Motor Locked Rotor Detection Method, Device, Computer Equipment and Storage Medium

Abstract

The present invention discloses a method, device, computer equipment and storage medium for detecting motor blockage, which relates to the technical field of motors. The method includes: obtaining the sampled current of the motor to be detected, obtaining the current speed of the motor to be detected, and calculating the slip ratio of the motor to be detected according to the current speed; if the sampled current is greater than or equal to a first preset current, calculating the speed observation value of the motor to be detected; if the speed observation value is greater than the maximum speed of the motor to be detected and the slip ratio is greater than a preset slip ratio, it is confirmed that the motor to be detected has a motor blockage. The present invention can not only detect motor blockage, but also simplifies the detection process and can protect the motor in time.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of motors, and in particular, to a method, device, computer device and storage medium for detecting motor blockage. Background Art

[0002] During the operation of a motor, it may experience a blockage due to external forces or mechanical failures within the motor. When the motor is blocked, its speed is zero or very low, but the motor still outputs a large torque, causing the motor to overheat and posing a risk of burnout. Therefore, motor blockage detection is of great importance. Currently, the commonly used motor blockage detection methods mainly detect three variables of the motor: current, speed, and temperature. And according to different situations of the motor, it is also necessary to adjust the duty cycle to perform secondary drive and detection on the motor, resulting in an overly complex detection process. At the same time, the temperature sensor has a certain lag in detecting temperature, and when the motor is blocked, it cannot protect the motor in a timely manner. Summary of the Invention

[0003] The embodiments of the present invention provide a method, device, computer device and storage medium for detecting motor blockage, aiming to solve the problems that the existing motor blockage detection methods are too complex and cannot protect the motor in a timely manner.

[0004] In a first aspect, the embodiments of the present invention provide a method for detecting motor blockage, the method comprising:

[0005] Obtaining the sampled current of the motor to be detected, obtaining the current speed of the motor to be detected, and calculating the slip ratio of the motor to be detected according to the current speed;

[0006] If the sampled current is greater than or equal to a first preset current, calculating an observed value of the speed of the motor to be detected;

[0007] If the observed value of the speed is greater than the maximum speed of the motor to be detected and the slip ratio is greater than a preset slip ratio, it is confirmed that the motor to be detected has a motor blockage.

[0008] In a second aspect, the embodiments of the present invention further provide a device for detecting motor blockage, the device comprising:

[0009] A first obtaining unit, configured to obtain the sampled current of the motor to be detected, obtain the current speed of the motor to be detected, and calculate the slip ratio of the motor to be detected according to the current speed;

[0010] A first calculating unit, configured to calculate an observed value of the speed of the motor to be detected if the sampled current is greater than or equal to a first preset current;

[0011] A first execution unit, configured to confirm that the motor to be detected is blocked if the rotation speed observation value is greater than the maximum speed of the motor to be detected and the slip ratio is greater than a preset slip ratio.

[0012] In a third aspect, an embodiment of the present invention further provides a computer device, which includes a memory and a processor. A computer program is stored on the memory, and when the processor executes the computer program, the above method is implemented.

[0013] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium. The storage medium stores a computer program, and when the computer program is executed by a processor, the above method can be implemented.

[0014] An embodiment of the present invention provides a method, device, computer device, and storage medium for detecting motor blockage. Among them, the method includes: obtaining a sampled current of a motor to be detected, obtaining a current rotation speed of the motor to be detected, and calculating a slip ratio of the motor to be detected according to the current rotation speed; if the sampled current is greater than or equal to a first preset current, calculating a rotation speed observation value of the motor to be detected; if the rotation speed observation value is greater than the maximum speed of the motor to be detected and the slip ratio is greater than a preset slip ratio, confirming that the motor to be detected is blocked. The technical solution of the embodiment of the present invention can determine whether the motor is blocked through the sampled current, slip ratio, and rotation speed observation value, without performing secondary detection on the motor. At the same time, the temperature value of the motor is not required, which not only simplifies the process of detecting motor blockage but also can protect the motor in a timely manner. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1 A schematic diagram of a scenario where a control device communicates with a motor to be detected provided by an embodiment of the present invention;

[0017] Figure 2 A flowchart of a method for detecting motor blockage provided by an embodiment of the present invention;

[0018] Figure 3 A sub-flowchart of a method for detecting motor blockage provided by an embodiment of the present invention;

[0019] Figure 4 A sub-flowchart of a method for detecting motor blockage provided by an embodiment of the present invention;

[0020] Figure 5 Schematic diagram of a sub - process of a motor stall detection method provided by an embodiment of the present invention;

[0021] Figure 6 Schematic diagram of a sub - process of a motor stall detection method provided by an embodiment of the present invention;

[0022] Figure 7 Schematic diagram of a sub - process of a motor stall detection method provided by an embodiment of the present invention;

[0023] Figure 8 Schematic block diagram of a motor stall detection device provided by an embodiment of the present invention; and

[0024] Figure 9 Schematic block diagram of a computer device provided by an embodiment of the present invention. Detailed implementation manners

[0025] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0026] It should be understood that when used in this specification and the appended claims, the terms "comprises" and "comprising" indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0027] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in this specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms.

[0028] It should be further understood that the term " / and / or" used in this specification of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0029] As used in this specification and the appended claims, the term "if" may be construed, depending on the context, as "when", "once", "in response to determining", or "in response to detecting". Similarly, the phrases "if determined" or "if [the described condition or event] is detected" may be construed, depending on the context, to mean "once determined", "in response to determining", "once [the described condition or event] is detected", or "in response to detecting [the described condition or event]".

[0030] Please refer to Figure 1 , Figure 1 which is a schematic diagram of the scenario where the control device provided by the embodiment of the present invention communicates with the motor to be detected. As Figure 1 shown, the control device can be a computer device or a controller or other devices with control functions. The control device can detect the motor to be detected in real time, so as to obtain relevant information such as the sampled current of the motor to be detected and the rotational speed of the motor, and then determine whether the motor to be detected is blocked according to the obtained information. When the motor to be detected is blocked, an early warning is given through the display device.

[0031] Figure 2 which is a schematic flow diagram of the motor block detection method provided by the embodiment of the present invention. As Figure 2 shown, the method includes the following steps S100 - S120.

[0032] S100. Obtain the sampled current of the motor to be detected, obtain the current rotational speed of the motor to be detected, and calculate the slip ratio of the motor to be detected according to the current rotational speed.

[0033] In the embodiment of the present invention, during the operation of the motor to be detected, the control device can detect and obtain the sampled current of the motor to be detected and the current rotational speed of the motor to be detected in real time, calculate the slip ratio according to the current rotational speed of the motor to be detected, and then determine whether the motor to be detected is blocked according to the sampled current and the slip ratio. The manner in which the control device obtains the sampled current and rotational speed of the motor to be detected can be a conventional manner for those skilled in the art and is not limited herein.

[0034] In some embodiments, such as this embodiment, as Figure 3 shown, the step S100 may include steps S101 - S102.

[0035] S101. Obtain the target rotational speed and the current rotational speed of the motor to be detected.

[0036] S102. Calculate the slip ratio according to the target rotational speed and the current rotational speed.

[0037] In an embodiment of the present invention, the target speed refers to the speed set by the user. The user can set the speed of the motor to be detected. For example, if the speed of the motor to be detected is set to 500 revolutions per minute, then the target speed is 500 revolutions per minute. The current speed of the motor to be detected refers to the speed at which the motor to be detected is running, regardless of whether the motor to be detected is blocked. When the motor to be detected is blocked, the speed of the motor to be detected is lower than the target speed. When the motor to be detected is not blocked, the speed of the motor to be detected is the target speed. After obtaining the target speed and the current speed, the slip ratio can be calculated. For example, if the target speed of the motor to be detected is 500 revolutions per minute and the current speed is 10 revolutions per minute, then the slip ratio is the absolute value of the difference between the target speed and the current speed divided by the target speed, that is, 490 divided by 500 = 0.98, and 0.98 multiplied by 100% is equal to 98%, so the slip ratio is 98%.

[0038] S110. If the sampled current is greater than or equal to the first preset current, calculate the speed observation value of the motor to be detected.

[0039] In an embodiment of the present invention, when the sampled current is greater than the first preset current, it indicates that the current of the motor to be detected is abnormal. Then, it can be further determined whether the slip ratio is greater than the preset slip ratio. When the slip ratio is greater than the preset slip ratio and the sampled current is also greater than the first preset current, it indicates that the motor to be detected is likely to be blocked. To avoid misjudgment, the speed observation value of the motor to be detected can be further calculated. The first preset current can be 2 times the rated current, or 3 times the rated current, which is set according to the multiple of the motor current exceeding the rated current when different motors are blocked. Taking the first preset current as 2 times the rated current as an example, when the sampled current is greater than 2 times the rated current, it indicates that the motor is likely to be blocked. Then, it can be further determined whether the slip ratio is greater than the first preset slip ratio. The first preset slip ratio can be 0.9 or a value greater than 0.9. If the slip ratio of the motor to be detected is 0.98 and the sampled current is greater than 2 times the rated current, it indicates that the motor to be detected is likely to be blocked.

[0040] In some embodiments, such as this embodiment, as Figure 4 shown, the step S110 may include steps S111 - S112.

[0041] S111. Obtain the d-axis voltage, d-axis current, q-axis voltage, and q-axis current of the motor to be detected;

[0042] S112. Calculate the speed observation value according to the d-axis voltage, the d-axis current, the q-axis voltage, and the q-axis current.

[0043] In an embodiment of the present invention, the quadrature axis (q-axis) and direct axis (d-axis) of the motor are a coordinate axis, which is a coordinate system established on the rotor of the motor. This coordinate system rotates synchronously with the rotor, with the rotor magnetic field direction as the direct axis and the direction perpendicular to the magnetic field as the quadrature axis. Obtain the d-axis voltage and current, u d and i d , the q-axis voltage and current, u q and i q , and substitute u d and u q into formula (1) to calculate and obtain the observed currents i_q and i_d:

[0044]

[0045] Then substitute the i_q and i_d obtained from formula (1) and i d and i q into formula (2) to calculate the observed speed W_e:

[0046]

[0047] wherein, R is the resistance of the motor to be detected, L is the inductance of the motor to be detected, F is the magnetic flux of the motor to be detected, W e is the observed speed value, K p is the proportional gain coefficient, K i is the integral gain coefficient, and i_q and i_d are the observed currents of the q-axis and d-axis respectively. The observed current is a theoretical value, that is, the current that should be achieved theoretically. Based on this, the calculated observed speed value W_e is also a theoretical value, that is, the speed that the motor to be detected should theoretically reach. At this time, it may be due to the motor to be detected being blocked, resulting in the actual speed of the motor being zero, or the actual speed being relatively low, but the observed speed value is still relatively large.

[0048] S120, if the observed speed value is greater than the maximum speed of the motor to be detected, and the slip ratio is greater than the preset slip ratio, then confirm that the motor to be detected is blocked.

[0049] In an embodiment of the present invention, the observed speed value is a theoretical value, that is, the speed that the motor to be detected should reach under the current of the motor to be detected. If the observed speed value is greater than the maximum speed set for the motor to be detected, it indicates that the motor to be detected is blocked. For example, if the observed speed value is 1000 revolutions per minute, while the maximum speed of the motor to be detected is 800 revolutions per minute, then combined with the sampled current being greater than the first preset current, the slip ratio being greater than the preset slip ratio, and the observed speed value being greater than the maximum speed, it indicates that the motor to be detected is blocked.

[0050] In some embodiments, such as this embodiment, as Figure 5As shown, after step S120, step S130 may further be included.

[0051] S130. Upload the information that the motor to be detected is blocked to the display device and send an alarm signal.

[0052] In the embodiment of the present invention, when it is confirmed that the motor to be detected is blocked, the blocking information can be uploaded to the display device, and relevant information, including but not limited to speed and current, can be displayed through the display device. At the same time, the power supply can also be cut off to turn off the motor to be detected, so as to protect the motor to be detected.

[0053] In some embodiments, such as this embodiment, as Figure 6 shown, the motor blocking detection method may further include steps S140 - S150.

[0054] S140. If the sampled current is less than the first preset current and greater than or equal to the second preset current, and the slip ratio is greater than the preset slip ratio, then confirm the first duration for which the motor to be detected operates in the current state.

[0055] S150. If the first duration is greater than the first preset time, then confirm that the motor to be detected is blocked.

[0056] In the embodiment of the present invention, the first preset current can be 2 times the rated current, then the second preset current can be 1.5 times the rated current, as long as it is less than the first preset current. When the sampled current is between the first preset current and the second preset current, it indicates that although the current of the motor to be detected is not high at this time, there may still be a blocking situation. Therefore, it is necessary to further determine whether the slip ratio is greater than the preset slip ratio. When the slip ratio of the motor to be detected is greater than the preset slip ratio, it indicates that the rotational speed of the motor to be detected is relatively low, which does not match the relatively high sampled current of the motor to be detected. It is possible to further determine the first duration during which the sampled current of the motor to be detected remains less than the first preset current and greater than or equal to the second preset current, and the slip ratio is greater than the first preset slip ratio. If the first duration is greater than the first preset time, it indicates that the motor to be detected is blocked. The first preset time can be 100 ms, or it can be a shorter time such as 50 ms to prevent the motor from being burned out if the motor to be detected is blocked. For example, if the sampled current of the motor to be detected is 1.6 times the rated current, the slip ratio is 0.98, the first preset current is 2 times the rated current, the second preset current is 1.5 times the rated current, the preset slip ratio is 0.9, the first duration is 200 ms, and the first preset time is 100 ms, then it indicates that the motor to be detected is blocked. When the sampled current is between the first preset current and the second preset current, the slip ratio is greater than the preset slip ratio, but the first duration is less than the first preset time, it indicates that the motor to be detected is not blocked.

[0057] In some embodiments, such as this embodiment, as Figure 7 shown, the motor locked-rotor detection method may further include steps S160 - S180.

[0058] S160. If the sampled current is less than the second preset current and greater than or equal to the third preset current, and the slip ratio is greater than the preset slip ratio, then confirm the second duration for which the motor to be detected operates in the current state.

[0059] S170. If the second duration is greater than the second preset time, then confirm that the motor to be detected has a locked-rotor fault;

[0060] S180. If the sampled current is less than the third preset current and the slip ratio is less than or equal to the preset slip ratio, then confirm that the motor to be detected is operating normally.

[0061] In the embodiments of the present invention, the second preset current may be 1.5 times the rated current, and the third preset current may be 1.05 times the rated current, that is, the third preset current is greater than the rated current. When the sampled current is between the third preset current and the second preset current, it indicates that although the current of the motor to be detected is small, there is still a risk of motor locked-rotor. Then, it can be further determined whether the slip ratio is greater than the preset slip ratio. And when the slip ratio is greater than the preset slip ratio, confirm the second duration. The second duration refers to the time during which the motor to be detected maintains a current greater than or equal to the third preset current and less than the second preset current and the slip ratio is greater than the preset slip ratio. When the second duration is greater than the second preset time, it indicates that the motor to be detected has a locked-rotor fault. The second preset time may be a value greater than the first preset time. For example, the second preset time may be 300 ms. Then, when the second duration is greater than 300 ms, it indicates that the motor has a locked-rotor fault. When the sampled current is between the third preset current and the second preset current and the slip ratio is greater than the preset slip ratio, if the second duration is less than the second preset time, it indicates that the motor does not have a locked-rotor fault, and the normal operation of the motor to be detected is maintained.

[0062] Figure 8 is a schematic block diagram of a motor locked-rotor detection device 200 provided by an embodiment of the present invention. As Figure 8 shown, corresponding to the above motor locked-rotor detection method, the present invention also provides a motor locked-rotor detection device 200. The motor locked-rotor detection device 200 includes units for executing the above motor locked-rotor detection method, and this device can be configured in a computer device. Specifically, please refer to Figure 8 , the motor locked-rotor detection device 200 includes a first acquisition unit 201, a first calculation unit 202, and a first execution unit 203.

[0063] Wherein, the first acquisition unit 201 is configured to acquire the sampled current of the motor to be detected and calculate the slip ratio of the motor to be detected; the first calculation unit 202 is configured to calculate the observed value of the rotational speed of the motor to be detected if the sampled current is greater than or equal to a first preset current and the slip ratio is greater than a preset slip ratio; the first execution unit 203 is configured to confirm that the motor to be detected is blocked if the observed value of the rotational speed is greater than the maximum speed of the motor to be detected.

[0064] In some embodiments, such as this embodiment, the first acquisition unit 201 includes a second acquisition unit and a second calculation unit.

[0065] Wherein, the second acquisition unit is configured to acquire the target rotational speed and the current rotational speed of the motor to be detected; the second calculation unit is configured to calculate the slip ratio according to the target rotational speed and the current rotational speed.

[0066] In some embodiments, such as this embodiment, the first calculation unit 202 includes a third acquisition unit and a third calculation unit.

[0067] Wherein, the third acquisition unit is configured to acquire the d-axis voltage, d-axis current, q-axis voltage, and q-axis current of the motor to be detected; the third calculation unit is configured to calculate the observed value of the rotational speed according to the d-axis voltage, the d-axis current, the q-axis voltage, and the q-axis current.

[0068] In some embodiments, such as this embodiment, the motor blockage detection device 200 further includes a first sending unit.

[0069] Wherein, the first sending unit is configured to upload the information that the motor to be detected is blocked to a display device and issue an alarm signal.

[0070] In some embodiments, such as this embodiment, the motor blockage detection device 200 further includes a second confirmation unit and a second execution unit.

[0071] Wherein, the second confirmation unit is configured to confirm the first duration of the motor to be detected operating in the current state if the sampled current is less than the first preset current and greater than or equal to a second preset current, and the slip ratio is greater than the preset slip ratio. The second execution unit is configured to confirm that the motor to be detected is blocked if the first duration is greater than a first preset time.

[0072] In some embodiments, such as this embodiment, the motor blockage detection device 200 further includes a third confirmation unit, a third execution unit, and a fourth execution unit.

[0073] Wherein, the third confirmation unit is configured to confirm the second duration for which the motor to be detected operates in the current state if the sampled current is less than the second preset current and greater than or equal to the third preset current, and the slip ratio is greater than the preset slip ratio. The third execution unit is configured to confirm that the motor to be detected is blocked if the second duration is greater than the second preset time. The fourth execution unit is configured to confirm that the motor to be detected operates normally if the sampled current is less than the third preset current and the slip ratio is less than or equal to the preset slip ratio.

[0074] The above motor block detection device can be implemented in the form of a computer program, and the computer program can run on a computer device as shown in Figure 9 shown.

[0075] Please refer to Figure 9 , Figure 9 which is a schematic block diagram of a computer device provided by an embodiment of the present invention. The computer device 300 is a device with wireless communication and wired communication.

[0076] Refer to Figure 9 , the computer device 300 includes a processor 302, a memory, and a network interface 305 connected through a system bus 301. Among them, the memory may include a non-volatile storage medium 303 and an internal memory 304.

[0077] The non-volatile storage medium 303 can store an operating system 3031 and a computer program 3032. When the computer program 3032 is executed, the processor 302 can be made to execute a motor block detection method.

[0078] The processor 302 is configured to provide computing and control capabilities to support the operation of the entire computer device 300.

[0079] The internal memory 304 provides an environment for the operation of the computer program 3032 in the non-volatile storage medium 303. When the computer program 3032 is executed by the processor 302, the processor 302 can be made to execute a motor block detection method.

[0080] The network interface 305 is configured to communicate with other devices through a network. Those skilled in the art can understand that Figure 9 the structure shown in

[0081] Among them, the processor 302 is used to run the computer program 3032 stored in the memory to implement any embodiment of the above-mentioned motor locked-rotor detection method.

[0082] It should be understood that in the embodiment of the present invention, the processor 302 may be a central processing unit (CPU), and the processor 302 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0083] Those of ordinary skill in the art can understand that all or part of the processes in the methods of implementing the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a storage medium, and the storage medium is a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the process steps of the embodiments of the above method.

[0084] Therefore, the present invention also provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program. When the computer program is executed by the processor, the processor is caused to execute any embodiment of the above-mentioned motor locked-rotor detection method.

[0085] The storage medium may be a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, an optical disc, or other various computer-readable storage media that can store program codes.

[0086] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this article can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0087] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of each unit is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0088] The steps in the method embodiments of the present invention can be adjusted, combined, and deleted according to actual needs. The units in the device embodiments of the present invention can be combined, divided, and deleted according to actual needs. In addition, the functional units in each embodiment of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0089] 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 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. The computer software product is stored in a storage medium and includes several instructions for causing a computer device to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0090] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0091] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, provided that these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these changes and modifications.

[0092] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A method for detecting motor locked-rotor, characterized in that, The method includes: Obtaining the sampled current of the motor to be detected, obtaining the current speed of the motor to be detected, and calculating the slip ratio of the motor to be detected according to the current speed; If the sampled current is greater than or equal to a first preset current, calculating an observed value of the speed of the motor to be detected; If the observed value of the speed is greater than the maximum speed of the motor to be detected and the slip ratio is greater than a preset slip ratio, confirming that the motor to be detected is blocked.

2. The motor locked-rotor detection method according to claim 1, wherein The method further includes: If the sampled current is less than the first preset current and greater than or equal to a second preset current, and the slip ratio is greater than the preset slip ratio, confirming a first duration for the motor to be detected to operate in the current state; If the first duration is greater than a first preset time, confirming that the motor to be detected is blocked.

3. The motor locked-rotor detection method according to claim 2, wherein The method further includes: If the sampled current is less than the second preset current and greater than or equal to a third preset current, and the slip ratio is greater than the preset slip ratio, confirming a second duration for the motor to be detected to operate in the current state; If the second duration is greater than a second preset time, confirming that the motor to be detected is blocked.

4. The motor stall detection method according to claim 3, wherein After the step of, if the sampled current is less than the second preset current and greater than or equal to the third preset current, and the slip ratio is greater than the preset slip ratio, confirming the second duration for the motor to be detected to operate in the current state, further includes: If the sampled current is less than the third preset current and the slip ratio is less than or equal to the preset slip ratio, confirming that the motor to be detected is operating normally.

5. The motor locked-rotor detection method according to claim 1, characterized in that, The step of calculating the slip ratio of the motor to be detected according to the current speed includes: Obtaining the target speed and the current speed of the motor to be detected; Calculating the slip ratio according to the target speed and the current speed.

6. The motor stall detection method according to claim 1, characterized in that The step of calculating the observed value of the speed of the motor to be detected includes: Obtaining the d-axis voltage, d-axis current, q-axis voltage, and q-axis current of the motor to be detected; Calculating the observed value of the speed according to the d-axis voltage, the d-axis current, the q-axis voltage, and the q-axis current.

7. The motor locked-rotor detection method according to claim 1, characterized in that After the step of, if the observed value of the speed is greater than the maximum speed of the motor to be detected and the slip ratio is greater than the preset slip ratio, confirming that the motor to be detected is blocked, further includes: Uploading the information that the motor to be detected is blocked to a display device and sending an alarm signal.

8. A motor locked-rotor detection device, characterized in that, The device includes: A first obtaining unit, configured to obtain the sampled current of the motor to be detected, obtain the current speed of the motor to be detected, and calculate the slip ratio of the motor to be detected according to the current speed; A first calculating unit, configured to calculate an observed value of the speed of the motor to be detected if the sampled current is greater than or equal to a first preset current; A first executing unit, configured to confirm that the motor to be detected is blocked if the observed value of the speed is greater than the maximum speed of the motor to be detected and the slip ratio is greater than the preset slip ratio.

9. A computer device, characterized in that, The computer device includes a memory and a processor. A computer program is stored on the memory. When the processor executes the computer program, the method described in any one of claims 1-7 is implemented.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program. When the computer program is executed by a processor, the method described in any one of claims 1-7 can be implemented.

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