CN120240166B - Method, system and equipment for detecting and controlling tool withdrawal of single-blade hedge trimmer - Google Patents
Method, system and equipment for detecting and controlling tool withdrawal of single-blade hedge trimmerInfo
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- CN120240166B CN120240166B CN202510698248.8A CN202510698248A CN120240166B CN 120240166 B CN120240166 B CN 120240166B CN 202510698248 A CN202510698248 A CN 202510698248A CN 120240166 B CN120240166 B CN 120240166B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/04—Apparatus for trimming hedges, e.g. hedge shears
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Abstract
本申请涉及绿篱机控制技术领域，具体涉及一种单刃绿篱机退刀检测控制方法、系统及设备，该方法包括：获取绿篱机运行过程中各时刻的负载电流和转速；将各时刻之前多个时刻，记为各时刻的局部时段；计算各时刻的第一表征值、第二表征值；确定各时刻的卡刀评估值，对绿篱机的卡刀状态进行评估；当绿篱机处于卡刀状态，对绿篱机进行退刀控制。本申请能够降低受异物碰撞现象对卡刀状态的误判，提高对绿篱机的卡刀状态的评估准确性，进而提升对绿篱机的退刀检测精度和退刀效果。
The present application relates to the field of hedge trimmer control technology, and specifically to a single-edged hedge trimmer blade retraction detection and control method, system, and device. The method comprises: obtaining the load current and speed at each moment during the operation of the hedge trimmer; recording multiple moments before each moment as a local time period of each moment; calculating a first characterization value and a second characterization value at each moment; determining a blade-stuck evaluation value at each moment and evaluating the blade-stuck state of the hedge trimmer; and controlling the hedge trimmer to retract the blade when the hedge trimmer is in the blade-stuck state. The present application can reduce the misjudgment of the blade-stuck state caused by foreign object collisions, improve the accuracy of the hedge trimmer blade-stuck state evaluation, and thereby enhance the accuracy of the hedge trimmer blade-retraction detection and the blade-retraction effect.
Description
Technical Field
The application relates to the technical field of hedge trimmer control, in particular to a single-blade hedge trimmer withdrawal detection control method, a single-blade hedge trimmer withdrawal detection control system and single-blade hedge trimmer withdrawal detection control equipment.
Background
Hedge trimmers, also known as hedge trimmers, are specialized mechanical equipment used for garden maintenance, mainly for trimming various hedges, shrubs and modeling plants. The cutting tool capable of rotating at a high speed is used for rapidly pruning plant branches, leaves, trunks and the like, and is limited by branch extrusion in the pruning process of the hedge trimmer, so that the condition of clamping the cutting tool is easy to occur, and the pruning continuity and efficiency are affected.
When the automatic tool retracting control is carried out on the hedge trimmer in the prior art, a fixed rotation speed threshold is generally adopted to judge whether the hedge trimmer is in a tool clamping state or not, and tool retracting is realized through reversing, but in practical application, vegetation conditions faced by the hedge trimmer are complex and various, the resistance characteristics in tool retracting can be obviously different due to different vegetation types, and when a blade collides with foreign matters, the blade can be blocked to cause the rotation speed to be reduced, whether the tool clamping phenomenon occurs or not is judged through the fixed rotation speed threshold, misjudgment can be caused on the judgment of the tool clamping phenomenon, the judgment accuracy of the tool clamping state of the hedge trimmer is reduced, the tool retracting detection accuracy of the hedge trimmer is influenced, and the tool retracting effect is poor.
Disclosure of Invention
In order to solve the technical problems, a single-blade hedge trimmer tool withdrawal detection control method, system and equipment are provided, so that the existing problems are solved.
The application provides a method, a system and equipment for detecting and controlling the withdrawal of a single-blade hedge trimmer, which comprise the following steps:
In a first aspect, an embodiment of the present application provides a method for controlling a single blade hedge trimmer withdrawal detection, including the steps of:
the method comprises the steps of obtaining load current and rotating speed at each moment in the running process of the hedge trimmer, and recording a plurality of moments before each moment as local time periods of each moment;
Performing curve fitting on the rotating speeds at different moments in the local time period, analyzing the deviation condition of the rotating speeds at all moments, the quantity change of extreme points on a fitting curve and the fitting degree of the fitting curve, and calculating a first characterization value at all moments;
calculating a second characterization value of each moment according to the change trend conditions of the load current at all moments in the local time period and the deviation degree of the load current;
And determining a clamping knife evaluation value at each moment based on the first characterization value and the second characterization value, evaluating the clamping knife state of the hedge trimmer, and carrying out tool withdrawal control on the hedge trimmer when the hedge trimmer is in the clamping knife state.
Preferably, the fitting degree is measured through the fitting goodness, specifically, the fitting goodness of the fitting curve is calculated and used as the fitting degree of the fitting curve.
Preferably, the calculating the first characterization value at each time includes:
calculating the ratio of the rotating speed at each moment to the preset rated idle rotating speed, and recording the ratio as the rotating speed ratio;
The number of extreme points of the fitting curve is obtained, and positive mapping is carried out on the number;
the first characterization value is the ratio of the fitting degree to the sum value.
Preferably, the offset degree is measured by means of an average absolute deviation, specifically, the average absolute deviation of the load current at all times in the local period is calculated as the offset degree of the local period.
Preferably, the calculating the second characterization value at each time includes:
Linear fitting is carried out on the load currents at all the moments in the local time period to obtain the slope of a fitting straight line;
Calculating the product of the slope and the trend intensity;
the second characterization value is a ratio of the product value to the degree of offset.
Preferably, the kart evaluation value is a normalized result of a sum of the first characterization value and the second characterization value.
Preferably, the evaluation of the stuck state of the hedge trimmer comprises that if the stuck evaluation values at a plurality of continuous moments are all larger than a preset segmentation threshold value, the hedge trimmer is in the stuck state, otherwise, the hedge trimmer is not in the stuck state.
Preferably, the hedge trimmer is controlled to retract, wherein the hedge trimmer is controlled to retract the blade by a positive and negative pulse method when the hedge trimmer is in a clamped state.
In a second aspect, an embodiment of the present application further provides a system for controlling the tool withdrawal detection of a single-blade hedge trimmer, where the system includes a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, the processor implements the steps of the method for controlling the tool withdrawal detection of a single-blade hedge trimmer according to any one of the above.
In a third aspect, an embodiment of the present application further provides a single-blade hedge trimmer retraction detection control device, where a retraction detection control process of the device adopts the implementation of the single-blade hedge trimmer retraction detection control method described in any one of the above.
The application has at least the following beneficial effects:
According to the application, the curve fitting is carried out on the rotating speeds at different moments in the local time period, the quantity change of extreme points on the fitted curve, the fitting effect of the fitted curve and the deviation condition of the rotating speeds at all moments are analyzed, and the first characteristic value at all moments is calculated; the method has the advantages that the change trend of the load current at different moments in the local time period and the deviation degree are used for calculating the second characterization value at each moment, the change of the load current caused by collision of the clamping knife and the foreign matter is considered, the possibility of the clamping knife of the hedge trimmer is further estimated, the clamping knife estimated value at each moment is determined, the clamping knife state of the hedge trimmer is estimated, when the hedge trimmer is in the clamping knife state, the hedge trimmer is subjected to the retracting control, the clamping knife state of the hedge trimmer is comprehensively estimated through the change of the rotating speed and the load current, the misjudgment condition of the clamping knife state due to the foreign matter collision phenomenon is reduced, the accuracy of the estimation of the clamping knife state of the hedge trimmer is improved, the retracting control is further carried out through a positive and negative pulse method, the flexibility and the practicability of the retracting control are improved, and the retracting detection precision and the retracting effect of the hedge trimmer are further improved.
Drawings
The method for controlling the tool withdrawal detection of the single-blade hedge trimmer according to the present application will be described in further detail with reference to the accompanying drawings.
FIG. 1 is a flow chart showing the steps of a method for controlling the detection of the withdrawal of a hedge trimmer according to an embodiment of the present application;
fig. 2 is a flowchart of steps of a method for obtaining a first characterization value at each moment according to an embodiment of the present application;
fig. 3 is a flowchart of steps of a method for obtaining a second characterization value at each moment according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical schemes and advantages of the present application more clear, the following describes in further detail a single blade hedge trimmer withdrawal detection control method, system and apparatus according to the present application with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
Referring to fig. 1, a flowchart of a method for controlling the retraction detection of a single blade hedge trimmer according to an embodiment of the application is shown, the method comprises the following steps:
And step 1, acquiring load current and rotating speed at each moment in the running process of the hedge trimmer.
In order to acquire the running state of the hedge trimmer in real time, the intelligent sensor is arranged at the brushless direct current motor of the hedge trimmer, and load current and rotating speed at each moment are acquired in real time when the hedge trimmer runs;
In this embodiment, the acquisition time interval of the intelligent sensor is 20ms, and as other embodiments, the operator can set the acquisition time interval according to the actual situation, and secondly, since a period of several seconds is often required when the hedge trimmer device is started up and operated until the hedge trimmer trims vegetation, the data in the previous 2s acquired after the start-up operation is not processed.
Thus, the load current and the rotating speed at each moment in the running process of the hedge trimmer are obtained.
And 2, performing curve fitting on the rotating speeds at different moments in a local period, analyzing the deviation condition of the rotating speeds at all moments, and calculating a first characterization value at all moments according to the quantity change of extreme points on a fitted curve and the fitting degree of the fitted curve.
In the trimming and cutting process of the blade on the hedge trimmer, the blade is easy to be extruded by lateral branches to cause resistance to increase or even stop, and a knife clamping phenomenon occurs, so that the blade can be withdrawn from a clamped condition in a certain control mode, and the smoothness of the trimming process of the hedge trimmer is ensured.
In traditional tool withdrawal control algorithm, whether the motor is stuck is judged based on a fixed rotating speed threshold value or a load current threshold value of the motor, and in the operation process of the hedge trimmer, different tree vegetation is required to be trimmed, toughness, hardness and thickness among different trees are different, so that the rotating speed and the load current of the motor of the hedge trimmer change, the application range of traditional tool sticking detection can be reduced, and the operation efficiency of hedge trimmer equipment is affected.
Secondly, the hedge trimmer is in the pruning vegetation in-process, and the motor passes through connection structure and links to each other with the blade, and the rotation through the motor then drives blade reciprocating motion to this pruning of realization to the vegetation. Usually, the output power of the motor is fixed, namely, the rotating speed of the motor is fixed under the no-load condition, and when the hedge trimmer is used for trimming vegetation, the rotating speed of the motor is reduced under the influence of the toughness and the resistance of vegetation branches, but in the process of cutting vegetation, foreign matters such as stones, metals and other materials possibly appear in the branches, when a blade collides with the foreign matters, the situation of blocking also appears to lead to the rotating speed reduction of the motor, and therefore, the blade and the foreign matters can be misjudged to be a cutter blocking phenomenon when the blade collides with the foreign matters.
Based on the analysis, the clamping knife mainly occurs when the branches of the trees are trimmed, and the side wall of the blade is extruded by the trees, so that the resistance of the blade is increased. And when the tree is extruded, the cutting resistance of the blade is gradually increased along with the deepening of the cutting depth of the blade, and the rotating speed of the motor is gradually and smoothly reduced. When the blade collides with foreign matters, the high rotating speed of the blade affects the bouncing of the blade, and the rotating speed of the motor is fluctuated and reduced. Therefore, by analyzing the variation trend of the rotation speed, the first characterization value is calculated, where a flowchart of steps of the method for obtaining the first characterization value at each moment provided in the embodiment of the present application is shown in fig. 2, and specifically includes:
Recording a plurality of times before each time as a local period;
in this embodiment, 50 times before each time are denoted as local time periods, and as another embodiment, the practitioner can set the time periods according to the actual situation.
Performing curve fitting on the rotating speeds at all moments in the local time period, and calculating the fitting goodness of a fitted curve;
in this embodiment, a least square method is adopted to perform curve fitting, where the calculation of the least square method and the goodness of fit are both known techniques, and will not be described herein.
Acquiring the number of extreme points of the fitting curve, and performing positive mapping on the number;
In this embodiment, the extreme points are obtained by using a derivative method, wherein the process of obtaining the extreme points by using the derivative method is a known technique and will not be described in detail herein, and the process of positive mapping is to perform positive mapping on the number by using a logarithmic function, assuming that the number is recorded as M, and then As a result of a positive mapping, wherein,Is a logarithmic function based on natural constants.
Calculating the ratio of the rotating speed at each moment to the preset rated idle rotating speed, and recording the ratio as the rotating speed ratio;
In this embodiment, the preset rated idle rotation speed is 6900r/min, and as another embodiment, the operator can set the preset idle rotation speed according to the production data of the hedge trimmer device.
Calculating the sum value of the positive mapping result and the rotation speed ratio, and taking the ratio of the goodness of fit to the sum value as a first characterization value at each moment;
In the present embodiment, the following is the first The first characterization value of the moment is taken as an example, and the calculation process is as follows:
Wherein, the Is the firstA first characteristic value of the time of day,Is the firstThe goodness of fit of the moment in time,Is the firstThe rotation speed ratio at the moment of time,Is the firstThe number corresponding to the moment in time,As a result of the positive mapping,Is a logarithmic function based on natural constants.
If the hedge trimmer has a cutter, the rotation speed of the motor is reduced smoothly, the number of extreme points is small, the fitting goodness is high, the positive mapping result is small, the rotation speed is small, the obtained first characteristic value is large, the possibility that the hedge trimmer has the cutter is high at the moment, otherwise, when the cutter is bounced due to collision of foreign matters, the rotation speed fluctuation of the motor is large, the obtained fitting goodness is small, the rotation speed reduction degree of the motor is small, the rotation speed is relatively high compared with that of the cutter, the number of the extreme points is large due to fluctuation condition when the rotation speed is reduced, the positive mapping result is large, the obtained first characteristic value is small, and the possibility that the hedge trimmer has the cutter at the moment is small.
Thus, a first characterization value at each moment is obtained.
And step3, calculating a second characterization value at each moment through the change trend conditions of the load current at all moments in the local time period and the deviation degree of the load current.
In the operation process of the hedge trimmer, the electric energy continuously output by a battery loaded in the hedge trimmer is converted into kinetic energy by a magnetic field action by the motor to drive the blade to move, so that the trimming process is realized. When the hedge trimmer normally operates to trim vegetation, the toughness of the branches can generate certain resistance to the blades, so that the load of the motor fluctuates slightly, the load current of the motor also fluctuates slightly, when the blades of the hedge trimmer are blocked by the branches or other objects, the rotating speed of the motor is reduced, the load current of the motor is rapidly increased, if the rotating speed of the motor is completely stopped, the motor is equivalent to a resistive device, the current can reach the highest value and tends to be stable, when the blades of the hedge trimmer are collided by foreign matters and are blocked and bounced, the impact on the load current is smaller due to the shorter collision time of the blades and the foreign matters, the condition that the load current is rapidly increased like the situation of blocking the blades is avoided, and the fluctuation of the load current is only increased.
Based on the analysis, the second characterization value is calculated through the change condition of the load current in the local period, wherein the step flowchart of the method for acquiring the second characterization value at each moment provided by the embodiment of the application is shown in fig. 3, and specifically includes:
Carrying out linear fitting on the load currents at all times in the local time period to obtain the slope of a fitting straight line;
in this embodiment, a least square method is used for linear fitting, where the least square method is a known technique and is not described herein.
Calculating the trend intensity of the load current at all moments in the local period;
In this embodiment, a STL (Seasonal and Trend decomposition using Loess) trend decomposition algorithm is adopted to calculate the trend intensity, wherein the calculation of the trend intensity is a known technique and will not be described in detail herein, and the specific process is that the STL trend decomposition algorithm is used to decompose the load current at all times in the local period into trend terms Residual termsThe calculation formula of the trend intensity is: , wherein, As a result of the strength of the trend,As the variance of the residual term,For the variance of the trend term and the residual term,For maximum function.
Calculating the average absolute deviation of the load current at all moments in the local period;
it should be noted that, the calculation of the average absolute deviation is a known technique, and the calculation formula is: , wherein, Is the firstThe average absolute deviation of the moment of time,Is the firstWithin the local period of timeThe load current at the moment in time,Is the firstThe average value of the load current at all times within said local period of time,Is the firstThe number of all the moments in the local period of moments.
Calculating a product value of the slope and the trend intensity, and taking a ratio of the product value to the average absolute deviation as a second characterization value at each moment;
When the hedge trimmer is in a clamping phenomenon, the load current of the motor is rapidly increased, the obtained slope and the trend intensity are larger, after the blade is completely clamped, the motor stops rotating, the counter electromotive force is lost, the current is only determined by the resistor and the input voltage, the current is stabilized at the maximum value, the deviation of the whole current is relatively reduced, the larger the obtained second characteristic value is, the more likely that the hedge trimmer is in a clamping condition at the moment, otherwise, when the blade is in bouncing caused by collision of foreign matters, the motor is affected by the load, the current is greatly fluctuated, the integral trend is smaller, the slope is smaller, the average absolute deviation of the load current is larger, the obtained second characteristic value is smaller, and the less the possibility that the hedge trimmer is in clamping at the moment is indicated.
Thus, a second characterization value for each moment is obtained.
And 4, determining a clamping knife evaluation value at each moment based on the first characterization value and the second characterization value, evaluating the clamping knife state of the hedge trimmer, and carrying out tool withdrawal control on the hedge trimmer when the hedge trimmer is in the clamping knife state.
Further, based on the first characterization value and the second characterization value, a stuck knife evaluation value is determined, specifically:
taking a normalization result of the sum of the first characterization value and the second characterization value as a karst evaluation value at each moment;
in this embodiment, the normalization processing is performed by using a sigmoid function, which is a well-known technique and will not be described in detail herein, and as other embodiments, an implementer may use other methods in the prior art, for example, a softmax function, etc., which is not limited in this embodiment.
The greater the jam evaluation value, the higher the possibility that the hedge trimmer will have a jam.
Secondly, in order to judge whether the hedge trimmer has a clamping knife or not more accurately, an experimental data set is formed by collecting load current and rotating speed when the hedge trimmer is operated for a plurality of times in the process of cutting different trees, wherein the experimental data set comprises 20% of data when the clamping knife is arranged, 20% of data when foreign matter is collided and 60% of data when the hedge trimmer is normally cut;
Calculating a stuck knife evaluation value corresponding to each operation in an experimental data set, and obtaining optimal segmentation thresholds of all stuck knife evaluation values of the operation, wherein the segmentation threshold corresponding to the highest accuracy and recall rate of the stuck knife state evaluation is recorded as the optimal segmentation threshold, and the optimal segmentation threshold is used as a preset segmentation threshold, so that the optimal segmentation threshold can effectively distinguish stuck knife situations, foreign object collision and normal cutting situations in all operation.
If the clamping knife evaluation values at a plurality of continuous moments are all larger than the preset segmentation threshold, the hedge trimmer is in a clamping knife state, otherwise, the hedge trimmer is not in the clamping knife state;
in this embodiment, if the detected stuck knife values at 5 consecutive times are all greater than the preset dividing threshold, the hedge trimmer is in a stuck knife state, and as another embodiment, the operator can set the hedge trimmer according to the actual situation.
When judging that the hedge trimmer has the clamping knife, the running resistance of the blade is increased, the motor is controlled to reciprocate through adjusting the torque of the motor, so that the blade can withdraw from the clamped position, and the operation of retracting the knife is realized, specifically:
the operation state of the motor can be changed by controlling the voltage through a positive and negative pulse method and adjusting the pulse period and the PWM duty ratio, so that the optional interval of the pulse period is {2ms,4ms and 6ms }, the PWM duty ratio of the motor is {70%,80%,90%,100% }, in order to improve the flexibility and the practicability of the tool withdrawal in the tool withdrawal process, the pulse period of the motor driving pulse voltage and the PWM duty ratio are randomly selected to be combined in the tool withdrawal process, and the tool withdrawal process of the hedge trimmer is realized, wherein the process of the tool withdrawal control through the positive and negative pulse method is a known technology, and is not repeated herein.
The embodiment of the application also provides a single-blade hedge trimmer cutter withdrawal detection control system which comprises a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor realizes the steps of any one of the single-blade hedge trimmer cutter withdrawal detection control methods when executing the computer program.
Based on the same inventive concept as the method, the embodiment of the application also provides a single-blade hedge trimmer withdrawal detection control device, and the withdrawal detection control process of the device adopts the implementation of the single-blade hedge trimmer withdrawal detection control method.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or sub-steps of other steps.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the application. It should be noted that, for those skilled in the art, several variations and modifications can be made without departing from the spirit of the present application, and therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present application fall within the protection scope of the technical solution of the present application.
Claims (5)
1. The method for detecting and controlling the withdrawal of the single-blade hedge trimmer is characterized by comprising the following steps:
the method comprises the steps of obtaining load current and rotating speed at each moment in the running process of the hedge trimmer, and recording a plurality of moments before each moment as local time periods of each moment;
Performing curve fitting on the rotating speeds at different moments in the local time period, analyzing the deviation condition of the rotating speeds at all moments, the quantity change of extreme points on a fitting curve and the fitting degree of the fitting curve, and calculating a first characterization value at all moments;
calculating a second characterization value of each moment according to the change trend conditions of the load current at all moments in the local time period and the deviation degree of the load current;
determining a clamping knife evaluation value at each moment based on the first characterization value and the second characterization value, and evaluating the clamping knife state of the hedge trimmer;
Measuring the fitting degree through the fitting goodness, namely calculating the fitting goodness of the fitting curve as the fitting degree of the fitting curve;
The calculating the first characterization value of each moment includes:
calculating the ratio of the rotating speed at each moment to the preset rated idle rotating speed, and recording the ratio as the rotating speed ratio;
The number of extreme points of the fitting curve is obtained, and positive mapping is carried out on the number;
the first characterization value is the ratio of the fitting degree to the sum value;
The calculating of the second characterization value at each moment includes:
Linear fitting is carried out on the load currents at all the moments in the local time period to obtain the slope of a fitting straight line;
Calculating the product of the slope and the trend intensity;
the second characterization value is the ratio of the product value to the offset degree;
The kart evaluation value is a normalization result of the sum of the first characterization value and the second characterization value;
the method for evaluating the clamping state of the hedge trimmer comprises the step of enabling the hedge trimmer to be in the clamping state if the clamping evaluation values at a plurality of continuous moments are all larger than a preset segmentation threshold value, and otherwise, enabling the hedge trimmer not to be in the clamping state.
2. A single blade hedge trimmer withdrawal detection control method according to claim 1 is characterized in that the deviation degree is measured by means of an average absolute deviation, in particular, the average absolute deviation of the load current at all times in the local period is calculated as the deviation degree of the local period.
3. The method for controlling the retraction of a hedge trimmer according to claim 1, wherein the step of controlling the retraction of the hedge trimmer comprises controlling the retraction of the blade of the hedge trimmer by a positive and negative pulse method when the hedge trimmer is in a stuck state.
4. A single blade hedge trimmer withdrawal detection control system comprising a memory, a processor and a computer program stored in the memory and running on the processor, characterized in that the processor, when executing the computer program, carries out the steps of a single blade hedge trimmer withdrawal detection control method according to any one of claims 1-3.
5. A single-blade hedge trimmer withdrawal detection control device, wherein the withdrawal detection control process of the device is implemented by a single-blade hedge trimmer withdrawal detection control method as set forth in any one of claims 1 to 3.
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