Motor stall detection system and detection method

Abstract

The present invention discloses a motor stall detection system and method, wherein the motor stall detection system includes: a main control module, a power detection module and a motor drive module; wherein the main control module is used to output a first enable signal to the power detection module, and after a first preset time, output a rotation control signal to the motor drive module and output a second enable signal to the power detection module; the motor drive module is used to drive the motor to rotate according to the rotation control signal; the power detection module is used to obtain a first power value of a battery within a first preset time according to the first enable signal, and obtain a second power value of the battery within a second preset time according to the second enable signal, and output the first power value and the second power value to the main control module; the main control module is further used to stop outputting the rotation control signal when determining that the motor is stalled based on the first power value and the second power value. Thus, effective detection of motor stall is achieved and detection accuracy and reliability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent door locks, and in particular to a motor stall detection system and method. Background Art

[0002] In practical motor applications, if a motor becomes stuck due to an object, and the motor control system fails to stop driving the motor in time, the motor will burn out after a period of time because the stall current will remain significantly greater than the rated current. Therefore, to ensure safe motor operation, existing motor control systems typically implement stall detection by presetting a stall current threshold. Specifically, if the current value detected during motor operation exceeds the preset stall current threshold, the motor is determined to be stalled. However, in actual applications, due to the influence of load size and motor parameters, the actual current value at the time of motor stall can be less than the preset stall current value, resulting in inaccurate stall detection results.

[0003] Therefore existing technology still needs to be improved and improved. Summary of the Invention

[0004] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a motor stall detection system and method, which can effectively improve the accuracy and reliability of stall detection.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A motor stall detection system, comprising:

[0007] A main control module, a power detection module and a motor drive module, wherein the main control module is connected to the power detection module and the motor drive module respectively, the power detection module is connected to the power supply battery, and the motor drive module is connected to the motor;

[0008] The main control module is configured to output a first enable signal to the power detection module, and after a first preset time period, output a rotation control signal to the motor drive module and output a second enable signal to the power detection module;

[0009] The motor driving module is used to drive the motor to rotate according to the rotation control signal;

[0010] The power detection module is configured to obtain a first power value of the battery within a first preset time period according to the first enable signal, obtain a second power value of the battery within a second preset time period according to the second enable signal, and output the first power value and the second power value to the main control module;

[0011] The main control module is further configured to determine, based on the first power value and the second power value, that the motor is stalled and stop outputting the rotation control signal.

[0012] The motor stall detection system further includes: an alarm module connected to the main control module;

[0013] Wherein, the main control module is further used to output an alarm control signal to the alarm module when it is determined that the motor is stalled;

[0014] The alarm module is used to output an alarm voice signal according to the alarm control signal.

[0015] The motor stall detection system further includes: a fingerprint module, which is connected to the main control module and is used to obtain fingerprint information and output a start instruction to the main control module when it is determined that the fingerprint information is qualified.

[0016] The motor stall detection system, wherein the main control module includes a control chip, and the control chip is respectively connected to the motor drive module, the power detection module, the fingerprint module and the alarm module;

[0017] Among them, the control chip is used to calculate the slope value of the power change curve based on the first power value and the second power value, and when it is determined that the slope value of the power change curve is greater than a preset value, it is determined that the motor is blocked, and then the output of the rotation control signal is stopped, and the alarm control signal is output to the alarm module.

[0018] The motor stall detection system, the power detection module includes:

[0019] A driving unit, a switch unit and a voltage dividing unit, wherein the driving unit is respectively connected to the switch unit and the control chip, the switch unit is connected to the voltage dividing unit, and the voltage dividing unit is respectively connected to the battery and the control chip.

[0020] The motor stall detection system, the driving unit includes: a first resistor, a second resistor, a transistor and a first capacitor, one end of the first resistor is connected to the ADC_EN signal terminal of the control chip, the other end of the first resistor is connected to one end of the second resistor and the base of the transistor, the emitter of the transistor, the other end of the second resistor and one end of the first capacitor are all grounded, and the other end of the first capacitor and the collector of the transistor are connected to the switching unit.

[0021] The motor stall detection system, the switching unit includes: a third resistor and a switching tube, one end of the third resistor is connected to the other end of the first capacitor and the collector of the transistor, the other end of the third resistor is connected to the voltage divider unit and the first end of the switching tube, the second end of the switching tube is connected to the battery, and the third end of the switching tube is connected to the voltage divider unit.

[0022] The motor stall detection system, the voltage divider unit includes: a fourth resistor, a fifth resistor, a sixth resistor, a second capacitor and a third capacitor, one end of the fourth resistor and one end of the second capacitor are both connected to the battery, the other end of the fourth resistor and the other end of the second capacitor are both connected between the other end of the third resistor and the first end of the switching tube, one end of the fifth resistor is connected to the third end of the switching tube, the other end of the fifth resistor, one end of the sixth resistor and one end of the third capacitor are all connected to the ADC_VF signal terminal of the control chip, and the other end of the sixth resistor and the other end of the third capacitor are both grounded.

[0023] The motor stall detection system, the motor drive module includes:

[0024] A driving chip, a fourth capacitor and a fifth capacitor, the fourth pin of the driving chip, one end of the fourth capacitor and one end of the fifth capacitor are all connected to the battery, the other end of the fourth capacitor and the other end of the fifth capacitor are both grounded, the fifth pin of the driving chip and the sixth pin of the driving chip are both connected to the second pin of the motor, and the seventh pin of the driving chip and the eighth pin of the driving chip are both connected to the first pin of the motor.

[0025] A motor stall detection method is applied to a motor stall detection system. The motor stall detection system includes a main control module, a power detection module, and a motor drive module. The detection method includes the following steps:

[0026] Based on the main control module outputting a first enable signal to the power detection module, and after a first preset time, outputting a rotation control signal to the motor drive module and outputting a second enable signal to the power detection module;

[0027] The motor driving module drives the motor to rotate according to the rotation control signal;

[0028] Based on the power detection module, obtaining a first power value of the battery within the first preset time period according to the first enable signal, obtaining a second power value of the battery within the second preset time period according to the second enable signal, and outputting the first power value and the second power value to the main control module;

[0029] The main control module stops outputting the rotation control signal when it is determined that the motor is stalled based on the first power value and the second power value.

[0030] Compared to the prior art, the present invention provides a motor stall detection system and method, wherein the motor stall detection system includes a main control module, a power detection module, and a motor drive module. The main control module is used to output a first enable signal to the power detection module, and after a first preset time, output a rotation control signal to the motor drive module and output a second enable signal to the power detection module; the motor drive module is used to drive the motor to rotate according to the rotation control signal; the power detection module is used to obtain a first battery power value within a first preset time according to the first enable signal, and obtain a second battery power value within a second preset time according to the second enable signal, and output the first power value and the second power value to the main control module; the main control module is further used to stop outputting the rotation control signal when determining that the motor is stalled based on the first power value and the second power value. This achieves effective detection of motor stall and improves detection accuracy and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a structural block diagram of the motor stall detection system provided by the present invention;

[0032] Figure 2 This is a schematic diagram of the control chip in the motor stall detection system provided by the present invention;

[0033] Figure 3 This is a schematic diagram of the motor drive module and the power detection module in the motor stall detection system provided by the present invention;

[0034] Figure 4 This is a flow chart of the control method of the motor stall detection system provided by the present invention;

[0035] Figure 5 A flowchart of the motor stall detection system provided by the present invention;

[0036] Reference numerals:

[0037] 11: Motor stall detection system; 12: Battery; 13: Motor; 100: Main control module; 200: Power detection module; 300: Motor drive module; 210: Drive unit; 220: Switch unit; 230: Voltage divider unit. DETAILED DESCRIPTION

[0038] In view of the deficiencies in the prior art, an object of the present invention is to provide a motor stall detection system and method, which can effectively improve the accuracy and reliability of stall detection.

[0039] In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0040] See also Figure 1 The motor stall detection system 11 provided by the present invention includes: a main control module 100, a power detection module 200 and a motor drive module 300, the main control module 100 is connected to the power detection module 200 and the motor drive module 300 respectively, the power detection module 200 is connected to the battery 12, and the motor drive module 300 is connected to the motor 13.

[0041] Because the discharge curves of battery 12 vary significantly, and the discharge curves and capacities vary under different discharge conditions, the charge of battery 12 changes significantly under high load (high current), resulting in a steeper discharge curve slope. On the other hand, when discharging under low load, the measured charge changes less, resulting in a smoother discharge curve slope. Figuratively speaking, high currents quickly reduce the voltage of battery 12, while low currents gradually deplete the remaining charge within battery 12.

[0042] In electronic products powered by a battery 12 and driven by a motor 13, when motor 13 stalls, the current will instantly increase beyond normal and remain so for a period of time, which will also be reflected in the change in battery power. The present invention utilizes the impact of the current on the battery 12 when motor 13 stalls. The main control module 100 within the electronic product samples the power data before and during motor 13 operation. Based on the two sampled power values, it quickly determines whether motor 13 has stalled and then shuts off the output of the motor 13 rotation control signal, preventing motor 13 from burning out when it stalls.

[0043] In a specific implementation, the main control module 100 is used to output a first enable signal (ADC_EN in this embodiment) to the power detection module 200, and after a first preset time, output a rotation control signal (PWMA_MOTOR and PWMB_MOTOR in this embodiment) to the motor drive module 300 and output a second enable signal to the power detection module 200; when the motor 13 is not rotating, the main control module 100 outputs a high-level enable signal, i.e., a first enable signal, to the power detection module 200 for the first time, and the power detection module 200 is used to obtain a first power value of the battery 12 within the first preset time according to the first enable signal. , and outputs the first power value to the main control module 100; thereafter, the main control module 100 outputs a rotation control signal to the motor drive module 300, and the motor drive module 300 is used to drive the motor 13 to rotate according to the rotation control signal. At this time, the main control module 100 again outputs a high-level enable signal, that is, a second enable signal, to the power detection module 200, so that the power detection module 200 obtains the second power value of the battery 12 within a second preset time according to the second enable signal, and outputs it to the main control module 100; the main control module 100 is also used to determine that the motor 13 is stalled based on the first power value and the second power value, and stop outputting the rotation control signal. Wherein, the first preset time is equal to the second preset time. This is equivalent to the main control module 100 obtaining the power value of the battery 12 when the motor 13 is working, that is, before the rotation, and the power value of the battery 12 after the motor 13 rotates, and then judging whether the motor 13 is stalled based on the two obtained power values. When it is judged that the motor 13 is stalled, the output of the rotation drive signal is immediately stopped, and the motor 13 is controlled to stop rotating, thereby improving the accuracy and reliability of the motor 13 stall detection.

[0044] Furthermore, the motor stall detection system 11 also includes an alarm module 400, which is connected to the main control module 100; wherein, the main control module 100 is also used to output an alarm control signal to the alarm module 400 when it is determined that the motor 13 is stalled, and the alarm module 400 is used to output an alarm voice signal according to the alarm control signal, so as to prompt the user to eliminate the stall problem in time.

[0045] Furthermore, the motor stall detection system 11 also includes a fingerprint module 500, which is connected to the main control module 100. The fingerprint module 500 is used to obtain fingerprint information and output a start instruction to the main control module 100 when it determines that the fingerprint information is qualified. Of course, other door opening verification methods can also be used in other embodiments. After that, the main control module 100 outputs a first enable signal to the power detection module 200 according to the start instruction to facilitate determination of whether the motor 13 is stalled.

[0046] Further, see Figure 2The main control module 100 includes a control chip U1, which is connected to the motor drive module 300, the power detection module 200, the fingerprint module 500 and the alarm module 400 respectively.

[0047] Among them, the control chip U1 is used to output a first enable signal to the power detection module 200 according to the start-up instruction, and output a rotation control signal to the motor drive module 300 after a first preset time, output a second enable signal to the power detection module 200, and calculate the slope value of the power change curve according to the first power value and the second power value, and when it is determined that the slope value of the power change curve is greater than the preset value, it is determined that the motor 13 is blocked, then the output of the rotation control signal is stopped, and an alarm control signal is output to the alarm module 400; the model of the control chip U1 in this embodiment is NXPLPC55S69. Of course, a control chip U1 with the same function can also be selected in other embodiments, and the present invention is not limited to this.

[0048] After the user successfully passes the fingerprint authentication, the control chip U1 outputs a first enable signal to the power detection module 200, which controls the power detection module 200 to collect 200 first power values ​​within a first preset time (e.g., 50ms). Subsequently, the control chip U1 sends a motor 13 rotation control signal to the motor drive module 300, which drives the motor 13 to rotate according to the rotation control signal; at the same time, the control chip U1 sends a second enable signal to the power detection module 200, which causes the power detection module 200 to sample 200 second power values ​​within a second preset time (e.g., 50ms); then, the control chip U1 performs a least squares fitting of the power change curve slope value based on the first power value and the second power value. If the power change curve slope value exceeds the range of the battery 12 power change slope for normal motor 13 operation, it indicates that the motor 13 is stalled. The control chip U1 will then cut off the output of the motor 13 rotation control signal and, at the same time, output an alarm control signal to the alarm module 400, which issues a voice alarm to prompt the user to eliminate the stall problem. In the present invention, the least square method is used to analyze multiple electrical values ​​of the motor 13 before and after operation. Compared with the existing method of setting a stall current threshold for comparison and judgment, the obtained judgment result is more accurate and reliable.

[0049] Further, see Figure 3 The power detection module 200 includes a driving unit 210, a switch unit 220 and a voltage dividing unit 230. The driving unit 210 is respectively connected to the switch unit 220 and the control chip U1. The switch unit 220 is connected to the voltage dividing unit 230. The voltage dividing unit 230 is respectively connected to the battery 12 and the control chip U1.

[0050] Among them, the driving unit 210 is used to drive the switch unit 220 to be turned on or off according to the first enable signal or the second enable signal, and the voltage divider unit 230 is used to divide the supply voltage of the battery 12 (BAT_VCC in this embodiment) and output the first power value or the second power value to the main control module 100 when the switch unit 220 is turned on; when the driving unit 210 drives the switch unit 220 to be turned on according to the high-level enable signal output by the control chip U1, then the battery 12 will be connected to the voltage divider unit 230 at this time, otherwise, the battery 12 will not be connected to the voltage divider unit 230; when the switch unit 220 is turned on, the supply voltage of the battery 12 will be sampled to obtain the first value or the second power value, and the first power value and the second power value will be output to the control chip U1, so that the control chip U1 can judge the working status of the motor 13.

[0051] Furthermore, the driving unit 210 includes: a first resistor R1, a second resistor R2, a transistor Q1 and a first capacitor C1, one end of the first resistor R1 is connected to the ADC_EN signal end of the control chip U1, the other end of the first resistor R1 is connected to one end of the second resistor R2 and the base of the transistor Q1, the emitter of the transistor Q1, the other end of the second resistor R2 and one end of the first capacitor C1 are all grounded, the other end of the first capacitor C1 and the collector of the transistor Q1 are connected to the switch unit 220, and the transistor Q1 in this embodiment is an N-type transistor Q1; when the enable signal ADC_EN is set to a high level by the control chip U1, the transistor Q1 switches from the off state to the on state, thereby realizing the conduction control of the switch unit 220.

[0052] Furthermore, the switch unit 220 includes: a third resistor R3 and a switch tube. One end of the third resistor R3 is connected to the other end of the first capacitor C1 and the collector of the transistor Q1. The other end of the third resistor R3 is connected to the voltage divider unit 230 and the first end of the switch tube. The second end of the switch tube is connected to the battery 12. The third end of the switch tube is connected to the voltage divider unit 230. In this embodiment, the switch tube is a MOS tube. The first end of the switch tube is the gate of the MOS tube, the second end of the switch tube is the source of the MOS tube, and the third end of the switch tube is the drain of the MOS tube. When the transistor Q1 is turned on, the gate level of the MOS tube is pulled down, switching from the off state to the on state, thereby connecting the battery 12 to the voltage divider unit 230, so that the voltage divider unit 230 can perform voltage division sampling on the supply voltage of the battery 12.

[0053] Furthermore, the voltage divider unit 230 includes a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a second capacitor C2, and a third capacitor C3. One end of the fourth resistor R4 and one end of the second capacitor C2 are both connected to the battery 12. The other end of the fourth resistor R4 and the other end of the second capacitor C2 are both connected between the other end of the third resistor R3 and the first end of the switch tube. One end of the fifth resistor R5 is connected to the third end of the switch tube. The other end of the fifth resistor R5, one end of the sixth resistor R6, and one end of the third capacitor C3 are all connected to the ADC_VF signal terminal of the control chip U1. The other end of the sixth resistor R6 and the other end of the third capacitor C3 are both grounded. When the MOS tube is turned on, the supply voltage of the battery 12 will be divided by the fourth resistor R4 and the fifth resistor R5, so that the ADC_VF signal terminal of the control chip U1 obtains 1 / 3 of the battery 12 voltage, thereby realizing the determination of the state of the motor 13 by the value converted by ADC of the battery 12 voltage.

[0054] The MOS transistor in this embodiment is a P-channel MOS transistor, which acts as a switch to cut off BAT_VCC, thereby minimizing the product's standby power consumption. N-type transistor Q1 is controlled by the voltage output of control chip U1 and is primarily used to prevent the high voltage of BAT_VCC from directly acting on the control chip U1 I / O, improving system reliability.

[0055] Furthermore, the motor drive module 300 includes a drive chip U2, a fourth capacitor C4 and a fifth capacitor C5, the fourth pin of the drive chip U2, one end of the fourth capacitor C4 and one end of the fifth capacitor C5 are all connected to the battery 12, the other end of the fourth capacitor C4 and the other end of the fifth capacitor C5 are both grounded, the fifth pin of the drive chip U2 and the sixth pin of the drive chip U2 are both connected to the second pin of the motor 13, and the seventh pin of the drive chip U2 and the eighth pin of the drive chip U2 are both connected to the first pin of the motor 13; in this embodiment, the model of the drive chip U2 is TA6586, of course, in other embodiments, a drive chip U2 with the same function can also be selected, and the present invention is not limited to this; the drive chip U2 drives the motor 13 to rotate according to the rotation control signal output by the control chip U1, so that the control chip U1 can detect the power of the battery 12 after the motor 13 rotates, and then determine whether the motor 13 is blocked.

[0056] Furthermore, the present invention also provides a motor stall detection method, which is applied to a motor stall detection system. The motor stall detection system includes a main control module, a power detection module and a motor drive module. Figure 4 , the detection method comprises the following steps:

[0057] S100, based on the main control module outputting a first enable signal to the power detection module, and after a first preset time, outputting a rotation control signal to the motor drive module and outputting a second enable signal to the power detection module;

[0058] S200, driving the motor to rotate based on the rotation control signal based on the motor driving module;

[0059] S300, based on the power detection module, obtaining a first power value of the battery within the first preset time period according to the first enable signal, obtaining a second power value of the battery within the second preset time period according to the second enable signal, and outputting the first power value and the second power value to the main control module;

[0060] S400: Stop outputting a rotation control signal when the main control module determines that the motor is stalled according to the first power value and the second power value.

[0061] Furthermore, to better understand the working principle of the motor stall detection system provided by the present invention, please refer to Figure 5 The working process of the motor stall detection system provided by the present invention is described in detail according to the application embodiment, that is, the detection steps of the motor stall detection system are as follows:

[0062] S10, the control chip obtains a first power value;

[0063] S20, the control chip controls the motor to start;

[0064] S30, the control chip obtains a second power value;

[0065] S40, determine whether the motor is stalled, if so, execute step S50, if not, the door is opened successfully;

[0066] S50: Stop outputting the rotation control signal and control the alarm module to give a voice prompt.

[0067] In the process of opening the smart door lock, this embodiment takes the fingerprint authentication unlocking method as an example; the user's fingerprint information is obtained through the fingerprint module, and when the fingerprint module determines that the fingerprint information is qualified, that is, after the user's fingerprint authentication is successful, a start instruction is output to the control chip, and the control chip controls the power detection module to work, and obtains a first power value through the power detection module; after obtaining the first power value, the control chip outputs a rotation control signal to the motor drive module, and controls the motor to start rotating through the motor drive module; while the control chip outputs the rotation control signal, the control chip controls the power detection module to detect the battery power again, and obtains a second power value through the power detection module; the control chip performs minimum The square multiplication method is used to fit the slope value of the power change curve, and to determine whether the slope value of the power change curve exceeds the range of the battery power change slope for normal motor operation; if the control chip determines that the slope value of the power change curve exceeds the range of the battery power change slope for normal motor operation, it means that the motor is stuck at this time, and the control chip stops outputting the rotation control signal to stop the motor, indicating that the door opening failed; at the same time, the control chip will control the alarm module to issue a voice alarm prompt to eliminate the jam, so as to facilitate fault repair of the smart door lock; if the control chip determines that the slope value of the power change curve does not exceed the range of the battery power change slope for normal motor operation, it means that the motor is successfully started and no jam occurs, which means that the smart door lock is working normally and the door is opened successfully.

[0068] In summary, the present invention provides a motor stall detection system and detection method, wherein the motor stall detection system includes a main control module, a power detection module and a motor drive module, the main control module is used to output a first enable signal to the power detection module, and output a rotation control signal to the motor drive module and a second enable signal to the power detection module after a first preset time; the motor drive module is used to drive the motor to rotate according to the rotation control signal; the power detection module is used to obtain a first power value of the battery within a first preset time according to the first enable signal, and obtain a second power value of the battery within a second preset time according to the second enable signal, and output it to the main control module; the main control module is also used to stop outputting the rotation control signal when judging that the motor is stalled based on the first power value and the second power value, thereby realizing effective detection of motor stall and improving detection accuracy and reliability.

[0069] It is understandable that those skilled in the art can make equivalent substitutions or changes based on the technical solution and inventive concept of the present invention, and all these changes or substitutions should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A motor stall detection system, characterized in that: include: A main control module, a power detection module and a motor drive module, wherein the main control module is connected to the power detection module and the motor drive module respectively, the power detection module is connected to the power supply battery, and the motor drive module is connected to the motor; The power supply battery is used to supply power to the motor; The main control module is configured to output a first enable signal to the power detection module, and after a first preset time period, output a rotation control signal to the motor drive module and output a second enable signal to the power detection module; The motor driving module is used to drive the motor to rotate according to the rotation control signal; The power detection module is configured to obtain a first power value of the battery within a first preset time period according to the first enable signal, obtain a second power value of the battery within a second preset time period according to the second enable signal, and output the first power value and the second power value to the main control module; The main control module is further configured to determine, based on the first power value and the second power value, that the motor is stalled and stop outputting the rotation control signal.

2. The motor stall detection system according to claim 1, characterized in that: Also includes: an alarm module, the alarm module being connected to the main control module; Wherein, the main control module is further used to output an alarm control signal to the alarm module when it is determined that the motor is stalled; The alarm module is used to output an alarm voice signal according to the alarm control signal.

3. The motor stall detection system according to claim 2, characterized in that: Also includes: A fingerprint module is connected to the main control module and is used to obtain fingerprint information and output a start instruction to the main control module when determining that the fingerprint information is qualified.

4. The motor stall detection system according to claim 3, characterized in that: The main control module includes a control chip, and the control chip is respectively connected to the motor drive module, the power detection module, the fingerprint module and the alarm module; Among them, the control chip is used to calculate the slope value of the power change curve based on the first power value and the second power value, and when it is determined that the slope value of the power change curve is greater than a preset value, it is determined that the motor is blocked, and then the output of the rotation control signal is stopped, and the alarm control signal is output to the alarm module.

5. The motor stall detection system according to claim 4, characterized in that: The power detection module includes: A driving unit, a switch unit and a voltage dividing unit, wherein the driving unit is respectively connected to the switch unit and the control chip, the switch unit is connected to the voltage dividing unit, and the voltage dividing unit is respectively connected to the battery and the control chip.

6. The motor stall detection system according to claim 5, characterized in that: The driving unit includes: a first resistor, a second resistor, a transistor and a first capacitor, one end of the first resistor is connected to the ADC_EN signal end of the control chip, the other end of the first resistor is connected to one end of the second resistor and the base of the transistor, the emitter of the transistor, the other end of the second resistor and one end of the first capacitor are all grounded, and the other end of the first capacitor and the collector of the transistor are connected to the switching unit.

7. The motor stall detection system according to claim 6, characterized in that: The switch unit includes: a third resistor and a switching tube, one end of the third resistor is connected to the other end of the first capacitor and the collector of the transistor, the other end of the third resistor is connected to the voltage divider unit and the first end of the switching tube, the second end of the switching tube is connected to the battery, and the third end of the switching tube is connected to the voltage divider unit.

8. The motor stall detection system according to claim 7, characterized in that: The voltage dividing unit includes: a fourth resistor, a fifth resistor, a sixth resistor, a second capacitor, and a third capacitor, one end of the fourth resistor and one end of the second capacitor are both connected to the battery, the other end of the fourth resistor and the other end of the second capacitor are both connected between the other end of the third resistor and the first end of the switch tube, one end of the fifth resistor is connected to the third end of the switch tube, the other end of the fifth resistor, one end of the sixth resistor, and one end of the third capacitor are all connected to the ADC_VF signal terminal of the control chip, and the other end of the sixth resistor and the other end of the third capacitor are both grounded.

9. The motor stall detection system according to claim 5, characterized in that: The motor drive module includes: A driving chip, a fourth capacitor and a fifth capacitor, the fourth pin of the driving chip, one end of the fourth capacitor and one end of the fifth capacitor are all connected to the battery, the other end of the fourth capacitor and the other end of the fifth capacitor are both grounded, the fifth pin of the driving chip and the sixth pin of the driving chip are both connected to the second pin of the motor, and the seventh pin of the driving chip and the eighth pin of the driving chip are both connected to the first pin of the motor.

10. A motor stall detection method, the motor stall detection method being applied to the motor stall detection system according to any one of claims 1 to 9, the motor stall detection system comprising a main control module, a power detection module, and a motor drive module, characterized in that: The detection method comprises the following steps: Based on the main control module outputting a first enable signal to the power detection module, and after a first preset time, outputting a rotation control signal to the motor drive module and outputting a second enable signal to the power detection module; The motor driving module drives the motor to rotate according to the rotation control signal; Based on the power detection module, obtaining a first power value of the battery within the first preset time period according to the first enable signal, obtaining a second power value of the battery within the second preset time period according to the second enable signal, and outputting the first power value and the second power value to the main control module; The main control module stops outputting the rotation control signal when it is determined that the motor is stalled based on the first power value and the second power value.

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