Current sampling circuit, motor equipment and current monitoring method

Abstract

The invention relates to the technical field of terminal control, and discloses a current sampling circuit, motor equipment and a current monitoring method. The invention provides a current sampling circuit, and the circuit comprises a current sampling module which is used for collecting a load current and converting the load current into a sampling voltage; a first voltage amplification circuit connected with the current sampling module and used for amplifying the sampling voltage according to a first amplification coefficient to obtain a first amplified voltage; the second voltage amplification circuit is connected with the current sampling module and is used for amplifying the sampling voltage according to a second amplification coefficient to obtain a second amplified voltage; the control module is connected with the first voltage amplification circuit and the second voltage amplification circuit and used for determining a target amplification coefficient from the first amplification coefficient and the second amplification coefficient based on the first amplification voltage and the second amplification voltage so as to monitor load current through a target voltage amplification circuit corresponding to the target amplification coefficient. The current sampling cost can be effectively reduced, and the current sampling precision is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of terminal control technology, and in particular to a current sampling circuit, a motor device, and a current monitoring method. Background Art

[0002] In related technologies, motor performance can be monitored through current sampling. To ensure the effectiveness of current sampling, analog-to-digital (AD) conversion chips are used for current sampling. However, the high cost of high-precision AD conversion chips makes current sampling expensive. Summary of the Invention

[0003] In view of this, the present disclosure provides a current sampling circuit, a motor device, and a current monitoring method to solve the problem of high current sampling cost.

[0004] In a first aspect, the present disclosure provides a current sampling circuit, the circuit comprising:

[0005] The current sampling module is used to collect the load current and convert the obtained sampled current into a sampled voltage;

[0006] A first voltage amplifying circuit is connected to the current sampling module, and is used to amplify the sampled voltage according to a first amplification factor to obtain a first amplified voltage;

[0007] a second voltage amplifying circuit connected to the current sampling module, the second voltage amplifying circuit being configured to amplify the sampled voltage according to a second amplification factor to obtain a second amplified voltage;

[0008] The control module is connected to the first voltage amplification circuit and the second voltage amplification circuit respectively. The control module is used to determine a target amplification factor from the first amplification factor and the second amplification factor based on the first amplified voltage and the second amplified voltage, so as to monitor the load current using the target voltage amplification circuit corresponding to the target amplification factor.

[0009] In a second aspect, the present disclosure provides a motor device, which includes the current sampling circuit of the first aspect or any corresponding embodiment thereof.

[0010] In a third aspect, the present disclosure provides a current monitoring method, which is applied to the current sampling circuit of the first aspect or any corresponding embodiment thereof, and the method includes:

[0011] The load current is sampled by the current sampling module to obtain the sampled current, and the sampled current is converted into a sampled voltage;

[0012] amplifying the sampled voltage according to a first amplification factor through a first voltage amplifying circuit to obtain a first amplified voltage;

[0013] amplifying the sampled voltage according to a second amplification factor through a second voltage amplifying circuit to obtain a second amplified voltage;

[0014] The control module determines a target amplification factor from the first amplification factor and the second amplification factor based on the first amplification voltage and the second amplification voltage, and monitors the load current using a target amplification circuit corresponding to the target amplification factor.

[0015] The current sampling circuit provided in this embodiment uses different voltage amplifier circuits to achieve multi-stage amplification, which can improve the accuracy and reliability of the sampled current. In addition, the modular design helps to reduce development costs, thereby effectively reducing the current sampling cost and improving the current sampling accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 is a structural block diagram of a current sampling circuit according to an embodiment of the present disclosure;

[0018] Figure 2 is a structural block diagram of another current sampling circuit according to an embodiment of the present disclosure;

[0019] Figure 3 is a structural block diagram of another current sampling circuit according to an embodiment of the present disclosure;

[0020] Figure 4 is a structural diagram of a voltage amplifying circuit according to an embodiment of the present disclosure;

[0021] Figure 5 is a structural diagram of another voltage amplification circuit according to an embodiment of the present disclosure;

[0022] Figure 6 is a flow chart of a current monitoring method according to an embodiment of the present disclosure;

[0023] Figure 7 4 is a flow chart of another current monitoring method according to an embodiment of the present disclosure.

[0024] Reference numerals:

[0025] 100: current sampling circuit; 110: current sampling module; 120: first voltage amplifying circuit;

[0026] 130: second voltage amplifying circuit; 140: control module;

[0027] 200: load; 210: three-phase load circuit; 211: single-phase branch to be tested. DETAILED DESCRIPTION

[0028] To make the purpose, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present disclosure.

[0029] In the related art, AD conversion chips are used for current sampling, but the cost of high-precision AD conversion chips is relatively high. In addition, since this type of AD conversion chip is a highly integrated circuit, in order to enable this type of AD conversion chip to perform targeted sampling of the current motor equipment, it is also necessary to pre-configure it through relevant documents and development tools, resulting in relatively high development costs. As a result, the cost of using this type of AD conversion chip for current sampling is relatively high.

[0030] In view of this, an embodiment of the present disclosure provides a current sampling circuit, comprising: a current sampling module, a first voltage amplifying circuit connected to the current sampling module, a second voltage amplifying circuit connected to the current sampling module, and a control module connected to the first voltage amplifying circuit and the second voltage amplifying circuit, respectively. The current sampling module samples the load current and converts it into a sampling voltage. The first voltage amplifying circuit and the second voltage amplifying circuit respectively amplify the sampling voltage so that the control module can effectively identify the obtained first amplified voltage and the second amplified voltage, thereby improving the current sampling accuracy and selecting a suitable target voltage amplifying circuit to perform targeted monitoring of the load current. This can effectively reduce development costs, thereby achieving the purpose of reducing current sampling costs.

[0031] Figure 1 is a structural diagram of a current sampling circuit according to an embodiment of the present disclosure, such as Figure 1 As shown, the current sampling circuit 100 includes the following components: a current sampling module 110 , a first voltage amplifying circuit 120 , a second voltage amplifying circuit 130 and a control module 140 .

[0032] The current sampling module 110 is used to collect the load current and convert the obtained sampled current into a sampled voltage.

[0033] The load can be understood as the device whose current is to be monitored. For example, the load can be a robot's chassis motor, wheel hub motor, servo motor, or linear module. To achieve more precise control of the load current, the load current is collected by the current sampling module 110 to obtain a sampled current. To facilitate effective identification of the sampled current by the subsequent control module, it is converted into a sampled voltage, and the load current is monitored through voltage monitoring.

[0034] In one example, the current sampling module 110 can be any electrical component capable of acquiring current and converting it into a corresponding sampling voltage. For example, the current sampling module 110 can be a current transmitter or a Hall effect sensor. In some optional implementation scenarios, the load current can be acquired by acquiring a current signal.

[0035] The first voltage amplifying circuit 120 is connected to the current sampling module 110 and is configured to amplify the sampled voltage according to a first amplification factor to obtain a first amplified voltage.

[0036] Among them, since the obtained sampling voltage may be small and not convenient for the subsequent control module 140 to effectively identify it, the first voltage amplification circuit 120 is connected to the current sampling module 110. Then, after the current sampling module 110 converts the sampled current into a sampled voltage, it can directly receive the sampled voltage and amplify it according to the first amplification factor, thereby obtaining a first amplified voltage that is easier to process and analyze.

[0037] The second voltage amplifying circuit 130 is connected to the current sampling module 110 . The second voltage amplifying circuit 130 is configured to amplify the sampled voltage according to a second amplification factor to obtain a second amplified voltage.

[0038] To reduce the occurrence of misidentification, a second voltage amplifying circuit 130 connected to the current sampling module 110 is arranged while the first voltage amplifying circuit 120 is arranged. The sampled voltage is amplified using a second amplification factor to obtain a second amplified voltage, thereby improving the reliability of the sampled voltage through multi-stage processing.

[0039] The second amplification factor used to amplify the sampled voltage in the second voltage amplifier circuit 130 is different from the first amplification factor used to amplify the sampled voltage in the first voltage amplifier circuit 120. This allows voltage amplification to meet different current control requirements, thereby improving the reliability, accuracy, and adaptability of the sampled voltage. The values of the second amplification factor and the first amplification factor can be set according to actual needs and are not limited here.

[0040] The control module 140 is connected to the first voltage amplification circuit 120 and the second voltage amplification circuit 130 respectively. The control module is used to determine a target amplification factor from the first amplification factor and the second amplification factor based on the first amplified voltage and the second amplified voltage, so as to monitor the load current using the target voltage amplification circuit corresponding to the target amplification factor.

[0041] In order to facilitate the control module 140 to perform targeted monitoring of the load current, the control module 140 is arranged and connected to the first voltage amplifier circuit 120 and the second voltage amplifier circuit 130 respectively, so that the control module 140 can perform targeted analysis based on the received first amplified voltage and the second amplified voltage, and select a target amplification factor suitable for the current load current monitoring requirements, and then optimize the sampling effect of the load current by determining the target amplification factor, so that the current monitoring is more accurate and reliable. In one example, the control module 140 is a logic device with a computing function. For example, the control module 140 can be a microcontroller unit (MCU) or a field-programmable gate array (FPGA) chip.

[0042] The current sampling circuit provided in this embodiment uses different voltage amplifier circuits to achieve multi-stage amplification, which can improve the accuracy and reliability of the sampled current. In addition, the modular design helps to reduce development costs, thereby effectively reducing the current sampling cost and improving the current sampling accuracy.

[0043] like Figure 2 As shown, load 200 includes a three-phase load circuit 210, which includes multiple single-phase branches 211 to be tested. Each of the single-phase branches 211 to be tested includes a first current sampling resistor. The number of current sampling modules 110, first voltage amplification circuits 120, and second voltage amplification circuits 130 is the same as the number of single-phase branches 211 to be tested.

[0044] That is, when the load 200 includes a three-phase load circuit 210 and the load current flowing through the three-phase load circuit 210 needs to be sampled and monitored, the number of current sampling modules 110, first voltage amplifying circuits 120, and second voltage amplifying circuits 130 is determined based on the number of single-phase branches 211 to be tested. To ensure the quality of the sampled current and facilitate rapid identification of abnormal branches, the number of current sampling modules 110, first voltage amplifying circuits 120, and second voltage amplifying circuits 130 is the same as the number of single-phase branches 211 to be tested. That is, one current sampling module 110, one first voltage amplifying circuit 120, and one second voltage amplifying circuit 130 is configured for each single-phase branch 211 to be tested. The number of single-phase branches 211 to be tested is either two or three. In an optional implementation scenario, the load 200 can be a chassis drive motor, and the three-phase load circuit 210 included therein can be a permanent magnet synchronous motor circuit. By sampling the current of the permanent magnet synchronous motor circuit, more precise control of the inner loop (current loop) of its internal vector control can be achieved.

[0045] Preferably, in order to reduce the monitoring cost, the number of single-phase branches to be tested can be set to 2, and then the number of current sampling modules 110, the first voltage amplifying circuit 120 and the second voltage amplifying circuit 130 are also 2. Among them, in order to distinguish the two single-phase branches 211 to be tested, the first single-phase branch to be tested and the second single-phase branch to be tested are respectively used to represent them. In order to distinguish the two current sampling modules 110, the first sampling module and the second sampling module are respectively used to represent them. In order to distinguish the two first voltage amplifying circuits 120, the first amplifying circuit and the second amplifying circuit are respectively used to represent them. In order to distinguish the two second voltage amplifying circuits 130, the third amplifying circuit and the fourth amplifying circuit are respectively used to represent them. This current sampling connection method can be as follows Figure 2 As shown: the input end of the first sampling module is connected to the first current sampling resistor R1 of the first single-phase branch to be tested to collect the first single-phase current corresponding to the first single-phase branch A to be tested; the output end of the first sampling module is connected to the first amplifying circuit E and the third amplifying circuit G respectively, so as to be able to perform targeted sampling of the load current flowing through the first single-phase branch to be tested.

[0046] The input end of the second sampling module is connected to the first current sampling resistor R2 of the second single-phase branch to be tested to collect the second single-phase current corresponding to the second single-phase branch to be tested; the output end of the second sampling module is respectively connected to the second amplification circuit and the fourth amplification circuit, so that the load current flowing through the second single-phase branch to be tested can be targetedly sampled.

[0047] In some optional embodiments, such as Figure 3The illustrated load 200 further includes a second current sampling resistor R3 connected to the input end of the three-phase load circuit 210; and a current sampling module 110 connected to the second current sampling resistor R3. The current sampling module 110 is configured to collect the bus current flowing through the three-phase load circuit 210 via the second current sampling resistor R3. Specifically, to improve sampling and monitoring efficiency, the bus current flowing through the three-phase load circuit 210 can also be monitored by connecting to the second current sampling resistor R3, thereby simplifying the circuit layout and reducing current sampling costs.

[0048] In an optional embodiment, the current sampling module 110 includes a current conversion unit for converting the sampled current into a sampled voltage via a preset resistance value, thereby improving the reliability of the sampled current and facilitating targeted analysis, monitoring, and control by the subsequent control module 140. To ensure the rationality of the conversion, the preset resistance value within the current conversion unit must be configured to match the current fluctuation range of the sampled current. This ensures that the resistor corresponding to the preset resistance value can provide a sufficient voltage drop to accommodate the maximum sampled current, thereby effectively ensuring sampling accuracy and improving the accuracy and reliability of the conversion.

[0049] like Figure 4 As shown, the first voltage amplifier circuit 120 includes: a first amplifier OPA1, including a first positive input terminal a, a first negative input terminal b, and a first output port c; the first positive input terminal a is connected to the first output terminal of the current conversion unit through a first resistor R11, and is connected to the first power supply terminal VOL through a second resistor R12; the first negative input terminal b is connected to the second output terminal of the current conversion unit through a third resistor R13, and is connected to the first output port c through a fourth resistor R14; the first output port c is connected to the control module 140; and a first capacitor C1 is arranged between the first output terminal of the current conversion unit and the second output terminal of the current conversion unit. Using this layout method to construct the first voltage amplifier circuit 120 can make the obtained first amplified voltage clearer and more stable, thereby helping to improve the quality and accuracy of the voltage signal of the sampled voltage. In addition, the circuit structure is relatively simple, which helps to improve layout efficiency.

[0050] like Figure 5As shown, the second voltage amplifier circuit 130 includes: a second amplifier OPA2, including a second positive input terminal d, a second negative input terminal e, and a second output port f; the second positive input terminal d is connected to the first output terminal of the current conversion unit through a fifth resistor R21, and is connected to the second power supply terminal through a sixth resistor R22; the second negative input terminal e is connected to the second output terminal of the current conversion unit through a seventh resistor R23, and is connected to the second output port through an eighth resistor R24; the second output port f is connected to the control module 140, and is connected to ground (GND) through a second capacitor C2. Using this layout to construct the second voltage amplifier circuit 130, it is possible to achieve functions such as filtering, adjusting, and delaying the sampled voltage through the connection of resistors and capacitors, thereby helping to improve the flexibility and scalability of processing the voltage signal of the sampled voltage.

[0051] Based on the same inventive concept, the present disclosure also provides a motor device including any of the above-described current sampling circuits. The types of motor devices include, but are not limited to, any of the following: a DC motor, an AC motor, a stepper motor, a servo motor, or a system consisting of a driver, controller, and sensors associated with the motor. For example, the system-type motor device may be a hub motor. By incorporating the current sampling circuit provided by the present disclosure into the motor device, the motor current loop can be better controlled, improving the performance of the motor device and thereby enhancing the product's competitiveness.

[0052] Based on the same inventive concept, the present disclosure also provides a current monitoring method applied to the above-mentioned current sampling circuit, wherein a current sampling module samples the load current and converts the sampled current into a sampled voltage so that the sampled current can be effectively analyzed later. The sampled voltage is amplified by a first voltage amplifier circuit and a second voltage amplifier circuit, respectively, to obtain a first amplified voltage amplified according to a first amplification factor and a second amplified voltage amplified according to a second amplification factor. Thus, the sampled voltage is amplified by the first voltage amplifier circuit according to the first amplification factor to obtain the first amplified voltage, and the sampled voltage is amplified by the second voltage amplifier circuit according to the second amplification factor to obtain the second amplified voltage. Based on the first amplified voltage and the second amplified voltage, a control module determines a target amplification factor from the first amplification factor and the second amplification factor, and monitors the load current using a target amplification circuit corresponding to the target amplification factor. By adopting a multi-stage amplification method, a target amplification factor suitable for monitoring the load current is selected, thereby ensuring the accuracy and reliability of current monitoring, facilitating subsequent targeted control of the load, and helping to improve the performance of the load.

[0053] According to an embodiment of the present disclosure, an embodiment of a current monitoring method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0054] In this embodiment, a current monitoring method is provided, which can be used in any current sampling circuit provided by the present disclosure. Figure 6 is a flow chart of a current monitoring method according to an embodiment of the present disclosure, such as Figure 6 As shown, the process includes the following steps:

[0055] Step S601: Sample the load current through a current sampling module to obtain a sampled current, and convert the sampled current into a sampled voltage.

[0056] To monitor the load current, the current sampling module samples the load current to obtain the sampled current. To facilitate subsequent effective identification of the sampled current, the sampled current is converted into a sampled voltage, achieving the purpose of current monitoring through voltage monitoring.

[0057] In an optional embodiment, the current sampling module includes a resistor with a preset resistance value. During conversion, the current can be converted via the resistor to obtain a sampled voltage that ensures sampling accuracy. The preset resistance value can be configured based on the current fluctuation range of the sampled current. That is, based on the current fluctuation range between the maximum sampling current and the minimum sampling current, the resistance value of the resistor is set so that the preset resistance value provides a sufficient voltage drop to accommodate the maximum sampling current, thereby effectively ensuring sampling accuracy and improving the accuracy and reliability of the conversion.

[0058] Step S602 : amplifying the sampled voltage according to a first amplification factor through a first voltage amplifying circuit to obtain a first amplified voltage.

[0059] Among them, since the obtained sampled voltage may be small and not convenient for the subsequent control module to effectively identify it, the sampled voltage is amplified by the first voltage amplification circuit according to the first amplification factor to obtain a first amplified voltage that is easier to process and analyze.

[0060] Step S603 : amplifying the sampled voltage according to a second amplification factor through a second voltage amplifying circuit to obtain a second amplified voltage.

[0061] To ensure sampling accuracy, the sampling voltage is amplified by a second voltage amplification circuit according to a second amplification factor, so as to reduce misidentification through multi-stage processing and thereby improve the reliability of the sampling voltage.

[0062] The second amplification factor is different from the first amplification factor. The values of the second amplification factor and the first amplification factor can be set according to actual needs and are not limited here. In an optional scenario, the first amplification factor is 20 and the second amplification factor is 5.5.

[0063] In step S604 , the control module determines a target amplification factor from the first amplification factor and the second amplification factor based on the first amplified voltage and the second amplified voltage, and monitors the load current using a target amplification circuit corresponding to the target amplification factor.

[0064] Among them, in order to ensure the effectiveness of monitoring, the control module performs targeted analysis on the first amplified voltage and the second amplified voltage obtained, and determines the target amplification factor that meets the current monitoring needs based on the difference between the first amplified voltage and the second amplified voltage, and then uses the target amplification circuit corresponding to the target amplification factor to monitor the load current, so as to make the current monitoring more accurate and reliable.

[0065] In an example, the current monitoring requirements may include one or more of the following aspects: current working conditions, real-time monitoring, maximum value monitoring, average value monitoring, fault detection, and load balance monitoring.

[0066] The current monitoring method provided in this embodiment uses different voltage amplification circuits to perform multi-stage amplification on the sampling voltage corresponding to the sampling current, and then selects a suitable target amplification factor to perform targeted monitoring of the sampling current, thereby effectively improving the accuracy and reliability of the sampling current.

[0067] In this embodiment, a current monitoring method is provided, which can be used in any current sampling circuit provided by the present disclosure. Figure 7 is a flow chart of a current monitoring method according to an embodiment of the present disclosure, such as Figure 7 As shown, the process includes the following steps:

[0068] Step S701: Sample the load current through a current sampling module to obtain a sampled current, and convert the sampled current into a sampled voltage.

[0069] Step S702 : amplifying the sampled voltage according to a first amplification factor through a first voltage amplifying circuit to obtain a first amplified voltage.

[0070] Step S703 : amplifying the sampled voltage according to a second amplification factor through a second voltage amplifying circuit to obtain a second amplified voltage.

[0071] In step S704 , the control module determines a target amplification factor from the first amplification factor and the second amplification factor based on the first amplified voltage and the second amplified voltage.

[0072] Specifically, the above step S704 includes:

[0073] Step S7041 : In the control module, the first amplified voltage is converted into a first digital voltage, and the second amplified voltage is converted into a second digital voltage.

[0074] In order to enable the control module to effectively analyze the difference between the first amplified voltage and the second amplified voltage, the first amplified voltage is first converted into a first digital voltage, and the second amplified voltage is converted into a second digital voltage, so that the target amplification factor that meets the current monitoring requirements can be determined by numerical comparison.

[0075] In one example, the control module includes a built-in digital-to-analog conversion module, and after obtaining the first amplified voltage, it can be converted into a first digital voltage; after obtaining the second amplified voltage, it can be converted into a second digital voltage. In another example, to simplify the integration complexity of the control module, the digital-to-analog conversion module can be an independent functional module, connected to the output terminals of the first voltage amplification circuit and the second voltage amplification circuit, respectively, and connected to the input terminal of the control module. Subsequently, the control module can quickly analyze the obtained first digital voltage and second digital voltage, thereby helping to improve the efficiency of determining the target amplification factor and saving computing resources of the control module.

[0076] Step S7042: Identify the current operating condition of the load and determine the voltage accuracy range corresponding to the current operating condition.

[0077] To facilitate targeted load control, the system identifies the load's current operating condition and determines the voltage accuracy range corresponding to the current condition from multiple preset voltage accuracy ranges, enabling more targeted and accurate load current monitoring. Current operating conditions include, but are not limited to, rapid starting and stopping, turning, climbing, or overcoming obstacles.

[0078] In step S7043 , the digital voltage within the voltage accuracy range is used as the target digital voltage.

[0079] The target digital voltage is the first digital voltage or the second digital voltage. By limiting the voltage accuracy range, digital voltages that exceed the voltage accuracy range can be excluded, thereby avoiding control errors caused by unstable or inaccurate voltage values, thereby making the monitoring of the load current more accurate and stable.

[0080] Step S7044: taking the amplification factor corresponding to the target digital voltage as the target amplification factor.

[0081] Among them, in order to achieve precise control of the load and maintain the performance and stability of the control system of the control module, the amplification factor corresponding to the target digital voltage is used as the target amplification factor, so that when the load current is subsequently monitored, the stability of the sampled voltage after amplification and analog-to-digital conversion can be ensured to be consistent with the target digital voltage.

[0082] Step S705 , monitoring the load current using the target amplification circuit corresponding to the target amplification factor.

[0083] The current monitoring method provided in this embodiment, by identifying the current operating condition of the load and determining the target amplification factor for monitoring the load current, can make the current monitoring process more flexible and more conducive to targeted control, thereby effectively ensuring the accuracy and stability of current monitoring.

[0084] In some optional implementations, the current monitoring method further includes:

[0085] Step S706 : If the load current changes, the target amplification factor is re-determined based on the current sampled current.

[0086] If the load current changes, it indicates that the current operating state of the load has changed. To improve the effectiveness of load current control, the target amplification factor is re-determined based on the current sampled current. The re-determined target amplification factor is used to perform targeted monitoring of the current sampled current, thereby achieving the purpose of optimizing load performance.

[0087] As one or more specific application embodiments of the embodiments of the present disclosure, when monitoring the current of a load, the current sampling module collects the load current signal to obtain a sampled current signal of the sampled current. In order to facilitate the control module to effectively identify the sampled current, the sampled current signal is converted into a voltage through a resistor with a preset resistance value to obtain a sampled voltage signal of the sampled voltage. The sampled voltage signal is amplified by a first voltage amplifier circuit and a second voltage amplifier circuit respectively to obtain a corresponding first amplified voltage signal and a second amplified voltage signal. The first amplified voltage signal is subjected to analog-to-digital conversion to obtain a first digital voltage, and the second amplified voltage signal is subjected to analog-to-digital conversion to obtain a second digital voltage. The first digital voltage and the second digital voltage are input into the control module for targeted analysis by the control module, and then a target amplification factor is determined from the first amplification factor and the second amplification factor, and the target amplification circuit corresponding to the target amplification factor is used to monitor the load current, thereby achieving the purpose of high-precision digital-to-analog conversion, so that the load current can be better controlled later.

[0088] In an optional implementation scenario, during normal operation of the robot, the phase current of the chassis motor is below 8A. However, under some working conditions such as rapid starting and stopping, turning, climbing, and overcoming obstacles, the phase current will be greater than 8A or even reach a maximum of 30A. Through the current sampling circuit provided by the present invention, the sampling current of 0 to 8A can be corresponded to a target amplification voltage of 0 to 3.3V, and the sampling current of 0 to 30A can be corresponded to a target amplification voltage of 0 to 3.3V. Then, the MCU monitors the phase current of the chassis motor through software, and selects the output results of the voltage amplifier circuit with different amplification factors to control the current accordingly, thereby reducing costs while still maintaining high accuracy and resolution, which has a very important effect on controlling the current loop of the permanent magnet synchronous motor, and can improve the bandwidth, response speed, stability, etc. of the current loop, which is directly reflected in the motion performance of the motor and ensures the motion ability of the robot.

[0089] In the description of this disclosure, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "plurality" is at least two, for example, two, three, etc., unless otherwise specifically defined.

[0090] In this disclosure, unless otherwise expressly specified or limited, terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components, unless otherwise expressly specified or limited. Those skilled in the art will understand the specific meanings of the above terms in this disclosure based on specific circumstances.

[0091] It is understandable that before using the technical solutions disclosed in the various embodiments of this disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved in this disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0092] For example, in response to a user's active request, a prompt message is sent to the user to clearly inform the user that the operation requested will require the acquisition and use of the user's personal information. This allows the user to independently choose whether to provide personal information to the electronic device, application, server, storage medium, or other software or hardware that performs the operations of the disclosed technical solution based on the prompt message.

[0093] As an optional but non-limiting implementation, in response to receiving a user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. Furthermore, the pop-up window may also contain a selection control for the user to select "agree" or "disagree" to provide personal information to the electronic device.

[0094] It is understandable that the above notification and user authorization process are merely illustrative and do not limit the implementation of the present disclosure. Other methods that comply with relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0095] Although the embodiments of the present disclosure have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present disclosure, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A current sampling circuit, characterized in that: The circuit comprises: The current sampling module is used to collect the load current and convert the obtained sampled current into a sampled voltage; a first voltage amplifying circuit connected to the current sampling module, the first voltage amplifying circuit being configured to amplify the sampled voltage according to a first amplification factor to obtain a first amplified voltage; a second voltage amplifying circuit, connected to the current sampling module, and configured to amplify the sampled voltage according to a second amplification factor to obtain a second amplified voltage; A control module is connected to the first voltage amplification circuit and the second voltage amplification circuit respectively, and the control module is used to determine a target amplification factor from the first amplification factor and the second amplification factor based on the first amplified voltage and the second amplified voltage, so as to monitor the load current using the target voltage amplification circuit corresponding to the target amplification factor.

2. The circuit according to claim 1, wherein: The load includes: a three-phase load circuit, the three-phase load circuit includes a plurality of single-phase branches to be tested, and the single-phase branches to be tested include a first current sampling resistor; The number of the current sampling modules, the first voltage amplifying circuits, and the second voltage amplifying circuits is the same as the number of the single-phase branches to be tested.

3. The circuit according to claim 2, characterized in that The multiple single-phase branches to be tested include a first single-phase branch to be tested and a second single-phase branch to be tested, the multiple current sampling modules include a first sampling module and a second sampling module, the multiple first voltage amplifying circuits include a first amplifying circuit and a second amplifying circuit; the multiple second voltage amplifying circuits include a third amplifying circuit and a fourth amplifying circuit; The input end of the first sampling module is connected to the first current sampling resistor of the first single-phase branch to be measured to collect the first single-phase current corresponding to the first single-phase branch to be measured; the output end of the first sampling module is connected to the first amplifying circuit and the third amplifying circuit respectively; The input end of the second sampling module is connected to the first current sampling resistor of the second single-phase branch to be tested to collect the second single-phase current corresponding to the second single-phase branch to be tested; the output end of the second sampling module is respectively connected to the second amplifying circuit and the fourth amplifying circuit.

4. The circuit according to claim 2, characterized in that The load further includes: a second current sampling resistor, the second current sampling resistor being connected to the input end of the three-phase load circuit; The current sampling module is connected to the second current sampling resistor, and is used to collect the bus current flowing through the three-phase load circuit through the second current sampling resistor.

5. The circuit according to claim 1, wherein: The current sampling module includes: a current conversion unit, configured to convert the sampled current into the sampled voltage via a preset resistance value.

6. The circuit according to claim 1, wherein: The first voltage amplifying circuit includes: A first amplifier comprising a first positive input terminal, a first negative input terminal and a first output port; The first positive input terminal is connected to the first output terminal of the current conversion unit through a first resistor, and is connected to the first power supply terminal through a second resistor; The first inverting input terminal is connected to the second output terminal of the current conversion unit through a third resistor, and is connected to the first output port through a fourth resistor; The first output port is connected to the control module; The first capacitor is disposed between the first output terminal of the current conversion unit and the second output terminal of the current conversion unit.

7. The circuit according to claim 1, wherein: The second voltage amplifying circuit includes: A second amplifier comprising a second positive input terminal, a second negative input terminal and a second output port; The second positive input terminal is connected to the first output terminal of the current conversion unit through a fifth resistor, and is connected to the second power supply terminal through a sixth resistor; The second inverting input terminal is connected to the second output terminal of the current conversion unit through a seventh resistor, and is connected to the second output port through an eighth resistor; The second output port is connected to the control module and is connected to the ground via a second capacitor.

8. A motor device, characterized in that: The motor device includes the current sampling circuit according to any one of claims 1 to 6.

9. A current monitoring method, characterized in that: The current sampling circuit according to any one of claims 1 to 6, wherein the method comprises: The load current is sampled by a current sampling module to obtain a sampled current, and the sampled current is converted into a sampled voltage; amplifying the sampled voltage according to a first amplification factor through a first voltage amplifying circuit to obtain a first amplified voltage; amplifying the sampled voltage according to a second amplification factor through a second voltage amplifying circuit to obtain a second amplified voltage; The control module determines a target amplification factor from the first amplification factor and the second amplification factor based on the first amplified voltage and the second amplified voltage, and monitors the load current using a target amplification circuit corresponding to the target amplification factor.

10. The method according to claim 9, characterized in that The control module determines a target amplification factor from the first amplification factor and the second amplification factor based on the first amplified voltage and the second amplified voltage, including: In the control module, the first amplified voltage is converted into a first digital voltage, and the second amplified voltage is converted into a second digital voltage; Identifying a current operating condition of the load and determining a voltage accuracy range corresponding to the current operating condition; using a digital voltage within the voltage accuracy range as a target digital voltage, where the target digital voltage is the first digital voltage or the second digital voltage; The amplification factor corresponding to the target digital voltage is used as the target amplification factor.

11. The method according to claim 10, characterized in that The method further comprises: If the load current changes, the target amplification factor is re-determined based on the current sampled current.

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