Current sampling method, current sampling control device and robot

Abstract

The invention provides a current sampling method, a current sampling control device and a robot. The current sampling method comprises the following steps: acquiring a first sampling value and a second sampling value which are obtained by performing current sampling on a motor by a first sampling circuit and a second sampling circuit respectively; the sampling precision of the first sampling circuit is lower than that of the second sampling circuit; and when the first sampling value is smaller than a first threshold value, performing weighted average on the first sampling value and the second sampling value by using the first weight and the second weight to obtain a current value after weighted average as a current sampling value of the motor. The current sampling precision of the motor can be improved.

Description

Technical Field

[0001] This application relates to the technical field of robot control. Specifically, this application relates to a current sampling method, a current sampling control device, and a robot. Background Art

[0002] A digitally controlled AC servo drive (i.e., a servo motor) controls torque by feedback current. The current loop is the most important link determining the system performance in a typical "position - speed - current" three - closed - loop control system. Real - time and accurate sampling of current is a crucial technology for improving the performance of the control system.

[0003] For example, in the control system of a robot, it is necessary to measure the current of the motor (such as a servo motor) in the robot as a feedback signal to control the motor for precise adjustment according to the feedback signal, thereby improving the motion accuracy of the robot. Summary of the Invention

[0004] Aiming at the disadvantages of the existing methods, this application proposes a current sampling method, a current sampling control device, and a robot to solve the technical problem that the current sampling accuracy of the motor in the related technology is not high, resulting in low motion accuracy of the robot.

[0005] In a first aspect, an embodiment of this application provides a current sampling method, including: Obtaining a first sampling value and a second sampling value obtained by a first sampling circuit and a second sampling circuit respectively sampling the current of the motor; the sampling accuracy of the first sampling circuit is lower than that of the second sampling circuit; When the first sampling value is less than a first threshold, weighted - average the first sampling value and the second sampling value with a first weight and a second weight to obtain a weighted - average current value as the current sampling value of the motor.

[0006] Optionally, the step of when the first sampling value is less than the first threshold, weighted - average the first sampling value and the second sampling value with a first weight and a second weight to obtain a weighted - average current value as the current sampling value of the motor includes: When the first sampling value is less than the first threshold, determine the first weight and the second weight according to the first sampling value; Weighted - average the first sampling value and the second sampling value with the first weight and the second weight, and use the weighted average value as the current sampling value of the motor.

[0007] Optionally, the step of when the first sampling value is less than the first threshold, determine the first weight and the second weight according to the first sampling value includes: When the first sampling value is less than the first threshold and greater than the second threshold, the first weight is positively correlated with the first sampling value, the second weight is negatively correlated with the first sampling value, and the first weight and the second weight are determined according to the first sampling value.

[0008] Optionally, when the first sampling value is less than the first threshold, determining the first weight and the second weight according to the first sampling value further includes: When the first sampling value is less than or equal to the second threshold, it is determined that the first weight is a first value and the second weight is a second value; the first value is less than the second value.

[0009] Optionally, the absolute value of the difference between the first threshold and the upper limit value of the sampling range of the second sampling circuit is less than a preset value; The second threshold is 80% to 90% of the upper limit value of the sampling range of the second sampling circuit.

[0010] Optionally, after obtaining the first sampling value and the second sampling value obtained by the first sampling circuit and the second sampling circuit respectively sampling the current of the motor, it further includes: When the first sampling value is greater than or equal to the first threshold, the first sampling value is used as the current sampling value of the motor.

[0011] In a second aspect, an embodiment of the present application provides a current sampling control device for a motor, including a processor and a current sampling component electrically connected. The current sampling component includes a first sampling circuit and a second sampling circuit, and the sampling accuracy of the first sampling circuit is lower than that of the second sampling circuit; The input end of the first sampling circuit is configured to be electrically connected to the motor, and the output end of the first sampling circuit is electrically connected to the first input end of the processor, and is used for sampling the current of the motor to obtain a first sampling value; The input end of the second sampling circuit is configured to be electrically connected to the motor, and the output end of the second sampling circuit is electrically connected to the second input end of the processor, and is used for sampling the current of the motor to obtain a second sampling value; The output end of the processor is used as the output end of the current sampling component, and is used for, when the first sampling value is less than the first threshold, performing weighted averaging on the first sampling value and the second sampling value with a first weight and a second weight to obtain a weighted average current value as the current sampling value of the motor.

[0012] Optionally, the first sampling circuit includes a first amplifier and a first sampling resistor electrically connected; the second sampling circuit includes a second amplifier and a second sampling resistor electrically connected; The amplification factor of the first amplifier is less than that of the second amplifier, and the impedance of the first sampling resistor is equal to that of the second sampling resistor; or, the impedance of the first sampling resistor is less than that of the second sampling resistor, and the amplification factor of the first amplifier is equal to that of the second amplifier.

[0013] Optionally, the number of the current sampling components is at least two groups, and each group of the current sampling components is used to sample a phase current of the motor to obtain the first sampling value and the second sampling value.

[0014] In a second aspect, an embodiment of the present application provides a robot, including: a motor, and the current sampling and control device as described above, where the current sampling and control device is electrically connected to the motor.

[0015] The beneficial technical effects brought by the technical solution provided by the embodiment of the present application include: The first sampling circuit and the second sampling circuit with different sampling precisions are respectively used to sample the current of the motor. The first sampling value obtained by the first sampling circuit with a larger sampling range (lower sampling precision) is compared with the first threshold value, and the first threshold value can be determined according to the upper limit value of the sampling range of the second sampling circuit. When the first sampling value is less than the first threshold value, it can be considered that the current sampling value of the motor is within the sampling range of the second sampling circuit with a higher sampling precision. At this time, the first sampling value and the second sampling value are weighted and averaged to obtain the weighted average current value as the current sampling value of the motor, which can improve the sampling precision of small currents.

[0016] Moreover, compared with the method of directly using the sampling value of only one sampling circuit as the current sampling value of the motor, in the embodiment of the present application, the first sampling value and the second sampling value are weighted and averaged (i.e., data fusion) to obtain the weighted average current value as the current sampling value of the motor. Through the data fusion of the two sampling circuits, the influence of the random error of a certain sampling circuit on the finally determined current sampling value of the motor can be improved, the noise of the sampling circuit can be suppressed, and the smooth switching of data is facilitated.

[0017] The additional aspects and advantages of the present application will be partially given in the following description, and these will become obvious from the following description, or can be understood through the practice of the present application. Description of the Drawings

[0018] The above and / or additional aspects and advantages of the present application will become obvious and easy to understand from the following description of the embodiments in conjunction with the drawings, where: Figure 1 is a schematic flowchart of a current sampling method provided by an embodiment of the present application; Figure 2Schematic flowchart of another current sampling method provided by an embodiment of the present application; Figure 3 For Figure 2 Schematic diagram showing the variation of the first weight and the second weight based on the first sampling value in the current sampling method shown; Figure 4 Schematic framework diagram of a current sampling control device provided by an embodiment of the present application; Figure 5 Schematic framework diagram of the first sampling circuit and the second sampling circuit in a current sampling control device provided by an embodiment of the present application; Figure 6 Schematic framework diagram of the first sampling circuit and the second sampling circuit in another current sampling control device provided by an embodiment of the present application; Figure 7 Schematic framework diagram of a robot provided by an embodiment of the present application. Explanation of reference numerals: 100 - Current sampling control device; 11 - Processor; 12 - Current sampling component; 121 - First sampling circuit; 122 - Second sampling circuit; R - Sampling resistor; R1 - First sampling resistor; R2 - Second sampling resistor; G1 - First amplifier; G2 - Second amplifier; Iin - Current input terminal of the motor; Vout1 - Output terminal of the first sampling circuit; Vout2 - Output terminal of the second sampling circuit; 200 - Robot; 10 - Motor; m1 - First fixed value, m2 - Second fixed value. Detailed implementation manners

[0019] The embodiments of the present application will be described below with reference to the accompanying drawings in the present application. It should be understood that the embodiments described below in conjunction with the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of the present application and do not constitute limitations on the technical solutions of the embodiments of the present application.

[0020] Those skilled in the art can understand that, unless specifically stated, the terms "the" and "said" used herein may also include plural forms. It should be further understood that the term "including" used in the specification of this application means the presence of the described steps, operations, elements, and / or components, but does not exclude other features, information, data, steps, operations, elements, components, and / or their combinations supported by this technical field. It should be understood that when we say an element is "connected" or "coupled" to another element, the one element can be directly connected or coupled to the other element, or it can mean that the one element and the other element establish a connection relationship through an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein means at least one of the items defined by the term. For example, "A and / or B" can be implemented as "A", or implemented as "B", or implemented as "A and B".

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0022] In the related art, in order to ensure that the sampling range of the sampling circuit covers the actual current range of the motor, a sampling circuit with a relatively small amplification factor is usually used to sample the current of the motor, resulting in low sampling accuracy of the sampling circuit and low accuracy of the force output by the motor, which will in turn affect the accuracy of the fine operation of the robot.

[0023] The technical solutions of this application and how the technical solutions of this application solve the above technical problems will be described in detail below with specific embodiments. It should be noted that the following embodiments can refer to, draw on, or combine with each other. For the same terms, similar features, and similar implementation steps in different embodiments, they will not be described repeatedly.

[0024] An embodiment of this application provides a current sampling method, as Figure 1 shown. The current sampling method includes steps S1 to S2.

[0025] S1: Obtain a first sampling value and a second sampling value obtained by respectively sampling the current of the motor by a first sampling circuit and a second sampling circuit; the sampling accuracy of the first sampling circuit is lower than that of the second sampling circuit.

[0026] S2: When the first sampling value is less than the first threshold, perform weighted averaging on the first sampling value and the second sampling value with a first weight and a second weight to obtain a weighted average current value as the current sampling value of the motor.

[0027] Among them, the first sampling circuit is mainly for large-range current sampling of the motor, and the second sampling circuit is mainly for high-precision current sampling of the motor. For a sampling circuit with a large sampling value range, its accuracy is relatively low; for a sampling circuit with a small sampling value range, its sampling accuracy is high.

[0028] In some embodiments, the first threshold may be close to the upper limit value of the sampling range of the second sampling circuit. For example, the first threshold may be any value within 95% of the upper limit value of the sampling range of the second sampling circuit.

[0029] By using the first sampling circuit and the second sampling circuit with different sampling accuracies to sample the current of the motor respectively, and comparing the first sampling value obtained by the first sampling circuit with a larger sampling range (lower sampling accuracy) with the first threshold, compared with the technical solution of comparing the second sampling value obtained by the second sampling circuit with a smaller sampling range (higher sampling accuracy) with the first threshold, the embodiments of the present application can avoid the problem that the current sampling value of the motor finally obtained is incorrect due to the current sampling value of the motor exceeding the sampling range of the second sampling circuit.

[0030] The first threshold can be determined according to the upper limit value of the sampling range of the second sampling circuit. When the first sampling value is less than the first threshold, it can be considered that the current sampling value of the motor is within the sampling range of the second sampling circuit with higher sampling accuracy. At this time, the first sampling value and the second sampling value are weighted and averaged to obtain the weighted average current value as the current sampling value of the motor, which can improve the sampling accuracy of small currents.

[0031] Moreover, in the related art, only the sampling value of one sampling circuit is directly used as the current sampling value of the motor, and the sampling value of this sampling circuit is affected by noise and is prone to the problem of low sampling value accuracy. In the embodiments of the present application, the first sampling value and the second sampling value are weighted and averaged (i.e., data fusion) to obtain the weighted average current value as the current sampling value of the motor. Through the data fusion of the two sampling circuits, the influence of the random error of a certain sampling circuit on the finally determined current sampling value of the motor can be improved, the noise of the sampling circuit can be suppressed, and the smooth switching of data is facilitated.

[0032] In some embodiments, the sum of the first weight and the second weight may be 1. That is, the sum of all weights will be normalized to 1 (or 100%). Of course, the magnitudes of the first weight and the second weight may not affect each other, and no limitation is made here.

[0033] In some embodiments, the sampling range of the first sampling circuit covers the actual current range of the motor. The upper limit value of the sampling range of the second sampling circuit is determined according to the current value of the motor corresponding to the fine operation of this part.

[0034] Optionally, in some embodiments, step S2 may include the following sub-steps S21 and S22.

[0035] S21: When the first sampling value is less than the first threshold, determine a first weight and a second weight according to the first sampling value.

[0036] In some embodiments, step S21 may include: when the first sampling value is less than the first threshold and greater than the second threshold, the first weight is positively correlated with the first sampling value, the second weight is negatively correlated with the first sampling value, and determine the first weight and the second weight according to the first sampling value.

[0037] Wherein, the second threshold is less than the first threshold.

[0038] Optionally, in some embodiments, when the first sampling value is within the range of less than the first threshold and greater than the second threshold, the first weight is linearly positively correlated with the first sampling value (for example, the first weight and the first sampling value form a first linear function), the second weight is linearly negatively correlated with the first sampling value, (for example, the first weight and the first sampling value form a second linear function), determine the first weight according to the first linear function and the first sampling value, and determine the second weight according to the second linear function and the first sampling value.

[0039] That is to say, when the first sampling value is within the range of less than the first threshold and greater than the second threshold, the larger the first sampling value, the larger the first weight and the smaller the second weight. In other words, for the case of high-precision sampling, within the range close to the upper limit value of the sampling range of the high-precision sampling circuit, the larger the sampling value, the greater the weight of the large-range sampling circuit, which is beneficial to the smooth switching of data.

[0040] Optionally, step S21 may further include: when the first sampling value is less than or equal to the second threshold, determine that the first weight is a first value and the second weight is a second value, and the first value is less than the second value.

[0041] That is to say, when the first sampling value is less than or equal to the second threshold, both the first weight and the second weight are fixed values. Of course, when the first sampling value is less than or equal to the second threshold, the first weight should be less than the second weight, that is, the first value is less than the second value, so as to improve the current sampling accuracy of the motor.

[0042] In some embodiments, the absolute value of the difference between the first threshold and the upper limit value of the sampling range of the second sampling circuit is less than a preset value. The second threshold is 80% to 90% of the upper limit value of the sampling range of the second sampling circuit.

[0043] When the first sampling value is less than or equal to the second threshold value, it can be understood that the current of the motor is within the sampling range of the second sampling circuit and the value is small. When the first sampling value is less than the first threshold value and greater than the second threshold value, it can be understood that the current of the motor is within the sampling range of the second sampling circuit and is close to the upper limit value of the sampling range of the second sampling circuit.

[0044] Without considering the noise of the sampling circuit, when the current of the motor is within the sampling range of the second sampling circuit, the greater the second weight of the second sampling value, the closer the weighted average current value is to the actual current value of the motor. That is, when the second weight takes the maximum value (equal to 100%), the weighted average current value is closest to the actual current value of the motor. At the same time, considering the noise of the sampling circuit, through the data fusion of the two sampling circuits, the noise of the sampling circuit can be suppressed and the current sampling accuracy of the motor can be improved.

[0045] Therefore, in this embodiment, when the current of the motor is within the sampling range of the second sampling circuit and the value is small, both the first weight and the second weight are fixed values and the first weight is less than the second weight. By ensuring that the second weight of the second sampling value is relatively large as much as possible and performing data fusion with the first sampling value with a smaller first weight, the current sampling accuracy of the motor can be improved. When the current of the motor exceeds the sampling range of the second sampling circuit, the second sampling value of the second sampling circuit has become invalid, and it is inevitable to use the first sampling value of the first sampling circuit as the current value of the motor. That is, when the first weight takes the maximum value (equal to 100%), the weighted average current value is closest to the actual current value of the motor.

[0046] Therefore, in the embodiment of the present application, when the current of the motor is within the sampling range of the second sampling circuit and is close to the upper limit value of the sampling range of the second sampling circuit, the greater the current of the motor, the greater the first weight and the smaller the second weight, which is beneficial to the smooth switching of data.

[0047] S22: Perform weighted averaging on the first sampling value and the second sampling value with the first weight and the second weight, and use the weighted average value as the current sampling value of the motor.

[0048] Optionally, after step S1, step S3 may further be included.

[0049] S3: When the first sampling value is greater than or equal to the first threshold value, use the first sampling value as the current sampling value of the motor.

[0050] Since when the current of the motor exceeds the sampling range of the second sampling circuit, the second sampling value of the second sampling circuit has become invalid, at this time, using the first sampling value of the first sampling point circuit as the current sampling value of the motor can ensure the accuracy of large current sampling.

[0051] Next, in combination with Figure 2 、Figure 3 For example: Figure 2 It is a flowchart of the current sampling method provided for another feasible embodiment of the present application.

[0052] Figure 3 It is a schematic diagram of the change of the first weight and the second weight based on the first sampling value in the current sampling method provided for another feasible embodiment of the present application.

[0053] See Figure 2 , the current sampling method provided for another feasible embodiment of the present application includes steps S31 to S37.

[0054] S31: Obtain the first sampling value and the second sampling value obtained by the first sampling circuit and the second sampling circuit respectively for current sampling of the motor; the sampling accuracy of the first sampling circuit is lower than that of the second sampling circuit.

[0055] S32: Determine whether the first sampling value is greater than or equal to the first threshold. If so, execute step S33; if not, execute step S34.

[0056] S33: Take the first sampling value as the current sampling value of the motor.

[0057] For step S33, it can be understood that when the current of the motor exceeds the sampling range of the second sampling circuit, the first weight is equal to 100% and the second weight is equal to 0.

[0058] S34: Determine whether the first sampling value is greater than the second threshold. If so, execute step S35; if not, execute step S36. S35: The first weight is positively correlated with the first sampling value, the second weight is negatively correlated with the first sampling value, and the first weight and the second weight are determined according to the first sampling value.

[0059] S36: Determine that the first weight is the first value and the second weight is the second value, and the first value is less than the second value.

[0060] S37: Perform weighted averaging on the first sampling value and the second sampling value with the first weight and the second weight, and take the weighted average value as the current sampling value of the motor.

[0061] As an example, when the first sampling value is less than the first threshold and greater than the second threshold, the first weight is linearly positively correlated with the first sampling value, and the second weight is linearly negatively correlated with the first sampling value.

[0062] See Figure 3 , the first threshold is X1, the second threshold is X2; a is the broken line graph of the first weight, b is the broken line graph of the second weight; the abscissa is the first sampling value, the ordinate is the first weight or the second weight, m1 is the first fixed value, and m2 is the second fixed value.

[0063] The beneficial technical effects brought by the technical solution provided in the embodiment of the present application include: Compared with the technical solution of comparing the second sampling value obtained by the second sampling circuit with a smaller sampling range (higher sampling accuracy) with the first threshold, in the embodiment of the present application, the first sampling value obtained by the first sampling circuit with a larger sampling range (lower sampling accuracy) is compared with the first threshold, which can avoid the problem that the current sampling value of the motor finally obtained is incorrect due to the current sampling value of the motor exceeding the sampling range of the second sampling circuit.

[0064] When the first sampling value is less than the first threshold, it can be considered that the current sampling value of the motor is within the sampling range of the second sampling circuit with higher sampling accuracy. At this time, the first sampling value and the second sampling value are weighted and averaged to obtain the weighted average current value as the current sampling value of the motor, which can improve the sampling accuracy of small currents.

[0065] Compared with the method of directly using the sampling value of only one sampling circuit as the current sampling value of the motor, in the embodiment of the present application, the first sampling value and the second sampling value are weighted and averaged (i.e., data fusion) to obtain the weighted average current value as the current sampling value of the motor. Through the data fusion of the two sampling circuits, the influence of the random error of a certain sampling circuit on the finally determined current sampling value of the motor can be improved, the noise of the sampling circuit can be suppressed, and the smooth switching of data is facilitated.

[0066] Based on the same inventive concept, the embodiment of the present application provides a current sampling control device 100 for a motor 10, as Figure 4 shown, including a processor 11 and a current sampling component 12 that are electrically connected. The current sampling component 12 includes a first sampling circuit 121 and a second sampling circuit 122, and the sampling accuracy of the first sampling circuit 121 is lower than that of the second sampling circuit 122.

[0067] The input end of the first sampling circuit 121 is configured to be electrically connected to the motor 10, and the output end of the first sampling circuit 121 is electrically connected to the first input end of the processor 11, and is used to sample the current of the motor 10 to obtain a first sampling value.

[0068] The input end of the second sampling circuit 122 is configured to be electrically connected to the motor 10, and the output end of the second sampling circuit 122 is electrically connected to the second input end of the processor 11, and is used to sample the current of the motor 10 to obtain a second sampling value.

[0069] The output end of the processor 11 serves as the output end of the current sampling component 12, and is used to, when the first sampling value is less than the first threshold, perform weighted averaging on the first sampling value and the second sampling value with a first weight and a second weight to obtain the weighted average current value as the current sampling value of the motor 10.

[0070] In other words, the first input end of the processor 11 is electrically connected to the output end of the first sampling circuit 121, and is used to obtain the first sampling value obtained by the first sampling circuit 121 for current sampling of the motor 10; the second input end of the processor 11 is electrically connected to the output end of the second sampling circuit 122, and is used to obtain the second sampling value obtained by the second sampling circuit 122 for current sampling of the motor 10. Wherein, the sampling range of the first sampling circuit 121 covers the actual current range of the motor 10. The upper limit value of the sampling range of the second sampling circuit 122 is determined according to the current value of the motor 10 corresponding to the fine operation of this part.

[0071] Optionally, when the first sampling value is less than the first threshold, the processor 11 is configured to determine a first weight and a second weight according to the first sampling value; perform weighted averaging on the first sampling value and the second sampling value with the first weight and the second weight, and use the weighted average value as the current sampling value of the motor 10. Further, when the first sampling value is greater than or equal to the first threshold, the processor 11 is further configured to use the first sampling value as the current sampling value of the motor 10.

[0072] With such a setting, it is possible to improve the sampling accuracy of small currents on the basis of ensuring the sampling accuracy of large currents; at the same time, fusing the two-way data can suppress the noise of the sampling circuit and is beneficial to the smooth switching of data.

[0073] In some embodiments, the processor 11 is specifically configured to: when the first sampling value is less than the first threshold and greater than the second threshold, the first weight is positively correlated with the first sampling value, and the second weight is negatively correlated with the first sampling value; when the first sampling value is less than or equal to the second threshold, the first weight is a first value and the second weight is a second value; when the first sampling value is greater than or equal to the first threshold, the first sampling value is used as the current sampling value of the motor 10. The processor 11 in this embodiment can execute the steps of any current sampling method provided in the present application, and its implementation principle is similar, which will not be elaborated here.

[0074] Refer to Figure 5 , optionally, in some embodiments, the first sampling circuit 121 includes a first amplifier and a first sampling resistor connected electrically; the second sampling circuit 122 includes a second amplifier and a second sampling resistor connected electrically; the amplification factor of the first amplifier is less than the amplification factor of the second amplifier, and the impedance of the first sampling resistor is equal to the impedance of the second sampling resistor.

[0075] Wherein, the impedance may refer to resistance, that is, the resistance of the first sampling resistor is equal to the resistance of the second sampling resistor.

[0076] Figure 5Among them, G1 represents the first amplifier, G2 represents the second amplifier, Iin represents the current input terminal of the motor 10, Vout1 represents the output terminal of the first sampling circuit 121, and Vout2 represents the output terminal of the second sampling circuit 122.

[0077] Continue to refer to Figure 5 , in this embodiment, the first sampling circuit 121 and the second sampling circuit 122 share a sampling resistor, that is, both the first sampling resistor and the second sampling resistor are the sampling resistor R.

[0078] It can be understood that the first sampling resistor and the second sampling resistor can also be set as two resistors with equal resistance values. The specific circuit topology is similar to Figure 5 At this time, the resistance value of the first sampling resistor R1 is equal to the resistance value of the second sampling resistor R2.

[0079] Since the larger the amplification factor, the smaller the sampling range, in this embodiment, the amplification factor of the first amplifier is less than that of the second amplifier, so that the sampling range of the first sampling circuit 121 is greater than that of the second sampling circuit 122, that is, the sampling accuracy of the first sampling circuit 121 is lower than that of the second sampling circuit 122.

[0080] Refer to Figure 6 , in some other feasible embodiments, the impedance of the first sampling resistor is less than the impedance of the second sampling resistor, and the amplification factor of the first amplifier is equal to the amplification factor of the second amplifier.

[0081] Among them, the impedance can refer to the resistance, that is, the resistance of the first sampling resistor is equal to the resistance of the second sampling resistor.

[0082] Figure 6 Among them, R1 represents the first sampling resistor, R2 represents the second sampling resistor, G1 represents the first amplifier, G2 represents the second amplifier, Iin represents the current input terminal of the motor 10, Vout1 represents the output terminal of the first sampling circuit 121, and Vout2 represents the output terminal of the second sampling circuit 122. In this embodiment, the amplification factor of the first amplifier G1 is equal to the amplification factor of the second amplifier G2.

[0083] Since the larger the amplification factor, the smaller the sampling range, in this embodiment, by making the impedance of the first sampling resistor less than the impedance of the second sampling resistor, the sampling range of the first sampling circuit 121 is greater than that of the second sampling circuit 122, that is, the sampling accuracy of the first sampling circuit 121 is lower than that of the second sampling circuit 122.

[0084] In some embodiments, the number of the current sampling components 12 can be at least two groups, and each group of current sampling components 12 is used to sample a phase current of the motor 10 to obtain a first sampling value and a second sampling value.

[0085] Specifically, the number of current sampling components 12 can be three groups. The three groups of current sampling components 12 are used to sample the three-phase current of the motor 10 to obtain three groups of first sampling values and second sampling values. Correspondingly, the processor 11 determines the three-phase current values of the motor 10 according to the three groups of first sampling values and second sampling values.

[0086] Based on the same inventive concept, an embodiment of the present application provides a robot 200, as Figure 7 shown, including: a motor 10 and the current sampling control device 100 as described above. The current sampling control device 100 is electrically connected to the motor 10.

[0087] Referring to Figure 7 , in this embodiment, the current sampling control device 100 includes a processor 11 and a current sampling component 12. The current sampling component 12 includes a first sampling circuit 121 and a second sampling circuit 122. The motor 10 is electrically connected to both the first sampling circuit 121 and the second sampling circuit 122.

[0088] Among them, the motor 10 can be motors 10 for parts such as fingers, wrists, arms, and legs, and these parts all have requirements for fine operations. The current corresponds to the magnitude of the force output by the motor 10. The higher the current accuracy, the higher the accuracy of the force output by the motor 10, which is more beneficial for fine operations. When the current of the motor 10 is small, it generally corresponds to small loads and slow fine operations; when the current of the motor 10 is large, it generally corresponds to large loads and fast large operations.

[0089] It should be noted that the robot in this embodiment includes the current sampling control device in the foregoing embodiment. For specific technical details and technical effects, reference can be made to the foregoing, and details will not be repeated here.

[0090] Those skilled in the art of the present technology can understand that the various operations, methods, steps, measures, and solutions in the processes discussed in the present application can be alternated, changed, combined, or deleted. Further, other steps, measures, and solutions in the various operations, methods, and processes discussed in the present application can also be alternated, changed, rearranged, decomposed, combined, or deleted. Further, the steps, measures, and solutions in the related technologies that are the same as those disclosed in the present application can also be alternated, changed, rearranged, decomposed, combined, or deleted.

[0091] The terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0092] The above are only some embodiments of the present application. It should be noted that for those of ordinary skill in the art, without departing from the technical concept of the present application, other similar implementation means based on the technical idea of the present application also fall within the scope of protection of the embodiments of the present application.

Claims

1. A current sampling method, characterized in that, Including: Obtaining a first sampling value and a second sampling value obtained by a first sampling circuit and a second sampling circuit respectively sampling the current of the motor; the sampling accuracy of the first sampling circuit is lower than that of the second sampling circuit. When the first sampling value is less than a first threshold, the first sampling value and the second sampling value are weighted and averaged with a first weight and a second weight to obtain a weighted average current value as the current sampling value of the motor.

2. The current sampling method according to claim 1, wherein The step of, when the first sampling value is less than the first threshold, weighting and averaging the first sampling value and the second sampling value with a first weight and a second weight to obtain a weighted average current value as the current sampling value of the motor, includes: When the first sampling value is less than the first threshold, determining the first weight and the second weight according to the first sampling value. Weighting and averaging the first sampling value and the second sampling value with the first weight and the second weight, and taking the weighted average value as the current sampling value of the motor.

3. The current sampling method according to claim 2, characterized in that The step of, when the first sampling value is less than the first threshold, determining the first weight and the second weight according to the first sampling value, includes: When the first sampling value is less than the first threshold and greater than a second threshold, the first weight is positively correlated with the first sampling value, and the second weight is negatively correlated with the first sampling value, and the first weight and the second weight are determined according to the first sampling value.

4. The current sampling method according to claim 3, wherein The step of, when the first sampling value is less than the first threshold, determining the first weight and the second weight according to the first sampling value, further includes: When the first sampling value is less than or equal to the second threshold, determining the first weight as a first value and the second weight as a second value; the first value is less than the second value.

5. The current sampling method according to claim 3 or 4, characterized in that, The absolute value of the difference between the first threshold and the upper limit value of the sampling range of the second sampling circuit is less than a preset value. The second threshold is 80% to 90% of the upper limit value of the sampling range of the second sampling circuit.

6. The current sampling method according to claim 1, wherein After obtaining the first sampling value and the second sampling value obtained by the first sampling circuit and the second sampling circuit respectively sampling the current of the motor, further including: When the first sampling value is greater than or equal to the first threshold, taking the first sampling value as the current sampling value of the motor.

7. A current sampling control device for a motor, characterized in that, Including a processor and a current sampling component connected electrically, the current sampling component includes a first sampling circuit and a second sampling circuit, and the sampling accuracy of the first sampling circuit is lower than that of the second sampling circuit. The input end of the first sampling circuit is configured to be electrically connected to the motor, and the output end of the first sampling circuit is electrically connected to the first input end of the processor, and is used for sampling the current of the motor to obtain a first sampling value. The input end of the second sampling circuit is configured to be electrically connected to the motor, and the output end of the second sampling circuit is electrically connected to the second input end of the processor, and is used for sampling the current of the motor to obtain a second sampling value. The output end of the processor serves as the output end of the current sampling component, and is used to perform weighted averaging on the first sampling value and the second sampling value with a first weight and a second weight when the first sampling value is less than a first threshold, so as to obtain a weighted average current value as the current sampling value of the motor.

8. The current sampling control device according to claim 7, wherein, The first sampling circuit includes a first amplifier and a first sampling resistor connected electrically; the second sampling circuit includes a second amplifier and a second sampling resistor connected electrically; The amplification factor of the first amplifier is less than that of the second amplifier, and the impedance of the first sampling resistor is equal to that of the second sampling resistor; or, the impedance of the first sampling resistor is less than that of the second sampling resistor, and the amplification factor of the first amplifier is equal to that of the second amplifier.

9. The current sampling control device according to claim 7, characterized in that The number of the current sampling components is at least two groups, and each group of the current sampling components is used to sample a phase current of the motor to obtain the first sampling value and the second sampling value.

10. A robot, characterized in that, Comprising: A motor and a current sampling control device as described in any one of claims 7 to 9, wherein the current sampling control device is electrically connected to the motor.

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