A method, device and equipment for detecting stall of brushless motor

Abstract

The present invention discloses a method, device and equipment for detecting a stall of a brushless motor. The method comprises: detecting whether the motor running time of the brushless motor reaches a preset time to obtain a running time detection result, and when the running time detection result is that the motor running time of the brushless motor reaches the preset time, determining whether the acceleration value of the motor speed of the brushless motor within the preset time period is not less than a preset acceleration threshold to obtain an acceleration threshold judgment result, and determining whether the brushless motor is stalled according to the acceleration threshold judgment result. By the above method, it is possible to timely detect whether the brushless motor is stalled.

Description

Technical Field

[0001] The present invention relates to the technical field of brushless motors, and in particular to a method, a device and equipment for detecting stall of a brushless motor. Background Art

[0002] Existing brushless motor stall detection schemes generally adopt two schemes. One scheme is to detect whether the brushless motor is stalled by judging whether the bus current of the brushless motor is greater than the set stall current. The other scheme is to detect whether the brushless motor is stalled by judging whether the steady-state speed of the brushless motor is within the error range of the constant speed.

[0003] However, the two existing brushless motor stall detection schemes, because the motor speed of the brushless motor is adjustable, the motor speed has an acceleration or deceleration process from the previous speed to the preset speed. The method of detecting whether the brushless motor is stalled by judging the bus current of the brushless motor and the method of judging the steady-state motor speed of the brushless motor both need to be judged when the motor speed of the brushless motor reaches a steady state. However, the motor of the brushless motor generally has a period of acceleration and deceleration. Therefore, the two existing brushless motor stall detection schemes have low real-time performance for stall detection and cannot detect whether the brushless motor is stalled in a timely manner. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a brushless motor stall detection method, device and equipment, which can detect whether the brushless motor is stalled in a timely manner.

[0005] According to one aspect of the present invention, a method for detecting a stall of a brushless motor is provided, comprising: detecting whether the motor operating time of the brushless motor reaches a preset time to obtain an operating time detection result; when the operating time detection result is that it is detected that the motor operating time of the brushless motor reaches the preset time, determining whether the acceleration value of the motor speed of the brushless motor within the preset time period is not less than a preset acceleration threshold to obtain an acceleration threshold determination result; and determining whether the brushless motor is stalled based on the acceleration threshold determination result.

[0006] The detecting whether the motor running time of the brushless motor reaches a preset time to obtain a running time detection result includes: using a timing counter to detect whether the motor running time of the brushless motor reaches a preset time to obtain a running time detection result.

[0007] Among them, when the running time detection result is that the motor running time of the brushless motor is detected to have reached the preset time, it is judged whether the acceleration value of the motor speed of the brushless motor in the time period of the preset time is not less than the preset acceleration threshold to obtain the acceleration threshold judgment result, including: when the running time detection result is that the motor running time of the brushless motor is detected to have reached the preset time, a speed observer is used to obtain a first speed value of the motor speed of the brushless motor at the start time of the time period of the preset time and a second speed value at the end time of the time period of the preset time, according to the first speed value and the second speed value, the acceleration value of the motor speed of the brushless motor in the time period of the preset time is calculated, and according to the calculated acceleration value of the motor speed, it is judged whether the acceleration value of the motor speed of the brushless motor in the time period of the preset time is not less than the preset acceleration threshold to obtain the acceleration threshold judgment result.

[0008] Wherein, determining whether the brushless motor is stuck according to the acceleration threshold judgment result includes: according to the acceleration threshold judgment result, when the acceleration threshold judgment result is that the acceleration value of the motor speed of the brushless motor within the preset time period is less than the preset acceleration threshold, determining that the brushless motor is stuck; when the acceleration threshold judgment result is that the acceleration value of the motor speed of the brushless motor within the preset time period is not less than the preset acceleration threshold, determining that the brushless motor is not stuck.

[0009] Wherein, after determining whether the brushless motor is stalled according to the acceleration threshold judgment result, the method further includes: actively braking the motor of the brushless motor when it is determined that the brushless motor is stalled.

[0010] According to another aspect of the present invention, there is provided a brushless motor stall detection device, comprising: a detection module, a judgment module and a determination module; the detection module is used to detect whether the motor running time of the brushless motor has reached a preset time to obtain a running time detection result; the judgment module is used to determine whether the acceleration value of the motor speed of the brushless motor within the preset time period is not less than a preset acceleration threshold value to obtain an acceleration threshold value judgment result when the running time detection result is that the motor running time of the brushless motor has reached the preset time; the determination module is used to determine whether the brushless motor has a stall situation according to the acceleration threshold value judgment result.

[0011] The detection module is specifically used to detect whether the motor running time of the brushless motor reaches a preset time by means of a timing counter to obtain a running time detection result.

[0012] Among them, the judgment module is specifically used to: when the running time detection result is that the motor running time of the brushless motor has reached the preset time, a speed observer method is used to obtain a first speed value of the motor speed of the brushless motor at the start time of the preset time period and a second speed value at the end time of the preset time period; according to the first speed value and the second speed value, the acceleration value of the motor speed of the brushless motor in the preset time period is calculated; according to the calculated acceleration value of the motor speed, whether the acceleration value of the motor speed of the brushless motor in the preset time period is not less than a preset acceleration threshold value to obtain an acceleration threshold judgment result.

[0013] Wherein, the judgment module is specifically used for: judging according to the acceleration threshold value result, when the acceleration threshold value judgment result is that the acceleration value of the motor speed of the brushless motor within the preset time period is less than the preset acceleration threshold value, judging that the brushless motor is stuck; when the acceleration threshold value judgment result is that the acceleration value of the motor speed of the brushless motor within the preset time period is not less than the preset acceleration threshold value, judging that the brushless motor is not stuck.

[0014] Wherein, the brushless motor stall detection device further includes: a braking module; the braking module is used to actively brake the brushless motor when it is determined that the brushless motor is stalled.

[0015] According to another aspect of the present invention, there is provided a brushless motor stall detection device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any one of the brushless motor stall detection methods described above.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, storing a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned methods for detecting stall of a brushless motor.

[0017] It can be found that the above scheme can detect whether the motor running time of the brushless motor reaches the preset time to obtain a running time detection result, and when the running time detection result is that it is detected that the motor running time of the brushless motor reaches the preset time, it can be judged whether the acceleration value of the motor speed of the brushless motor within the preset time period is not less than the preset acceleration threshold to obtain an acceleration threshold judgment result, and according to the acceleration threshold judgment result, it can be determined whether the brushless motor is stuck, which can realize timely detection of whether the brushless motor is stuck.

[0018] Furthermore, the above scheme can use a timing counter to detect whether the motor running time of the brushless motor reaches the preset time to obtain a running time detection result. The advantage of this is that it can accurately detect whether the motor running time of the brushless motor reaches the preset time.

[0019] Furthermore, in the above scheme, when the running time detection result shows that the motor running time of the brushless motor has reached the preset time, a speed observer method can be used to obtain a first speed value of the motor speed of the brushless motor at the start time of the time period of the preset time and a second speed value at the end time of the time period of the preset time. According to the first speed value and the second speed value, the acceleration value of the motor speed of the brushless motor in the time period of the preset time is calculated. According to the calculated acceleration value of the motor speed, it is judged whether the acceleration value of the motor speed of the brushless motor in the time period of the preset time is not less than the preset acceleration threshold to obtain the acceleration threshold judgment result. The advantage of this is that it can accurately judge whether the acceleration value of the motor speed of the brushless motor in the time period of the preset time is not less than the preset acceleration threshold.

[0020] Furthermore, the above scheme can be based on the acceleration threshold judgment result. When the acceleration threshold judgment result is that the acceleration value of the motor speed of the brushless motor within the preset time period is less than the preset acceleration threshold, it is determined that the brushless motor is stuck. When the acceleration threshold judgment result is that the acceleration value of the motor speed of the brushless motor within the preset time period is not less than the preset acceleration threshold, it is determined that the brushless motor is not stuck. The advantage of this is that it can realize timely detection of whether the brushless motor is stuck.

[0021] Furthermore, the above scheme can actively brake the motor of the brushless motor when it is determined that the brushless motor is stuck. The advantage of this is that it can avoid the situation where the brushless motor is damaged due to a stall, and can effectively ensure the motor reliability of the brushless motor and increase the motor service life of the brushless motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a flow chart of an embodiment of a method for detecting a stalled rotor of a brushless motor according to the present invention;

[0024] Figure 2 It is a flow chart of another embodiment of the method for detecting stall of a brushless motor of the present invention;

[0025] Figure 3 It is a structural schematic diagram of an embodiment of a brushless motor stall detection device of the present invention;

[0026] Figure 4 It is a structural schematic diagram of another embodiment of the brushless motor stall detection device of the present invention;

[0027] Figure 5 It is a structural schematic diagram of an embodiment of a brushless motor stall detection device of the present invention. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present invention, but are not intended to limit the scope of the present invention. Similarly, the following examples are only partial embodiments of the present invention rather than all embodiments, and all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0029] The present invention provides a brushless motor stall detection method, which can detect whether the brushless motor is stalled in a timely manner.

[0030] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of an embodiment of a method for detecting a stalled rotor of a brushless motor of the present invention. It should be noted that the method of the present invention is not limited to the method of FIG. 1 if substantially the same results are obtained. Figure 1 The process sequence shown is limited. Figure 1 As shown, the method comprises the following steps:

[0031] S101: Detect whether the motor running time of the brushless motor reaches a preset time to obtain a running time detection result.

[0032] The step of detecting whether the motor running time of the brushless motor reaches a preset time to obtain a running time detection result may include:

[0033] By using a timing counter, it is detected whether the motor running time of the brushless motor reaches the preset time to obtain a running time detection result. This has the advantage of being able to accurately detect whether the motor running time of the brushless motor reaches the preset time.

[0034] S102: When the running time detection result shows that the motor running time of the brushless motor reaches a preset time, it is determined whether the acceleration value of the motor speed of the brushless motor within the preset time period is not less than a preset acceleration threshold to obtain an acceleration threshold determination result.

[0035] Wherein, when the running time detection result is that the motor running time of the brushless motor is detected to have reached a preset time, determining whether the acceleration value of the motor speed of the brushless motor within the preset time period is not less than a preset acceleration threshold to obtain an acceleration threshold determination result may include:

[0036] When the running time detection result is that it is detected that the motor running time of the brushless motor has reached the preset time, a speed observer method is used to obtain a first speed value of the motor speed of the brushless motor at the start time of the time period of the preset time and a second speed value at the end time of the time period of the preset time, and the acceleration value of the motor speed of the brushless motor in the time period of the preset time is calculated according to the first speed value and the second speed value, and according to the calculated acceleration value of the motor speed, it is judged whether the acceleration value of the motor speed of the brushless motor in the time period of the preset time is not less than the preset acceleration threshold value to obtain the acceleration threshold value judgment result, which has the advantage of being able to accurately judge whether the acceleration value of the motor speed of the brushless motor in the time period of the preset time is not less than the preset acceleration threshold value.

[0037] In this embodiment, whether the acceleration value of the motor speed of the brushless motor within the preset time period is not less than the preset acceleration threshold value can be that the acceleration value of the motor speed of the brushless motor within the preset time period is equal to the preset acceleration threshold value, or it can be that the acceleration value of the motor speed of the brushless motor within the preset time period is greater than the preset acceleration threshold value.

[0038] S103: Determine whether the brushless motor is stalled according to the acceleration threshold judgment result.

[0039] Wherein, judging whether the brushless motor is stalled according to the acceleration threshold judgment result may include:

[0040] According to the acceleration threshold judgment result, when the acceleration threshold judgment result is that the acceleration value of the motor speed of the brushless motor within the preset time period is less than the preset acceleration threshold, it is determined that the brushless motor is stuck; when the acceleration threshold judgment result is that the acceleration value of the motor speed of the brushless motor within the preset time period is not less than the preset acceleration threshold, it is determined that the brushless motor is not stuck. The advantage of this is that it can realize timely detection of whether the brushless motor is stuck.

[0041] After determining whether the brushless motor is stalled according to the acceleration threshold judgment result, the method may further include:

[0042] When it is determined that the brushless motor is stalled, the motor of the brushless motor is actively braked. This has the advantage of preventing the motor from being damaged due to stalling, effectively ensuring the motor reliability of the brushless motor, and increasing the motor service life of the brushless motor.

[0043] It can be found that in this embodiment, it is possible to detect whether the motor running time of the brushless motor reaches the preset time to obtain a running time detection result, and when it is detected in the running time detection result that the motor running time of the brushless motor reaches the preset time, it is possible to judge whether the acceleration value of the motor speed of the brushless motor within the preset time period is not less than the preset acceleration threshold to obtain an acceleration threshold judgment result, and it is possible to determine whether the brushless motor is stuck based on the acceleration threshold judgment result, thereby realizing timely detection of whether the brushless motor is stuck.

[0044] Furthermore, in this embodiment, a timing counter can be used to detect whether the motor running time of the brushless motor reaches the preset time to obtain a running time detection result. The advantage of this is that it can accurately detect whether the motor running time of the brushless motor reaches the preset time.

[0045] Furthermore, in the present embodiment, when the running time detection result shows that the motor running time of the brushless motor has reached the preset time, a speed observer method can be used to obtain a first speed value of the motor speed of the brushless motor at the start time of the time period of the preset time and a second speed value at the end time of the time period of the preset time, and the acceleration value of the motor speed of the brushless motor within the time period of the preset time is calculated based on the first speed value and the second speed value, and based on the calculated acceleration value of the motor speed, it is judged whether the acceleration value of the motor speed of the brushless motor within the time period of the preset time is not less than the preset acceleration threshold to obtain the acceleration threshold judgment result. The advantage of this is that it can accurately judge whether the acceleration value of the motor speed of the brushless motor within the time period of the preset time is not less than the preset acceleration threshold.

[0046] Furthermore, in the present embodiment, based on the acceleration threshold judgment result, when the acceleration threshold judgment result is that the acceleration value of the motor speed of the brushless motor within the preset time period is less than the preset acceleration threshold, it can be determined that the brushless motor is stuck; when the acceleration threshold judgment result is that the acceleration value of the motor speed of the brushless motor within the preset time period is not less than the preset acceleration threshold, it can be determined that the brushless motor is not stuck. The advantage of this is that it can realize timely detection of whether the brushless motor is stuck.

[0047] See also Figure 2 , Figure 2 FIG. 2 is a flow chart of another embodiment of the method for detecting a stalled rotor of a brushless motor of the present invention. In this embodiment, the method comprises the following steps:

[0048] S201: Detect whether the motor running time of the brushless motor reaches a preset time to obtain a running time detection result.

[0049] This can be as described in S101 above and will not be elaborated here.

[0050] S202: When the running time detection result shows that the motor running time of the brushless motor reaches a preset time, it is determined whether the acceleration value of the motor speed of the brushless motor within the preset time period is not less than a preset acceleration threshold to obtain an acceleration threshold determination result.

[0051] This can be as described in S102 above, and will not be elaborated here.

[0052] S203: Determine whether the brushless motor is stalled according to the acceleration threshold judgment result.

[0053] This can be as described in S103 above, and will not be elaborated here.

[0054] S204: When it is determined that the brushless motor is stalled, actively braking the motor of the brushless motor.

[0055] It can be found that in this embodiment, when it is determined that the brushless motor is stuck, the motor of the brushless motor can be actively braked. The advantage of this is that it can avoid the situation where the brushless motor is damaged due to a stall, and can effectively ensure the motor reliability of the brushless motor and increase the motor service life of the brushless motor.

[0056] The present invention also provides a brushless motor stall detection device, which can detect whether the brushless motor is stalled in a timely manner.

[0057] See also Figure 3 , Figure 3 1 is a schematic diagram of the structure of an embodiment of a brushless motor stall detection device of the present invention. In this embodiment, the brushless motor stall detection device 30 includes a detection module 31 , a judgment module 32 and a determination module 33 .

[0058] The detection module 31 is used to detect whether the motor running time of the brushless motor reaches a preset time to obtain a running time detection result.

[0059] The judgment module 32 is used to determine whether the acceleration value of the motor speed of the brushless motor within the preset time period is not less than a preset acceleration threshold value to obtain an acceleration threshold judgment result when the running time detection result shows that the motor running time of the brushless motor reaches the preset time.

[0060] The determination module 33 is used to determine whether the brushless motor is stalled according to the acceleration threshold determination result.

[0061] Optionally, the detection module 31 may be specifically used for:

[0062] A timing counter is used to detect whether the motor running time of the brushless motor reaches a preset time to obtain a running time detection result.

[0063] Optionally, the judging module 32 may be specifically configured to:

[0064] When the running time detection result is that it is detected that the motor running time of the brushless motor has reached the preset time, a speed observer method is used to obtain a first speed value of the motor speed of the brushless motor at the start time of the time period of the preset time and a second speed value at the end time of the time period of the preset time, and the acceleration value of the motor speed of the brushless motor in the time period of the preset time is calculated according to the first speed value and the second speed value, and according to the calculated acceleration value of the motor speed, it is judged whether the acceleration value of the motor speed of the brushless motor in the time period of the preset time is not less than a preset acceleration threshold to obtain an acceleration threshold judgment result.

[0065] Optionally, the determination module 33 may be specifically used for:

[0066] According to the acceleration threshold judgment result, when the acceleration threshold judgment result is that the acceleration value of the motor speed of the brushless motor within the preset time period is less than the preset acceleration threshold, it is determined that the brushless motor is stuck; when the acceleration threshold judgment result is that the acceleration value of the motor speed of the brushless motor within the preset time period is not less than the preset acceleration threshold, it is determined that the brushless motor is not stuck.

[0067] See also Figure 4 , Figure 4 1 is a schematic diagram of another embodiment of the brushless motor stall detection device of the present invention. Different from the previous embodiment, the brushless motor stall detection device 40 of this embodiment further includes a brake module 41 .

[0068] The braking module 41 is used to actively brake the brushless motor when it is determined that the brushless motor is stalled.

[0069] Each unit module of the brushless motor stall detection device 30 / 40 can respectively execute the corresponding steps in the above method embodiment, so each unit module will not be described in detail here. Please refer to the description of the above corresponding steps for details.

[0070] The present invention further provides a brushless motor stall detection device, such as Figure 5 As shown, it includes: at least one processor 51; and a memory 52 that is communicatively connected to the at least one processor 51; wherein the memory 52 stores instructions that can be executed by the at least one processor 51, and the instructions are executed by the at least one processor 51 so that the at least one processor 51 can execute the above-mentioned brushless motor stall detection method.

[0071] The memory 52 and the processor 51 are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors 51 and the memory 52 together. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor 51 is transmitted on a wireless medium via an antenna, and further, the antenna also receives data and transmits the data to the processor 51.

[0072] The processor 51 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management and other control functions. The memory 52 can be used to store data used by the processor 51 when performing operations.

[0073] The present invention further provides a computer-readable storage medium storing a computer program, which implements the above method embodiment when executed by a processor.

[0074] It can be found that the above scheme can detect whether the motor running time of the brushless motor reaches the preset time to obtain a running time detection result, and when the running time detection result is that it is detected that the motor running time of the brushless motor reaches the preset time, it can be judged whether the acceleration value of the motor speed of the brushless motor within the preset time period is not less than the preset acceleration threshold to obtain an acceleration threshold judgment result, and according to the acceleration threshold judgment result, it can be determined whether the brushless motor is stuck, which can realize timely detection of whether the brushless motor is stuck.

[0075] Furthermore, the above scheme can use a timing counter to detect whether the motor running time of the brushless motor reaches the preset time to obtain a running time detection result. The advantage of this is that it can accurately detect whether the motor running time of the brushless motor reaches the preset time.

[0076] Furthermore, in the above scheme, when the running time detection result shows that the motor running time of the brushless motor has reached the preset time, a speed observer method can be used to obtain a first speed value of the motor speed of the brushless motor at the start time of the time period of the preset time and a second speed value at the end time of the time period of the preset time. According to the first speed value and the second speed value, the acceleration value of the motor speed of the brushless motor in the time period of the preset time is calculated. According to the calculated acceleration value of the motor speed, it is judged whether the acceleration value of the motor speed of the brushless motor in the time period of the preset time is not less than the preset acceleration threshold to obtain the acceleration threshold judgment result. The advantage of this is that it can accurately judge whether the acceleration value of the motor speed of the brushless motor in the time period of the preset time is not less than the preset acceleration threshold.

[0077] Furthermore, the above scheme can be based on the acceleration threshold judgment result. When the acceleration threshold judgment result is that the acceleration value of the motor speed of the brushless motor within the preset time period is less than the preset acceleration threshold, it is determined that the brushless motor is stuck. When the acceleration threshold judgment result is that the acceleration value of the motor speed of the brushless motor within the preset time period is not less than the preset acceleration threshold, it is determined that the brushless motor is not stuck. The advantage of this is that it can realize timely detection of whether the brushless motor is stuck.

[0078] Furthermore, the above scheme can actively brake the motor of the brushless motor when it is determined that the brushless motor is stuck. The advantage of this is that it can avoid the situation where the brushless motor is damaged due to a stall, and can effectively ensure the motor reliability of the brushless motor and increase the motor service life of the brushless motor.

[0079] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device implementation described above is only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0080] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0081] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0082] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0083] The above descriptions are only some embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any equivalent device or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for detecting a stall of a brushless motor, characterized in that: include: Detecting whether the motor running time of the brushless motor reaches a preset time to obtain a running time detection result; When the running time detection result is that the motor running time of the brushless motor reaches the preset time, it is determined whether the acceleration value of the motor speed of the brushless motor within the preset time period is not less than a preset acceleration threshold to obtain an acceleration threshold determination result; Determining whether the brushless motor is stuck based on the acceleration threshold judgment result includes: determining whether the brushless motor is stuck based on the acceleration threshold judgment result when the acceleration threshold judgment result is that the acceleration value of the motor speed of the brushless motor within the preset time period is less than the preset acceleration threshold, determining whether the brushless motor is stuck; and determining whether the brushless motor is not stuck when the acceleration threshold judgment result is that the acceleration value of the motor speed of the brushless motor within the preset time period is not less than the preset acceleration threshold.

2. The method for detecting stall of a brushless motor according to claim 1, wherein: The step of detecting whether the motor running time of the brushless motor reaches a preset time to obtain a running time detection result includes: A timing counter is used to detect whether the motor running time of the brushless motor reaches a preset time to obtain a running time detection result.

3. The method for detecting stall of a brushless motor according to claim 1, wherein: When the running time detection result shows that the motor running time of the brushless motor reaches the preset time, determining whether the acceleration value of the motor speed of the brushless motor within the preset time period is not less than a preset acceleration threshold to obtain an acceleration threshold determination result includes: When the running time detection result is that it is detected that the motor running time of the brushless motor has reached the preset time, a speed observer method is used to obtain a first speed value of the motor speed of the brushless motor at the start time of the preset time period and a second speed value at the end time of the preset time period, and the acceleration value of the motor speed of the brushless motor in the preset time period is calculated according to the first speed value and the second speed value, and according to the calculated acceleration value of the motor speed, it is judged whether the acceleration value of the motor speed of the brushless motor in the preset time period is not less than a preset acceleration threshold to obtain an acceleration threshold judgment result.

4. The method for detecting stall of a brushless motor according to claim 1, wherein: After determining whether the brushless motor is stalled according to the acceleration threshold judgment result, the method further includes: When it is determined that the brushless motor is stalled, the motor of the brushless motor is actively braked.

5. A brushless motor stall detection device, characterized in that: include: Detection module, judgment module and determination module; The detection module is used to detect whether the motor running time of the brushless motor reaches a preset time to obtain a running time detection result; The judgment module is used to judge whether the acceleration value of the motor speed of the brushless motor within the preset time period is not less than a preset acceleration threshold value to obtain an acceleration threshold judgment result when the running time detection result is that the motor running time of the brushless motor reaches the preset time; The determination module is used to determine whether the brushless motor is stuck according to the acceleration threshold determination result; the determination module is specifically used to: according to the acceleration threshold determination result, when the acceleration threshold determination result is that the acceleration value of the motor speed of the brushless motor within the preset time period is less than the preset acceleration threshold, determine whether the brushless motor is stuck; when the acceleration threshold determination result is that the acceleration value of the motor speed of the brushless motor within the preset time period is not less than the preset acceleration threshold, determine whether the brushless motor is not stuck.

6. The brushless motor stall detection device according to claim 5, characterized in that: The detection module is specifically used for: A timing counter is used to detect whether the motor running time of the brushless motor reaches a preset time to obtain a running time detection result.

7. The brushless motor stall detection device according to claim 5, characterized in that: The judgment module is specifically used for: When the running time detection result is that it is detected that the motor running time of the brushless motor has reached the preset time, a speed observer method is used to obtain a first speed value of the motor speed of the brushless motor at the start time of the preset time period and a second speed value at the end time of the preset time period, and the acceleration value of the motor speed of the brushless motor in the preset time period is calculated according to the first speed value and the second speed value, and according to the calculated acceleration value of the motor speed, it is judged whether the acceleration value of the motor speed of the brushless motor in the preset time period is not less than a preset acceleration threshold to obtain an acceleration threshold judgment result.

8. The brushless motor stall detection device according to claim 5, characterized in that: The brushless motor stall detection device further comprises: Braking module; The braking module is used to actively brake the motor of the brushless motor when it is determined that the brushless motor is stalled.

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