Method and system for installing photographic paper in stator slot, storage medium and intelligent terminal

Abstract

The invention relates to a method and system for installing photographic paper in a stator slot, a storage medium and an intelligent terminal, and relates to the field of motor stator winding steps, and the method comprises the steps: obtaining a stator image; performing matching based on the stator image and a preset standard stator image to obtain a successfully matched standard stator image, and defining the standard stator image as a current stator image; searching a corresponding chassis category from a preset chassis database based on the current stator image; the chassis corresponding to the chassis category is controlled to execute an installation scheme, and the installation scheme comprises the steps that the photographic paper is adsorbed by suction columns, the chassis is controlled to enter a stator, the suction columns are controlled to be loosened after being inserted into stator grooves in a one-to-one correspondence mode, and the chassis is taken out; the photographic paper installation device has the advantages that the photographic paper is installed in the stator groove according to automatic equipment, manual installation is not needed, the labor cost is reduced, and the efficiency of installing the photographic paper in the stator groove is improved.

Description

Technical Field

[0001] The present application relates to the field of motor stator winding steps, and more particularly to a method, system, storage medium and intelligent terminal for installing photographic paper in stator slots. Background Art

[0002] The stator of a motor is the stationary part of the motor, usually consisting of an iron core and windings. The windings are conductive coils made of copper or aluminum wire that are wound into slots in the stator core.

[0003] Typically, the steps for stator winding include: 1. Determine the winding parameters, such as the number of turns and wire diameter, based on the motor's specifications and requirements; 2. Prepare suitable copper wire and insulation materials; 3. Ensure that the stator core is clean and free of damage; 4. Use a manual or automatic winding machine to wind the copper wire into the stator slots in a specific pattern, ensuring good insulation between each turn to avoid short circuits; 5. After winding, correctly connect the starting and ending points of the winding to the corresponding terminals. Before winding, in order to provide electrical insulation, ensure good performance between the winding coils, and reduce damage caused by friction between the wires due to vibration during operation, it is necessary to add photo paper to each positioning slot.

[0004] The existing technology has the following problems: due to the excessive number of stator slots, a large number of photo papers are required. Manual insertion is usually used for installation, which is a cumbersome process, incurring a large amount of labor costs and wasting a lot of labor. There is still room for improvement. Summary of the Invention

[0005] In order to improve the problem of manual insertion installation, which is a cumbersome process, generates a large amount of manpower cost, and wastes a lot of labor, the present application provides a method, system, storage medium and intelligent terminal for installing photo paper in a stator slot.

[0006] In a first aspect, the present application provides a method for installing photographic paper in a stator slot, which adopts the following technical solution: A method for installing photographic paper in a stator slot, comprising: Acquire stator image; Matching the stator image with a preset standard stator image to obtain a successfully matched standard stator image, and defining the standard stator image as a current stator image; Based on the current stator image, a corresponding chassis category is searched from a preset chassis database, wherein the chassis is provided with a suction column for adsorbing photo paper, the photo paper is sleeved on the suction column, and the length of the suction column is greater than the length of the photo paper; The chassis corresponding to the control chassis category executes the installation plan, wherein the installation plan is as follows: the suction column sucks the photo paper, the control chassis enters the stator, the suction columns are inserted into the stator slots one by one, and then the control suction columns are released to remove the chassis; Complete the installation of the photo paper.

[0007] By adopting the above technical solution, the number of photo papers and the specially designed chassis are determined according to the specifications of the stator, and then the chassis is inserted into the stator slot to install the photo paper in the stator slot. No manual installation is required, which reduces labor costs and improves the efficiency of installing photo papers in the stator slot.

[0008] Optionally, the method of controlling the suction pins on the chassis corresponding to the chassis type to adsorb the photo paper, then controlling the chassis to enter the stator, inserting the suction pins into the stator slots one by one, and then controlling the suction pins to release includes: When the stator image and the standard stator image do not match, the standard stator image is rotated and moved to obtain an offset stator image; Matching the stator image and the offset stator image to obtain a successfully matched offset stator image, and defining the offset stator image as a current stator image; Inversely determining a standard stator image, an offset vector, and a deflection angle based on the current stator image; The suction columns on the chassis corresponding to the chassis category are controlled to adsorb the photo paper, the chassis is controlled to move according to the offset vector and deflect according to the deflection angle, the chassis is controlled to enter the stator, the suction columns are inserted into the stator slots one by one, and then the suction columns are controlled to be released.

[0009] By adopting the above technical solution, when the stator is not placed in a good position, the position and angle of the chassis are corrected according to the position and angle when the matching is successful, and then inserted into the stator to ensure alignment, thereby improving the accuracy of the chassis aligning with the stator.

[0010] Optionally, a method for verifying the offset vector is further included, the method comprising: The chassis is controlled to move downward according to the offset vector and obtain the downward movement height. A positioning column is provided on the chassis and is coaxially arranged with the chassis. The outer diameter of the positioning column is the same as the inner diameter of the stator, and the length of the positioning column is longer than the length of the suction column. When the downward movement height is equal to the preset first pre-entry height, a first downward pressure resistance is obtained; When the first downward resistance is greater than 0, move horizontally until the first downward resistance is equal to 0; When the first downward movement resistance is equal to 0, the movement vector is recorded and the movement continues in any direction for the preset measurement distance; When there is no direction for moving the measured distance, the offset vector is checked based on the moving vector to obtain a vector check result, and the result is output; When there is a direction in which the measured distance is moved, the chassis is controlled to return to the position corresponding to the offset vector and then continue to move horizontally.

[0011] By adopting the above technical solution, the downward pressure resistance fed back from the stator surface is used to determine whether the positioning column is inserted into the center position of the stator, thereby checking the offset vector and determining whether the offset vector in the image is accurate, thereby improving the accuracy of image recognition.

[0012] Optionally, a method for verifying the deflection angle is further included, the method comprising: Control the chassis to move according to the verified offset vector and then move downward and continue to obtain the downward movement height; When the downward movement height is equal to the preset second pre-entry height, a second downward pressure resistance is obtained; When the second downward resistance is greater than 0, rotate clockwise or counterclockwise until the second downward resistance is equal to 0, and record the first rotation angle; When the second downward movement resistance is equal to 0, the device continues to move downward by a preset excess height, where the excess height is the height of the suction column exceeding the photo paper; After moving down a certain height, the chassis is controlled to rotate left and right and obtain rotation resistance; When the rotation resistance is greater than 0, the second rotation angle of the clockwise and counterclockwise rotation is recorded; calculating an actual deflection angle based on the second rotation angle and the first rotation angle; The deflection angle is checked based on the actual deflection angle to obtain an angle check result, and the result is output.

[0013] By adopting the above technical solution, the downward pressure resistance fed back from the stator surface is used to determine whether the suction column is inserted into the slot, and then the rotational resistance of the suction column in the stator slot is used to check the deflection angle, thereby determining whether the deflection angle in the image is accurate, thereby improving the efficiency of image recognition.

[0014] Optionally, a method for verifying the installation of the photo paper is further included, the method comprising: Acquire the final stator image and the final chassis image; determining a paper stator region based on the end stator image and preset paper characteristics; determining a missing paper stator area based on the paper stator area and a preset complete paper area; determining a missing paper stator arrangement based on the missing paper stator area; determining an excess photographic paper chassis area based on the end chassis image and photographic paper characteristics; Determining an arrangement of excess photo paper trays based on an excess photo paper tray area; When the arrangement of the missing paper stator is consistent with the arrangement of the excess paper chassis, the chassis is reinstalled and the arrangement of the missing paper stator and the arrangement of the excess paper chassis are updated until the arrangement of the missing paper stator and the arrangement of the excess paper chassis are inconsistent or the missing paper stator does not exist; When the arrangement of the missing paper stators is inconsistent with the arrangement of the excess paper chassis, the chassis corresponding to the excess paper chassis arrangement is numbered to form a chassis number, and a mapping relationship is formed between the chassis number, the excess paper chassis arrangement, and the chassis category, and stored in a preset historical chassis database; Find the corresponding chassis number from the historical chassis database based on the missing stator arrangement and chassis category, and define the chassis number as a redundant chassis number; The chassis corresponding to the redundant chassis numbers are controlled to execute an installation plan to supplement the missing photo paper and update the missing photo paper stator arrangement and the redundant photo paper chassis arrangement.

[0015] By adopting the above technical solution, the stator needs to be checked after installation to determine whether there is photo paper in each stator slot. If there is missing paper in some places, it is returned to the same chassis or other storage chassis for installation to ensure the installation integrity of the photo paper.

[0016] Optionally, the method further includes a method for replenishing missing photo paper when there are no redundant chassis numbers, the method comprising: When the missing paper stator arrangement includes an excess paper chassis arrangement, controlling the chassis corresponding to the excess paper chassis arrangement to execute the installation plan and updating the missing paper stator arrangement and the excess paper chassis arrangement until the excess paper chassis arrangement no longer exists; When the redundant paper chassis arrangement does not exist, defining the missing paper stator arrangement at this time as an updated missing paper stator arrangement; Based on the updated missing photo paper stator arrangement and chassis category, the corresponding updated redundant chassis number is found from the historical chassis database; Control and update the chassis corresponding to the redundant chassis number to execute the installation plan to supplement the missing photo paper and update the missing photo paper stator arrangement and the redundant photo paper chassis arrangement.

[0017] By adopting the above technical solution, when the missing photo paper is greater than the remaining photo paper, the remaining photo paper is put in first, and then a new bottom tray is found to replenish it, thereby improving the flexibility of photo paper replenishment.

[0018] Optionally, another method for replenishing missing photo paper when there are no extra chassis numbers is included, the method comprising: Based on the chassis numbers in the historical chassis database, any number of combinations at any angle are performed to obtain a chassis number group and a corresponding redundant photo paper chassis arrangement combination, wherein the redundant photo paper chassis areas in the redundant photo paper chassis arrangement combination do not overlap; When there is an arrangement corresponding to a redundant photo paper chassis arrangement combination that is consistent with the photo paper stator arrangement, the corresponding chassis number group is defined as a redundant chassis number group; Modify the installation plan based on the arrangement combination of the excess photo paper chassis to obtain a combined installation plan; Control the chassis of the redundant chassis number group to execute the combined installation plan; When there is no arrangement corresponding to the redundant paper chassis arrangement combination that is consistent with the missing paper stator arrangement, the redundant paper chassis arrangement combination included in the missing paper stator arrangement is defined as a first redundant chassis arrangement combination; determining a remaining missing quantity based on the first redundant chassis arrangement combination and the missing paper stator arrangement; Screening out a first redundant chassis arrangement combination with the smallest number of remaining missing components, and defining the first redundant chassis arrangement combination as a second redundant chassis arrangement combination; Modifying the installation plan based on the second redundant chassis arrangement combination to obtain a missing combination installation plan; The chassis corresponding to the second redundant chassis arrangement combination are controlled to sequentially execute the missing combination installation plan, and a preset manual filling signal is output.

[0019] By adopting the above technical solution, all the remaining chassis are combined to form a combination scheme, and then the combination scheme is matched with the missing photo paper arrangement. If the match is successful, the combination scheme is filled. If the match is unsuccessful, it is filled as much as possible and then manually filled, thereby improving the flexibility of photo paper replenishment.

[0020] In a second aspect, the present application provides a stator slot mounted photo paper system, which adopts the following technical solution: A stator slot mounted paper system, comprising: An acquisition module is used to acquire a stator image, a downward movement height, a first downward pressure resistance, a second downward pressure resistance, a rotational resistance, a first rotational angle, a second rotational angle, an end stator image, and an end chassis image; A memory for storing a program for controlling any one of the above-mentioned methods for installing photographic paper in a stator slot; The program in the processor memory can be loaded and executed by the processor to implement any of the above-mentioned control methods for installing the stator slot with the photographic paper.

[0021] By adopting the above technical solution, the number of photo papers and the specially designed chassis are determined according to the specifications of the stator, and then the chassis is inserted into the stator slot to install the photo paper in the stator slot. No manual installation is required, which reduces labor costs and improves the efficiency of installing photo papers in the stator slot.

[0022] In a third aspect, the present application provides a smart terminal, which adopts the following technical solutions: The intelligent terminal includes a memory and a processor. The memory stores a computer program that can be loaded by the processor and execute any of the above-mentioned methods for installing photographic paper in a stator slot.

[0023] By adopting the above technical solution, the number of photo papers and the specially designed chassis are determined according to the specifications of the stator, and then the chassis is inserted into the stator slot to install the photo paper in the stator slot. No manual installation is required, which reduces labor costs and improves the efficiency of installing photo papers in the stator slot.

[0024] Fourthly, the present application provides a computer storage medium that can store corresponding programs and has the characteristics of fast interaction with memory big data.

[0025] Computer-readable storage medium, using the following technical solution: A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any of the above-mentioned methods for installing photographic paper in a stator slot.

[0026] By adopting the above technical solution, the number of photo papers and the specially designed chassis are determined according to the specifications of the stator, and then the chassis is inserted into the stator slot to install the photo paper in the stator slot. No manual installation is required, which reduces labor costs and improves the efficiency of installing photo papers in the stator slot.

[0027] In summary, this application includes at least the following beneficial technical effects: 1. The photo paper is installed in the stator slot according to the automated equipment, eliminating the need for manual installation, reducing labor costs and improving the efficiency of installing the photo paper in the stator slot; 2. The downward pressure resistance feedback from the stator surface is used to determine whether the positioning pin is inserted into the center of the stator, thereby checking the offset vector and determining whether the offset vector in the image is accurate, thereby improving the accuracy of image recognition; 3. When the missing photo paper is more than the remaining photo paper, put the remaining photo paper in first, and then find a new chassis to replenish it, which improves the flexibility of photo paper replenishment. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a flow chart of a method for installing photographic paper in a stator slot in an embodiment of the present application.

[0029] Figure 2 It is an exploded schematic diagram of the chassis and stator in an embodiment of the present application.

[0030] Figure 3 yes Figure 2 Enlarged schematic diagram of part A in the middle.

[0031] Figure 4This is a flow chart of a method for controlling the suction pins on the chassis corresponding to the chassis type in the embodiment of the present application to adsorb the photo paper, then controlling the chassis to enter the stator, inserting the suction pins into the stator slots one by one, and then controlling the suction pins to release.

[0032] Figure 5 It is a flow chart of the offset vector verification method in an embodiment of the present application.

[0033] Figure 6 It is a flow chart of the method for verifying the deflection angle in an embodiment of the present application.

[0034] Figure 7 It is a flow chart of a verification method for completing the installation of photo paper in an embodiment of the present application.

[0035] Figure 8 4 is a flow chart of a method for supplementing missing photo paper when there are no redundant chassis numbers in an embodiment of the present application.

[0036] Figure 9 This is a flow chart of another method for replenishing missing photo paper when there are no redundant chassis numbers in an embodiment of the present application.

[0037] Figure 10 This is a system module diagram of a method for installing photographic paper in a stator slot in an embodiment of the present application.

[0038] Explanation of the accompanying reference numerals: 1. chassis; 11. positioning column; 12. suction column; 2. photo paper; 3. stator; 31. stator slot; 32. groove; 33. magnetic strip. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figures 1-10 It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0040] Conventional wave winding flat wire motors are more complicated because the flat wire cannot be bent at any angle like round copper wire. At the same time, because the inner ring of the stator is also in a closed state, conventional wave winding flat wires are inserted separately and then welded to achieve the shape of the wave winding. However, welding is more complicated and there are also problems such as poor welding. Therefore, the winding will be carried out in the following way: 1. The wave winding is first formed by a bending mechanism and an insertion mechanism to form a wave winding flat wire group that can be in a long strip state; 2. At the same time, the bending part of the wave winding needs to be controlled, because the stator 3 generally has a certain number of wire slots. When the outermost layer faces inward, the spacing is shortened. Therefore, when bending, its width needs to be adjusted to adapt to the stator radius; 3. When it needs to be placed into the stator slot 31, the photo paper 2 is first pressed into the slot. The stator slot 31 is provided with an opening consistent with the width of the flat wire, so that the equipment can press the flat wire into the slot and step in layer by layer until the pressing is completed. After the pressing is completed, the photo paper 2 is closed, and then a magnet is used to fix and close the flat wire.

[0041] The embodiment of the present application discloses a method for installing photographic paper in a stator slot. Figure 1 A method for installing a stator slot in a photo paper includes: Step 100: Acquire a stator image.

[0042] The stator image is an image viewed from the axis of the stator 3. The stator image can be obtained by taking a photo.

[0043] Step 101: Matching is performed between a stator image and a preset standard stator image to obtain a successfully matched standard stator image, and the standard stator image is defined as a current stator image.

[0044] The standard stator image is the standard stator image. The matching method is to overlay the standard stator image and the stator image. When the two are completely overlapped, the current stator image is output.

[0045] Step 102: Searching for a corresponding chassis category from a preset chassis database based on the current stator image.

[0046] like Figure 2 As shown, a suction column 12 is fixedly connected to the chassis 1 for sucking the photo paper 2. The photo paper 2 is sleeved onto the suction column 12 and is longer than the photo paper 2. A positioning column 11 is fixedly connected to the chassis 1 and coaxially arranged with the chassis 1. The outer diameter of the positioning column 11 is the same as the inner diameter of the stator 3, allowing it to penetrate the interior of the stator 3 and ensure alignment. The length of the positioning column 11 is longer than the length of the suction column 12, ensuring that the positioning column 11 preferentially contacts the stator 3 for positioning.

[0047] The chassis category is the category of chassis 1 that matches stator 3. A database stores a mapping between the current stator image and chassis categories. Personnel in this field create chassis 1 with the corresponding chassis category based on stators 3 of varying specifications and record these. When the system receives the corresponding current stator image, it automatically searches the database for the corresponding chassis category and outputs it.

[0048] Step 103: Control chassis 1 corresponding to the chassis category to execute the installation plan.

[0049] The installation plan is to install the photo paper 2. The installation plan is: Step 1031 : The suction column 12 absorbs the photo paper 2 .

[0050] The suction column 12 has corresponding air holes to facilitate the adsorption of the photo paper 2 .

[0051] Step 1032 : Control the chassis 1 to enter onto the stator 3 .

[0052] At this time, the suction column 12 is aligned with the corresponding stator slot 31 .

[0053] Step 1033 : After the suction pins 12 are inserted into the stator slots 31 one by one, the suction pins 12 are controlled to be loosened.

[0054] The method for controlling the release of the suction column 12 is to stop suctioning. At this time, the photo paper 2 and the suction column 12 are separated. If the photo paper 2 and the suction column 12 are still stuck during the actual process, when the probability of successfully inserting the photo paper 2 during the removal of the suction column 12 is low, it is also possible to blow air in the opposite direction to blow out the air from the suction column 12 and separate the suction column 12 and the photo paper 2.

[0055] Step 1034: Take out the chassis 1.

[0056] The base plate 1 is taken out to remove the suction column 12 , while the photo paper 2 is still left in the stator slot 31 .

[0057] Step 104: Complete the installation of photo paper 2.

[0058] like Figure 3 As shown, after the installation of the photo paper 2 is completed, a snap-on magnetic strip 33 is placed outside the stator slot 31. There is a recessed groove 32 on each of the two opposite side walls of the stator slot 31 on the side close to the axis of the stator 3. Both sides of the magnetic strip 33 are snapped into the groove 32 to prevent the photo paper 2 from escaping from the stator slot 31. On the one hand, the magnetic strip 33 can seal the photo paper 2 so that the photo paper 2 will not escaping from the slot. On the other hand, the magnetic strip 33 can also play a role in conducting magnetism and increasing magnetic flux when a magnetic field is subsequently generated.

[0059] Reference Figure 4The method of controlling the suction pins 12 on the chassis 1 corresponding to the chassis type to adsorb the photo paper 2, then controlling the chassis 1 to enter the stator 3, inserting the suction pins 12 into the stator slots 31 one by one, and then controlling the suction pins 12 to release includes: Step 200 : When the stator image and the standard stator image do not match, the standard stator image is rotated and moved to obtain an offset stator image.

[0060] The offset stator image is an image obtained by rotating and shifting the standard stator image.

[0061] Step 201: Matching is performed based on the stator image and the offset stator image to obtain a successfully matched offset stator image, and the offset stator image is defined as the current stator image.

[0062] Here, after successful matching, it is still defined as the current stator image in order to take into account the case of no offset and no deflection.

[0063] Step 202: Inversely determine the standard stator image, offset vector, and deflection angle based on the current stator image.

[0064] The offset vector is the direction and distance that the standard stator image needs to move to obtain the current stator image position after moving it. The deflection angle is the angle that the standard stator image needs to rotate after moving it according to the offset vector so that the current stator image and the standard stator image overlap.

[0065] Step 204: Control the suction pins 12 on the chassis 1 corresponding to the chassis type to adsorb the photo paper 2, control the chassis 1 to move according to the offset vector and deflect according to the deflection angle, control the chassis 1 to enter the stator 3, insert the suction pins 12 into the stator slots 31 one by one, and then control the suction pins 12 to release.

[0066] The chassis 1 is controlled to move according to the offset vector and deflect according to the deflection angle so that the two are aligned, and the rest are installation solutions, that is, steps 1031-1034 can be executed, so they will not be repeated here.

[0067] Reference Figure 5 , further comprising a method for verifying the offset vector, the method comprising: Step 300: Control the chassis 1 to move downward according to the offset vector and obtain the downward movement height.

[0068] The downward movement height is the height of the downward movement. The method of obtaining the height can be obtained by an altitude sensor. The chassis 1 is controlled to move according to the offset vector so that it is basically above the stator 3.

[0069] Step 301: Obtain a first downward pressure resistance when the downward movement height is equal to a preset first pre-entry height.

[0070] The first pre-entry height is the height at which the positioning post 11 descends just before entering the interior of the stator 3. Specifically, if the descending height at this point equals the first pre-entry height, the positioning post 11 is about to enter the stator 3. This height is manually measured. The first downward pressure resistance is the resistance to continued downward pressure at this height. This is obtained using a pressure sensor.

[0071] When the height is equal to the first pre-entry height, it means that the positioning column 11 has just reached the corresponding position, and the remaining suction columns 12 and the photo paper 2 have not touched the stator 3.

[0072] Step 302: When the first downward resistance is greater than 0, move horizontally until the first downward resistance is equal to 0.

[0073] When the first downward resistance is greater than 0, it means that if the downward movement continues, the positioning column 11 and the stator 3 interfere with each other, so resistance is generated. Therefore, in order to align, horizontal movement is performed. Here, horizontal movement is moving along the surface of the stator 3 close to the chassis 1.

[0074] Step 303: Record the movement vector when the first downward movement resistance is equal to 0, and continue to move in any direction for a preset measurement distance.

[0075] The movement vector is calculated from the endpoint of the offset vector, with the position at which the first downward resistance equals 0 as the endpoint. The system automatically records the movement vector at each moment and then adds them together. The measured distance is the distance vector corresponding to any direction. The measured distance direction is arbitrary, while the corresponding distance value is fixed and manually set to test whether the device is inside stator 3. If the device is inside stator 3, it cannot move at any angle.

[0076] Step 304: When there is no direction for moving the measured distance, the offset vector is checked based on the movement vector to obtain a vector check result, and the result is output.

[0077] The vector verification result indicates whether the offset vector is correct. If there is no direction in which to move the measured distance, it indicates that all directions are constrained. This means that the positioning post 11 has fallen into the stator 3, indicating that the movement vector is aligned. Therefore, the movement vector can be used to determine whether the offset vector is correct. The verification method here is that if the distance value corresponding to the movement vector is 0, the offset vector is correct, and a correct vector verification result is output. If the distance value corresponding to the movement vector is not 0, it indicates that the movement vector is required for correction, and an incorrect vector verification result is output.

[0078] Step 305 : When there is a direction for moving the measurement distance, control the chassis 1 to return to the position corresponding to the offset vector and then continue to move horizontally.

[0079] If there is a direction in which the distance is moved, it means that the positioning post 11 is not inside the stator 3 but outside the stator 3 , so it needs to be moved horizontally again.

[0080] Reference Figure 6 , further comprising a method for verifying the deflection angle, the method comprising: Step 400: Control the chassis 1 to move downward according to the verified offset vector and continue to obtain the downward movement height.

[0081] Here, the chassis 1 is controlled to move according to the verified offset vector so that the positioning post 11 is already inside the stator 3 .

[0082] Step 401: Obtain a second downward pressure resistance when the downward movement height is equal to a preset second pre-entry height.

[0083] The second pre-entry height is the height at which the suction column 12 is about to enter the stator slot 31. That is, if the downward movement height at this point equals the second pre-entry height, the suction column 12 is about to enter the stator slot 31. This height is manually measured. The second downward pressure resistance is the resistance to continued downward pressure at this height. This is obtained using a pressure sensor.

[0084] When the height is equal to the second pre-entry height, it means that the suction column 12 has just reached the corresponding position, and the rest of the photo paper 2 has not touched the stator 3.

[0085] Step 402: When the second downward resistance is greater than 0, rotate clockwise or counterclockwise until the second downward resistance is equal to 0, and record the first rotation angle.

[0086] When the second downward resistance is greater than 0, it means that if the downward movement continues, the suction column 12 and the stator 3 will interfere, thus generating resistance. Therefore, in order to align, the position column 11 is moved. However, since the positioning column 11 has already entered the stator 3, the horizontal movement process has been constrained, so only rotation is possible here. The first rotation angle is the rotation angle when the second downward resistance is 0, either clockwise or counterclockwise. Here, the clockwise rotation angle can be defined as a positive value, and the counterclockwise rotation angle as a negative value to distinguish between the two.

[0087] Rotation in any direction is also possible here. Since the stator 3 generally has a large number of stator slots 31, a rotation of less than 90° can generally meet the requirements. Therefore, there is no situation where one rotation reaches the other side, so the positive and negative values ​​represent clockwise and counterclockwise situations.

[0088] Step 403: Continue to move downward by a preset excess height when the second downward resistance is equal to 0.

[0089] The excess height is the height of the suction column 12 exceeding the photo paper 2. When the second downward movement resistance is equal to 0, it means that at least the suction column 12 can be inserted into the stator slot 31, and the downward movement can be adopted. At this time, the downward movement height can be less than the excess height, so that the suction column 12 only needs to touch the inner wall of the stator slot 31.

[0090] Step 404: After moving down an excess height, the chassis 1 is controlled to rotate left and right and obtain rotation resistance.

[0091] The rotation resistance is the resistance encountered by the suction column 12 when it rotates left and right.

[0092] Step 405: Record the second rotation angles of clockwise and counterclockwise rotation when the rotation resistance is greater than 0.

[0093] The second rotation angle is the angle of rotation clockwise and counterclockwise from the position of the excess height as the starting point. The main purpose is to determine the angular difference of the two sides.

[0094] When the rotational resistance is greater than 0, it indicates that both sides have hit the inner wall of the stator slot 31. Therefore, by recording the angle at this time, the deviation between the inner walls on both sides and the position of the excess downward height can be known.

[0095] Step 406: Calculate the actual deflection angle based on the second rotation angle and the first rotation angle.

[0096] The actual deflection angle is the desired deflection angle. This calculation is based on the middle value between the clockwise and counterclockwise second rotation angles, then adds the first rotation angle to the value. Positive and negative values ​​correspond to the corresponding direction: clockwise is positive, and counterclockwise is negative.

[0097] Step 407: Verify the deflection angle based on the actual deflection angle to obtain an angle verification result, and output it.

[0098] The angle verification result is the result of whether the deflection angle is correct. The verification method is to see whether the actual deflection angle is consistent with the deflection angle. If they are consistent, the output content is the correct angle verification result; if they are inconsistent, the output content is the incorrect angle verification result.

[0099] Reference Figure 7 , further comprising a verification method for completing the installation of the photo paper 2, the method comprising: Step 500: Acquire a final stator image and a final chassis image.

[0100] The final stator image is an image of the stator 3 after the first installation plan is completed. Here, the image is viewed from one side of the chassis 1 toward the other side of the stator 3. The final chassis image is an image of the chassis 1 after the first installation plan is completed. Here, the image is viewed from one side of the stator 3 toward the other side of the chassis 1. This image is captured using a camera.

[0101] Step 501: Determine the stator area of ​​the photographic paper based on the final stator image and preset photographic paper features.

[0102] The paper feature is the feature of paper 2. Here, to distinguish paper 2 from stator 3, white can be used as the feature, thus determining the corresponding area of ​​paper 2. The paper stator area is the area of ​​paper 2 on the final stator image.

[0103] Step 502: Determine the missing paper stator area based on the paper stator area and the preset complete paper 2 area.

[0104] The complete paper 2 area is the area where all paper 2 is on the stator 3. The determination method is comparison. The missing paper stator area is the area where the missing paper 2 is located. The determination method is comparison. That is, each area is compared. If a match fails, it means that the corresponding area is missing in the paper stator area, and the corresponding area is output.

[0105] Step 503: Determine the missing paper stator arrangement based on the missing paper stator area.

[0106] The missing paper stator arrangement is the arrangement of paper 2 on stator 3, for example: 1, 2, 5, 6. Here, the arrangement is relative, and the method of determining is to output the interval positions between the first missing area and the first missing area in one direction as an example.

[0107] Step 504: Determine the redundant paper chassis area based on the final chassis image and the paper characteristics.

[0108] Excess Paper Chassis Area The area of ​​Paper 2 on the end chassis image. Step 505: Determine the arrangement of the excess paper trays based on the excess paper tray area.

[0109] The excess paper tray layout is the arrangement of paper 2 on tray 1, for example: 1, 2, 5, 6. This arrangement is a relative arrangement, determined by outputting the first area with a paper feature as 1, and then outputting the interval positions between the first area with a paper feature in a direction.

[0110] Step 506: When the missing paper stator arrangement is consistent with the excess paper chassis arrangement, re-execute the installation plan for chassis 1 and update the missing paper stator arrangement and the excess paper chassis arrangement until the missing paper stator arrangement and the excess paper chassis arrangement are inconsistent or the missing paper stator arrangement does not exist.

[0111] If the arrangement of the missing paper stator is consistent with the arrangement of the excess paper chassis, it means that the photo paper 2 can still be installed to the corresponding missing position through the corresponding chassis 1. In this case, the chassis 1 will be reinstalled and the arrangement of the missing paper stator and the arrangement of the excess paper chassis will be updated.

[0112] Step 507: When the missing paper stator arrangement and the excess paper chassis arrangement are inconsistent, the chassis 1 corresponding to the excess paper chassis arrangement is numbered to form a chassis number, and a mapping relationship is formed between the chassis number, the excess paper chassis arrangement, and the chassis category, and stored in a preset historical chassis database.

[0113] The chassis number is the number of chassis 1 in the excess photo paper chassis arrangement. This number is used solely to identify the specific chassis 1. The mapping relationship is the association between the chassis number, the excess photo paper chassis arrangement, and the chassis category. That is, knowing the chassis number and the excess photo paper chassis arrangement automatically determines the corresponding chassis category. The historical chassis database stores this mapping relationship.

[0114] When the arrangement of the missing photo paper stator is inconsistent with the arrangement of the excess photo paper chassis, it means that some of the photo papers 2 on the stator 3 are lost and not placed on the stator 3, so they need to be replenished. This chassis 1 can be used as a spare, and in order to facilitate searching, a mapping relationship is formed and stored in the historical chassis database.

[0115] Step 508: Based on the missing paper stator arrangement and chassis type, a corresponding chassis number is searched from a historical chassis database, and the chassis number is defined as a redundant chassis number.

[0116] When the system receives the corresponding missing paper stator arrangement and chassis category, it automatically searches the database for the corresponding mapping relationship and then outputs the corresponding chassis number as a redundant chassis number.

[0117] Step 509: Control the chassis 1 corresponding to the redundant chassis number to execute the installation plan to supplement the missing photo paper 2 and update the missing photo paper stator arrangement and the redundant photo paper chassis arrangement.

[0118] The chassis 1 corresponding to the redundant chassis number is controlled to execute the installation plan, and the stator slots 31 corresponding to the missing stator arrangement of the photographic paper are then supplemented. Of course, in order to ensure alignment between the missing stator arrangement of the photographic paper and the redundant chassis arrangement, the actual positions of the missing stator arrangement of the photographic paper and the redundant chassis arrangement are also correlated. Therefore, the chassis 1 corresponding to the redundant chassis number is controlled to rotate during the installation process, so that the photographic paper 2 corresponding to the redundant chassis arrangement is aligned with the stator slots 31 corresponding to the missing stator arrangement of the photographic paper.

[0119] Reference Figure 8 , further comprising a method for supplementing the missing photographic paper 2 when there is no redundant chassis number, the method comprising: Step 600: When the missing paper stator arrangement includes the redundant paper chassis arrangement, control the chassis 1 corresponding to the redundant paper chassis arrangement to execute the installation plan and update the missing paper stator arrangement and the redundant paper chassis arrangement until the redundant paper chassis arrangement no longer exists.

[0120] Since the number of paper sheets 2 is fixed, the missing paper stator arrangement is either equal to the excess paper tray arrangement or includes the excess paper tray arrangement. If the excess paper tray arrangement is included, it means that even if the paper sheets 2 on the current tray 1 are placed, there will still be missing paper sheets 2.

[0121] Step 601: When the redundant paper chassis arrangement does not exist, define the current missing paper stator arrangement as an updated missing paper stator arrangement.

[0122] When there is no extra photo paper tray arrangement, it means that there is no extra photo paper 2 on the chassis 1 at this time, so the chassis 1 can no longer be replenished with the corresponding photo paper 2. The installation of the photo paper 2 on the current chassis 1 is completed, and the remaining photo paper 2 needs to be replenished by other chassis 1.

[0123] Step 602: Based on the updated missing paper stator arrangement and chassis type, the corresponding updated redundant chassis number is searched from the historical chassis database.

[0124] The updated redundant chassis number is the chassis number corresponding to the updated missing paper stator arrangement. When the system receives the updated missing paper stator arrangement, it automatically searches the database for the corresponding updated redundant chassis number and outputs it.

[0125] Step 603: Control the chassis 1 corresponding to the redundant chassis number to execute the installation plan to supplement the missing photo paper 2 and update the missing photo paper stator arrangement and the redundant photo paper chassis arrangement.

[0126] When the missing photo papers 2 are more than the remaining photo papers 2, the remaining photo papers 2 are put in first, and then a new bottom plate 1 is found to replenish, thereby improving the flexibility of replenishing the photo papers 2.

[0127] Reference Figure 9 , further comprising another method for supplementing the missing photographic paper 2 when there is no redundant chassis number, the method comprising: Step 700: Perform any number of combinations at any angle based on the chassis numbers in the historical chassis database to obtain a chassis number group and a corresponding redundant photo paper chassis arrangement combination.

[0128] The tray number group is a combination of any number of trays 1. The excess paper tray arrangement combination is the arrangement obtained by combining the excess paper tray arrangements corresponding to the tray number group at any angle. It is important to note that no two or more sheets of paper 2 are in the same position at any angle. In other words, the excess paper tray areas in the remaining paper tray arrangement combinations do not overlap.

[0129] Step 701: When there are redundant paper chassis arrangement combinations corresponding to the arrangement of the paper stators that are consistent with the arrangement of the paper stators, the corresponding chassis number group is defined as a redundant chassis number group.

[0130] When there is an arrangement corresponding to a redundant photo paper chassis arrangement combination that is consistent with the missing photo paper stator arrangement, it means that the photo paper 2 of the missing photo paper stator arrangement can be compensated by combining multiple chassis 1.

[0131] Step 702: Modify the installation plan based on the arrangement combination of the redundant photo paper chassis to obtain a combined installation plan.

[0132] The combined installation scheme is a scheme where the redundant photo paper chassis are arranged and the corresponding chassis 1 are sequentially installed. The order of the combination is to select one chassis 1 in turn, then determine the corresponding area based on its position in the combination, and then execute the installation scheme.

[0133] Step 703: Control chassis 1 of the redundant chassis number group to execute the combined installation plan.

[0134] Step 704: When there is no arrangement corresponding to the redundant paper chassis arrangement combination that is consistent with the missing paper stator arrangement, define the redundant paper chassis arrangement combination included in the missing paper stator arrangement as a first redundant chassis arrangement combination.

[0135] The arrangement corresponding to the redundant photo paper chassis arrangement combination that does not exist and is consistent with the missing photo paper stator arrangement indicates that it is not possible to replenish all photo papers 2 at this time, so at this time we can only replenish as much as possible and leave fewer vacancies.

[0136] Step 705: Determine the remaining missing quantity based on the first redundant chassis arrangement combination and the missing paper stator arrangement.

[0137] The remaining missing quantity is the number of stator slots 31 remaining after the installation plan for the chassis 1 corresponding to the first redundant chassis arrangement is implemented. This is determined by determining the missing quantity based on the missing paper stator arrangement, then determining the available quantity based on the first redundant chassis arrangement, and then subtracting the two.

[0138] Step 706: Filter out the first redundant chassis arrangement combination with the smallest number of remaining missing components, and define the first redundant chassis arrangement combination as the second redundant chassis arrangement combination.

[0139] The purpose of screening is to reduce the number of missing stator slots 31 as much as possible.

[0140] Step 707: Modify the installation plan based on the second redundant chassis arrangement combination to obtain a missing combination installation plan.

[0141] The missing combination installation scheme is the scheme when the second redundant chassis are arranged and the corresponding chassis 1 is executed in sequence. The order of combination is to select one of the chassis 1 in turn, and then determine the corresponding area according to its position in the combination, and then execute the installation scheme. Step 708: Control the chassis 1 corresponding to the second redundant chassis arrangement combination to sequentially execute the missing combination installation plan, and output a preset manual filling signal.

[0142] The manual filling signal is a signal that manual filling is required. The output method can be a flashing red light, which notifies the staff that they need to fill the box themselves.

[0143] After the chassis 1 corresponding to the second redundant chassis arrangement combination is controlled to sequentially execute the missing combination installation plan, the remaining vacant positions are still vacant and cannot be solved by themselves, so they need to be filled manually, and thus a manual filling signal is output.

[0144] Based on the same inventive concept, an embodiment of the present invention provides a stator slot mounted paper system.

[0145] Reference Figure 10 , a stator slot mounted paper system, comprising: An acquisition module is used to acquire a stator image, a downward movement height, a first downward pressure resistance, a second downward pressure resistance, a rotational resistance, a first rotational angle, a second rotational angle, an end stator image, and an end chassis image; A memory for storing a program for controlling a method for installing photographic paper in a stator slot; The program in the memory can be loaded and executed by the processor to realize a control method for installing the photo paper in the stator slot.

[0146] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0147] An embodiment of the present invention provides a computer-readable storage medium storing a computer program capable of being loaded and executed by a processor for a method of installing photographic paper in a stator slot.

[0148] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0149] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal including a memory and a processor, wherein the memory stores a computer program that can be loaded and executed by the processor for a method of installing photographic paper in a stator slot.

[0150] The above are all preferred embodiments of the present application and are not intended to limit the scope of protection of this application. Unless otherwise stated, any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features. In other words, unless otherwise stated, each feature is merely an example of a series of equivalent or similar features.

Claims

1. A method for installing photographic paper in a stator slot, characterized in that: include: Acquire stator image; Matching the stator image with a preset standard stator image to obtain a successfully matched standard stator image, and defining the standard stator image as a current stator image; Based on the current stator image, a corresponding chassis category is found from a preset chassis database, wherein the chassis (1) is provided with a suction column (12) for adsorbing the photo paper (2), the photo paper (2) is sleeved on the suction column (12), and the length of the suction column (12) is greater than the length of the photo paper (2); The chassis (1) corresponding to the control chassis category executes an installation scheme, wherein the installation scheme is as follows: the suction column (12) adsorbs the photo paper (2), the control chassis (1) enters the stator (3), the suction columns (12) are inserted into the stator slots (31) one by one, and then the control suction columns (12) are released to remove the chassis (1); Complete the installation of the photo paper (2).

2. A method for installing photographic paper in a stator slot according to claim 1, characterized in that: The method of controlling the suction column (12) on the chassis (1) corresponding to the chassis type to adsorb the photo paper (2), then controlling the chassis (1) to enter the stator (3), inserting the suction columns (12) into the stator slots (31) one by one, and then controlling the suction columns (12) to release includes: When the stator image and the standard stator image do not match, the standard stator image is rotated and moved to obtain an offset stator image; Matching the stator image and the offset stator image to obtain a successfully matched offset stator image, and defining the offset stator image as a current stator image; Inversely determining a standard stator image, an offset vector, and a deflection angle based on the current stator image; The suction column (12) on the chassis (1) corresponding to the chassis type is controlled to adsorb the photo paper (2), the chassis (1) is controlled to move according to the offset vector and deflect according to the deflection angle, the chassis (1) is controlled to enter the stator (3), the suction columns (12) are inserted into the stator slots (31) one by one, and then the suction columns (12) are controlled to be released.

3. The method for installing photographic paper in a stator slot according to claim 2, characterized in that: Also included is a method for checking the offset vector, the method comprising: The chassis (1) is controlled to move downward according to the offset vector and obtain a downward movement height, wherein a positioning column (11) is provided on the chassis (1) and is coaxially arranged with the chassis (1), the outer diameter of the positioning column (11) is the same as the inner diameter of the stator (3), and the length of the positioning column (11) is longer than the length of the suction column (12); When the downward movement height is equal to the preset first pre-entry height, a first downward pressure resistance is obtained; When the first downward resistance is greater than 0, move horizontally until the first downward resistance is equal to 0; When the first downward movement resistance is equal to 0, the movement vector is recorded and the movement continues in any direction for the preset measurement distance; When there is no direction for moving the measured distance, the offset vector is checked based on the moving vector to obtain a vector check result, and the result is output; When there is a direction in which the measured distance is moved, the chassis (1) is controlled to return to the position corresponding to the offset vector and then continue to move horizontally.

4. A method for installing photographic paper in a stator slot according to claim 3, characterized in that: Also included is a method for checking the deflection angle, the method comprising: Controlling the chassis (1) to move downward according to the verified offset vector and continuously acquiring the downward movement height; When the downward movement height is equal to the preset second pre-entry height, a second downward pressure resistance is obtained; When the second downward resistance is greater than 0, rotate clockwise or counterclockwise until the second downward resistance is equal to 0, and record the first rotation angle; When the second downward movement resistance is equal to 0, the device continues to move downward by a preset excess height, wherein the excess height is the height at which the suction column (12) exceeds the photographic paper (2); After moving down an excess height, the chassis (1) is controlled to rotate left and right and obtain rotation resistance; When the rotation resistance is greater than 0, the second rotation angle of the clockwise and counterclockwise rotation is recorded; calculating an actual deflection angle based on the second rotation angle and the first rotation angle; The deflection angle is checked based on the actual deflection angle to obtain an angle check result, and the result is output.

5. The method for installing photographic paper in a stator slot according to claim 1, characterized in that: Also included is a verification method for completing the installation of the photo paper (2), the method comprising: Acquire the final stator image and the final chassis image; determining a paper stator region based on the end stator image and preset paper characteristics; determining a missing paper stator area based on the paper stator area and a preset complete paper area; determining a missing paper stator arrangement based on the missing paper stator area; determining an excess photographic paper chassis area based on the end chassis image and photographic paper characteristics; Determining an arrangement of excess photo paper trays based on an excess photo paper tray area; When the arrangement of the missing paper stator and the arrangement of the excess paper chassis are consistent, the chassis (1) is re-installed and the arrangement of the missing paper stator and the arrangement of the excess paper chassis are updated until the arrangement of the missing paper stator and the arrangement of the excess paper chassis are inconsistent or the missing paper stator does not exist; When the arrangement of the missing photo paper stator and the arrangement of the excess photo paper chassis are inconsistent, the chassis (1) corresponding to the excess photo paper chassis arrangement is numbered to form a chassis number, and a mapping relationship is formed between the chassis number, the excess photo paper chassis arrangement and the chassis category, and stored in a preset historical chassis database; Find the corresponding chassis number from the historical chassis database based on the missing stator arrangement and chassis category, and define the chassis number as a redundant chassis number; The chassis (1) corresponding to the redundant chassis number is controlled to execute an installation plan to supplement the missing photo paper (2) and update the missing photo paper stator arrangement and the redundant photo paper chassis arrangement.

6. A method for installing photographic paper in a stator slot according to claim 5, characterized in that: Also included is a method for supplementing missing photographic paper (2) when no redundant chassis numbers exist, the method comprising: When the missing paper stator arrangement includes the redundant paper chassis arrangement, controlling the chassis corresponding to the redundant paper chassis arrangement (1) to execute the installation plan and update the missing paper stator arrangement and the redundant paper chassis arrangement until the redundant paper chassis arrangement does not exist; When the redundant paper chassis arrangement does not exist, defining the missing paper stator arrangement at this time as an updated missing paper stator arrangement; Based on the updated missing photo paper stator arrangement and chassis category, the corresponding updated redundant chassis number is found from the historical chassis database; The control updates the chassis corresponding to the redundant chassis number (1) to execute the installation plan to supplement the missing photo paper (2) and updates the missing photo paper stator arrangement and the redundant photo paper chassis arrangement.

7. The method for installing photographic paper in a stator slot according to claim 6, characterized in that: Also included is another method for replenishing missing photographic paper (2) when there are no redundant chassis numbers, the method comprising: Based on the chassis numbers in the historical chassis database, any number of combinations at any angle are performed to obtain a chassis number group and a corresponding redundant photo paper chassis arrangement combination, wherein the redundant photo paper chassis areas in the redundant photo paper chassis arrangement combination do not overlap; When there is an arrangement corresponding to a redundant photo paper chassis arrangement combination that is consistent with the photo paper stator arrangement, the corresponding chassis number group is defined as a redundant chassis number group; Modify the installation plan based on the arrangement combination of the excess photo paper chassis to obtain a combined installation plan; Controlling chassis (1) of the redundant chassis number group to execute a combined installation plan; When there is no arrangement corresponding to the redundant paper chassis arrangement combination that is consistent with the missing paper stator arrangement, the redundant paper chassis arrangement combination included in the missing paper stator arrangement is defined as a first redundant chassis arrangement combination; determining a remaining missing quantity based on the first redundant chassis arrangement combination and the missing paper stator arrangement; Screening out a first redundant chassis arrangement combination with the smallest number of remaining missing components, and defining the first redundant chassis arrangement combination as a second redundant chassis arrangement combination; Modifying the installation plan based on the second redundant chassis arrangement combination to obtain a missing combination installation plan; The chassis (1) corresponding to the second redundant chassis arrangement combination is controlled to sequentially execute the missing combination installation scheme, and a preset manual filling signal is output.

8. A stator slot mounted paper system, characterized in that: include: An acquisition module is used to acquire a stator image, a downward movement height, a first downward pressure resistance, a second downward pressure resistance, a rotational resistance, a first rotational angle, a second rotational angle, an end stator image, and an end chassis image; A memory for storing a program for controlling a method for installing photographic paper in a stator slot according to any one of claims 1 to 7; The program in the memory can be loaded and executed by the processor to implement the control method of the stator slot installation method according to any one of claims 1 to 7.

9. Intelligent terminal, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes a method for installing photographic paper in a stator slot according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The device stores a computer program that can be loaded by a processor and executes a stator slot installation method according to any one of claims 1 to 7.

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