value detected by the miniature force sensor.

[0107] In some embodiments, a status indicator is further included for providing a recognizable status prompt based on the status of the accessory or workpiece.

[0108] In some embodiments, the controller is configured to determine the state of the accessory or workpiece based on at least one of the parameters of the deformation amount or the force value detected by the micro force sensor, and control the operation of the motor based on the state of the accessory or workpiece.

[0109] In some embodiments, the controller is configured to: when it is determined that the accessory and the workpiece are in a preset relationship based on at least one of the parameters of the deformation amount or the force value detected by the micro force sensor, the controller controls the motor to execute a preset operating state.

[0110] In some embodiments, the power tool includes a bench-type cutting tool, including: a workbench for supporting a workpiece, accessories, including a saw blade, for cutting the workpiece, and at least one miniature force sensor arranged on the workbench. The controller is configured to: determine that the saw blade is disengaged or substantially disengaged from the workpiece based on at least one of the parameters of the deformation amount or the force value detected by the miniature force sensor, and the controller controls the motor to stop.

[0111] In some embodiments, the power tool includes a cutting tool, including: an accessory, including a saw blade, for cutting a workpiece; a housing portion, in which a user houses and clamps the accessory; a status indicator portion; at least one miniature force sensor, disposed in the housing portion, configured to detect at least one of the parameters of the deformation amount or the parameters of the applied force value at the contact point between the accessory and the housing portion, and the controller is configured to: determine the positional relationship between the saw blade and the housing portion based on at least one of the parameters of the deformation amount or the parameters of the force value detected by the miniature force sensor, and the controller controls the status indicator portion to provide a recognizable status prompt.

[0112] In some embodiments, the power tool includes a cutting tool, including: accessories, including a saw blade, for cutting workpieces; a housing portion, in which a user houses and clamps the accessories; at least one miniature force sensor, disposed in the housing portion, configured to detect at least one of the parameters of the deformation amount or the parameters of the applied force value at the contact point between the accessory and the housing portion, and the controller is configured to: determine the working state of the saw blade based on at least one of the parameters of the deformation amount or the parameters of the force value detected by the miniature force sensor, and the controller sends a corresponding control signal based on the working state of the saw blade.

[0113] In some embodiments, the controller is configured to limit the output of the motor when it is determined that the saw blade is detached from the workpiece or in contact with a non-workpiece based on at least one of the parameters of the deformation amount or the force value detected by the micro force sensor.

[0114] A lighting device comprises: a lighting mechanism comprising a lamp head for emitting light; the lamp head comprising a lamp head shell and a light board, wherein the light board is housed in the lamp head shell; an adjustment mechanism for obtaining user input; a controller connected to the adjustment mechanism, and at least one miniature force sensor configured to detect at least one of parameters of a deformation amount of at least one preset part of the adjustment mechanism or parameters of an applied force value; the controller is connected to the at least one miniature force sensor, and the controller is configured to determine a target working state of the lighting mechanism based on at least one of parameters of a deformation amount or parameters of a force value detected by the miniature force sensor.

[0115] In some embodiments, the working state includes lighting the lighting mechanism, turning off the lighting mechanism, and changing the output form of the lighting light of the lighting mechanism.

[0116] An outdoor walking device comprises: a frame; a walking assembly connected to the frame, the walking assembly supporting the frame; the walking assembly at least comprising a driving wheel and a driving motor for driving the driving wheel to rotate; a control device operated by a user to at least control the steering of the outdoor walking device; a controller connected to the driving motor and at least controlling the driving motor; at least one miniature force sensor arranged in the control device, the miniature force sensor detecting at least one of a parameter of a deformation amount of a preset part of the control device or a parameter of a force value applied to the preset part of the control device; a controller connected to the miniature force sensor, the controller receiving a detection value signal from the miniature force sensor, the controller determining the user's operating intention for the control device based on the detection value of the miniature force sensor, the controller outputting a control signal to the driving motor to control the output state or the controller generating an alarm signal and providing the alarm to the user.

[0117] In some embodiments, the power supply is configured to supply power to at least the drive motor.

[0118] In some embodiments, the operation intention includes: increasing driving speed, maintaining speed, or decreasing speed, changing driving direction, parking, and device parameter settings for changing non-driving states.

[0119] In some embodiments, the detected value includes at least one of a parameter of a deformation variable of a preset part of the manipulation device, a parameter of a force value, a parameter change rate of the deformation variable, or a parameter change rate of the force value.

[0120] In some embodiments, the preset location is provided on a housing of the control device, and the housing of the control device defines a force-bearing surface.

[0121] In some embodiments, the control device includes a steering wheel, the steering wheel includes a left spoke, the shell of the left spoke of the steering wheel defines a force-bearing surface, the force-bearing surface is used to receive external force and produce different deformations when the external force changes, and the micro force sensor is arranged in the left spoke of the steering wheel.

[0122] In some embodiments, the control device includes a steering wheel, the steering wheel includes a right spoke, the shell of the right spoke of the steering wheel defines a force-bearing surface, the force-bearing surface is used to receive external force and produce different deformations when the external force changes, and the micro force sensor is arranged in the right spoke of the steering wheel.

[0123] In some embodiments, the control device includes a first operating lever and a second operating lever, which are respectively operably connected to the first drive wheel and the second drive wheel to control the speed and direction of the first drive wheel and the second drive wheel respectively. At least one of the first operating lever and the second operating lever includes a force-bearing surface, which is used to receive external force and produce different deformations when the external force changes. The micro force sensor is arranged on the back or side of the force-bearing surface or on the outer periphery of the force-bearing surface.

[0124] In some embodiments, the first operating lever and the second operating lever respectively include a gripping portion, the gripping portion is at least used to support a palm, and a housing of the gripping portion defines a force-bearing surface.

[0125] In some embodiments, the size of the miniature force sensor is less than or equal to 3 mm.

[0126] In some embodiments, the operating current of the micro force sensor is less than or equal to 10 mA.

[0127] In some embodiments, the miniature force sensor is a microcomputer-based power sensor.

[0128] An outdoor walking device comprises: a frame; a walking assembly connected to the frame and supporting the frame; the walking assembly at least comprising a drive wheel and a drive motor for driving the drive wheel to rotate; a control device operated by a user to at least control the steering of the outdoor walking device; a controller connected to the drive motor and at least controlling the drive motor; at least one miniature force sensor disposed in the control device, the miniature force sensor detecting at least one of a parameter of a deformation amount of a preset part of the control device or a parameter of a force value applied to the preset part of the control device; a controller connected to the miniature force sensor, the controller receiving a detection value signal from the miniature force sensor, and the controller determining the user's operating intention for the control device based on the detection value of the miniature force sensor.

[0129] In some embodiments, the power supply is configured to supply power to at least the drive motor.

[0130] An outdoor walking device comprises: a frame; a walking component connected to the frame, the walking component supporting the frame; the walking component at least comprising walking wheels and a driving motor for driving the walking wheels to rotate; a power supply device, configured to at least supply power to the driving motor; a supporting mechanism connected to the frame, the supporting mechanism at least supporting a user in the outdoor walking device; a controller, at least controlling the driving motor; at least one micro force sensor, for detecting at least one of parameters of a deformation amount of a preset part of at least one of the walking component, the supporting mechanism, and the frame, or parameters of a force value applied to a preset part of the walking component, the supporting mechanism, and the frame; a controller connected to the micro force sensor, the controller being configured to: receive a detection value of the micro force sensor, and trigger a corresponding control signal of the controller based on the detection value of the micro force sensor.

[0131] In some embodiments, the support mechanism includes a seat, and based on the detection value of the micro force sensor, the controller determines the presence of the user and triggers a control signal corresponding to the presence of the user.

[0132] In some embodiments, based on the detection value of the micro force sensor, the controller determines whether the support mechanism supports the weight of the user or the relative position of the user with respect to the support mechanism.

[0133] In some embodiments, the micro force sensor is disposed inside the seat, and the predetermined location includes the surface of the seat.

[0134] In some embodiments, the seat is connected to a seat mounting portion of a vehicle frame, and the micro force sensor is disposed within the vehicle frame, with the predetermined location including the seat mounting portion.

[0135] In some embodiments, the frame includes a connecting plate, the walking wheels are connected to the connecting plate, and a micro force sensor is set on the connecting plate. Based on the detection value of the micro force sensor, the controller determines the posture information of the outdoor walking device and triggers a control signal corresponding to the posture information.

[0136] In some embodiments, the walking component includes at least four walking wheels, and the frame includes four axles corresponding to the walking wheels. Based on the detection value of the micro force sensor, the pressure difference between each axle is determined, and the controller determines the posture information of the outdoor walking equipment based on the pressure difference.

[0137] In some embodiments, the posture information includes a tilt angle in the horizontal direction and a change in the tilt angle in the horizontal direction.

[0138] In some embodiments, the controller controls the output state of the drive motor based on the posture information

[0139] In some embodiments, the controller generates an alarm signal based on the posture information and provides the alarm to the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0140] FIG1 is an example diagram of a power tool system and a miniature force sensor in the present application;

[0141] FIG2 is a schematic structural diagram of the electric tool polishing machine in the present application;

[0142] FIG3 is a schematic structural diagram of an electric tool using a built-in battery in the present application;

[0143] FIG4 is a schematic structural diagram of an outdoor walking device of an electric tool in this application;

[0144] FIG5 is a schematic structural diagram of a battery pack in the present application;

[0145] FIG6 is a schematic structural diagram of a cell module of a battery pack in the present application;

[0146] FIG7 is an example diagram of a charging combination system and a miniature force sensor;

[0147] FIG8 is a schematic diagram of the structure of the charger in this application;

[0148] FIG9 is a schematic structural diagram of a micro force sensor;

[0149] FIG10 is a schematic diagram of the structure of the micro force sensor installed in the battery pack housing in the present application;

[0150] FIG11 is a schematic diagram of the structure of the micro force sensor installed in the touch screen in the present application;

[0151] FIG12 is a schematic structural diagram of the control panel in this application;

[0152] FIG13 is a schematic diagram of an exploded view of the control panel in the present application;

[0153] FIG14 is a schematic diagram of three miniature force sensors provided in the control panel of the present application;

[0154] FIG15 is a schematic diagram of four miniature force sensors provided in the control panel of the present application;

[0155] FIG16 is a schematic diagram of a speed regulating mechanism and a micro force sensor in the present application;

[0156] FIG17 is a schematic diagram of an adjustment mechanism of the lighting device in the present application;

[0157] FIG18 is a schematic structural diagram of the handheld power tool of the present application when it is an electric circular saw;

[0158] FIG19 is a structural diagram of another perspective when the handheld power tool in the present application is an electric circular saw;

[0159] FIG20 is a block diagram of the electrical structure of the handheld power tool in the present application;

[0160] FIG21 is a flow chart of a control method for a handheld power tool in the present application;

[0161] FIG22 is a schematic structural diagram of the handheld power tool in the present application when it is an electric drill;

[0162] FIG23 is a schematic cross-sectional view of the handheld power tool of the present application when it is an electric drill;

[0163] FIG24 is a schematic cross-sectional view of the structure of the handheld power tool in the present application when it is an electric drill;

[0164] FIG25 is a schematic cross-sectional view from another perspective of the handheld power tool of the present application when it is an electric drill;

[0165] FIG26 is a schematic diagram of the structure of the micro force sensor installed in the power tool in the present application;

[0166] FIG27 is a block diagram of the electrical structure of the handheld power tool in the present application;

[0167] FIG28 is a flow chart of a control method for a handheld power tool in the present application;

[0168] FIG29A is a schematic structural diagram of a trigger of a power tool in the present application;

[0169] FIG29B is another schematic structural diagram of the trigger of the power tool in the present application;

[0170] FIG29C is another schematic diagram of the structure of the trigger of the power tool in the present application;

[0171] FIG30 is a schematic structural diagram of a bench-type cutting saw as the power tool in the present application;

[0172] FIG31A is a schematic structural diagram of a bench-type cutting saw in the present application;

[0173] FIG31B is another schematic diagram of the structure of the electric tool in the present application, which is a bench-type cutting saw;

[0174] FIG31C is a schematic diagram of another structure in which the electric tool in the present application is a bench-type cutting saw;

[0175] FIG32 is a flow chart of a method for controlling a power tool in the present application;

[0176] FIG33 is a block diagram of the electrical structure of the power tool in the present application;

[0177] FIG34 is a schematic structural diagram of a jigsaw as the power tool in the present application;

[0178] FIG35 is a partial cross-sectional view of FIG34;

[0179] FIG36 is a partial cross-sectional view of the power tool of the present application being a reciprocating saw;

[0180] FIG37 is a schematic diagram of the structure of the power tool as a fastener driver in the present application;

[0181] FIG38 is a schematic structural diagram of the electric tool of the present application as an outdoor walking device, mainly showing the walking assembly and the control circuit board;

[0182] FIG39 is a schematic structural diagram of another type of outdoor walking equipment used in the present application as a power tool;

[0183] FIG40 is a schematic structural diagram of the steering wheel in FIG39;

[0184] FIG41 is a schematic structural diagram of the first operating lever and the second operating lever in FIG4 ;

[0185] Figure 42 is a structural diagram of the power tool in this application as an outdoor walking device, mainly showing the frame structure. DETAILED DESCRIPTION

[0186] Before any embodiments of the present application are explained in detail, it is to be understood that the application is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the foregoing drawings.

[0187] In this application, the terms "comprises," "includes," "has," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0188] In this application, the term "and / or" describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Additionally, the character " / " in this application generally indicates that the related objects are in an "and / or" relationship.

[0189] In this application, the terms "connect," "combine," "couple," and "install" may refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, a direct connection refers to two parts or components being connected together without an intermediary, and an indirect connection refers to two parts or components being connected to at least one intermediary, with the two parts or components being connected via the intermediary. Furthermore, "connect" and "couple" are not limited to physical or mechanical connections or couplings and may include electrical connections or couplings.

[0190] In this application, it will be understood by those skilled in the art that relative terms (e.g., "about," "approximately," "substantially," etc.) used in conjunction with quantities or conditions include the values ​​and have the meaning indicated by the context. For example, the relative terms include at least the degree of error associated with the measurement of a specific value, the tolerance caused by manufacturing, assembly, use, etc. associated with a specific value. Such terms should also be considered to disclose a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to plus or minus a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values ​​that do not use relative terms should also be disclosed as specific values ​​with tolerances. In addition, "substantially" may refer to plus or minus a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) on the basis of the indicated angle when expressing a relative angular position relationship (e.g., substantially parallel, substantially perpendicular).

[0191] In this application, it will be understood by those skilled in the art that the function performed by an assembly can be performed by one assembly, multiple assemblies, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one assembly, or a combination of multiple parts.

[0192] In the present application, the terms "upper", "lower", "left", "right", "front", "back" and other directional words are described based on the orientation and positional relationship shown in the accompanying drawings, and should not be understood as limiting the embodiments of the present application. In addition, in the context, it is also necessary to understand that when it is mentioned that an element is connected to another element "upper" or "lower", it can not only be directly connected to the other element "upper" or "lower", but also be indirectly connected to the other element "upper" or "lower" through an intermediate element. It should also be understood that directional words such as upper side, lower side, left side, right side, front side, back side, etc. not only represent the positive orientation, but can also be understood as the lateral orientation. For example, below can include directly below, lower left, lower right, lower front and lower back, etc.

[0193] In this application, the terms "controller," "processor," "central processing unit," "CPU," and "MCU" are used interchangeably. Where a unit "controller," "processor," "central processing unit," "CPU," or "MCU" is used to perform a particular function, unless otherwise specified, the function may be performed by a single unit or multiple units.

[0194] In this application, the terms "device", "module" or "unit" can be implemented in the form of hardware or software to achieve specific functions.

[0195] In this application, the terms "calculate", "judge", "control", "determine", "identify", etc. refer to the operations and processes of a computer system or similar electronic computing device (e.g., controller, processor, etc.).

[0196] In order to clearly illustrate the technical solution of the present application, the upper side, lower side, front side and rear side are also defined as shown in FIG1 .

[0197] As shown in Figures 1 to 6, an electric tool system 1 of an embodiment of the present application is provided. The electric tool system 1 includes an electric tool 10. In the present embodiment, the electric tool 10 is a polishing machine 100a. In some embodiments, the electric tool 10 can also be other handheld electric tools, such as a screwdriver, a wrench, an electric hammer, a nail gun, a sander, a reciprocating saw, a jigsaw, etc. In some embodiments, the electric tool 10 can also be a bench-type tool, such as a table saw, a metal cutter, an electric milling machine, a miter saw, etc. In some embodiments, the electric tool 10 is a handheld garden tool, such as a pruning machine, a hair dryer, etc. In some embodiments, the electric tool 10 is a hand-pushed garden tool such as a lawn mower, a snow blower, or a cleaning machine. In some embodiments, the electric tool 10 is a fan, etc.

[0198] In some embodiments, as shown in FIG4 , the power tool 10 is an outdoor walking device 400 , which includes a frame 41 and a walking assembly 42 . The frame 41 is the main structure of the outdoor walking device 400 . The walking assembly 42 supports the frame 41 and includes wheels 422 and 421 . The walking assembly 42 includes a drive motor. The outdoor walking device 400 may include, for example, a riding lawn mower capable of both outdoor travel and mowing. It is understood that the outdoor walking device 400 may also be another vehicle designed solely for outdoor travel, such as a multi-purpose vehicle, a dune buggy, a utility vehicle (UTV), a golf cart, or an all-terrain vehicle (ATV). The outdoor walking device 400 may also be a vehicle that, like the riding lawn mower shown in this embodiment, performs another function in addition to its outdoor travel function, such as a snowplow that can both travel outdoors and clear snow. Alternatively, the outdoor walking device 400 may be an agricultural vehicle, such as a harvester or a pesticide sprayer. Of course, it is understandable that the outdoor walking device 400 can also be a cleaning machine.

[0199] In some embodiments, the power tool 10 also includes non-motor-driven electrical devices 200, such as a work light, a photoelectric detection device, a radio, and a speaker. These non-motor-driven electrical devices 200 generally lack a motor and instead directly use electrical energy to drive the working portion 21. It is understood that the working portion 21 may be, for example, a light-emitting element or a sound-emitting element.

[0200] As shown in Figures 1 and 5 to 6, the power tool system 1 also includes a power supply 300 for providing electrical energy to the power tool 10. In this embodiment, the power tool 10 is powered by a DC power supply, for example, the DC power supply is a battery pack, and the battery pack cooperates with the corresponding power supply circuit to power the corresponding components in the power tool 10. For the power tool 10 with a motor, the power supply 300 at least powers the motor. Those skilled in the art should understand that the power supply 300 is not limited to the scenario of using a battery pack, and can also be powered by AC power, AC power, and corresponding rectification, filtering and voltage regulation circuits to achieve power supply to the corresponding components in the machine. In this embodiment, the DC power supply is specifically set to a battery pack, and the battery pack 300 will be used to replace the DC power supply below, but it cannot be used as a limitation to this application.

[0201] In this embodiment, a battery pack 300a is used as an example. The battery pack 300a includes a battery pack housing 31 and a battery cell module 32. The battery pack housing 31 is configured to couple with the power tool 10, and the battery cell module 32 is disposed within the battery pack housing 31. The battery pack 300 also includes a terminal assembly 33 electrically connected to the battery cell module 32. The battery cell module 32 includes battery cells 321.

[0202] In this embodiment, as shown in FIG2 , the polishing machine 100a is provided with a power connection portion 15b, which is used for detachably connecting to the battery pack 300b. The power connection portion 15b is provided with at least a power interface, which is electrically connected to the terminal assembly 33 of the battery pack 300b to power the power tool 10. In this embodiment, the power connection portion 15b is used for detachably connecting to the battery pack 300b, that is, the battery pack 300b is pluggable and connected to the power connection portion 15b. The power connection portion 15b is also provided with a locking structure and a pop-up structure. The locking structure is used to lock the battery pack 300b in the power connection portion 15b to prevent the battery pack 300b from shaking, thereby ensuring the electrical connection between the battery pack 300b and the power interface. The pop-up structure is used to eject the battery pack 300b when the locking structure releases the lock on the battery pack 300b, thereby facilitating the user to remove the battery pack 300b. Because the operating principles and structure of the mechanical locking and ejection of battery pack 300b are well known to those skilled in the art, a detailed description is omitted here for the sake of brevity. Battery packs 300a and 300b have different nominal voltages. Due to these differences, battery packs 300a and 300b have different volumes, but this does not affect the essential connection details.

[0203] In some alternative embodiments, the power tool is provided with a power connection portion 15c, and the battery pack is an internal battery 300c. That is, the power connection portion 15c is non-removably connected to the internal battery 300c. The power connection portion 15c is configured with a receiving portion, and the internal battery 300c is non-removably accommodated within the receiving portion. It is understood that the internal battery 300c can be understood as a battery that is not generally removable, or a battery that is not convenient for the user to quickly remove.

[0204] In some embodiments, for an outdoor walking device 400, a power supply 300 is used to power at least a walking assembly 42, and the power supply 300 is mounted to a vehicle frame 41. The walking assembly 42 includes a walking motor and wheels 421, wherein the walking motor drives the wheels 421 to rotate, causing the outdoor device to move as directed. In some embodiments, when the outdoor walking device 400 also incorporates other functions, such as mowing, snow clearing, and harvesting, the outdoor walking device 400 is also provided with a working motor, and the power supply 300 also powers the working motor.

[0205] In some embodiments, the power tool 10 includes a working portion 21 that performs sound and / or light functions, and a power supply 300 provides power to the working portion 21. As shown in Figures 1 and 17 , the power tool 10 is a non-motor-driven electrical device 200, such as a work light, photoelectric detection equipment, radio, or speaker, and the battery pack 300a provides power to the working portion 21. In some embodiments, as shown in Figure 4 , the power tool 10 includes a motor, and the working portion 21 serves as an auxiliary component of the power tool 10, such as supplemental lighting, a laser scale, or an alarm mechanism. The battery pack 300 provides power to both the motor and the working portion 21.

[0206] As shown in FIG7 , a charging combination system 5 according to an embodiment of the present application is provided. The charging combination system 5 includes battery packs 300a, 300b and charging devices 500a, 500b, 500c, and 500d. The battery packs 300a, 300b are coupled to the power tool 10 and provide power to the power tool 10. The charging devices 500a, 500b, 500c, and 500d are coupled to the battery packs 300a, 300b or the power tool 10 and are used to charge the battery packs 300a, 300b. In some embodiments, as shown in FIG8 , taking the charging device 500b as an example, the charging device is a charger 500b. The charger 500b includes a charging housing 51, a battery pack interface 52, and a circuit board assembly 53. The battery pack interface 52 is disposed in the charging housing 51. The battery pack interface 52 is used to couple with the battery pack 300. The circuit board assembly 53 is at least partially disposed in the charging housing 51. In this embodiment, the charger 500b also includes a power supply connection 54 for connecting to an external power source. In this embodiment, the power source can be an AC power source, and the power supply connection 54 can connect to 120V or 220V AC mains electricity. The power supply connection 54 is connected to a power conversion circuit to convert the incoming AC power into charging energy suitable for charging the battery pack and auxiliary power for powering the internal components of the charger 500b. It is understood that the power conversion circuit may include at least an AC / DC module. In an alternative implementation, the power supply connection 54 may be connected to a photovoltaic panel, and the power conversion circuit may convert solar energy into charging energy suitable for charging the battery pack and auxiliary power for powering the internal components of the charger 500b. It is understood that the power conversion circuit may include an MPPT (Maximum Power Point Tracking) module, which converts solar energy into electrical energy. In this embodiment, the charging housing 51 is connected to a power cord plug as the power supply connection 54. In alternative implementations, the power supply connection 54 may also be other types of interfaces, which are not limited here.

[0207] In some embodiments, the charging housing 51 is connected to a cable and / or connector, which is connected to the battery pack to charge the battery pack. In some embodiments, the battery pack 300 is coupled to the power connection of the power tool 10, and the charging device is coupled to the power tool 10 to charge the battery pack 300 through the power tool 10. For example, a charging station 500d for a smart lawn mower or smart lawn mower robot, a charging dock for a vacuum cleaner or blower vacuum, and of course, a conventional charger with a USB connector are also included.

[0208] An electrical device according to an embodiment of the present application is provided. The electrical device includes: a housing and a battery pack interface. The battery pack interface is provided on the housing, and is used to couple with the battery pack 300, charge the battery pack 300, or be powered by the battery pack 300. The battery pack 300 is used to power the power tool 10. The electrical device includes a power tool 10, and the power tool 10 includes an outdoor walking device 400, a motor-driven power tool 10, or a non-motor-driven electrical device 200. In some embodiments, the electrical device includes a charging device 500, and the charging device 500 includes a power supply access portion 54 for accessing an external power supply. The charging device 500 also includes an output portion, namely a battery pack interface 52, and the output portion is coupled to the battery pack 300 or the power tool 10 for charging the battery pack 300.

[0209] Regarding the battery pack 300, the nominal voltage of the battery pack 300 is greater than or equal to 3V and less than or equal to 18V. In some embodiments, the nominal voltage of the battery pack 300 is greater than or equal to 18V and less than or equal to 56V. In some embodiments, the nominal voltage of the battery pack 300 is greater than or equal to 56V and less than or equal to 120V. The nominal voltage generally refers to the voltage specified by the manufacturer or seller on the label, packaging, user manual, instruction manual, advertisement, marketing or other supporting documents of these products so that users can understand which power tools 10 and battery packs can operate with each other. Alternatively, the nominal voltage of the battery pack 30030 can be obtained by detection or calculation. The nominal voltage can be the voltage of the battery pack when its battery's state of charge (SOC) is fifty percent (50%).

[0210] Optionally, the nominal voltage of each battery cell 321 is greater than or equal to 3V. In some embodiments, the nominal voltage of the battery cell 321 is greater than or equal to 3.6V. The nominal capacity of each battery cell 321 is or is greater than or equal to 1.5 ampere hours (Ah). In some embodiments, the nominal capacity of each battery cell 321 is greater than or equal to 3 ampere hours (Ah). In some embodiments, the total capacity of the battery pack 300 is greater than or equal to 1.5Ah and less than or equal to 5Ah. Taking the battery pack 300 with a nominal voltage of 56V as an example, the battery pack 300 is provided with two parallel groups of multiple lithium battery cells 321 with a single cell nominal voltage of 4V and a capacity of nearly 2Ah. The average discharge current of the battery cell 321 is 6A, and each group is composed of 14 battery cells 321 connected in series. This configuration enables the battery pack 300 to have a nominal voltage of 56V and a battery capacity of nearly 4Ah.

[0211] Optionally, the battery pack 300 may be a lithium battery pack, a solid-state battery pack, or a soft-pack battery pack.

[0212] In this embodiment, the power tool system 1 also includes at least one miniature force sensor 600. The miniature force sensor 600 is a micro-electromechanical ("MEMS") force sensor. The sensor device is used to measure the force applied to at least a portion thereof. The miniature force sensor 600 is installed in the power tool 10 device or the battery pack 300. It can be understood that in some embodiments, the miniature force sensor 600 is installed in the power tool 10. In some embodiments, the miniature force sensor 600 is installed in the battery pack 300. In some embodiments, the miniature force sensor 600 is installed in the battery pack 300 and the power tool 10. According to the different actual test accuracy requirements and different measurement area range requirements, the number and installation position of the miniature force sensors 600 are also different, which will be disclosed in detail below.

[0213] At least one of the power tool 10 and the battery pack 300 is equipped with a force-bearing component, and the micro-force sensor 600 is used to measure the deformation or force of the force-bearing component. As will be appreciated, materials deform when subjected to force. Therefore, the micro-force sensor 600 can directly measure force or convert the measured deformation of the force-bearing component into a force value. The micro-force sensor 600 converts the measured deformation or force of the force-bearing component into a corresponding electrical signal for output. In this embodiment, the operating current of the micro-force sensor 600 is 10 mA or less. In some embodiments, the operating current of the micro-force sensor 600 is 5 mA or less. In some embodiments, the operating current of the micro-force sensor 600 is 1 mA or less. In some embodiments, the operating current of the micro-force sensor 600 is 900 μA or less. In some embodiments, the operating current of the micro-force sensor 600 is 500 μA or less. In some embodiments, the operating current of the micro-force sensor 600 is 100 μA or less. In some embodiments, the operating current of the micro-force sensor 600 is 50 μA or less. In some embodiments, the operating current of the micro force sensor 600 is less than or equal to 10 μA.

[0214] The size of the micro-force sensor 600 is less than or equal to 3mm. In this embodiment, for the electric tool system 1 powered by the battery pack 300, the micro-force sensor 600 is provided in either the electric tool 10 or the battery pack 300 to obtain the pressure value to complete the corresponding action. In some embodiments, for the scenario where a cable is used to connect the power source, such as mains power or AC power, the micro-force sensor 600 is provided in the electric tool 10. It should be explained that the micro-force sensor 600 includes three dimensions: length L, width W, and thickness H, wherein the largest dimension is less than or equal to 3mm. In some embodiments, the micro-force sensor 600 is in the shape of a thin plate, the length L dimension is greater than or equal to the width W dimension, and the thickness dimension H is the smallest, wherein the length L dimension of the micro-force sensor 600 is less than or equal to 3mm. In some embodiments, the length L dimension of the micro-force sensor 600 is less than or equal to 2.0mm. In some embodiments, the length L dimension of the micro-force sensor 600 is less than or equal to 1.5mm. In this embodiment, the area of ​​the micro-force sensor 600 is less than or equal to 4mm 2 In some embodiments, the area of ​​the micro force sensor 600 is less than or equal to 3 mm 2 In some embodiments, the area of ​​the micro force sensor 600 is less than or equal to 2 mm 2 The small size and low power consumption of the Mini Force Sensor 600 can improve the power efficiency of the power tool system 1 and extend its battery life, thus achieving miniaturization and compactness of the product.

[0215] As shown in FIG9 , the structure of a micro-force sensor 600 includes a substrate portion 61 and a cover portion 62. The substrate portion 61 includes a boss and a curved portion 64. The inner surface between the substrate portion 61 and the cover portion 62 forms a sealed cavity 63. When the cover portion 62 and the substrate portion 61 are joined together, the sealed cavity 63 can be sealed between the cover portion 62 and the substrate portion 61. Alternatively, the sealed cavity 63 can be formed by etching a channel in the substrate portion 61 and then sealing the volume between the joined substrate portion 61 and the cover portion 62. Alternatively, when the substrate portion 61 and the cover portion 62 are adhered together, the volume is sealed between the substrate portion 61 and the cover portion 62, resulting in the formation of the sealed cavity 63. The channel can be etched by removing material from the substrate portion 61. Furthermore, the channel defines an outer wall and at least one curved portion 64. The channel is continuous and has a substantially square shape. Alternatively, the channel can form multiple outer walls and / or multiple curved portions 64. In other words, the micro force sensor 600 has a sealed cavity 63 defining a volume that is completely enclosed by the cover portion 62 and the base portion 61. The sealed cavity 63 is sealed from the external environment.

[0216] The micro-force sensor 600 includes at least one sensing element 65 disposed on the bottom surface of the base. The sensing element 65 can change electrical characteristics (e.g., resistance, capacitance, charge, etc.) in response to deflection of at least one bend 64. The change in electrical characteristics can be measured as an analog electrical signal as described herein. In one embodiment, the sensing element 65 can optionally be a piezoresistive transducer. When a piezoresistive transducer is compressed and strained due to an applied external force F, its resistivity changes in opposite directions. As a result, a Wheatstone bridge circuit comprising multiple (e.g., four) piezoresistive transducers (e.g., two in each orientation relative to strain) becomes unbalanced, and a differential voltage (sometimes also referred to herein as an "analog electrical signal") is generated across the positive signal terminal and the negative signal terminal. This differential voltage is proportional to the external force F applied to the micro-force sensor 600. Optionally, the external force F directly applied to the micro-force sensor 600 is less than or equal to 20N. The sampling frequency of the micro-force sensor 600 is greater than or equal to 500Hz. In some embodiments, the sampling frequency of the micro force sensor 600 is greater than or equal to 600 Hz, 700 Hz, 800 Hz, 900 Hz, or 1000 Hz.

[0217] In some embodiments, the cover portion 62 may optionally be made of glass (e.g., borosilicate glass) or silicon. The substrate portion 61 may optionally be made of silicon. Optionally, the substrate portion 61 (and its components, such as, for example, the bosses, the outer wall, the curved portion 64, etc.) is a single continuous piece of material, that is, the substrate portion 61 is integral. The cover portion 62 and / or the substrate portion 61 may also be bonded or combined using techniques known in the art, including but not limited to silicon fusion bonding, anodic bonding, glass sintering, thermal compression, and eutectic bonding.

[0218] The substrate portion 61 includes a silicon-based circuit board, which in this embodiment is, for example, a direct copper-plated ceramic-based (DPC) circuit board. Aluminum nitride / aluminum oxide ceramic is used as the substrate of the circuit. A metal layer is composited on the surface of the substrate using a sputtering process, and the circuit is formed using electroplating and photolithography processes. Because the DPC ceramic-based circuit board has a stable expansion coefficient, excellent mechanical and electrical properties, the sensor has stability and accuracy in high or low temperature environments. It can withstand high pressure and strong vibrations, avoiding sensor failure due to mechanical stress. It has a low dielectric constant and low dielectric loss, which can reduce signal noise and distortion, and improve the accuracy and stability of the sensor. Moreover, the DPC process has a strong bonding force between the metal copper wire and the ceramic substrate, which can provide higher reliability. Because the DPC process can ensure a firm bond between the metal copper wire and the ceramic substrate, it prevents problems such as loosening and breakage. In addition, the DPC process can also improve the product's temperature resistance and shock resistance to ensure reliability in harsh working environments.

[0219] In some embodiments, the charging assembly system 5 includes at least one miniature force sensor 600. The miniature force sensor 600 is a micro-electromechanical ("MEMS") force sensor. The sensor device is used to measure the force applied to at least a portion thereof. The miniature force sensor 600 is installed in the charging device 500. For example, in the charger 500b or the charging station 500d. The charging device 500 includes a housing with a receiving space; the miniature force sensor 600 is installed on the inner side of the housing. Depending on the actual test accuracy requirements and the measurement area range requirements, the number and installation position of the miniature force sensors 600 will also vary, which will be disclosed in detail below.

[0220] The charging device 500 is provided with a force-bearing component, and the micro-force sensor 600 is used to measure the deformation or force of the force-bearing component. The micro-force sensor 600 measures the deformation or force of the force-bearing component and converts it into a related electrical signal for output. In this embodiment, the operating current of the micro-force sensor 600 is less than or equal to 10mA. In some embodiments, the operating current of the micro-force sensor 600 is less than or equal to 5mA. In some embodiments, the operating current of the micro-force sensor 600 is less than or equal to 1mA. In some embodiments, the operating current of the micro-force sensor 600 is less than or equal to 900μA. In some embodiments, the operating current of the micro-force sensor 600 is less than or equal to 500μA. In some embodiments, the operating current of the micro-force sensor 600 is less than or equal to 100μA. In some embodiments, the operating current of the micro-force sensor 600 is less than or equal to 50μA. In some embodiments, the operating current of the micro-force sensor 600 is less than or equal to 10μA.

[0221] The size of the micro force sensor 600 is less than or equal to 3 mm. It should be explained that the micro force sensor 600 includes three dimensions: length, width, and thickness, wherein the largest dimension is less than or equal to 3 mm. In some embodiments, the micro force sensor 600 is in the shape of a thin plate, the length dimension is greater than or equal to the width dimension, and the thickness dimension is the smallest, wherein the length dimension of the micro force sensor 600 is less than or equal to 3 mm. In some embodiments, the size of the micro force sensor 600 is less than or equal to 2.0 mm. In some embodiments, the size of the micro force sensor 600 is less than or equal to 1.5 mm. In this embodiment, the area of ​​the micro force sensor 600 is less than or equal to 4 mm 2 In some embodiments, the area of ​​the micro force sensor 600 is less than or equal to 3 mm 2 In some embodiments, the area of ​​the micro force sensor 600 is less than or equal to 2 mm 2 The small size and low power consumption of the Mini Force Sensor 600 can improve the power efficiency of the power tool system 1 and extend its battery life, thus achieving miniaturization and compactness of the product.

[0222] The structure of the miniature force sensor 600 is substantially the same as that of the miniature force sensor 600 provided in the electric tool system 1 described above, and will not be described in detail here for the sake of brevity.

[0223] As an embodiment of the present application, the force-bearing component is formed or connected to the shell of the power tool 10, the battery pack 300a or the charging device, and the force-bearing component includes a force-bearing surface 71, which is used to receive external force and produce different deformation parameters when the external force changes.

[0224] As a specific implementation of this embodiment, for the convenience of introduction, taking the battery pack 300a as an example, the force-bearing component 70a is provided on the human-machine interaction device 38 of the battery pack 300a. Among them, the human-machine interaction device 38 is used by the user to operate the battery pack 300a, feedback the working status of the battery pack 300a, display information of the battery pack 300a, etc. It should be explained that the parameters of the deformation variable include the numerical values ​​generated by the direct deformation of the force-bearing surface, such as height changes, curvature changes and other similar direct numerical changes. The parameters of the deformation variable also include numerical parameters obtained by performing relevant calculations based on the numerical values ​​generated by direct deformation, such as changes in area or volume due to height changes, or parameter values ​​obtained after one or two calculations of the numerical values.

[0225] In the related art, the human-machine interface device 38 is typically a pushbutton switch used to activate or deactivate the discharge of the battery pack 300a or perform certain adjustments to the battery pack 300a. This pushbutton switch utilizes a separate type, such as a microswitch, which switches between on and off states by a user's pressing a certain distance, thereby generating different signals. This separate type of pushbutton switch requires at least a portion to be located on the visible surface of the battery pack housing 31 to receive user input before performing the corresponding action or transmitting the corresponding signal. As can be appreciated, a microswitch requires a certain trigger range, such as 1.5mm or greater. Directly deforming the battery pack housing 31 by more than 1.5mm is difficult, so the trigger position of the switch must be located on the visible surface for direct user operation. Furthermore, this trigger range creates a gap between the switch and the battery pack housing 31 when the switch is activated to its maximum range. Furthermore, such a switch requires mounting holes in the battery pack housing 31 for installation and mating, inevitably creating a gap or sealing defect between the switch and the battery pack housing 31 during installation.

[0226] In this embodiment, a micro force sensor 600 is used to replace the micro switch in the related art. The human-computer interaction device 38 includes a force-bearing component and a micro force sensor 600. The force-bearing component is used to receive the user's operation. Optionally, the human-computer interaction device 38 includes a force-bearing surface 71 and a micro force sensor 600, and the force-bearing surface 71 is an area with a certain area defined on the battery pack shell 31. The force-bearing surface 71 is used to receive external force, wherein the external force includes the user's active touch force, including touching, tapping, pressing, etc. As shown in Figure 5, the micro force sensor 600 is arranged in the battery pack shell 31, and optionally, the micro force sensor 600 is arranged on the back of the force surface 71. That is, the outer side surface of the battery pack shell 31 is set as the force-bearing surface 71, and the micro force sensor 600 is arranged on the inner side surface corresponding to the force surface 71. In other alternative embodiments, the micro-force sensor 600 may be disposed on the back side or side surface of the force-bearing surface 71 or on the outer periphery of the force-bearing surface, that is, the outer side surface of the battery pack shell 31 is set as the force-bearing surface 71, and the micro-force sensor 600 is disposed on the peripheral side surface of the battery pack shell 31 where the force-bearing surface 71 is located, or on the side wall of other shells with deformation transmission between the battery pack shell 31 where the force-bearing surface 71 is located. In other alternative embodiments, the micro-force sensor 600 may be disposed on the outer periphery of the force-bearing surface 71, that is, the outer side surface of the battery pack shell 31 is set as the force-bearing surface 71, and the micro-force sensor 600 may also be disposed on the outer side surface of the battery pack shell 31 at the outer edge of the force-bearing surface 71 or on the shell surface with deformation transmission between the battery pack shell 31 at the outer edge of the force-bearing surface 71 and the outer edge of the force-bearing surface 71. To stably secure the micro-force sensor 600, the battery pack housing 31 is provided with a flange or covering structure that at least partially covers the outer edge of the force-bearing surface 71. The micro-force sensor 600 is secured between the force-bearing surface 71 and the flange or covering structure. Therefore, the micro-force sensor 600 is also disposed on the inner side of the battery pack housing 31. It should be noted that some battery packs 300a utilize an additional housing to secure the micro-force sensor 600 due to the design or other structural requirements of the battery pack 300a. In these cases, the additional housing also constitutes the battery pack housing 31. It is understood that any housing integrally formed with or directly or indirectly connected to the battery pack housing 31 falls within the scope of the battery pack housing 31. Therefore, only when the micro-force sensor 600 is completely exposed on the visible surface of the battery pack housing 31 does it not fall within the scope of the "inner side of the battery pack housing 31" disclosed in this application.

[0227] Taking the micro-force sensor 600 as an example, which is disposed on the back of the force-bearing surface 71, the micro-force sensor 600 is directly or indirectly connected to the back of the force-bearing surface 71. In some embodiments, the micro-force sensor 600 is disposed on the back of the force-bearing surface 71 but does not contact the back of the force-bearing surface 71, that is, the micro-force sensor 600 is suspended on the back of the force-bearing surface 71. For example, the micro-force sensor 600 is disposed on the back of the force-bearing surface 71 but is connected and fixed to the front or side of the force-bearing surface 71 by a connector or fastener. The force-bearing surface 71 is configured as an area defined by the battery pack shell 31 to ensure that the battery pack shell 31 is an integrated structure.

[0228] In this embodiment, a microelectromechanical ("MEMS") force sensor is used. Leveraging its sensitive detection characteristics and immunity to radio frequency interference, the MEMS force sensor can directly sense micro-deformations on the battery pack housing 31 and generate corresponding signals. In this embodiment, the MEMS force sensor provides a force detection range of 5g to 10kg. The MEMS force sensor can detect the touch force applied by the user to the battery pack housing 31, eliminating the need for holes in the battery pack housing 31 and maintaining a one-piece housing structure. In this embodiment, the battery pack 300a has a waterproof rating of at least IPX6 and features a fully adjustable, multi-level actuation for any desired user interface. In this embodiment, the microforce sensor 600 has a detection range of greater than or equal to 10 microns and less than or equal to 20 microns for the deformation of the force-bearing surface 71. In some embodiments, the microforce sensor 600 has a detection range of greater than or equal to 10 microns and less than or equal to 50 microns for the deformation of the force-bearing surface 71. In this embodiment, the micro-force sensor 600 has a detection range of greater than or equal to 10 microns and less than or equal to 70 microns for the deformation of the force-bearing surface 71. In this embodiment, the micro-force sensor 600 has a detection range of greater than or equal to 10 microns and less than or equal to 90 microns for the deformation of the force-bearing surface 71. In this embodiment, the micro-force sensor 600 can sense pressure on the force-bearing surface 71 and detect a pressure detection signal with a signal-to-noise ratio greater than or equal to 18 dB.

[0229] In some embodiments, the force-bearing surface 71 accounts for greater than or equal to 1% and less than or equal to 50% of the side surface of the battery pack 300a housing in which it is located. In some embodiments, the proportion is greater than or equal to 1% and less than or equal to 40%. In some embodiments, the proportion is greater than or equal to 1% and less than or equal to 30%. In some embodiments, the proportion is greater than or equal to 1% and less than or equal to 20%. In some embodiments, the proportion is greater than or equal to 1% and less than or equal to 10%. The force-bearing surface 71 is made of the same material as the battery pack housing 31, such as plastic. There are no special requirements for the material of the force-bearing surface 71 when using the micro force sensor 600.

[0230] As shown in Figure 10, when the micro-force sensor 600 is installed, a buffer 72 is provided between the force-bearing surface 71 and the micro-force sensor 600. The touch force of the force-bearing surface 71 is transmitted to the micro-force sensor 600 via the buffer 72. A circuit board 73 is provided between the buffer 72 and the micro-force sensor 600, and the micro-force sensor 600 is bonded to the circuit board 73. Optionally, the buffer 72 includes rubber or silicone. Optionally, the buffer 72 can be formed from a variety of materials, such as rubber or polymers (e.g., urethane, polyurethane, silicone, etc.). The micro-force sensor 600 is bonded to the circuit board 73 using an adhesive, such as PSA, DSA, or other structural adhesive. Optionally, the micro-force sensor 600 is bonded to the circuit board 73 using welding. Optionally, the circuit board 73 includes a printed circuit board 73 (PCB) and a flexible printed circuit board 73 (FPC). The thickness of the circuit board 73 is less than or equal to 1 mm. In some embodiments, the thickness of the circuit board 73 is less than or equal to 0.8 mm, 0.7 mm, 0.6 mm, or 0.5 mm.

[0231] In this embodiment, a controller is provided on the circuit board 73, which is electrically connected to the micro force sensor 600, and the controller reads the pressure value or deformation detected by the micro force sensor 600. Optionally, the controller uses a dedicated control chip, such as a single chip microcomputer or a microcontroller unit (MCU). Optionally, the controller is configured to judge that the force-bearing surface 71 is subjected to a user operation instruction, i.e., an external force from the user, when the difference between the force value and the reference value is greater than or equal to a first threshold value, and execute related functions. In some embodiments, a second threshold value is also configured, and the controller is configured to judge that the force-bearing surface 71 is subjected to a user operation instruction, i.e., an external force from the user, when the rate of change of the force value is greater than or equal to the second threshold value, and execute related functions. Among them, the related functions include starting or shutting down the discharge of the battery pack 300a. Optionally, the related functions include some adjustment operations of the battery pack 300a.

[0232] During the controller's determination process, the micro-force sensor 600 generates force sensor data at a specified sampling frequency and activates an interrupt when a threshold is exceeded. In this embodiment, a frequency of 500 Hz or greater is used. The reference value is relative to the baseline. The micro-force sensor 600 implements a sensor baseline tracking algorithm that updates the baseline at a predetermined frequency, namely, the "zero" baseline value for each sensor, and accordingly updates the interrupt threshold and auto-calibration threshold. When the pressure signal is below the auto-calibration threshold, the baseline is updated at a pre-specified rate. The controller updates the baseline by comparing the force value with the auto-calibration threshold. When the force reading exceeds the auto-calibration threshold, the baseline update stops and the calibration reset timer is activated. When the calibration reset timer expires, the baseline is updated based on the baseline weight. Auto-calibration and interrupt levels reference the baseline value; therefore, baseline updates automatically modify the aforementioned thresholds. An interrupt is activated when the interrupt threshold is reached more times than the number set by the register value. When the force sensor measurement is above the interrupt threshold, auto-calibration is not performed. Once the force measurement falls below the auto-calibration threshold, the auto-calibration process is reactivated. This does not happen immediately, but after an additional wait time for register setup, which is a temporary delay in the start of the auto-calibration routine.

[0233] In some embodiments, as shown in FIG5 , to provide a better user interaction experience between the human-computer interaction device 38 and the user, the human-computer interaction device 38 includes a display for operation or feedback. In some embodiments, the display includes a display, such as a screen or indicator light. In some embodiments, the display includes a touch screen. Optionally, the controller determines whether the force-bearing surface 71 has been subjected to a user operation instruction, i.e., an external force from the user, and executes a related function, where the related function includes a battery level display. In some embodiments, the force-bearing surface 71 is located on the touch screen 70 b or a screen. Direct user operation on the display is recognized by the micro-force sensor 600, waking up or illuminating the display. In some embodiments, the force-bearing surface 71 is located on the battery pack housing 31, and operation at a specified location on the battery pack housing 31 is recognized by the micro-force sensor 600, waking up or illuminating the display. Optionally, the touch screen can be, for example, a liquid crystal display (LCD), a light-emitting diode (LED) display, including an organic light-emitting diode (OLED) display, or an organic electroluminescent (EL) display. In some embodiments, the human-computer interaction device 38 includes a touchpad, which includes conventional touchpads and digitizer tablets.

[0234] As shown in Figure 11, when the force-bearing surface 71 is set on the touch screen, and the micro-force sensor 600 is set on the back of the force-bearing surface 71. The touch screen includes a frame 74b, a touch surface 71b, and a main control board 73b. A buffer 72 is provided between the touch surface 71b and the micro-force sensor 600. The touch force on the touch surface 71b is transmitted to the micro-force sensor 600 via the buffer 72. The main control board 73b is provided between the buffer 72 and the micro-force sensor 600. The micro-force sensor 600 is bonded to the main control board 73b. Optionally, the buffer 72 includes rubber or silicone. Optionally, the buffer 72 can be formed from a variety of materials, such as rubber or polymers (e.g., urethane, polyurethane, silicone resin, etc.). The micro-force sensor 600 is bonded to the main control board 73b using an adhesive, such as PSA, DSA, or other structural adhesive. Optionally, the micro-force sensor 600 is bonded to the main control board 73b using welding. In this embodiment, the controller is configured to determine whether the force-bearing surface 71 is pressed by the user, and activate or illuminate the electronic touch screen 70b or the touchpad.

[0235] In some embodiments, a force-bearing component is disposed in the human-machine interaction device of the power tool 10. The human-machine interaction device allows the user to operate the power tool 10, provide feedback on the operating status of the power tool 10, display information about the power tool 10, and so on. The force-bearing component is formed on or connected to the housing. The force-bearing component includes a force-bearing surface that receives external force and generates parameters indicating different deformation amounts when the external force changes. The force-bearing component includes a force-bearing surface that receives external force, and the micro-force sensor 600 is disposed on the inside of the housing. The micro-force sensor 600 is disposed on the back or side of the force-bearing surface 71, or on the outer periphery of the force-bearing surface. The human-machine interaction device also includes a start-up control device for the power tool 10. In related art, the start-up control device of the power tool 10 uses a trigger switch, and the user activates or deactivates the power tool 10 by triggering the trigger switch. The micro-force sensor 600 is disposed within the housing. The above content using the battery pack 300 as an example is fully applicable to the power tool 10 and will not be further described.

[0236] In some embodiments, the force-bearing component is provided in the human-computer interaction device of the charging device 500. The human-computer interaction device allows the user to operate the charging device 500, feedback the working status of the charging device, display information of the charging device, etc. The charging device 500 includes a shell, and the force-bearing component is provided on the shell. The micro force sensor 600 is installed on the inner side of the charging shell. The force-bearing component is formed or connected to the shell, and the force-bearing component includes a force-bearing surface. The micro force sensor 600 is connected to the back or side of the force-bearing surface or the periphery of the force-bearing surface. In this embodiment, the water performance of the charging device 500 is at least IPX6, so that the charging station 500d and the portable power station 500c of the intelligent lawn mowing robot have richer usage conditions and adapt to more usage environments. The above content taking the battery pack 300 as an example is all applicable to the charging device 500, so it is not repeated here.

[0237] As another embodiment of the present application, multiple miniature force sensors 600 are used in combination to detect touch force within a planar surface of a certain area. In this embodiment, the multiple miniature force sensors 600 are installed in a control panel, which is used to control an electric device or a battery pack 300. The control panel 70c is used to control the power tool 10, the battery pack 300, and the charging device 500.

[0238] As shown in Figure 4, the power tool 10 takes an outdoor walking device 400 as an example, and the control panel 70c provides a user operation interface to control the outdoor walking device 400. As shown in Figures 12 to 13, the control panel 70c provides a user operation interface for user operation and feedback of the working status of the outdoor walking device 400.

[0239] In this embodiment, the control panel 70c includes a display 75c, which is used to be operated and / or display information. In some embodiments, the display 75c is used for display, that is, the display 75c is used to provide feedback or information prompts to the user. The display 75c can be, for example, a liquid crystal display (LCD), a light-emitting diode (LED) display, including an organic light-emitting diode (OLED) display, or an organic electroluminescent (EL) display. In some embodiments, it also includes an input unit for user settings. The input unit can be a button, a keypad, a rotary / dial button, etc.

[0240] In some embodiments, the display 75c is configured as a touch screen, combining the display and input unit into one. In some embodiments, the input unit includes a touchpad. Input is performed via an input plate, and the display 75c displays the input. In this embodiment, the control panel 70c includes a flat force-bearing surface 71c and at least three micro force sensors 600 disposed on the back of the force-bearing surface 71c.

[0241] The force-bearing surface 71c is the exposed surface of the control panel 70c, i.e., the surface that is easily touched by the user. The force-bearing surface 71c is configured as the surface of the outer screen member 751 of the display 75c. It is understood that the "back side of the force-bearing surface 71c" refers to the surface of the outer screen member 751 that is adjacent to the interior of the control panel 70c. Optionally, the outer screen member 751 is a lens. In some embodiments, the lens is formed from a polymer material. In some embodiments, the lens is formed from polycarbonate. In some embodiments, the lens is formed from glass, such as plexiglass. In some embodiments, the lens is formed from formed plastic. In some embodiments, the force-bearing surface 71c is configured as the surface of a protective cover covering the outer screen member 751 of the display 75c. Because the operating conditions of the outdoor walking device 400 are relatively harsh, the risk of damage to the outer screen member 751 of the display 75c is relatively high if it is directly exposed. Therefore, some outdoor walking devices 400 will cover the outer screen member 751 of the display 75c with a tempered film. In such an embodiment, the "back side of the force-bearing surface 71c" is still the surface of the outer screen member 751 that is adjacent to the interior of the control panel 70c. The protective cover and the outer screen component 751 of the display 75c together constitute the exposed surface of the control panel 70c.

[0242] In this embodiment, the diagonal dimension of the control panel 70c is greater than or equal to 2.4 inches and less than or equal to 13 inches. The force-bearing surface 71c is rectangular or substantially rectangular.

[0243] As shown in Figure 14 , when there are three micro-force sensors 600, they are arranged in a triangle, where the distance between the three micro-force sensors 600 is determined by their optimal detection ranges. Optionally, to ensure there are no blind spots in detection, the detection ranges of the three micro-force sensors 600 may intersect with each other.

[0244] As shown in Figure 15, micro-force sensors 600 are arranged at the corners of the rectangle, i.e., the corners of the force-bearing surface 71c. To achieve a detection range that can substantially cover the entire force-bearing surface 71c, the number of micro-force sensors 600 is greater than or equal to four, with at least one micro-force sensor 600 disposed at each corner of the force-bearing surface 71c. Taking four micro-force sensors 600 as an example, during installation, two of the micro-force sensors 600 are arranged along a first direction, and two of the micro-force sensors 600 are arranged along a second direction. The spacing between each of the at least two micro-force sensors 600 and the corresponding peripheral edge of the force-bearing surface 71c is approximately equal. In some embodiments, the distance between the two force sensors is greater than or equal to 2 mm.

[0245] In some embodiments, the number of micro force sensors 600 is greater than four, and an additional number of micro force sensors 600 may be added between two corners during installation.

[0246] Continuing with reference to Figures 11 and 13 , the control panel 70c also includes a main control board 73b for executing related functions based on the output signal of the micro-force sensor 600. The main control board 73b also includes a circuit board 73 and a controller. In this embodiment, a buffer 72 is provided between the force-bearing surface 71 and the micro-force sensor 600. The touch force of the force-bearing surface 71 is transmitted to the micro-force sensor 600 via the buffer 72. The circuit board 73 is provided between the buffer 72 and the micro-force sensor 600. The micro-force sensor 600 is bonded to the circuit board 73. Optionally, the buffer 72 includes rubber or silicone. Optionally, the buffer 72 can be formed from a variety of materials, such as rubber or polymers (e.g., urethane, polyurethane, silicone, etc.). The micro-force sensor 600 is bonded to the circuit board 73 using an adhesive, such as PSA, DSA, or other structural adhesives. Optionally, the micro-force sensor 600 is bonded to the circuit board 73 using welding.

[0247] In this embodiment, the controller is electrically connected to the micro force sensor 600, and the controller reads the pressure value detected by the micro force sensor 600. Optionally, the controller uses a dedicated control chip, such as a single chip microcomputer or a microcontroller unit (MCU). The controller is configured to determine that the force-bearing surface 71 is pressed by the user and execute related functions when the difference between the pressure value and the reference value is greater than or equal to a first threshold value. In some embodiments, a second threshold value is also configured, and the controller is configured to determine that the force-bearing surface 71 is pressed by the user and execute related functions when the rate of change of the pressure value is greater than or equal to the second threshold value. The related functions include, but are not limited to, lighting up or starting the display 75c, locking or unlocking the display 75c, or switching different modes or menus by tapping or different touches.

[0248] During the controller's determination process, the micro-force sensor 600 generates force sensor data at a specified sampling frequency and activates an interrupt when a threshold is exceeded. In this embodiment, a frequency of 500 Hz or greater is used. The reference value is relative to the baseline. The micro-force sensor 600 implements a sensor baseline tracking algorithm that updates the baseline at a predetermined frequency, namely, the "zero" baseline value for each sensor, and accordingly updates the interrupt threshold and auto-calibration threshold. When the pressure signal is below the auto-calibration threshold, the baseline is updated at a pre-specified rate. The controller updates the baseline by comparing the force value with the auto-calibration threshold. When the force reading exceeds the auto-calibration threshold, the baseline update stops and the calibration reset timer is activated. When the calibration reset timer expires, the baseline is updated based on the baseline weight. Auto-calibration and interrupt levels reference the baseline value; therefore, baseline updates automatically modify the aforementioned thresholds. An interrupt is activated when the interrupt threshold is reached more times than the number set by the register value. When the force sensor measurement is above the interrupt threshold, auto-calibration is not performed. Once the force measurement falls below the auto-calibration threshold, the auto-calibration process is reactivated. This does not happen immediately, but after an additional wait time for register setup, which is a temporary delay in the start of the auto-calibration routine.

[0249] Since the micro-force sensor 600 is different from the related capacitive touch sensor, the micro-force sensor 600 does not need to come into direct contact with the user. The micro-force sensor 600 can be completely set inside the control panel 70c, and the control panel 70c can maintain an integrally formed shell structure. In this embodiment, the waterproof performance of the control panel 70c is at least IPX6. Compared with mobile electronic devices, the user's operation of the control panel 70c of electrical equipment is mainly point-touch, and multi-finger operation and dragging and sliding are less common. Therefore, the micro-force sensor 600 is more suitable for use in the field of electrical equipment. However, when used in the field of mobile electronic devices, the micro-force sensor 600 needs to be used in conjunction with a capacitive touch sensor. There is an increase in the cost of use.

[0250] In some embodiments, the control panel 70 c may be used in other power tools 10 , such as a handheld power tool 10 with a display 75 c or a garden tool with a display 75 c .

[0251] As another embodiment of the present application, a plurality of micro force sensors 600 are used in combination to output corresponding linear signals through different continuous or interval operations. In this embodiment, the speed regulation of the motor 12 of the power tool 10 is taken as an example.

[0252] As shown in Figures 2 and 16-17, the power tool 10 includes a housing 11, a motor 12, and an output unit 13. The housing 11 is provided with a housing space, and the motor 12 is at least partially disposed within the housing space. The motor 12 is used to provide power and rotatably drives the output unit 13. The output unit 13 is used to output power. In this embodiment, the output unit 13 includes an output shaft coupled to the motor 12, which rotates about an output axis. To adjust and set the target speed of the motor 12, the power tool 10 also includes an adjustment mechanism 19 and a controller. In this embodiment, the adjustment mechanism 19 includes a speed adjustment mechanism 19a, which is configured to receive user input. The controller is in communication with the speed adjustment mechanism 19a and determines the target speed of the motor 12 based on the output of the speed adjustment mechanism 19a. The speed adjustment mechanism 19a includes a micro-force sensor 600. By applying different forces to the micro-force sensor 600, the user causes the micro-force sensor 600 to output different signals to the controller, which then determines the target speed of the motor 12 based on the different signals.

[0253] As another embodiment of the present application, as shown in FIG2 , a plurality of miniature force sensors 600 are used in combination to output corresponding linear signals through different continuous or intermittent operations. In this embodiment, the speed regulation of the motor 12 of the power tool 10 is taken as an example. Compared with the mechanical structure speed regulation in the related art, the use of the miniature force sensor 600 can maintain the integrity of the housing 11. There is no need to set holes or other hollow structures to install the speed regulation mechanism 19a, or to reserve space due to the range, which affects the sealing of the housing 11 of the power tool 10. The power tool 10, such as the polishing machine 100a or other grinding products, has a lot of dust and debris during working conditions. Maintaining the sealing of the housing 11 can prevent dust and debris from entering the interior of the machine.

[0254] As shown in Figure 17, the speed regulating mechanism 19a includes a long strip of force-bearing surface 71a, and the micro-force sensor 600 is arranged on the back of the force-bearing surface 71a. The force-bearing surface 71a is configured as an area defined by the housing 11. In some embodiments, the micro-force sensor 600 is directly or indirectly connected to the back of the force-bearing surface 71a. In some embodiments, the micro-force sensor 600 is arranged on the back of the force-bearing surface 71a but does not contact the back of the force-bearing surface 71a, that is, the micro-force sensor 600 is suspended on the back of the force-bearing surface 71a. For example, the micro-force sensor 600 is arranged on the back of the force-bearing surface 71a but is connected and fixed to the front or side of the force-bearing surface 71a by a connector or fastener.

[0255] The force-bearing surface 71a is configured as an area defined by the housing 11, ensuring that the housing 11 is an integrated structure. Optionally, the force-bearing surface 71a is made of the same material and appearance as the entire housing 11. The force-bearing surface 71a is indicated by a long strip of marking on the housing 11. For example, the force-bearing surface 71a is indicated by a long strip of silk-screen printing on the housing 11, or by a self-adhesive label, or by etching, leather grain, or a pattern. In some embodiments, the force-bearing surface 71a is made of a material or appearance different from that of the housing 11. For example, the force-bearing surface 71a is made of a partially transparent or translucent light-transmitting material so that different operating pressures of the user are reflected through light. In some embodiments, the force-bearing surface 71a is made of different thicknesses or materials to adapt to the detection requirements of the micro-force sensor 600. Optionally, the force-bearing surface 71a is configured near the grip of the housing 11. Optionally, the force-bearing surface 71a is configured at the power connection portion of the housing 11. Optionally, the force-bearing surface 71 a is configured at any convenient position of the housing 11 .

[0256] During installation, the two micro-force sensors 600 are positioned on either side of the midpoint M of the elongated strip. That is, at the midpoint M along the length of the elongated strip, the two micro-force sensors 600 are positioned on either side of this midpoint M. In this embodiment, the pressure applied by the user on the force-bearing surface 71a is transmitted to the micro-force sensors 600 at different distances from the micro-force sensors 600. Furthermore, because the micro-force sensors 600 are positioned on either side of the midpoint M of the elongated strip, system program conversion allows the output signals of the micro-force sensors 600 to be linearly correlated with the user's touch at different locations or with different forces. In some embodiments, the controller is configured to determine the target speed of the motor 12 based on the ratio of the outputs of the two micro-force sensors 600. In some embodiments, the controller is further configured to linearly adjust the actual speed of the motor 12 based on the ratio of the outputs of the two micro-force sensors 600. In some embodiments, the user sliding on the force-bearing surface 71 enables stepless adjustment, for example, stepless adjustment of the target speed of the motor 12 or stepless adjustment of the actual speed of the motor 12. Optionally, the controller is configured to perform bidirectional control according to the ratio of the outputs of the two micro force sensors 600 , that is, to achieve increase and decrease through different sliding control methods.

[0257] In some alternative embodiments, a micro-force sensor 600 can replace the start switch, allowing the user to maintain motor operation simply by touching a specific area. The controller is configured to start or stop the motor 12 based on the output of any micro-force sensor 600. This reduces user effort during extended operation. Furthermore, eliminating the trigger or other mechanical switch maintains the sealing of the entire housing, improving the device's waterproof and dustproof properties. This is particularly important for products requiring high waterproof and dustproof properties, such as cleaning machines, blenders, and underwater products.

[0258] In some alternative embodiments, when a miniature force sensor 600 replaces the start switch, it can be used without special treatment of the housing due to its small size and ability to detect smaller deformations. Therefore, by providing multiple miniature force sensors 600 at different locations, a product with multiple gripping positions (e.g., an angle drill, angle grinder, drywall driver, etc.) can be started and stopped at each position.

[0259] In some embodiments, the controller is configured to lock or unlock the trigger lock based on the output of any one of the micro-force sensors 600. Alternatively, the controller is configured to activate or deactivate a light component in the power tool 10 based on the output of any one of the micro-force sensors 600. Alternatively, the controller is configured to activate or deactivate an adjustment mechanism based on the output of any one of the micro-force sensors 600.

[0260] In some embodiments, the micro-force sensor 600 can also replace a mode switch. For example, multiple micro-force sensors 600 are positioned at two or more locations on the machine. By applying force to different micro-force sensors 600, the micro-force sensors 600 send corresponding signals to a controller, causing the controller to control the motor or corresponding response components to perform the corresponding actions. For example, the multiple micro-force sensors 600 are arranged linearly, generating linearly varying force detection signals as the user slides. By sliding the micro-force sensors to different locations, the user outputs different corresponding signals to the controller, causing the controller to control the motor or corresponding response components to perform the corresponding actions. For example, the user can switch between forward and reverse rotation modes of the motor by different manipulations of the micro-force sensors 600. For example, touching the left side switches forward or reverse rotation, while touching the right side switches reverse or forward rotation. For example, the user can switch between the motor's speed mode, i.e., the maximum speed of the motor, by different manipulations of the micro-force sensors 600.

[0261] In some alternative embodiments, as shown in FIG17 , the power tool is a non-motor-driven electrical device 200. Non-motor-driven electrical devices 200 generally do not include a motor 12 and directly use electrical energy to drive the working portion 21. For example, a lighting device includes: a lighting mechanism. The lighting mechanism includes a lamp head for emitting light; the lamp head includes a lamp head housing and a lamp board, wherein the lamp board is housed in the lamp head housing. The lamp board includes light-emitting diode (LED) lamp beads, which may also be COB (chip on board) lamp beads. The adjustment mechanism 19 includes a long, force-bearing surface 71a, and the micro-force sensor 600 is disposed on the back of the force-bearing surface 71a. The force-bearing surface 71a is a defined area of ​​the housing 11. The adjustment mechanism 19 is used to obtain user input. The controller is in communication with the adjustment mechanism 19 and determines the target operating state of the lighting mechanism 21 based on the output of the adjustment mechanism 19. The operating states include turning the lighting mechanism 21 on, turning it off, and changing the output form of the light state. For example, the lighting state of the lighting mechanism 21. The adjustment mechanism 19 includes a miniature force sensor 600. By applying varying forces to the miniature force sensor 600, the user causes the miniature force sensor 600 to output varying signals to the controller, which then determines the corresponding lighting state based on the varying signals. The lighting state includes the brightness, color temperature, color, and lighting effects such as steady on, flashing, double flashing, breathing, or a ticking light.

[0262] In some alternative embodiments, the working portion 21 is part of the power tool 10, which includes the motor 12. The working portion 21 serves as an auxiliary component of the power tool 10, such as supplemental lighting for the power tool 10, a laser scale for the power tool 10, or an alarm mechanism for the power tool 10. Taking the supplemental lighting of the power tool 10 as an example, the adjustment mechanism 19 includes a long, force-bearing surface 71a, and the micro-force sensor 600 is disposed on the back of the force-bearing surface 71a. The force-bearing surface 71a is a defined area of ​​the housing 11. The adjustment mechanism 19 is used to obtain user input. The controller is in communication with the adjustment mechanism 19 and determines the target operating state of the working portion 21 based on the output of the adjustment mechanism 19. The operating state includes the working portion 21 emitting sound or lighting, shutting down the working portion 21, and changing the output form of the sound / light state. For example, the lighting state of the lighting lamp is determined based on the output of the adjustment mechanism 19. By applying different forces to the micro-force sensor 600, the user causes the micro-force sensor 600 to output different signals to the controller, which then determines the corresponding lighting state based on the different signals. The lighting state includes the brightness, color temperature, color, and lighting effects such as steady on, flashing, double flashing, breathing, or ticking lights.

[0263] As another specific embodiment, the power tool 10, the battery pack 300 or the charging device 500 includes a force-bearing component. The force-bearing component is formed on or connected to the shell of the power tool 10, the battery pack 300 or the charging device 500. The force-bearing component includes a force-bearing surface, which is used to receive external force and produce different deformation parameters when the external force changes. The deformation parameters include the numerical values ​​generated by the direct deformation of the force-bearing surface, such as height changes, curvature changes, and other similar direct numerical changes. The deformation parameters also include numerical parameters obtained by performing relevant calculations based on the numerical values ​​generated by direct deformation, such as area or volume changes caused by height changes, or parameter values ​​obtained after performing one or two numerical calculations.

[0264] In some embodiments, the force-bearing surface 71 is provided on the grip portion 113. Taking the power tool 10 as an example, the housing 11 defines a location where a user grips the power tool 10 when using or moving it, namely, the grip portion 113 on the housing 11. The miniature force sensor 600 is used to detect changes in the user's grip on the power tool 10. Based on this change in grip force, the user's usage status of the power tool 10 is determined, and the protection function is activated accordingly.

[0265] As shown in Figures 18 and 19, the power tool 10 is a handheld power tool. Exemplarily, handheld power tools include handheld cutting tools, such as circular saws, chain saws, jigsaws, and pruners. They also include rotary torque output tools, which can be understood as outputting rotary torque to a workpiece via a rotationally driven output portion, such as screwdrivers, electric drills, impact tools, angle grinders, and earth drills.

[0266] As shown in Figures 18 and 19, taking an electric circular saw 100b as an example, the electric circular saw 100b includes a housing 11b, an output unit 13b, a motor 12b, and a base plate 15b. The output unit 13b includes an output shaft 131b and a cutting member 16b. The output shaft 131b is used to mount the cutting member 16b. The cutting member 16b rotates about the axis of the output shaft 131b. In this embodiment, the cutting member 16b is a circular saw blade. The motor 12b is disposed within the housing 11b and is configured to drive the output shaft 131b to rotate. The output shaft 131b is rotatably coupled to the motor 12b relative to the housing 11b. A power transmission mechanism is configured to transmit the output power of the motor 12b to the output shaft 131b. The housing 11b houses the motor 12b, while the output shaft 131b and the cutting member 16b are disposed outside the housing 11b. The base plate 15b is movably connected to the housing 11b and has a bottom surface 151b that contacts the workpiece. The base plate 15b has a saw blade through-hole 152b extending in a first direction Fb, through which a saw blade can pass and protrude downward from the bottom surface 151b. In this embodiment, the motor 12b is specifically an electric motor, optionally a brushless motor. Below, the motor 12b will be replaced by an electric motor, but this does not affect the substantive content of this application.

[0267] The housing 11b includes a first shell 111b, which is formed with or connected to a gripping portion 110b for grasping. In this embodiment, the gripping portion 110b includes a first gripping portion 112b. The first gripping portion 112b is located at the rear end of the circular saw and can be grasped by the user to operate the circular saw for cutting. The gripping portion 110b is also provided with a control switch 81b and a safety switch 82b. The control switch 81b can only be triggered when the safety switch 82b is pressed. In other words, two actions are required before the motor 12b or the motor 12b assembly can be started. This avoids the dangers of a single operation. When the user grasps the gripping portion 110b, the user's hand grasping the gripping portion 110b can trigger the safety switch 82b and the control switch 81b to start or shut down the electric circular saw 100b.

[0268] The grip portion 110b also includes a second grip portion 114b. The second grip portion 114b is formed or connected to the first housing 111b. The second grip portion 114b is located at the front end of the circular saw and serves as an auxiliary handle. In one embodiment, the second grip portion 114b may also be an external handle mounted on the main housing 11b, that is, the second grip portion 114b may be a separate auxiliary operating component mounted on the main housing 11b.

[0269] As shown in Figures 20 and 21, the electric circular saw 100b also includes a controller 531b, which is disposed in the housing 11b. The controller 531b is used to control the rotation of the motor 12b. The controller 531b is disposed on a control circuit board 53b, which includes a PCB (Printed Circuit Board) and an FPC (Flexible Printed Circuit Board). The controller 531b uses a dedicated control chip, such as a single-chip microcomputer or a microcontroller unit MCU (Microcontroller Unit). It should be noted that the control chip can be integrated into the controller 531b, or can be disposed independently of the controller 531b. As for the structural relationship between the driver chip and the controller 531b, this embodiment does not limit it.

[0270] In this embodiment, the electric circular saw 100b includes a miniature force sensor 600, which is used to detect at least one of the parameters of the deformation of a preset portion of the grip portion 110b or the parameters of the applied force. It should be explained that the parameters of the deformation include the numerical values ​​generated by the direct deformation of the force-bearing surface, such as height changes, curvature changes, and similar direct numerical changes. The parameters of the deformation also include numerical parameters obtained by performing relevant calculations based on the numerical values ​​generated by direct deformation, such as area or volume changes caused by height changes, or parameter values ​​obtained after performing one or two calculations on the numerical values. The parameters of the force include the numerical values ​​of the force directly applied to the force-bearing surface, or parameters obtained by calculating the numerical values ​​of the force, such as torque. Parameters generated by force, such as speed changes, etc.

[0271] The controller 531b is connected to the micro-force sensor 600. Optionally, the controller 531b is connected to the micro-force sensor 600 via digital signals. Optionally, the controller 531b is connected to the micro-force sensor 600 via analog signals. Optionally, the controller 531b is connected to the micro-force sensor 600 via wireless signals. The controller 531b is the main controller of the power tool. Optionally, the controller 531b is a separate controller controlled by the micro-force sensor 600. The control circuit board 53b can be a single piece, or alternatively, it can be two or more pieces.

[0272] The controller 531b is configured to obtain the detection value of the micro-force sensor 600 and control the motor 12b based on the detection value. In this embodiment, the detection value includes at least one of a parameter of the deformation of a preset portion of the grip, a parameter of the force value, a parameter of the rate of change of the deformation, or a parameter of the rate of change of the force value. When the detection value exceeds a threshold, the power supply to the motor 12b is stopped. In this embodiment, the use status of the electric circular saw 100b is determined based on the user's grip force or the change in the user's grip force. Optionally, based on the change in grip force, it is determined whether the power tool 10 has kicked back. When the controller 531b determines that kickback has occurred, the kickback protection program is activated. Exemplarily, when at least one of the parameters of the deformation amount, the force value, the rate of change of the deformation amount, or the rate of change of the force value measured by the micro force sensor 600 at a preset position of the grip portion exceeds a threshold value, it is determined that the electric circular saw 100b has recoiled, and the controller 531b controls the motor 12b to cut off the power, stop the motor 12b, or limit the output of the motor 12b to protect the user from being injured by the recoil of the electric circular saw 100b.

[0273] As shown in FIG19 , the micro-force sensor 600 is disposed on the gripping portion of the second gripping portion 114b. In some embodiments, the second gripping portion 114b is provided with a gripping portion 115b for accommodating fingers or supporting the palm, based on the user's usage habits. The gripping portion 115b may be provided with structural features that are easily recognizable by the user, such as protrusions, wavy structures, or arc-shaped structures. The gripping portion 115b may be provided with surface treatment features that are easily recognizable by the user, such as leather grain, patterns, soft rubber covers, embedded with different materials, or different textures. In some embodiments, the gripping portion 115b does not have features that distinguish it from other portions of the second gripping portion 114b. In this case, the gripping portion 115b is the position where the circular saw 100b maintains balance after the user lifts the circular saw 100b using the second gripping portion 114b. In this embodiment, the predetermined portion of the gripping portion 110b is provided as the gripping portion 115b for accommodating fingers. Optionally, the gripping portion 115b that accommodates fingers is configured as a finger accommodating portion. The finger receiving portion includes a force-bearing surface 71e, which is configured to receive external force and generate different deformation parameters as the external force changes. The micro-force sensor 600 outputs a corresponding signal to the controller 531b based on the deformation parameters of the force-bearing surface 71e. Alternatively, the micro-force sensor 600 generates a corresponding force parameter signal based on the deformation parameters of the force-bearing surface 71e and transmits the force parameter signal to the controller 531b.

[0274] In some embodiments, the micro force sensor 600 detects and outputs the parameters of the pressure value of the force-bearing surface 71e to the controller 531b during operation. When the controller 531b confirms that the parameters of the pressure value exceed the pressure threshold, it determines that the electric circular saw 100b has kicked back, and the controller 531b starts an anti-kickback program. The controller 531b controls the motor 12b to stop, stops power supply to the motor 12b, or limits the output of the motor 12b. In some embodiments, the micro force sensor 600 detects and outputs at least one of the parameters of the deformation variable, the force value, the rate of change of the deformation variable, or the rate of change of the force value of the force-bearing surface 71e to the controller 531b during operation. When the controller 531b confirms that at least one of the parameters of the deformation variable, the force value, the rate of change of the deformation variable, or the rate of change of the force value exceeds a threshold value, it determines that the electric circular saw 100b has kicked back, and the controller 531b starts an anti-kickback program. The controller 531b controls the motor 12b to stop, stops power supply to the motor 12b, or limits the output of the motor 12b.

[0275] In some embodiments, the micro force sensor 600 is disposed on the gripping portion 113b of the first gripping portion 112b. In this embodiment, the gripping portion 113b of the first gripping portion 112b is disposed behind the control switch 81b. Exemplarily, the gripping portion 113b of the first gripping portion 112b is disposed within a palm width (50mm-100mm) behind the control switch 81b. In this embodiment, the first gripping portion 112b includes a force-bearing surface 71e, which is used to receive external force and produce different deformation parameters when the external force changes. The micro force sensor 600 outputs a corresponding signal to the controller 531b based on the parameters of the deformation of the force-bearing surface 71e, or the micro force sensor 600 generates a parameter signal of a corresponding force value based on the parameters of the deformation of the force-bearing surface 71e, and transmits the parameter signal of the force value to the controller 531b.

[0276] In some embodiments, the micro-force sensor 600 of the second grip 114b and the micro-force sensor 600 of the first grip 112b cooperate to detect and output parameters of the pressure value of the force-bearing surface 71e to the controller 531b during operation. For example, the micro-force sensor 600 of the second grip 114b is set to detect a second pressure value parameter, and the micro-force sensor 600 of the first grip 112b is set to detect a first pressure value parameter. When the controller 531b determines that the second pressure value parameter exceeds a second pressure threshold and the first pressure value parameter exceeds a first pressure threshold, it is determined that the electric circular saw 100b has kicked back. The controller 531b initiates an anti-kickback program and controls the motor 12b to shut down, stop powering the motor 12b, or limit the output of the motor 12b. The second pressure threshold is less than or equal to the first pressure threshold. In some embodiments, the micro force sensor 600 of the second grip 114b and the micro force sensor 600 of the first grip 112b cooperate to detect and output the parameters of the pressure value of the force-bearing surface 71e to the controller 531b during operation. When the controller 531b confirms that the rate of change of the parameters of the second pressure value exceeds the second rate of change threshold, when the controller 531b confirms that the rate of change of the parameters of the first pressure value exceeds the first rate of change threshold, it is determined that the electric circular saw 100b has kicked back. The controller 531b starts an anti-kickback program, and the controller 531b controls the motor 12b to stop, stops powering the motor 12b, or limits the output of the motor 12b.

[0277] In some embodiments, the force-bearing surface 71e is provided as the grip portion 110b of a power tool or handheld power tool. The force-bearing surface 71e is configured to receive external force and generate different deformation parameters as the external force changes. The micro-force sensor 600 outputs a corresponding signal to the controller 531b based on the deformation parameters of the force-bearing surface 71e. Alternatively, the micro-force sensor 600 generates a corresponding force parameter signal based on the deformation parameters of the force-bearing surface 71e and transmits the force parameter signal to the controller 531b. The controller 531b determines whether the cutting direction of the power tool 10 or handheld power tool is consistent with a preset direction based on the changes in the grip force applied by the user to the grip portion 110b. If the controller 531b determines that the cutting direction is inconsistent with the preset direction or the deviation exceeds a specified value, the controller 531b activates a status indicator to notify the user or limits the output of the motor 12b to prevent the user from cutting inaccurately. For example, the power tool may be a circular saw, jig saw, or track saw, which have a relatively stable feed direction during cutting.

[0278] In some embodiments, the force-bearing surface 71e is provided as the grip portion 110b of a power tool or handheld power tool. The micro-force sensor 600 outputs a corresponding signal to the controller 531b based on the parameter of the deformation of the force-bearing surface 71e, or the micro-force sensor 600 generates a corresponding force parameter signal based on the parameter of the deformation of the force-bearing surface 71e and transmits the force parameter signal to the controller 531b. The controller 531b determines the magnitude of the thrust applied to the power tool 10 or handheld power tool based on the change in the grip force applied by the user to the grip portion 110b and transmits a signal to the controller 531b. The controller 531b determines whether the output torque can meet the cutting requirements based on the thrust value, and then the controller 531b controls the operating state of the motor 12b. Optionally, when the micro-force sensor detects an increase in grip force, or an increase in grip force in one direction, or an increase in the rate of change of grip force, it is determined that the torque currently output by the motor 12b is less than the torque required to cut the workpiece, and cutting becomes difficult. The controller 531b then outputs a signal to the motor 12b to adjust the output torque, for example, to increase the output torque. Optionally, when the micro force sensor 600 detects an increase in gripping force, or an increase in gripping force in one direction or an increase in gripping force variation, it is determined that the cutting operation is to begin, and the controller 531b outputs a signal to start the motor 12b.

[0279] As shown in Figure 22, in another embodiment, an electric drill 100c is used as an example. The electric drill 100c includes a housing 11c, a motor 12c, and an output unit 20c. The output unit 20c includes an output shaft 131c for connecting to and rotating a work accessory. A clamping assembly 132c is provided at the front end of the output shaft 131c to hold corresponding work accessories, such as a screwdriver, drill bit, or socket, to perform different functions. The housing 11c includes a motor housing 111c for accommodating the motor 12c and an output housing 112c for accommodating at least a portion of the output unit 20c. The output housing 112c is connected to the front end of the motor housing 111c. The housing 11c also forms or is connected to a grip 113c for user operation. The grip 113c and the motor housing 111c form a T-shaped or L-shaped structure, making it easier for the user to hold and operate the device. One end of the grip 113c is connected to a power supply.

[0280] In this embodiment, a trigger 81c is provided on the grip portion 113c for the user to operate the control motor 12c. The electric drill 100c also includes a controller 531c, which is disposed in the housing 11c. The controller 531c is used to control the rotation of the motor 12c. The controller 531c is disposed on a control circuit board 53c, which includes a PCB (Printed Circuit Board) and an FPC (Flexible Printed Circuit Board). The controller 531c uses a dedicated control chip, such as a single-chip microcomputer or a microcontroller unit MCU (Microcontroller Unit). It should be noted that the control chip can be integrated into the controller 531c, or can be provided independently of the controller 531c. As for the structural relationship between the driver chip and the controller 531c, this embodiment does not limit it.

[0281] In this embodiment, the electric drill 100c includes a micro force sensor 600, which is used to detect at least one of the parameters of the deformation variable or the parameters of the applied force value at a preset position of the grip portion 113c. It should be explained that the parameters of the deformation variable include the numerical values ​​generated by the direct deformation of the force-bearing surface, such as height changes, curvature changes, and similar direct numerical changes. The parameters of the deformation variable also include numerical parameters obtained by performing relevant calculations based on the numerical values ​​generated by direct deformation, such as area or volume changes caused by height changes, or parameter values ​​obtained after performing one or two calculations on the numerical values. The parameters of the force value include the numerical values ​​of the force directly applied to the force-bearing surface, or parameters obtained by calculating the numerical values ​​of the force, such as torque. Parameters generated by force, such as speed changes, etc.

[0282] The controller 531c is connected to the micro-force sensor 600. Optionally, the controller 531c and the micro-force sensor 600 are connected via digital signals. Optionally, the controller 531c and the micro-force sensor 600 are connected via analog signals. Optionally, the controller 531c and the micro-force sensor 600 are connected via wireless signals. The controller 531c is the main controller of the power tool. Optionally, the controller 531c is a separate controller controlled by the micro-force sensor 600. The control circuit board 53c can be a single piece, or alternatively, it can be two or more pieces.

[0283] The controller 531c is configured to control the operating state of the motor 12c based on the detection value detected by the micro-force sensor 600. In this embodiment, the detection value includes at least one of a parameter of the deformation of a predetermined portion of the grip, a parameter of the force value, a parameter of the rate of change of the deformation value, or a parameter of the rate of change of the force value. In this embodiment, when at least one of the parameter of the deformation value or the force value detected by the micro-force sensor 600, or the rate of change of the parameter of the deformation value or the rate of change of the parameter of the force value detected by the micro-force sensor 600 exceeds a threshold value, power to the motor 12c is stopped. In this embodiment, the user's grip force or changes in the user's grip force are used to determine the usage state of the electric drill 100c. Optionally, based on changes in grip force, whether the electric drill 100c experiences hand-twisting during rotation during torque output is determined. If hand-twisting is determined to have occurred, the controller 531c initiates a hand-twisting protection program. Exemplarily, when the value detected by the micro-force sensor 600 exceeds a threshold, it is determined that the electric drill 100c is at risk of hand-twisting. The controller 531c controls the motor 12c to power off, shut down, or limit its output to protect the user from hand-twisting injury. Exemplarily, when the value detected by the micro-force sensor 600 exceeds a threshold, it is determined that the electric drill 100c is at risk of hand-twisting. The controller 531c controls the motor 12c to first limit its output and then change its rotational direction.

[0284] The grip portion 113c includes a force-bearing surface 71f, which is configured to receive external force and generate different deformation parameters when the external force changes. The micro-force sensor 600 outputs a corresponding signal to the controller 531c based on the deformation parameters of the force-bearing surface 71f. Alternatively, the micro-force sensor 600 generates a corresponding force parameter signal based on the deformation parameters of the force-bearing surface 71f and transmits the force parameter signal to the controller 531c.

[0285] In some embodiments, the micro-force sensor 600 detects and outputs parameters of the pressure value of the force-bearing surface 71f to the controller 531c during operation. When the controller 531c determines that the pressure value parameter exceeds a pressure threshold, it determines that the electric drill 100c has experienced hand-twisting. The controller 531c activates a hand-twisting prevention program and controls the motor 12c to shut down or cut off power to the motor 12c. In some embodiments, the micro-force sensor 600 detects and outputs parameters of the pressure value of the force-bearing surface 71f to the controller 531c during operation. When the controller 531c determines that the rate of change of the pressure value parameter exceeds a rate-of-change threshold, it determines that the electric drill 100c has experienced hand-twisting. The controller 531c activates a hand-twisting prevention program and controls the motor 12c to shut down, cut off power to, or limit the output of the motor 12c. According to operating practices, the force-bearing surface 71f is positioned starting below the trigger 81c. The force-bearing surface 71f extends from 70 mm to 100 mm, corresponding to the width of a palm.

[0286] In some embodiments, the electric drill 100c further includes a gyroscope sensor for detecting changes in the torsional angle or torsional acceleration of the electric drill 100c. The gyroscope sensor can be a single-axis, two-axis, or three-axis micro-electromechanical system (MEMS) sensor or a rotational sensor. Other types of sensors are also disclosed herein. When the controller 531c receives detection data from the gyroscope sensor that is greater than a threshold value, and when the detection data from the micro-force sensor 600 also exceeds the threshold value, it determines that the electric drill 100c has a hand-twisting condition, the controller 531c activates an anti-hand-twisting program, and controls the motor 12c to shut down or stops supplying power to the motor 12c.

[0287] In some embodiments, regardless of whether the handheld power tool is a handheld cutting tool or a rotary torque output tool. Optionally, the force-bearing surfaces 71e and 71f are provided with the gripping parts 110b and 113c of the power tool or the handheld power tool. The force-bearing surfaces 71e and 71f are used to receive external force and produce different deformation parameters when the external force changes. The micro force sensor 600 outputs a corresponding signal to the controller according to the deformation parameters of the force-bearing surfaces 71e and 71f, or the micro force sensor 600 generates a parameter signal of the corresponding force value according to the deformation parameters of the force-bearing surfaces 71e and 71f, and sends the parameter signal of the force value to the controller. According to the change in the gripping force, it is determined whether the handheld power tool has fallen in the motor start-up state. When the controller determines that it has fallen, it starts the fall protection program. The controller controls the motor to stop.

[0288] Optionally, for a push-type power tool, such as a push-type lawn mower, the controller controls the self-propelled program of the push-type power tool based on the changes in the gripping force, including the size of the gripping force and the direction of the gripping force, to judge the user's pushing difficulty, dragging direction, and whether the user is holding the tool stably.

[0289] As shown in FIG21 , this embodiment also discloses a control method for a handheld power tool, specifically including:

[0290] S110. Detecting at least one of the parameters of the deformation amount of a preset portion of the grip portion of the handheld power tool or the applied force value by a micro force sensing device;

[0291] S120. Obtain the detection value of the micro force sensor through the controller, wherein the detection value includes at least one of the parameters of the deformation of the preset part of the grip portion, the parameters of the force value, the parameters of the rate of change of the deformation, or the parameters of the rate of change of the force value.

[0292] S130. When the detected value exceeds the threshold, the operation of the motor is limited by the controller.

[0293] In some embodiments, the force-bearing surfaces 71e and 71f are configured to receive external forces and generate different deformation parameters when the external forces change. The micro-force sensor 600 outputs corresponding signals to a controller based on the deformation parameters of the force-bearing surfaces 71e and 71f, or generates corresponding force parameter signals based on the deformation parameters of the force-bearing surfaces 71e and 71f and transmits the force parameter signals to the controller. The power tool 10 includes a storage device for collecting grip force data detected by the micro-force sensor while the user is using the power tool. This grip force data includes, but is not limited to, grip direction, commonly used grip positions, and commonly used grip force. This facilitates designers collecting data on customer usage habits and enabling better ergonomic design for the product. In some embodiments, the power tool 10 includes a server comprising storage and a processor. The processor can process the data according to a set cycle. Optionally, the server is a local server. Optionally, the server is a cloud server. In some embodiments, the micro-force sensor is activated in specific conditions, such as in a factory manufacturing environment or a laboratory environment, to detect whether the operator is holding or operating the device in a manner that meets the requirements. If the controller 531c determines that the micro-force sensor detection data does not meet the requirements, it initiates an alarm or shuts down the device.

[0294] As a specific implementation of this embodiment, the micro force sensor can be applied to the torque determination and torque setting of the power tool. As shown in Figure 16, the power tool 10 includes a motor, and the motor 12 is rotatably driven to drive the output part 13 coupled to the motor 12. The force-bearing component receives the force generated by the movement of the motor 12. The force-bearing component includes a moving part 14 driven by the motor 12 to move or a support part 15 supporting the moving part 14. The moving part 14 is formed or connected to the output part 13. Optionally, the moving part 14 includes an output shaft driven by the motor 12 for outputting torque, or at least one of a gear transmission structure or a cylinder arranged between the drive shaft and the output shaft of the motor 12. Optionally, the moving part 14 can also be a drive shaft for the motor 12 to output torque outward.

[0295] The micro force sensor 600 is connected to the moving part 14 and is installed in a manner similar to that of the battery pack 300 embodiment. The support part 15 is directly or indirectly connected to the moving part 14. When the moving part 14 is driven by the motor 12 to move, the support part 15 deforms or displaces in response to the movement. The support part 15 includes a bearing 151 for a support shaft (e.g., a drive shaft, an output shaft, a spindle, a gear shaft), a housing 152 for a transmission component, a portion of the housing 11 that fixes the transmission component, or a component that vibrates due to the operation of the motor 12. The micro force sensor 600 is connected to the support part 15. The micro force sensor 600 is used to detect the torque generated by the output part 13 of the power tool 10. It is understandable that when the output part 13 generates torque, the output part 13 or the moving part 14 or the support part 15 will be deformed or displaced. The micro force sensor 600 outputs the torque generated by the output part 13 through the controller program by detecting at least one of the parameters of the deformation amount or the force value parameter. In products with fixed torque control and precise torque control, the output torque of the output part 13 can be accurately obtained.

[0296] Continuing with reference to Figures 22 to 25 and 27 to 28, the power tool 10 is specifically an electric drill 100c. The electric drill 100c includes a housing 11c, a motor 12c, and an output unit 20c. The output unit 20c is rotatably coupled to the motor 12c. The motor 12c drives the rotation of the output unit 20c. In this embodiment, the output unit 20c includes a transmission mechanism 14c and an output mechanism 13c. The housing 11c includes a motor housing 11c body for accommodating the motor 12c and an output shell 112c for accommodating at least a portion of the output mechanism 13c. The output shell 112c is connected to the front end of the motor housing 11c body. The housing 11c also forms or is connected to a grip 113c for user operation. The grip 113c and the motor housing 11c body form a T-shaped or L-shaped structure, making it easier for the user to grip and operate. In some embodiments, the grip 113c and the motor housing 11c body form a straight cylindrical structure. A battery pack 300c is connected to one end of the grip portion 113c. In this embodiment, the battery pack 300c is detachably connected to the grip portion 113c. In some alternative embodiments, the battery pack 300c is built into the housing 11c.

[0297] The output mechanism 13c is used to receive the torque provided by the motor 12c and output the torque. The output mechanism 13c includes an output shaft 131c for connecting a working accessory and driving the working accessory to rotate. The motor 12c drives the output shaft 131c to rotate around the output axis 102c. A clamping mechanism 132c or a receiving portion is provided at the front end of the output shaft 131c, which can clamp the corresponding working accessories, such as a screwdriver, a drill bit, a sleeve, etc., when realizing different functions. The output shaft 131c is used to output torque, and the output shaft 131c rotates around the output axis 102c. The transmission mechanism 14c is arranged between the motor 12c and the output mechanism 13c, and is used to realize power transmission between the motor 12c and the output mechanism 13c.

[0298] The output mechanism 13 c further includes a torque adjustment mechanism 15 c , which is configured to set an output torque threshold of the power tool 100 . That is, the user sets the maximum output torque of the electric drill 100 c through the torque adjustment mechanism 15 c .

[0299] The electric drill 100c further includes a controller 531c disposed in the housing 11c for controlling the operating state of the motor 12c.

[0300] It also includes: a micro force sensor 600, which is used to detect at least one of the parameters of the deformation variable or the applied force value at the preset position of the output shaft 131c. It should be explained that the parameters of the deformation variable include the numerical values ​​generated by the direct deformation of the force-bearing surface, such as height changes, curvature changes and other similar direct numerical changes. The parameters of the deformation variable also include numerical parameters obtained by performing relevant calculations based on the numerical values ​​generated by direct deformation, such as area or volume changes caused by height changes, or parameter values ​​obtained after one or two calculations of the numerical values. The parameters of the force value include the numerical values ​​of the force directly applied to the force-bearing surface, or parameters obtained by calculating the numerical values ​​of the force, such as torque. Parameters generated by force, such as speed changes, etc.

[0301] For convenience of reference, the micro force sensor for detecting the preset position of the output shaft 131c is set as the first micro force sensor 600b. The controller 531c is connected to the first micro force sensor 600b. Optionally, the controller 531b is connected to the first micro force sensor 600b via a digital signal. Optionally, the controller 531b is connected to the first micro force sensor 600b via an analog signal. Optionally, the controller 531b is connected to the first micro force sensor 600b via a wireless signal. The controller 531c obtains at least one of the parameters of the deformation variable or the force value detected by the first micro force sensor 600b, and controls the motor 12c according to at least one of the parameters of the deformation variable or the force value. In this embodiment, the torque signal output by the output shaft 131c of the electric drill 100c or the parameter signal of the deformation of the output shaft 131c caused by the output torque is output to the controller 531c through the first micro force sensor 600b, and the controller 531c is configured to adjust the output of the motor 12c according to the signal of the first micro force sensor 600b.

[0302] Exemplarily, when controller 531c determines, based on a signal from first micro-force sensor 600b, that the output torque of motor 12c reaches an output torque threshold, controller 531c controls motor 12c to shut down, stops supplying power to motor 12c, or controls motor 12c to intermittently shut down and start. In this embodiment, first micro-force sensor 600b is used to detect the output torque. When the output torque reaches the threshold, controller 531c limits the torque output of motor 12c, replacing the mechanical clutch mechanism used in related art and reducing the complexity of the product's mechanical structure. First micro-force sensor 600b detects at least one of a deformation parameter or a force parameter, and outputs the torque generated by output unit 20c through a program in controller 531c. Accurately determining the output torque of output unit 20c improves product safety and component safety, extending the product's service life.

[0303] In some embodiments, the first micro force sensor 600b is disposed on the output mechanism 13c or the output housing 112c to detect the load torque applied to the output shaft 131c. It will be appreciated that the load torque applied to the output shaft 131c is proportional to the torque output by the output shaft 131c. In some embodiments, the load torque applied to the output shaft 131c is substantially equal to the torque output by the output shaft 131c.

[0304] As shown in Figures 23-24, a target member 17c is provided between the transmission mechanism 14c and the output housing 112c, for receiving the load torque of the output shaft and deforming or applying pressure to a preset position. Force is transmitted between the target member 17c and the output housing 112c. The force exerted by the target member 17c on the output housing 112c is proportional to the load torque applied to the output shaft 131c. Optionally, the force exerted by the target member 17c on the output housing 112c is substantially equal to the load torque applied to the output shaft 131c. Optionally, the force exerted by the target member 17c on the output housing 112c is proportional to the torque output by the output shaft 131c. Optionally, the force exerted by the target member 17c on the output housing 112c is substantially equal to the torque output by the output shaft 131c.

[0305] The first micro-force sensor 600b is disposed on the output housing 112c. The force-bearing surface 71g is disposed on the output housing 112c. The force-bearing surface 71g is used to receive the force applied by the target part 17c and generate different deformation parameters when the force applied by the target part 17c changes. The first micro-force sensor 600b outputs a corresponding signal to the controller 531c based on the deformation parameters of the force-bearing surface 71g, or the first micro-force sensor 600b generates a corresponding force parameter signal based on the deformation parameters of the force-bearing surface 71g and transmits the force parameter signal to the controller 531c.

[0306] Exemplarily, the first micro force sensor 600b and the target part 17c are respectively disposed on two side surfaces of the same position on the output housing 112c, that is, the first micro force sensor 600b is substantially facing the target part 17c.

[0307] In this embodiment, the target member 17c comprises a steel ball. The force-bearing surface 71g is the surface where the steel ball contacts the output housing 112c. The transmission mechanism 14c is formed with or connected to a limit portion 143c for limiting the circumferential movement of the steel ball relative to the transmission mechanism 14c beyond a preset range. The transmission mechanism 14c includes a reduction gear system. Optionally, the transmission mechanism 14c includes a planetary gear set 141c for speed reduction, and the number of planetary gear sets 141c can be one or multiple. The planetary gear set 141c converts the output speed of the motor 12c according to a certain transmission ratio to achieve a suitable torque. In this embodiment, the planetary gear set 141c includes planetary gears 145c, a planetary carrier 146c for mounting the planetary gears 145c, and an inner ring gear 142c meshing with the planetary gears 145c. A sun gear (not shown) is formed on or connected to the drive shaft, and the planetary gears 145c mesh with the sun gear. Among them, the inner ring gear 142c of the planetary gear set 141c closest to the output shaft 131c is connected to the housing 11c and does not rotate relative to the housing 11c. Optionally, the inner ring gear 142c is connected to the output housing 112c and does not rotate relative to the output housing 112c. A limiting portion 143c is formed on the side of the inner ring gear 142c facing the output shaft 131c. Optionally, the limiting portion 143c is a protrusion extending in the axial direction toward the side of the output shaft 131c. The protrusion is provided with inclined surfaces 144c on both sides of the circumference of the inner ring gear 142c. The steel balls abut the inner ring gear 142c and the output housing 112c on both sides along the axial direction. The steel balls abut the inclined surfaces 144c of the protrusion along the circumferential direction.

[0308] When the electric drill 100c rotates to output torque, the inner ring gear 142c is subjected to a torsional torque applied from the output shaft 131c. The inner ring gear 142c transmits the torsional torque to the steel balls via the protrusions. Due to the configuration of the protruding inclined surface 144c, the torque applied to the steel balls in the circumferential direction generates a component torque in the axial direction, which in turn applies a thrust force to the output housing 112c in the axial direction. As a result, the force-bearing surface 71g deforms, and the first micro-force sensor 600b outputs a corresponding signal to the controller 531c based on the parameters of the deformation of the force-bearing surface 71g, or the first micro-force sensor 600b generates a parameter signal of a corresponding force value based on the parameters of the deformation of the force-bearing surface 71g, and transmits the parameter signal of the force value to the controller 531c. When the controller 531c determines that the output torque of the output shaft 131c exceeds a set threshold, it limits the output of the motor 12c.

[0309] Optionally, when the controller 531c determines that the output torque of the output shaft 131c has reached a preset condition, it adjusts the output of the motor 12c. For example, based on the relationship between the torque value applied to the output shaft 131c and the preset value, the output of the motor 12c, including the output speed or output torque, can be adjusted, including increasing the output speed or increasing the output torque, maintaining the output speed, or increasing the output torque. The measurement accuracy of the first micro-force sensor 600b accurately sends a signal to the controller 531c. The controller 531c can accurately confirm the actual torque and adjust the operation of the motor 12c based on the relationship between the actual torque and the preset torque to achieve the purpose of precise torque setting. It is understood that this is not limited to the electric drill 100c product and is applicable to other impact or torque output tools.

[0310] In some alternative embodiments, the first micro-force sensor 600b is connected to the inner ring gear 142c, and the force-bearing surface 71g is disposed on the inner ring gear 142c. When the target part 17c is subjected to force, the force-bearing surface 71g of the inner ring gear 142c deforms due to the torque. The first micro-force sensor 600b outputs a corresponding signal to the controller 531c based on the parameters of the deformation of the force-bearing surface 71g. Alternatively, the first micro-force sensor 600b generates a parameter signal of a corresponding force value based on the parameters of the deformation of the force-bearing surface 71g and transmits the parameter signal of the force value to the controller 531c. When the controller 531c determines that the output torque of the output shaft 131c exceeds a set threshold, it limits the output of the motor 12c. Optionally, when the controller 531c determines that the output torque of the output shaft 131c reaches a preset condition, it adjusts the output of the motor 12c. For example, based on the relationship between the torque value applied to the output shaft 131c and the preset value, it adjusts the output of the motor 12c, including the output speed, output torque or related electrical parameters, including increasing the output speed or increasing the output torque or increasing the current or changing the commutation parameters, maintaining the output speed or maintaining the output torque or maintaining the current or maintaining the commutation parameters, etc.

[0311] In some embodiments, the first micro-force sensor 600b is connected to the output shaft 131c. The force-bearing surface 71g is provided on the output shaft 131c. When the force-bearing surface 71g of the output shaft 131c is deformed due to torque, the first micro-force sensor 600b outputs a corresponding signal to the controller 531c based on the parameters of the deformation of the force-bearing surface 71g, or the first micro-force sensor 600b generates a parameter signal of a corresponding force value based on the parameters of the deformation of the force-bearing surface 71g and transmits the parameter signal of the force value to the controller 531c. When the controller 531c determines that the output torque of the output shaft 131c exceeds a set threshold, it limits the output of the motor 12c. Optionally, when the controller 531c determines that the output torque of the output shaft 131c has reached a preset condition, it adjusts the output of the motor 12c. For example, based on the relationship between the torque value applied to the output shaft 131c and a preset value, the controller 531c adjusts the output of the motor 12c, including the output speed, output torque, or related electrical parameters. This may include increasing the output speed, increasing the output torque, increasing the current, changing the commutation parameters, or maintaining the output speed, output torque, current, or commutation parameters. In this embodiment, the first micro-force sensor 600b directly detects the parameters of the deformation of the output shaft 131c due to the load torque.

[0312] Optionally, the first miniature force sensor 600b is used to detect at least one of a parameter of a deformation caused by a load force on other components of the power tool or a parameter of an applied force. When the controller 531c determines that the load force exceeds a threshold, it limits the output of the motor 12c or issues an alarm. This alarm may include changing the operating state of the motor 12c. It may also include providing a prompt using a photoelectric alarm.

[0313] As shown in FIG28 , this embodiment also discloses a control method for an electric tool, specifically including:

[0314] S210. By means of a micro force sensing device, at least one parameter of a deformation amount of a preset position of the output portion of the power tool or a parameter of an applied force value is detected;

[0315] S220. Obtain the detection value of the micro force sensor through the controller and convert the detection value into a torque value; wherein the detection value includes at least one of a parameter of the deformation variable of a preset position of the output part, a parameter of the force value, a parameter of the rate of change of the deformation variable, or a parameter of the rate of change of the force value.

[0316] S230. Control the operation of the motor of the power tool through the controller according to the torque value.

[0317] In some embodiments, as shown in Figures 23 to 25 , the torque adjustment mechanism 15c further includes a torque setting unit 151c, which is operated to set a threshold value for the output torque. Exemplarily, the torque setting unit 151c includes an electronic interactive component, such as a control panel. The control panel includes components with input and display functions, such as buttons and a display screen, a touch screen, a linear touchpad, and a display screen. A user inputs operational instructions through the control panel, which are then transmitted as digital signals to the controller 531c, which then controls the setting of the output torque threshold.

[0318] Exemplarily, the torque setting unit 151c includes a communication unit and an external device, the communication unit being configured to receive operating signals from the external device. In some embodiments, the communication unit includes a wireless communication device, such as a long-range wireless network. The wireless communication device communicates over various types of wireless networks using other protocols (e.g., Wi-Fi, cellular protocols, proprietary protocols, etc.). For example, the wireless communication device can be configured to communicate via Wi-Fi over a network such as the Internet, a local area network ("LAN"), a wide area network ("WAN"), or a combination thereof, or via a piconet (e.g., using infrared or NFC communication). In other embodiments, the wireless communication device can be a short-range communication protocol (such as Bluetooth), and in other embodiments, the wireless communication device can be a wired network using a serial protocol (e.g., USB, USB-C, FireWire, etc.). The external device includes a mobile device such as a smartphone, a tablet, a cellular phone, a laptop computer, a smart wearable device, etc. A user connects to the communication unit through the external device, and the communication unit transmits the received operating instructions to the controller 531c in the form of a digital signal. The controller 531c then controls the setting of the output torque threshold.

[0319] In some embodiments, the torque setting portion 151c includes a torque cup. The torque cup includes an actuating sleeve 161c, which is operable to rotate around the output shaft 131c to allow the user to set the output torque threshold. When the actuating sleeve 161c rotates, the actuating sleeve 161c undergoes axial displacement parallel to the extension direction of the output shaft 131c, i.e., the output axis 102c. In this embodiment, the torque cup also includes a micro force sensor 600. For convenience of reference, the micro force sensor 600 provided in the torque cup is configured as a second micro force sensor 600c. The second micro force sensor 600c is provided near the actuating sleeve 161c and is configured to detect at least one of the parameters of the deformation amount or the parameter of the applied force value at a preset position near the actuating sleeve 161c when the brake sleeve rotates. In some embodiments, the force-bearing surface of the second micro force sensor 600c intersects with the output shaft 131c. It is understood that the extension direction of the force-bearing surface of the micro-force sensor 600 intersects the extension direction of the output shaft 131c. "Intersection" includes both spatial intersection and planar intersection. Optionally, the extension direction of the force-bearing surface of the micro-force sensor 600 is perpendicular to the extension direction of the output shaft 131c. Optionally, the extension direction of the force-bearing surface of the micro-force sensor 600 is non-parallel to the extension direction of the output shaft 131c.

[0320] In this embodiment, the controller 531c is connected to the second micro-force sensor 600c. Optionally, the controller 531c is connected to the second micro-force sensor 600c via digital signals. Optionally, the controller 531c is connected to the second micro-force sensor 600c via analog signals. Optionally, the controller 531c is connected to the second micro-force sensor 600c via wireless signals.

[0321] The controller 531c is configured to obtain deformation parameters or force parameters detected by the second micro-force sensor 600c and determine an output torque threshold based on the deformation parameters or force parameters. The controller 531c adjusts the operation of the motor 12c when the output torque threshold and the actual output torque meet a preset requirement.

[0322] In some embodiments, the second micro-force sensor 600c and the first micro-force sensor 600b are two separate components. In some embodiments, the second micro-force sensor 600c and the first micro-force sensor 600b are the same component, that is, only one micro-force sensor is used.

[0323] In this embodiment, when controller 531c determines that the output torque of output shaft 131c exceeds the output torque threshold, it limits the output of motor 12c. Using a second miniature force sensor 600c as a detection component offers high sensitivity. Compared to mechanical torque cups in related art, this design maintains minimal operational complexity, reduces product component count, and eases assembly.

[0324] As shown in Figures 24 and 25, the torque cup further includes an elastic member 162c, a driving portion 163c, and a guide portion 164c. The elastic member 162c is used to apply a corresponding force to the second micro-force sensor 600c when the actuating sleeve 161c rotates and displaces axially parallel to the direction in which the output shaft 131c extends. Optionally, the elastic member 162c is a coil spring. The driving portion 163c is formed on or connected to the actuating sleeve 161c. The driving portion 163c is connected to or abuts the elastic member 162c and is used to compress the elastic member 162c and cause it to generate a force applied to the second micro-force sensor 600c. The driving portion 163c rotates with the actuating sleeve 161c under predetermined conditions. Optionally, the driving portion 163c rotates coaxially and synchronously with the actuating sleeve 161c. Optionally, after the actuating sleeve 161c rotates N degrees or N turns, the driving portion 163c rotates M degrees or M turns. The rotational relationship between the drive unit 163c and the actuating sleeve 161c is determined based on practical needs and does not affect the substantive content of this application. The guide portion 164c is used to convert the rotational motion applied by the user into axial movement of the drive unit 163c along the output shaft 131c. Optionally, the guide portion 164c includes a helical thread, along which the drive unit 163c can simultaneously rotate along the output shaft 131c and move axially along the output shaft 131c.

[0325] Optionally, the guide portion 164c is formed on or connected to the output housing 112c. Alternatively, the guide portion 164c is a helical wire formed on the exterior of the output housing 112c. The drive portion 163c engages with the helical wire. In this embodiment, the output housing 112c at least partially extends into the actuating sleeve 161c. Along the axial direction of the output shaft 131c, the actuating sleeve 161c partially overlaps with the output housing 112c. Along the axial direction of the output shaft 131c, the actuating sleeve 161c partially overlaps with the elastic member 162c.

[0326] In this embodiment, the force-bearing surface 71g is provided on the elastic member 162c or the driving portion 163c. The force-bearing surface 71g is used to receive the force of the elastic member 162c being compressed by the driving portion 163c and to produce different deformations when the force changes. The micro force sensor 600 outputs a corresponding signal to the controller 531c according to the parameters of the deformation of the force-bearing surface 71g, or the micro force sensor 600 generates a parameter signal of a corresponding force value according to the parameters of the deformation of the force-bearing surface 71g and transmits the parameter signal of the force value to the controller 531c.

[0327] In this embodiment, the controller 531c determines the output torque threshold based on the measurement data obtained from the second micro-force sensor 600c. The controller 531c can set multiple output torque thresholds based on preset conditions. For example, the gear position can be used to represent high gear, medium gear, and low gear. For another example, because the use of the micro-force sensor 600 makes torque detection more accurate, the torque value can be directly used to represent the current output torque threshold, such as 20N, 50N, etc.

[0328] Exemplarily, the power tool 10 can also be a cutting tool, with continued reference to Figures 18 to 19, such as an electric circular saw 100b. The output portion 13b includes an output shaft 131b and a cutting piece 16b, and the output shaft 131b is used to mount the cutting piece 16b. The micro force sensor 600 is used to detect the load torque applied to the output portion 13b of the power tool. When the output portion 13b is applied with a load torque, the output portion 13b will be deformed or displaced. The micro force sensor 600 deforms or displaces the output portion 13b by detecting the load torque. The torque generated by the output portion 13b is output through a program of the controller. The load torque applied to the output shaft 131b is proportional to the torque output by the output shaft 131b. In some embodiments, the load torque applied to the output shaft 131b is substantially the same as the torque output by the output shaft 131b.

[0329] In this embodiment, the torque output by the output shaft 131b of the electric circular saw is detected by a micro-force sensor 600, and the output of the motor is adjusted according to the magnitude of the output torque. Optionally, when the micro-force sensor detects that the output shaft 131b of the electric circular saw is subjected to a load torque, it is determined that the cutting member 16b is in contact with the workpiece to be cut, and the controller 531b outputs a signal to control the motor 12b to start according to a preset program. Optionally, when the micro-force sensor 600 detects that the load torque on the output shaft 131b of the electric circular saw reaches a corresponding relationship with the preset torque, the controller 531b outputs a signal to control the motor 12b to adjust the output according to a preset program. For example, if the preset torque is exceeded, the controller 531b determines that the current output torque of the motor 12b is too low, and therefore the controller 531b adjusts the motor 12b to output at a higher torque.

[0330] In some embodiments, referring to Figure 22, the electric tool still takes the electric drill 100c mentioned above as an example. In the related art, the target speed of the motor 12c is adjusted according to the trigger stroke of the trigger. The trigger is coupled to the sliding rheostat, and the analog signal output by the sliding rheostat is different for different trigger strokes of the trigger. The trigger stroke of the trigger is positively correlated with the duty cycle of the PWM signal of the motor 12c, and the duty cycle of the PWM signal is positively correlated with the target speed of the motor 12c. When the trigger stroke of the trigger switch is small, the duty cycle of the PWM signal is also small. At this time, the target speed of the motor 12c is also small. The structure of the trigger in the related art for adjusting the target speed of the motor 12c requires the addition of a sliding rheostat, which is bulky and has a limited service life.

[0331] In this embodiment, as shown in Figures 29A-29C, a micro-force sensor 600 is positioned near the trigger 81c. The micro-force sensor 600 is configured to detect at least one of a parameter of a deformation at a predetermined location or a parameter of an applied force when the trigger 81c is pulled. A controller is configured to obtain at least one of the parameters of the deformation or applied force from the micro-force sensor 600 and determine target parameters for the motor 12c based on the parameters of the deformation or force. Target parameters include, but are not limited to, the motor's target speed, target output torque, target output current, target duty cycle, target conduction angle, lead angle, or at least one of related parameters that influence these target parameters. For ease of reference, the micro-force sensor 600 positioned at the trigger 81c is designated as a third micro-force sensor 600d. In this embodiment, the micro-force sensor is used to identify at least one of the parameters of the deformation or force caused by the trigger 81c's trigger travel and to generate a corresponding control signal. The product is compact, and its structure and components are simple to install.

[0332] It should be noted that deformation parameters include values ​​directly derived from the deformation of the surface under load, such as changes in height, curvature, and similar direct numerical changes. Deformation parameters also include numerical parameters derived from calculations based on the values ​​directly derived from deformation, such as changes in area or volume due to height changes, or parameters derived from single or secondary calculations. Force parameters include the values ​​directly derived from the force applied to the surface under load, or parameters derived from force calculations, such as torque. Parameters derived from force include changes in velocity.

[0333] As shown in FIG29A , the trigger 81c is fixed in the power tool 10 via a substrate 815d and partially extends out of the housing of the power tool 10. In this embodiment, the substrate 815d is formed or connected in the grip 113d of the power tool, and the trigger 81c partially extends out of the grip 113d. The trigger 81c is operated to move on the grip 113d. The trigger 81c includes: a contact portion 811d that contacts the user's finger and a linkage portion 812d that triggers the signal. The force-bearing surface 71k is provided on the circuit board or substrate 815d. The force-bearing surface 71k is used to receive the force applied to the circuit board or substrate 815d by the linkage portion 812d and to produce different deformation parameters when the force changes. The third micro force sensor 600d outputs a corresponding signal to the controller according to the parameters of the deformation of the force-bearing surface 71k, or the third micro force sensor 600d generates a parameter signal of the corresponding force value according to the parameters of the deformation of the force-bearing surface 71k, and sends the parameter signal of the force value to the controller 513d.

[0334] The linkage portion 812d includes a biasing member 813d, which can optionally be a coil spring. When a user's finger presses or applies force to the contact portion 811d, the contact portion 811d connects to or abuts the coil spring, compressing the coil spring so that it generates a force applied to the force-bearing surface 71k or the third micro-force sensor 600d. The force applied by the coil spring to the force-bearing surface 71k or the third micro-force sensor 600d is proportional to the pressure of the user's finger on the contact portion 811d or the force applied to the contact portion 811d. In some embodiments, the force applied by the coil spring to the force-bearing surface 71k or the third micro-force sensor 600d can be linearly or nonlinearly correlated with the pressure of the user's finger on the contact portion 811d or the force applied to the contact portion 811d. The third micro-force sensor 600d is disposed on a substrate 815d. The force-bearing surface 71k is also disposed where the coil spring abuts the substrate 815d. Exemplarily, the third micro-force sensor 600d and the coil spring are disposed on two side surfaces of the same location on the substrate 815d. That is, the third micro-force sensor 600d and the coil spring are substantially aligned. When a user presses the contact portion 811d or applies force to the contact portion 811d, compressing the coil spring, the pressure of the coil spring is at least partially applied to the substrate 815d, causing the force-bearing surface 71k to deform. The third micro-force sensor 600d detects the deformation parameters of the substrate 815d. The third micro-force sensor 600d then outputs a deformation parameter signal to the controller 513d based on the deformation parameters, or the micro-force sensor 600 outputs a force parameter signal to the controller 513d. The controller 513d determines the target parameters of the motor 12c based on the mapping relationship between the deformation parameter or force parameter signal and the target parameters of the motor 12c.

[0335] As shown in Figure 29B, the linkage portion 812d' includes a rigid component. Exemplarily, the linkage portion 812d' includes a pin 816d. The linkage portion 812d' is formed or connected to the contact portion 811d. When the user's finger presses the contact portion 811d or applies force to the contact portion 811d, the contact portion 811d drives the linkage portion 812d' to move or causes the linkage portion 812d' to have a movement tendency, thereby generating a force applied to the force-bearing surface 71k or the third micro-force sensor 600d. In this embodiment, the control circuit board is arranged on the movement path of the linkage portion 812d' after being pressed by the user's finger. The third micro-force sensor 600d is integrated on the control circuit board 817d. The force-bearing surface 71k is arranged at the position where the pin 816d and the control circuit board 817d abut. When the user's finger presses the contact part 811d or applies force to the contact part 811d to make the linkage part 812d' move or make the linkage part 812d' have a movement tendency, the linkage part 812d' abuts against the force-bearing surface 71k after a preset displacement, causing the force-bearing surface 71k to deform. The third micro force sensor 600d outputs a corresponding signal to the controller 513d according to the parameters of the deformation variable of the force-bearing surface 71k, or the third micro force sensor 600d generates a parameter signal of a corresponding force value according to the parameters of the deformation variable of the force-bearing surface 71k, and sends the parameter signal of the force value to the controller 513d. The controller 513d determines the target parameters of the motor 12c based on the mapping relationship between at least one of the parameters of the deformation variable or the parameters of the force value and the target parameters of the motor 12c.

[0336] The power tool includes multiple triggers 81c, each corresponding to at least one third micro-force sensor 600d. The linkage portion can be a biasing member 813d or a rigid component. As shown in FIG29C , the power tool exemplarily includes a first trigger 81d and a second trigger 81e. When the first trigger 81d is activated, the controller 513d controls the motor 12c to rotate forward. When the second trigger 81e is activated, the controller 513d controls the motor 12c to rotate reversely. The first trigger 81d and the second trigger 81e each include a contact portion and a linkage portion. By pressing the contact part of any trigger with a finger, the user causes the linkage part to apply the force value parameter to the substrate or the control circuit board, so that the corresponding force-bearing surface generates the deformation variable parameter. The third micro force sensor 600d detects the deformation variable parameter of the force-bearing surface 71k corresponding to the substrate or the control circuit board. The third micro force sensor 600d outputs the deformation variable parameter signal to the controller 513d according to the deformation variable parameter, or the third micro force sensor 600d outputs the force value parameter signal to the controller 513d. The controller 513d determines the forward rotation target parameter or the reverse rotation target parameter of the motor 12c based on the mapping relationship between the signal of at least one of the deformation variable parameter or the force value parameter and the target parameter of the motor 12c.

[0337] In the above embodiment, since the detection of the micro force sensor 600 is more accurate and the detection step size is smaller, the target speed of the motor 12 c can be infinitely regulated.

[0338] As a specific implementation of this embodiment, a miniature force sensor can be used to confirm the status of accessories or workpieces used in power tools. A power tool 10 includes a housing, a motor, and an output unit. The motor is disposed within the housing and configured to rotatably drive the output unit coupled to the motor. A controller is disposed within the housing to control the rotation of the motor.

[0339] The output portion includes an accessory, which is used to process a workpiece. The power tool 10 also includes at least one miniature force sensor 600, which is configured to detect at least one of a parameter of a deformation amount or a parameter of an applied force value at at least one preset portion of the accessory or workpiece. The controller is connected to the at least one miniature force sensor, and the controller is configured to obtain detection data from the at least one miniature force sensor and determine the status of the accessory or workpiece based on the detection data. Optionally, after determining the status of the accessory or workpiece, the controller provides a status prompt through the status indicator. Optionally, after determining the status of the accessory or workpiece, the controller adjusts the operating status of the motor according to different states.

[0340] As shown in Figures 30, 31A, 31B, and 31C, the power tool is a benchtop saw 100e, which can be any known type, such as a stand-alone benchtop saw or a portable benchtop saw. The benchtop saw 100e includes a workbench 15e, a motor 12e, and an output shaft 131e. The output shaft 131e is used to connect a rotating work accessory. In this embodiment, the motor 12e is an electric motor. Hereinafter, the term "motor 12e" will be used to replace the motor without affecting the substantive content of the present application. The work accessory is a cutting element 16e, illustratively a saw blade. The motor 12e drives the output shaft 131e to rotate. In this embodiment, the output shaft 131e rotates about the second axis 102e, while the motor shaft of the motor 12e rotates about the first axis 101e. The positional relationship between the first axis 101e and the second axis 102e and the transmission structure do not affect the substantive content of the present application. In this embodiment, the first axis 101e and the second axis 102e do not overlap.

[0341] The motor 12e is disposed in a housing 11e. In this embodiment, the housing 11e is formed or connected to a workbench 15e. The output shaft 131e and the cutting element 16e are disposed outside the housing 11e. The workbench 15e is provided with a workbench surface 151e that supports the workpiece 20e and enables the workpiece 20e to slide thereon, and the top surface 153e of the workbench surface is in contact with the workpiece 20e. The workbench surface 151e is formed with a saw blade through hole 152e extending in a first direction. The saw blade passes through the saw blade through hole 152e and extends. Optionally, the saw blade can protrude upward from the top surface through the saw blade through hole 152e. The saw blade is driven by the motor 12e disposed below the workbench surface 151e to rotate to achieve a cutting function. The saw blade is used to cut a workpiece 20e, such as wood, that is pushed along the top surface and in contact with the saw blade.

[0342] As shown in Figure 33, the table-type cutting saw 100e also includes a drive module for driving the motor 12e and a controller 531e electrically connected to the drive module. The controller 531e outputs a control signal to the drive circuit to control the operation of the motor 12e. Optionally, the drive module distributes the voltage to the motor 12e in a certain logical relationship under the drive of the control signal output by the controller 531e, so that the motor 12e starts and generates continuous torque. In some embodiments, the drive module includes a plurality of electronic switches. Specifically, the electronic switches include field effect transistors or insulated gate bipolar transistors, etc. In some embodiments, the drive module is a three-phase bridge circuit. The motor 12e in this embodiment is preferably configured as a brushless motor 12e. Of course, other forms of motors 12e can also be used, which is not limited in this application. In some embodiments, the controller 531e uses a dedicated control chip (for example, MCU, microcontroller unit).

[0343] In some embodiments, the table saw 100e further includes a micro force sensor 600. The micro force sensor 600 is connected to the controller 531e and is configured to detect at least one of a parameter of a deformation amount of at least one predetermined portion of the workpiece 20e or a parameter of an applied force and output a first signal to the controller 531e.

[0344] The force-bearing surface 71L is at least partially located on the work surface 151e. The micro-force sensor 600 is used to detect the force applied to the force-bearing surface 71L by the workpiece 20e during machining, causing deformation parameters of the force-bearing surface 71L, thereby obtaining a load-removal signal for the workpiece 20e. The arrows in Figures 31A to 31C indicate the movement direction of the workpiece 20e. The user moves the workpiece 20e along the arrow direction to perform the cutting operation. When the cutting operation is completed or the user removes the workpiece 20e from the work surface 151e, the micro-force sensor 600 can sense a first signal indicating at least one of the deformation parameters or a change in the deformation parameters of the force-bearing surface 71L. The controller 531e then determines that the workpiece 20e has been removed and issues a load-removal signal. In this embodiment, the load-removal signal is related to the first signal output by the micro-force sensor 600. In this embodiment, the load-removal signal can be understood as indicating the completion of machining of the workpiece 20e or the removal of the workpiece 20e from the work surface. Of course, those skilled in the art may also define the load-removal signal in other ways, such as indicating that the workpiece 20e has stopped for a period of time.

[0345] In some embodiments, the force-bearing surface 71L is an area defined by the top surface 153e of the work surface. Optionally, the force-bearing surface 71L is not different from other positions of the top surface 153e of the work surface or there is no identifiable feature difference. Optionally, the force-bearing surface 71L and other positions of the top surface 153e of the work surface use different materials or appearance indicators. For example, the force-bearing surface 71L uses a partially transparent or translucent light-transmitting material so that the user's different operating pressures can be fed back through the light. In some embodiments, the force-bearing surface 71L uses different thicknesses or materials, or adds appearance surface treatment. The force-bearing surface 71L and the top surface are on the same plane so as not to affect the movement of the workpiece 20e.

[0346] When a user operates workpiece 20e and gradually moves it toward micro-force sensor 600 in the directions of the arrows in Figures 31A to 31C, workpiece 20e causes force-bearing surface 71L to undergo different deformations. Micro-force sensor 600 outputs a corresponding signal to controller 531e based on the deformation parameters of force-bearing surface 71L, or generates a force parameter signal based on the deformation parameters of force-bearing surface 71L and transmits the force parameter signal to controller 531e. After the user completes the cutting operation, such as cutting workpiece 20e or removing workpiece 20e from work surface 151e, the deformation parameters of force-bearing surface 71L decrease to a preset threshold or the change in the deformation parameters of force-bearing surface 71L reaches a preset threshold, micro-force sensor 600 outputs a first signal. Upon receiving the first signal, controller 531e determines the current operating state of workpiece 20e. Optionally, after the controller 531e determines the operating status of the workpiece 20e, the controller 531e sends a signal to the status indicator to prompt the user to perform the next operation. Optionally, after the controller 531e determines the operating status of the workpiece 20e, the controller 531e sends a signal to the motor 12e to automatically control the speed or torque output of the motor 12e according to the operating status. For example, when it is determined that the workpiece 20e has been unloaded, the controller 531e limits the output of the motor 12e, slowing down or stopping the motor 12e.

[0347] As shown in FIG31A , a saw blade forms a cutting plane (not shown). In some embodiments, at least a portion of the force-bearing surface 71L or the micro-force sensor 600 is disposed at the front end of the saw blade. Optionally, the workpiece 20e enters the area of ​​the force-bearing surface 71L or the micro-force sensor 600, continues to advance, contacts the saw blade, and begins cutting. As shown in FIG31B to FIG31C , in some embodiments, at least a portion of the projection of the micro-force sensor 600 on the plane where the cutting plane is located is located within the projection of the saw blade on the plane where the cutting plane is located. Optionally, the projection of the micro-force sensor 600 on the work surface 151e is located between point A and point B in the front-to-back direction. Point A is the rear endpoint of the projection of the saw blade on the work surface 151e, and point B is the front endpoint of the projection of the saw blade on the work surface 151e. Optionally, the midpoint of the projection of the saw blade on the work surface 151e at point C and the projection of the micro-force sensor 600 on the work surface 151e are located within a 3 mm area in the front-to-back direction of point C. Optionally, when multiple micro-force sensors 600 are provided, the projections of at least two micro-force sensors 600 on the work surface 151e are located on either side of the projection of the cutting plane on the plane in the left-right direction. Optionally, the projections of the at least two micro-force sensors 600 on the work surface 151e are symmetrically arranged relative to the projection of the cutting plane on the plane.

[0348] In some embodiments, the bench saw 100e further includes an operating switch 18e disposed on the workbench 15e, operable by the user. Optionally, the operating switch 18e includes a first switch 181e and a second switch 182e. The first switch 181e serves as the main control switch for the bench saw 100e, while the second switch 182e serves as the motor 12e switch for the bench saw 100e. The user can operate the first switch 181e to place the bench saw 100e in different operating modes. Specifically, when the user operates the first switch 181e to position "1," the bench saw 100e operates in the first operating mode, i.e., smart mode. When the user operates the first switch 181e to position "2," the bench saw 100e operates in the second operating mode, i.e., normal mode. Of course, the aforementioned number of operating modes and their specific corresponding relationships are not limitations of this application.

[0349] The second switch 182e is a switch for the motor 12e of the table-type cutting saw 100e. When the first switch 181e is at a selected gear position and the second switch 182e is turned on, the table-type cutting saw 100e operates in a fixed mode. When the second switch 182e is turned off, the motor 12e stops.

[0350] Next, the control method of the table-type cutting saw 100e in different working modes will be described in detail.

[0351] When the user turns on the second switch 182e, the motor 12e stops operating, and the saw blade does not rotate. When the user operates the first switch 181e to position "1," the bench saw 100e is in smart mode, and the motor 12e begins to drive the saw blade to rotate, allowing the user to perform cutting operations. The controller 531e senses the workpiece 20e via the micro-force sensor 600. When the micro-force sensor 600 detects that the user has completed cutting the workpiece 20e, it sends a first signal to the controller 531e, which in turn sends a load-removal control signal to the motor 12e, shutting down the motor 12e and stopping the saw blade from rotating. If the user wishes to restart the motor 12e while the bench saw 100e is still in smart mode, they must activate the second switch 182e again to activate the motor 12e. Of course, it should be noted that the user can also shut down the bench saw 100e by turning off the second switch 182e while it is in smart mode.

[0352] When the user operates the first switch 181e to position "2," the table saw 100e operates in normal mode. The motor 12e starts normally to drive the saw blade, allowing the user to directly perform cutting operations. It should be noted that when the first switch 181e is in position "2," the user can control the motor 12e to stop by using the second switch 182e.

[0353] The following will describe the process of the control method of the table-type cutting saw 100e in the intelligent mode with reference to FIG. 32 and FIG. 33 . The method includes the following steps:

[0354] S11: Determine whether the second switch is turned on. If so, execute step S12; if not, execute step S17.

[0355] S12: Determine the gear position of the first switch 181e. If it is "1", execute step S13; if it is "2", execute step S15.

[0356] S13: The controller 531e controls the motor 12e to start;

[0357] The saw blade rotates to allow the user to perform the cutting operation;

[0358] S14: Wood cutting is completed; execute step S11;

[0359] S15; the controller 531e controls the motor 12e to start;

[0360] The saw blade rotates to allow the user to perform the cutting operation.

[0361] S16; Wood cutting completed;

[0362] S17; the controller 531e controls the motor 12e to stop and the saw blade stops rotating.

[0363] After the user sets the bench tool to the smart mode through the first switch 181e, the user needs to continue to turn on the second switch 182e so that the motor 12e can be started to drive the saw blade to rotate to meet the user's cutting needs.

[0364] Optionally, when the user finishes cutting, when the micro force sensor 600 senses that the user has completed cutting the workpiece 20e, it sends a first signal to the controller 531e, and the controller 531e sends a load removal control signal to the motor 12e, and the controller 531e controls the motor 12e to turn off after a preset time. Of course, the preset time can be designed by those skilled in the art according to actual conditions. In this embodiment, the preset time is set to less than or equal to 1 second. In some embodiments, the preset time is set to less than or equal to 500ms. In some embodiments, the preset time is set to less than or equal to 300ms. In some embodiments, the preset time is set to less than or equal to 200ms. When the user needs to perform cutting work again, it is necessary to turn on the second switch 182e again.

[0365] The first switch 181e and the second switch 182e are disposed on the side of the workbench 15e, so that the user can conveniently operate the switch 18e and prevent the workpiece 20e from accidentally touching the switch, thereby affecting the processing.

[0366] In this embodiment, when the benchtop saw 100e is set to smart mode, it has an automatic shutdown function. Specifically, when the benchtop tool is in smart mode, the controller 531e adjusts the speed of the motor 12e to a first speed after receiving a pre-set time of a load removal signal from the workpiece 20e. In some embodiments, the load removal signal is related to a first signal output by a sensing device or an operating parameter of the motor 12e. Specifically, the operating parameter of the motor 12e includes, but is not limited to, the operating current or speed of the motor 12e. In some embodiments, the first speed is 0. In other embodiments, the first speed is a lower speed greater than 0.

[0367] In some alternative embodiments, as shown in Figures 33 to 35 , the power tool is exemplarily a jigsaw 100f, which includes a housing 11f, a motor 12f, a transmission assembly 14f, an output member 13f, a saw blade 18f, and a base assembly 15f. The housing 11f includes a handle 113f and a housing 111f. The handle 113f is used for a user to hold to operate the jigsaw 100f. The housing 111f defines a cavity for accommodating at least a portion of the motor 12f. The motor 12f is disposed within the cavity formed by the housing 111f and is configured to drive the output member 13f to move. The transmission assembly 14f is configured to transmit power outputted by the motor 12f to the output member 13f, thereby driving the output member 13f to reciprocate. The transmission assembly 14f is at least partially disposed within the cavity formed by the housing 111f. The output member 13f is used to mount a saw blade 18f, which at least partially extends outside the housing 11f. The saw blade 18f is positioned outside the housing 11f and has teeth formed on one side. The reciprocating motion of the saw blade 18f cuts the workpiece. A base plate assembly 15f is positioned outside the housing 11f and is pivotally connected to the housing 11f about a first axis, thereby enabling angled cutting. The output member 13f is provided with a clamping device 16f for clamping the saw blade 18f, which extends out of the housing 11f in a first direction.

[0368] The device further includes a controller 17f configured to determine the operating state of the saw blade 18f. The clamping device 16f includes a receiving portion 161f for receiving the saw blade 18f and a micro-force sensor 600. The micro-force sensor 600 detects at least one of a parameter indicating the deformation of the saw blade 18f at a preset position or a parameter indicating the applied force. The controller 17f determines that the saw blade 18f is properly installed based on at least one of the parameter signal indicating the deformation or the parameter signal indicating the applied force output by the micro-force sensor 600. Optionally, the micro-force sensor 600 detects at least one of a parameter indicating the deformation of the saw blade 18f at a preset position or a parameter indicating the applied force. When the controller 17f determines that the operating direction of the saw blade 18f is not as expected based on at least one of the parameter signal indicating the deformation or the parameter signal indicating the force output by the micro-force sensor 600, the controller 17f issues an instruction indicating that the clamping device 16f needs to be adjusted, or the controller 17f automatically adjusts the clamping state of the clamping device 16f.

[0369] Optionally, a micro-force sensor 600 is disposed within the housing 161f, wherein the force-bearing surfaces 71m are disposed on both sides of the saw blade 18f in the clamping direction. Optionally, the force-bearing surfaces 71m are disposed on the left and right sides of the saw blade 18f. The micro-force sensor 600 detects the parameters of the deformation of the force-bearing surface 71m due to the force applied to the left and right sides by the saw blade 18f. The micro-force sensor 600 outputs a corresponding signal to the controller 17f based on the parameters of the deformation of the force-bearing surface 71m, or the micro-force sensor 600 generates a corresponding force parameter signal based on the parameters of the deformation of the force-bearing surface 71m and transmits the force parameter signal to the controller 17f. When at least one of the parameters of the deformation or the force of the force-bearing surfaces 71m on both sides meets a preset condition, the saw blade 18f is determined to be installed in place. Optionally, when at least one of the parameters of the deformation or the force of the force-bearing surfaces 71m on both sides is substantially the same, the saw blade 18f is determined to be installed in place.

[0370] In some alternative embodiments, as shown in Figures 33 and 36 , the power tool is exemplarily a reciprocating saw 100g. The reciprocating saw 100g includes an output member 13g, which is provided with a clamping device 16g for clamping a saw blade (not shown). The saw blade (not shown) extends out of the housing in a first direction. The clamping device 16g includes a housing 161g for accommodating the saw blade (not shown) and a micro-force sensor 600. The micro-force sensor 600 detects at least one of a parameter of a deformation of the saw blade (not shown) at a predetermined position or a parameter of an applied force. The controller 17g controls the output of the motor 12g based on at least one of the parameter signal of the deformation or the parameter signal of the force output by the micro-force sensor 600 to determine when the reciprocating saw 100g has completed its cutting task or has cut a workpiece that does not need to be cut. Optionally, the micro-force sensor 600 is disposed within the housing 161g. The micro-force sensor 600 detects the parameters of the deformation of the force-bearing surface 71n due to the force exerted by the saw blade (not shown) on the workpiece. The micro-force sensor 600 outputs a corresponding signal to the controller 17g based on the parameters of the deformation of the force-bearing surface 71n, or generates a corresponding force parameter signal based on the parameters of the deformation of the force-bearing surface 71n and transmits the force parameter signal to the controller 17g. When at least one of the parameters of the deformation or the force of the force-bearing surface 71n meets a preset condition, the reciprocating saw 100g determines that the cutting task is complete. Alternatively, when at least one of the parameters of the deformation or the force of the force-bearing surface 71n decreases to a preset value or drops sharply to a preset value, the reciprocating saw 100g determines that the cutting task is complete, and the controller 17g limits the output of the motor 12g or controls the motor 12g to shut down. When at least one of the parameters of the deformation amount or the force value of the force-bearing surface 71n increases to a preset value or suddenly increases to a preset value, it is determined that the reciprocating saw 100g is cutting a workpiece that does not need to be cut, such as a metal plate, etc., and the controller 17g limits the output of the motor 12g or controls the motor 12g to stop to protect the saw blade (not shown) and the motor 12g.

[0371] In some alternative embodiments, illustratively as shown in FIG37 , the power tool is a fastener driver 100h, such as a drywall screwdriver or nail gun. An output mechanism 13h is used to drive a fastener into a workpiece. Optionally, the output mechanism of the drywall screwdriver includes an output shaft that drives the fastener into the workpiece via a clamping attachment or an impact attachment. Optionally, the nail gun includes a firing portion 131h that impacts a fastener, forcing the fastener into the workpiece.

[0372] The fastener driver 100h includes a trigger mechanism. When a trigger portion 161h of the trigger mechanism contacts a workpiece, the trigger portion 161h moves or tends to move, thereby causing deformation within a preset stroke. The trigger mechanism 16h also includes a micro-force sensor 600. The micro-force sensor 600 detects at least one of a parameter indicating the deformation of the trigger portion 161h at a preset position or a parameter indicating the applied force. The controller controls the output of the motor when the trigger portion 161h of the fastener driver 100h contacts or contacts the workpiece based on at least one of the parameter signal indicating the deformation or the parameter signal indicating the force output by the micro-force sensor 600. Optionally, a force-bearing surface 71p is provided on the surface of the trigger portion 161h or between the trigger portion 161h and a component that causes the trigger portion 161h to deform. The micro-force sensor 600 detects the deformation parameters of the force-bearing surface 71p generated by the force generated when the trigger portion 161h comes into preset contact or relationship with the workpiece. The micro-force sensor 600 outputs a corresponding signal to the controller based on the deformation parameters of the force-bearing surface 71p, or the micro-force sensor 600 generates a corresponding force parameter signal based on the deformation parameters of the force-bearing surface 71p and transmits the force parameter signal to the controller. When at least one of the deformation parameters or force parameters of the force-bearing surface 71p meets the preset conditions, it is determined that the fastener driver 100h can be activated. This eliminates the need for an additional trigger switch or manual user control. When the trigger portion 161h contacts the workpiece and applies a certain force, the product automatically activates. The trigger portion 161h can be a work accessory, such as a screwdriver head. The firing portion is also a work accessory.

[0373] In some alternative embodiments, a micro-force sensor detects at least one of a deformation parameter or an applied force parameter at a preset position of the accessory. A controller determines, based on at least one of the deformation parameter signal or the force parameter signal output by the micro-force sensor, that the output torque of the working accessory meets a preset condition and controls the output of the motor. Optionally, a force-bearing surface is disposed on the surface of the accessory or between the accessory and the clamping device. The micro-force sensor detects a deformation parameter of the force-bearing surface generated by the torque transmission between the accessory and the workpiece, and outputs a corresponding signal to the controller based on the deformation parameter of the force-bearing surface. Alternatively, the micro-force sensor generates a corresponding force parameter signal based on the deformation parameter of the force-bearing surface and transmits the force parameter signal to the controller. When at least one of the deformation parameter or the force parameter of the force-bearing surface meets a preset condition, the output torque is determined to be inconsistent with the torque required by the workpiece, and the motor output is adjusted accordingly. For example, when at least one of the deformation parameter or the force parameter of the force-bearing surface exceeds a threshold, the output torque is determined to be too low, and the motor is controlled to increase the torque output, for example, by increasing the output speed or torque. Optionally, when at least one of the parameters of the deformation amount or the force value of the force-bearing surface exceeds a threshold, it is determined that the working accessory is disengaged from the fastener, and the motor is controlled to reduce the torque output, such as reducing the output speed or reducing the output torque.

[0374] In some alternative embodiments, the micro-force sensor's detection value is used by a controller to automatically start or stop a motor, thereby replacing the function of a mechanical clutch. In some embodiments, the micro-force sensor's detection value can reflect the aging or wear of key machine components, such as gears, motors, or impact blocks. When the controller determines that aging or wear has occurred, it issues a warning signal through a status indicator. In some alternative embodiments, the micro-force sensor's detection value is used to monitor the changing state of a material, such as monitoring the hardening state of concrete after pouring.

[0375] As a specific implementation of this embodiment, as shown in Figures 4 and 38 to 42, the power tool 10 takes an outdoor walking device 400 as an example, and the walking assembly 42 includes walking wheels and a drive motor that drives the walking wheels to rotate. In some embodiments, the walking assembly 42 includes components such as walking tracks to drive the outdoor walking device 400. In this embodiment, the walking wheels include a rear walking wheel 421 and a front walking wheel 422. As shown in Figure 38, the rear walking wheel 421 includes a left rear walking wheel 421L and a right rear walking wheel 421R. The front walking wheel 422 includes a left front walking wheel 422L and a right front walking wheel 422R. The drive motor drives the rear walking wheel 421 or the front walking wheel 422 to rotate, thereby realizing the walking function of the outdoor walking device 400. Optionally, the number of drive motors can be one, two, three, or four. Exemplarily, the walking assembly 42 includes a first drive wheel and a second drive wheel that provide driving force. In this embodiment, the first drive wheel is the right rear travel wheel 421R, and the second drive wheel is the left rear travel wheel 421L. The drive motor includes a first drive motor 431 that provides driving force for the right rear travel wheel 421R, and a second drive motor 432 that provides driving force for the left rear travel wheel 421L. For convenience of reference, in the subsequent description, the first drive wheel 411R is used to refer to the right rear travel wheel, and the second drive wheel 411L is used to refer to the left rear travel wheel. The travel assembly 42 uses an independent drive method to provide driving force to the first drive wheel 411R and the second drive wheel 411L respectively.

[0376] As shown in Figures 4 and 39 to 41, the outdoor walking device 400 also includes a control device 44 that is operated by the user to at least control the steering of the outdoor walking device. As shown in Figures 39 to 40, the control device 44 includes a steering wheel 441, which controls the direction of the running wheels. As shown in Figures 4 and 41, the control device 44 includes a first operating lever 442 and a second operating lever 443. The first operating lever 442 and the second operating lever 443 are operated by the user and indicate the user's desired operation to control the manned lawn mower 100 to move forward, backward, and turn. For example, the first operating lever 442 can be grasped by the user's right hand and can also be considered the right operating lever, while the second operating lever 443 can be grasped by the user's left hand and can also be considered the left operating lever. The manned lawn mower 100 of the present application is provided with two sets of operating levers, left and right, and the steering and straight-line speed of the outdoor walking device 100 are controlled according to the tilt angles of the left and right sets of operating levers. The first operating lever 442 and the second operating lever 443 are operably coupled to the first drive wheel 421R and the second drive wheel 421L, respectively. For example, the first operating lever 442 is coupled to the first drive motor 431, and the second operating lever 443 is coupled to the second drive motor 432. The first operating lever 442 and the second operating lever 443 independently control the movement of the first drive wheel 421R and the second drive wheel 421L, respectively. Optionally, the first operating lever 442 and the second operating lever 443 independently input drive requirements to the first drive motor 431 and the second drive motor 432, respectively.

[0377] The outdoor walking device 400 also includes a controller 472, which is used to control the rotation of the drive motor. The controller 472 is arranged on a control circuit board 471, and the control circuit board 471 is connected to the frame 41. The control circuit board 471 includes: a PCB circuit board (Printed Circuit Board) and an FPC circuit board (Flexible Printed Circuit Board). The controller 472 uses a dedicated control chip, such as a single-chip microcomputer or a microcontroller unit MCU (Microcontroller Unit). It should be noted that the control chip can be integrated into the controller 472, or can also be set independently of the controller 472. As for the structural relationship between the drive chip and the controller 472, this embodiment does not limit it.

[0378] The outdoor walking device 400 includes a miniature force sensor 600, which is used to detect at least one of the parameters of the deformation variable of the preset part of the control device 44 or the parameters of the force value applied to the preset part of the control device 44. It should be explained that the parameters of the deformation variable include the numerical values ​​generated by the direct deformation of the force-bearing surface, such as height changes, curvature changes and other similar direct numerical changes. The parameters of the deformation variable also include numerical parameters obtained by performing relevant calculations based on the numerical values ​​generated by direct deformation, such as area or volume changes caused by height changes, or parameter values ​​obtained after one or two calculations of the numerical values. The parameters of the force value include the numerical values ​​of the force directly applied to the force-bearing surface, or parameters obtained by calculation of the force value, such as torque. Parameters generated by force, such as speed changes, etc.

[0379] The controller 472 is connected to the micro-force sensor 600. Optionally, the controller 472 is connected to the micro-force sensor 600 via digital signals. Optionally, the controller 472 is connected to the micro-force sensor 600 via analog signals. Optionally, the controller 472 is connected to the micro-force sensor 600 via wireless signals. The controller 472 is the main controller 472 of the power tool. Optionally, the controller 472 is a separate controller 472 controlled by the micro-force sensor 600. The control circuit board 471 can be a single piece, or alternatively, it can be two or more pieces.

[0380] The controller 472 is configured to receive the detection value of the micro-force sensor 600, and determine the user's operation intention for the control device 44 based on the detection value of the micro-force sensor 600. In this embodiment, the detection value includes at least one of a parameter of the deformation amount of the force-bearing surface of the preset part of the control device 44, a parameter of the force value, a parameter of the rate of change of the deformation amount, or a parameter of the rate of change of the force value. The operation intention at least includes: equipment parameter settings in the form of speed increase, speed maintenance, speed reduction, driving direction change, parking, and non-driving state change. The equipment parameter settings for non-driving state change include lighting settings, working component (such as mowing, snow removal, cleaning accessories) status settings, and network status settings.

[0381] In some embodiments, the controller 472 controls the output states of the drive motors 431 and 432 based on the intended operation, such as increasing or decreasing the output speed of the drive motors 431 and 432 or limiting the output speed or output torque of the drive motors 431 and 432. In some embodiments, the controller 472 generates an alarm signal based on the intended operation and provides the alarm to the user. For example, if the controller 472 detects that the user's hands have left the control device 44, the controller generates an alarm signal and provides the alarm to the user. In some embodiments, the alarm signal is generated while limiting the output speed of the drive motors 431 and 432, including gradually reducing the speed or limiting the maximum speed.

[0382] As shown in FIG40 , in some embodiments, the control device 44 is configured as a steering wheel 441. The steering wheel 441 includes a left section 4411 and a right section 4412. The left section 4411 is the portion gripped by the left hand when walking in a straight line, and the right section 4412 is the portion gripped by the right hand when walking in a straight line. A micro-force sensor 600 is disposed at least on the left section 4411 of the steering wheel 441. The housing of the left section 4411 of the steering wheel 441 defines a force-bearing surface 71r. The force-bearing surface 71r is configured to receive external force and deform differently when the external force changes. The micro-force sensor 600 is disposed within the left section 4411 of the steering wheel 441. Exemplarily, the micro-force sensor 600 is disposed on the back or side of the force-bearing surface 71r, or on the outer periphery of the force-bearing surface 71r. Exemplarily, as shown in FIG40 , the force-bearing surface 71r is disposed on the housing at a predetermined gripping position for the driver. Alternatively, the force-bearing surface 71r may be disposed at other locations on the left section 4411 of the steering wheel 441. In some embodiments, the micro-force sensor 600 is disposed at least on the right side 4412 of the steering wheel 441. The housing of the right side 4412 of the steering wheel 441 defines a force-bearing surface 71r. The force-bearing surface 71r is configured to receive external force and produce different deformations when the external force changes. The micro-force sensor 600 is disposed within the right side 4412 of the steering wheel 441. Exemplarily, the micro-force sensor 600 is disposed on the back or side of the force-bearing surface 71r or on the periphery of the force-bearing surface 71r. Exemplarily, as shown in FIG40 , the force-bearing surface 71r is disposed on the housing at a predetermined driver's grip position. Optionally, the force-bearing surface 71r may also be disposed at other locations on the right side 4412 of the steering wheel 441. In some embodiments, micro force sensors 600 are respectively disposed on the left side 4411 and the right side 4412 of the steering wheel 441. The left side 4411 and the right side 4412 of the steering wheel 441 each include a force-bearing surface 71r, which is used to receive external force and produce different deformations when the external force changes. The micro force sensors 600 are disposed within the left side 4411 and the right side 4412 of the steering wheel 441. This allows the user to detect whether they are holding the left side 4411 or the right side 4412 of the steering wheel 441, thereby determining whether the driver is holding the steering wheel with both hands, one hand, or neither hand, thereby making the detection data more accurate. The micro force sensors consume less power and are small in size, making the detection data more accurate, improving controllability, and at the same time, increasing the accuracy of assisted driving.

[0383] In this embodiment, the micro-force sensor 600 is disposed on the back side of the force-bearing surface 71r. The force-bearing surface 71r is configured as the area defined by the left-side 4411 and / or right-side 4412 shell of the steering wheel 441. In some embodiments, the micro-force sensor 600 is directly or indirectly connected to the back side of the force-bearing surface 71r. In some embodiments, the micro-force sensor 600 is disposed on the back side of the force-bearing surface 71r but does not contact the back side of the force-bearing surface 71r, that is, the micro-force sensor 600 is suspended on the back side of the force-bearing surface 71r. For example, the micro-force sensor 600 is disposed on the back side of the force-bearing surface 71r but is connected and fixed to the front or side of the force-bearing surface 71r by a connector or fastener.

[0384] The force-bearing surface 71r is configured as the area defined by the left-side 4411 and / or right-side 4412 shell of the steering wheel 441, ensuring that the steering wheel 441 is an integrated structure. Optionally, the force-bearing surface 71r is made of the same material and appearance as the shell of the steering wheel 441. The force-bearing surface 71r is indicated by a marking on the steering wheel 441. For example, the force-bearing surface 71r is indicated by a silk screen printing on the steering wheel 441, or the force-bearing surface 71r is indicated by an adhesive label or by etching, leather grain or pattern. In some embodiments, the force-bearing surface 71r is indicated by a material or appearance different from that of the steering wheel 441 shell. For example, the force-bearing surface 71r is made of a partially transparent or translucent light-transmitting material so that different operating pressures of the user can be fed back through light. In some embodiments, the force-bearing surface 71r is made of different thicknesses or materials to adapt to the detection requirements of the micro-force sensor 600.

[0385] In some embodiments, the use of the micro force sensor 600 can also replace any function switch on the steering wheel 441, so that the user can start or turn off the corresponding function by simply touching a specific force-bearing surface 71r area. For example, the motor can be powered on or off, and the outdoor driving equipment can enter standby mode or shut down. The controller 472 is configured to start or stop the motor 12 according to the output of any micro force sensor 600. The elimination of the physical switch or other mechanical switch can maintain the sealing of the entire machine casing and improve the waterproof and dustproof performance of the machine. When the micro force sensor 600 replaces the start switch, since the micro force sensor 600 is small in size and can detect smaller deformations, it can be used without special processing of the shell of the steering wheel 441.

[0386] In some embodiments, the controller 472 is configured to activate or deactivate the lighting component of the power tool 10 based on the output of any one of the micro-force sensors 600. In some embodiments, the micro-force sensor 600 can also replace the mode switch to at least limit the maximum speed of the outdoor travel device by switching between different operating modes. By arranging multiple micro-force sensors 600 at different positions, the same or different functions can be controlled at different positions of the steering wheel 441. For example, micro-force sensors 600 can be arranged on both the left side 4411 and the right side 4412 of the steering wheel 441 to control the switching of the operating mode, or a micro-force sensor 600 can be arranged only on the left side 4411 to control the lighting setting of the outdoor travel device.

[0387] Exemplarily, multiple micro-force sensors 600 are respectively arranged at two or more positions of the steering wheel 441. By applying force to different micro-force sensors 600, the micro-force sensors 600 send corresponding signals to the controller 472, so that the controller 472 controls the motor (e.g., drive motors 431, 432) or the corresponding response component to perform corresponding actions. Exemplarily, the multiple micro-force sensors 600 are arranged linearly so that the multiple micro-force sensors 600 form a linearly changing force detection signal output by the user through a sliding operation. When the user slides on the micro-force sensor 600 to different positions, different corresponding signals are output to the controller 472, so that the controller 472 controls the motor (e.g., drive motors 431, 432) or the corresponding response component to perform corresponding actions.

[0388] As shown in FIG41 , in some embodiments, the control device 44 includes a first operating rod 442 and a second operating rod 443. At least one of the first operating rod 442 and the second operating rod 443 includes a force-bearing surface 71s. The force-bearing surface 71s is configured to receive external force and deform differently when the external force changes. The micro force sensor 600 is disposed on the back or side of the force-bearing surface 71s, or on the outer periphery of the force-bearing surface 71s.

[0389] In some embodiments, taking the first operating lever 442 as an example, the first operating lever 442 includes a gripping portion 4421 configured to support the user's palm. The first operating lever 442 also includes a steering rod 4422 configured to be movably connected to the frame 4111 or the walking mechanism 40. In some embodiments, the steering rod 4422 can be a metal tube (or a tube made of other rigid materials) that includes at least one portion extending substantially vertically (when installed in the middle position) and another portion extending substantially horizontally. In some embodiments, the substantially horizontally extending portion of the steering rod 4422 can be considered to be or actually include a structure as the gripping portion 4421 or for connecting the gripping portion 4421. In some embodiments, the gripping portion 4421 can be made of a different material (e.g., a softer material) that is more comfortable for the operator to grip. In some cases, the gripping portion 4421 can include textures or other features to enhance or improve the operator's grip feel.

[0390] The first operating rod 442 and the second operating rod 443 each include a gripping portion 4421. A force-bearing surface 71s is at least partially disposed on the gripping portion 4421, and the housing of the gripping portion 4421 defines the force-bearing surface 71s. A micro-force sensor 600 is disposed within at least one of the first operating rod 442 and the second operating rod 443 to detect the deformation or force value of the force-bearing surface. Exemplarily, the micro-force sensor 600 is disposed within the gripping portion 4421. The force-bearing surface 71s of the gripping portion 4421 is configured to receive external force and produce different deformations when the external force changes. Optionally, the micro-force sensor 600 is disposed on the back or side of the force-bearing surface 71s or on the periphery of the force-bearing surface 71r. In this embodiment, the micro-force sensor 600 is disposed on the back of the force-bearing surface 71s. The force-bearing surface 71s is configured as an area defined by the housing of the gripping portion of the first operating rod 442 and / or the second operating rod 443. In some embodiments, the micro-force sensor 600 is directly or indirectly connected to the back surface of the force-bearing surface 71s. In some embodiments, the micro-force sensor 600 is disposed on the back surface of the force-bearing surface 71s but does not contact the back surface of the force-bearing surface 71s. In other words, the micro-force sensor 600 is suspended above the back surface of the force-bearing surface 71s. For example, the micro-force sensor 600 may be disposed on the back surface of the force-bearing surface 71s but connected and secured to the front or side surface of the force-bearing surface 71s via a connector or fastener.

[0391] The force-bearing surface 71s is configured as an area defined by the shell of the gripping portion of the first operating rod 442 and / or the second operating rod 443, ensuring that the gripping portion 4421 is an integrated structure. Optionally, the force-bearing surface 71s is made of the same material and appearance as the overall shell of the gripping portion 4421. The force-bearing surface 71s is indicated by a marking on the gripping portion 4421. For example, the force-bearing surface 71s is indicated by a silk screen printing on the gripping portion 4421, or the force-bearing surface 71s is indicated by an adhesive label or by etching, leather grain or pattern. In some embodiments, the force-bearing surface 71s uses a material or appearance different from that of the gripping portion 4421 shell. For example, the force-bearing surface 71s uses a partially transparent or translucent light-transmitting material so that different operating pressures of the user can be fed back through light. In some embodiments, the force-bearing surface 71s uses different thicknesses or materials to adapt to the detection requirements of the micro force sensor 600.

[0392] For example, the miniature force sensor 600 is configured to determine the user's hand grip based on changes in the external force received by the force-bearing surface 71s. In some embodiments, the miniature force sensor 600 can also replace any function switch on the first operating lever 442 and the second operating lever 443, allowing the user to activate or deactivate the corresponding function by simply touching a specific area. Eliminating the physical switch or other mechanical switch can maintain the sealing of the entire device housing and improve the device's waterproof and dustproof performance. This function is the same as that of the steering wheel 441 and will not be further described.

[0393] As shown in Figures 4, 39, and 42, the outdoor walking device 400 further includes a support mechanism 49, which supports the user at least while the outdoor walking device 400 is in motion. The support mechanism 49 is mounted on the frame 41. Optionally, the support mechanism 49 includes a seat 491. The seat 491 is mounted to the frame 41 for the user to sit on. In other alternative embodiments, the support mechanism 49 includes a platform for the user to stand on.

[0394] In this embodiment, the micro-force sensor 600 is used to detect at least one of a parameter of a deformation amount or a parameter of an applied force at a predetermined location of at least one of the traveling assembly 42, the support mechanism 49, and the frame 41. The controller 472 is configured to receive the detection value of the micro-force sensor 600 and trigger a corresponding control signal of the controller 472 based on the detection value of the micro-force sensor 600.

[0395] For example, using the support mechanism 49 as an example, including a seat 491, the controller 472 determines the user's presence based on the detection value of the micro-force sensor 600 and triggers a control signal corresponding to the user's presence. Based on the detection value of the micro-force sensor 600, the controller 472 determines the weight of the user supported by the support mechanism 49 or the user's relative position relative to the support mechanism 49. As shown in FIG39 , the micro-force sensor 600 can optionally be positioned within the seat 491, with the force-bearing surface 71t at a predetermined location including an area defined by the surface of the seat 491. As shown in FIG42 , the seat 491 can optionally be connected to the seat mounting portion 411 of the vehicle frame 41, with the micro-force sensor 600 positioned within the vehicle frame 41, with the force-bearing surface 71t at a predetermined location including the seat mounting portion 411. The micro-force sensor 600 can accurately and real-time detect the user's weight information. The controller 472 is configured with a user weight threshold, allowing for flexible adaptation to different driver weights, enabling accurate user presence detection for both light and heavy users. For example, the user presence status includes the user leaving and modes corresponding to users of different weights. The vibration reduction and driving torque output corresponding to users of different weights are at least partially different.

[0396] In some embodiments, as shown in Figures 38 and 42, a connecting plate 412 is provided on the vehicle frame 41, and the front and rear wheels 422 and 421 are respectively connected to the corresponding connecting plates 412. A micro-force sensor 600 is provided on the connecting plate 412. Based on the detection value of the micro-force sensor 600, the controller 472 determines the posture information of the outdoor walking device and triggers a control signal corresponding to the posture information. Exemplarily, the walking assembly 42 includes at least four walking wheels, and the connecting plate 412 includes four connection positions 4121 corresponding to the walking wheels. The preset positions are provided on the connecting plate 412. Based on the detection value of the micro-force sensor 600, the pressure difference between each connection position 4121 is determined, and the controller 472 determines the posture information of the outdoor walking device based on the pressure difference. The posture information includes the tilt angle in the horizontal direction and the change in the tilt angle in the horizontal direction.

[0397] Exemplarily, a force-bearing surface 71u in a preset position is disposed on the connecting plate 412, and at least one miniature force sensor 600 is disposed at each corresponding connection location 4121 of the multiple running wheels. When the outdoor walking device is substantially parallel to the horizontal, the detection values ​​of the miniature force sensors 600 at each connection location 4121 are substantially consistent. When the outdoor walking device is tilted from the horizontal, the detection values ​​between the various connection locations 4121 differ, i.e., the pressure differences between the various connection locations 4121. Based on the pressure differences between the various connection locations 4121, the controller 472 determines the posture information of the outdoor walking device using a preset calculation method or a lookup table. Based on this posture information, the controller 472 controls the output state of the drive motors 431 and 432. For example, when the tilt angle is excessive, the controller 472 performs unilateral deceleration or parking. For another example, when the tilt angle is excessive, the controller 472 automatically adjusts the vehicle body stability system. In some embodiments, the controller 472 generates an alarm signal based on the posture information and provides the alarm to the user. In some embodiments, the controller 472 controls the output states of the drive motors 431 and 432 based on the posture information and generates an alarm signal, and provides the alarm to the user.

[0398] The above shows and describes the basic principles, main features and advantages of this application. Those skilled in the art should understand that the above embodiments do not limit this application in any form, and any technical solutions obtained by equivalent replacement or equivalent transformation fall within the scope of protection of this application.

Claims

1. An electric tool system, comprising: An electric tool; A battery pack, coupled to the electric tool to supply power to the electric tool; at least one of the electric tool and the battery pack is provided with a force-receiving member; At least one micro force sensor, installed in the electric tool or the battery pack, the micro force sensor detecting at least one of the parameter of the deformation amount of a preset part of the force-receiving member or the parameter of the force value applied to the preset part of the force-receiving member; the operating current of the micro force sensor is less than or equal to 10 mA.

2. The power tool system according to claim 1, wherein, The electric tool includes an electric tool driven by a motor, an outdoor walking device or a non-motor-driven electrical device.

3. The power tool system according to claim 1, wherein, The electric tool includes a housing, the housing is provided with an accommodation space; the battery pack includes a battery pack housing, the battery pack housing is provided with an accommodation space, and the micro force sensor is installed inside the housing of the electric tool or inside the battery pack housing.

4. The power tool system according to claim 3, wherein, The force-receiving member is formed or connected to the housing or the force-receiving member is formed or connected to the battery pack housing, the force-receiving member includes a force-receiving surface, and the micro force sensor is arranged on the back or side of the force-receiving surface or on the outer periphery of the force-receiving surface.

5. The power tool system according to claim 4, wherein The electric tool includes a controller, the controller is arranged inside the housing, the controller is connected to the micro force sensor, the controller determines the detection value of the micro force sensor, and sends a corresponding signal according to the detection value to control the working state of the electric tool.

6. The power tool system according to claim 5, wherein The electric tool further includes a motor, the motor is arranged inside the housing, the motor rotatably drives a coupling output part; the micro force sensor detects at least one of the parameter of the deformation amount of a preset part of the output part or the parameter of the force value applied to the preset part of the output part; the controller is configured to: determine the detection value of the micro force sensor, and control the operating state of the motor according to the detection value.

7. The power tool system according to claim 6, wherein, According to at least one of the parameter of the deformation amount or the parameter of the force value detected by the micro force sensor, the controller determines the actual output torque of the electric tool, and determines the operating state of the motor according to the comparison result between the actual output torque and the preset torque.

8. The power tool system according to claim 6, wherein, The output part includes: An output mechanism, including an output shaft for connecting a working accessory and driving the working accessory to rotate.

9. The power tool system according to claim 6, wherein, The output part includes: An output mechanism, including an output shaft for connecting a working accessory and driving the working accessory to rotate; A transmission mechanism, arranged between the motor and the output mechanism, for realizing power transmission between the motor and the output mechanism.

10. The power tool system according to claim 5, wherein, The electric tool further includes a motor, the motor is arranged inside the housing, the motor is configured to drive the output shaft to rotate; An actuating sleeve, operably rotatable around the output shaft for a user to set a torque threshold, when the actuating sleeve rotates, the actuating sleeve generates an axial displacement in a direction parallel to the extension of the output shaft; The micro force sensor is configured to detect at least one of a parameter of a deformation amount of a preset part of the actuating sleeve or a parameter of a force value applied thereto when the actuating sleeve rotates, and a force receiving surface of the micro force sensor intersects with the output shaft.

11. The power tool system according to claim 10, wherein, The controller is configured to obtain at least one of the parameter of the detected deformation amount or the parameter of the force value of the micro force sensor, and determine the torque threshold according to the obtained data, and the controller controls the operating state of the motor according to the torque threshold.

12. The power tool system according to claim 1, wherein, The total capacity of the battery pack is greater than or equal to 1.5 Ah and less than or equal to 5 Ah.

13. The power tool system according to claim 1, wherein, The size of the micro force sensor is less than or equal to 3 mm.

14. The power tool system according to claim 1, wherein, The measurement frequency of the micro force sensor is greater than or equal to 500 Hz.

15. The power tool system according to claim 1, wherein, The micro force sensor includes a substrate portion, and the substrate portion includes a silicon-based circuit board.

16. An electric tool, comprising: A housing; A motor disposed within the housing, the motor configured to rotatably drive an output portion coupled to the motor; A controller disposed within the housing, the controller controlling the rotation of the motor; At least one micro force sensor configured to detect at least one of a parameter of a deformation amount of a preset part of the output portion or a parameter of a force value applied to the preset part of the output portion; The controller is connected to the micro force sensor, and the controller is configured to: obtain a detection value of the micro force sensor, and control the operating state of the motor according to the detection value.

17. The power tool according to claim 16, wherein, According to the detection value of the micro force sensor, the controller determines the actual output torque of the electric tool, and determines the operating state of the motor according to a comparison result between the actual output torque and a preset torque.

18. An electric tool, comprising: A housing; A motor disposed within the housing, the motor configured to drive an output shaft to rotate; A controller disposed within the housing, the controller controlling the rotation of the motor; An actuating sleeve operably rotatable about the output shaft for a user to set a torque threshold, and when the actuating sleeve rotates, the actuating sleeve generates an axial displacement in a direction extending parallel to the output shaft; A micro force sensor configured to detect at least one of a parameter of a deformation amount of a preset part of the actuating sleeve or a parameter of a force value applied thereto when the actuating sleeve rotates, and a force receiving surface of the micro force sensor intersects with the output shaft; The controller is connected to the micro force sensor, and the controller is configured to: obtain a detection value of the micro force sensor, and determine the torque threshold according to the obtained detection value, and the controller controls the operating state of the motor according to the torque threshold.

19. The power tool according to claim 18, wherein, When the controller determines that the output torque of the output shaft is greater than the torque threshold, it controls the motor to stop or decelerate.

20. The power tool according to claim 18, wherein, The micro force sensor is disposed on the back or side of the preset part or on the outer periphery of the preset part.

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