Detection method, system and terminal of electromagnet assembly for rail transit

Abstract

The invention relates to a detection method and system for an electromagnet assembly for rail transit and a terminal, and relates to the technical field of electromagnets, and the detection method comprises the steps that an electromagnet image is selected from image detection information according to preset electromagnet characteristics; determining an electromagnet model according to the electromagnet image; determining a reference current value according to the electromagnet model; determining a reference magnetic force value according to the electromagnet model; determining a detected magnetic force value according to the detected magnetic force value; if the detected current value is not consistent with the reference current value, a preset clamping device is controlled to move the electromagnet to the abnormal area; if the reference magnetic force value is consistent with the detection magnetic force value, obtaining a detection current value of the electromagnet assembly; and if the detected current value is not consistent with the reference current value, a preset clamping device is controlled to move the electromagnet to the abnormal area. According to the electromagnet assembly, the detection efficiency of the electromagnet assembly is improved, and the manual intervention effect is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of electromagnets, and in particular to a detection method, system and terminal for an electromagnet assembly used in rail transit. Background Art

[0002] With the rapid development of rail transit, electromagnet assemblies are used as key components in rail transit systems. When current passes through the coil to generate a magnetic field, the iron core is magnetized and it itself generates a magnetic field, and this magnetic field is in the same direction as the magnetic field generated by the coil, thereby generating thrust to run the iron core.

[0003] During the production process of electromagnets, in order to ensure the safety and production quality of the electromagnet components during operation, their functions and parts will be tested. At this time, manual inspection of the integrity of the parts is required, and manual inspection is also required after production is completed.

[0004] The electromagnet assembly is composed of a coil and an iron core. In order to detect the safety and accuracy of the electromagnet assembly, it is currently inspected manually. The electromagnet assembly is placed in a lighted detection area and inspected with the naked eye. The inspection is time-consuming and labor-intensive, and there is room for improvement. Summary of the invention

[0005] In order to improve the detection efficiency of the electromagnet assembly and reduce manual intervention, the present invention provides a detection method, system and terminal for the electromagnet assembly of rail transit.

[0006] In a first aspect, the present invention provides a method for detecting an electromagnet assembly for rail transit, using the following technical solution: A detection method for an electromagnet assembly for rail transit, comprising: Acquire image detection information in a preset detection area and a detection magnetic value of the electromagnet assembly; Selecting an electromagnet image from the image detection information according to preset electromagnet features; According to the electromagnet image, the electromagnet model is matched from the model database; Match the reference current value from the current database according to the electromagnet model; According to the electromagnet model, a reference magnetic force value is matched from a preset magnetic force database; Determine whether the reference magnetic value is consistent with the detected magnetic value; If the reference magnetic value is inconsistent with the detected magnetic value, the preset clamping device is controlled to move the electromagnet to the abnormal area; If the reference magnetic force value is consistent with the detection magnetic force value, the detection current value of the electromagnet assembly is obtained; Determine whether the detection current value is consistent with the reference current value; If the detected current value is consistent with the reference current value, the detection is completed and a prompt is given; If the detected current value is inconsistent with the reference current value, the preset clamping device is controlled to move the electromagnet to the abnormal area.

[0007] By adopting the above technical solution, the electromagnet model is determined according to the electromagnet image, and the reference current value and reference magnetic value are matched according to the electromagnet model. If the reference magnetic value is inconsistent with the detected magnetic value, it means that the magnetic value of this electromagnet component is abnormal, and it is clamped to the abnormal area. If they are consistent, it means that the magnetic value is fine, and the electromagnet component with no problem in the magnetic value continues to detect the current value, and the detected current value that is inconsistent with the reference current value is clamped to the abnormal area. Thereby improving the accuracy and safety of detecting the electromagnet component, improving the detection efficiency, and reducing manual intervention.

[0008] Optionally, the method for detecting the surface of the coil of the electromagnet assembly further includes: Acquire epidermal image information of the electromagnet assembly in the abnormal area; Match the damaged skin characteristics from the wire characteristics database according to the electromagnet model; determining whether the epidermis image information includes damaged epidermis characteristics; If not, the preset clamping device is controlled to move the electromagnet to the waste area; If included, mark it and determine the mark position according to the epidermal image information and the preset epidermal reference position; Determine the damaged area from a preset damage database according to the epidermal image information and the marking position; Determine the repair fluid value according to the damaged area, and control the preset repair device to perform repair with the repair fluid value according to the damaged position; After repairing at the marked position, obtaining the electromagnet weight value of the electromagnet assembly; Determine whether the electromagnet weight value is consistent with the preset reference weight value; If not, the preset clamping device is controlled to move the electromagnet assembly from the abnormal area to the preset waste area; If they are consistent, the preset clamping device is controlled to move the electromagnet assembly from the abnormal area to the preset detection area.

[0009] By adopting the above technical solution, the electromagnet assembly containing damaged epidermis characteristics in the epidermis image information is repaired with repair fluid, and after repair, the electromagnets whose weight values ​​are consistent with the reference weight values ​​are moved from the abnormal area to the detection area, and those that are inconsistent are moved to the waste area. This improves the utilization rate of the detection electromagnet assembly and reduces manual intervention.

[0010] Optionally, the method for detecting the resistance of the electromagnet assembly further includes: Obtaining a resistance detection value of the electromagnet assembly in a preset abnormal area; Determine the resistance reference value according to the electromagnet model; Determine whether the resistance detection value is consistent with the resistance reference value; If the resistance detection value is consistent with the resistance reference value, the preset clamping device is controlled to move the electromagnet assembly from the abnormal area to the preset detection area; If the resistance detection value is inconsistent with the resistance reference value, infrared image information of the electromagnet assembly in the preset abnormal area is obtained; Determine the spraying position according to the infrared image information and the preset coil reference position; Determine the spraying area from a preset spraying database according to the infrared image information and the spraying position; Determine the injection volume based on the spraying area and spraying position; Determine the injection force according to the spraying position; Control the preset spraying device to inject at the spraying position with injection amount and injection force; After repairing the spraying position, update the resistance detection value of the electromagnet assembly; Determine whether the updated resistance detection value is consistent with the resistance reference value; If they are consistent, the preset clamping device is controlled to move the electromagnet assembly from the abnormal area to the preset detection area; If not, the preset clamping device is controlled to move the electromagnet assembly from the abnormal area to the preset waste area.

[0011] By adopting the above technical solution, when the resistance detection value of the electromagnet assembly in the abnormal area is inconsistent with the resistance reference value, it means that there is a problem with the insulation layer of the coil. The spraying position, spraying area and injection value are determined through infrared image information, and the spraying device is controlled to repair the position of the abnormal resistance. After the repair, the electromagnet assembly whose resistance detection value is consistent with the resistance reference value is clamped to the detection area, and if it is still inconsistent, it is clamped to the waste area. This improves the detection efficiency and accuracy of the electromagnet assembly.

[0012] Optionally, the method for detecting the position of the iron core of the electromagnet assembly further includes: Select the core installation image based on the image detection information and the preset installation posture database; Determine the core installation position according to the core installation image and the preset reference reference position; According to the electromagnet model, the reference core angle value is matched from the preset angle database; Determine whether the core installation image is consistent with the reference core installation image; If the core installation image is consistent with the preset reference core installation image, the detection is completed and a prompt is given; If the core installation image is inconsistent with the preset reference core installation image, the deviation position of the core is determined according to the core installation image and the reference reference position; Determine the core reference position according to the electromagnet model; Determine correction parameters based on the core reference position and deviation position; The preset correction device is controlled to correct the core with correction parameters and update the core installation image.

[0013] By adopting the above technical solution, the core installation position is determined according to the core installation image. If the core installation image is inconsistent with the preset reference core installation image, it means that the core is crooked. The correction parameters are determined according to the reference position and the deviation position of the core, and the manipulator is controlled to correct it with the correction parameters. Thus, the quality of the electromagnet assembly is improved.

[0014] Optionally, the method for detecting whether there is dust when the coil is wound also includes: Acquire assembly image information in the assembly area; Selecting a cable image from a preset cable database frame according to the assembly image information; Determine a reference cable image based on the cable image and the cable model database; determining whether the cable image is consistent with the reference cable image; If the cable image is consistent with the reference cable image, the detection is completed and a prompt is given; If the cable image is inconsistent with the reference cable image, a dust image is selected based on the cable image and a preset dust image database; Determining the dust position according to the dust image and a preset dust reference position; Determine the blowing position according to the dust position; Control the preset blowing device to start, and blow air at the blowing position with a preset blowing force, and update the assembly image information; After updating the assembly image information, determining whether the cable image is consistent with the reference cable image; If the cable image is consistent with the reference cable image, the detection is completed and a prompt is given; If the cable image is inconsistent with the reference cable image, it is removed using a preset removal method; By adopting the above technical solution, if the cable image is inconsistent with the reference cable image, it means there is dust. The dust position and the blowing position are determined according to the dust image, and the blowing device is controlled to blow air to the dust position. If the cable image after blowing is consistent with the reference cable image, it means there is no dust. If not, it is processed according to the removal method. Thereby improving the quality of the electromagnet assembly and reducing the subsequent error rate.

[0015] Optionally, the method for handling dust generated during coil winding further includes: determining a dust area from a dust area database according to the cable image; Determine the dust thickness value based on the cable image and color feature database; Determine the wind force value based on the dust thickness value; Determine the wind direction value based on the dust position; Control the preset blowing device to blow air to the dust position with the wind force value and wind direction value, and control the preset electrostatic adsorption plate to open, and update the assembly image information to determine whether the cable image is consistent with the reference cable image; If they are consistent, the test is completed and a prompt is given; If they are inconsistent, determine the ultrasonic oscillation value based on the dust area and dust thickness values; Control a preset cleaning device to move from a preset working position to a dust position, and lift it at a preset lifting value; Controlling a preset cleaning device to vibrate at a preset vibration time and ultrasonic oscillation value; After the vibration is completed, the preset cleaning device is controlled to move to the working station, and the preset drying device is controlled to move to the dust position to dry for a preset time, and the cable image is updated to determine whether the cable image is consistent with the reference cable image; If there is any inconsistency, a warning will be issued; If they are consistent, the test is completed and a prompt is given.

[0016] By adopting the above technical solution, the dust position is determined according to the cable image, and the blowing device is controlled to blow air to the dust position. At the same time, the electrostatic adsorption plate is lifted and controlled to open, so that the dust is blown up and adsorbed on the electrostatic plate. If there is still dust, the cleaning device is controlled to clean the dust position and dry it after cleaning. If there is still dust, an alarm is sounded. This improves the quality of the electromagnet assembly and the accuracy of detection.

[0017] Optionally, the method for detecting the position of the coil when the coil is being wound further includes: Acquire winding image information in the winding area; Selecting a winding image according to winding image information and a preset winding database frame; Determine the reference winding image according to the electromagnet model; Determining whether the circle image is consistent with the reference circle image; If the circle image is consistent with the reference circle image, the detection is completed and a prompt is given; If the winding image is inconsistent with the reference winding image, the preset winding device is controlled to stop, and the deflection distance is determined from a preset distance database through the winding image and the reference winding image; Determine the position of the skew line according to the circle image and the position of the skew line mark; Determine the prying distance according to the deflection distance and the prying database, and control the preset prying device to pry the deflection position according to the prying distance; After the winding image information is updated and the winding image is consistent with the reference winding image, the preset winding device is controlled to continue winding.

[0018] By adopting the above technical solution, when the winding image is inconsistent with the reference winding image, it means that the wire is distorted, and the winding device is controlled to stop, and the distorted wire distance and distorted wire position are determined according to the winding image, and the spreading device is controlled to spread the distorted wire position by the spreading distance, until the winding image is consistent with the reference winding image, and the preset winding device is controlled to continue winding. Thus, the accuracy of the electromagnet assembly is improved.

[0019] Optionally, the method for detecting whether the iron core in the electromagnet assembly is bent further includes: Acquire the iron core image information in the iron core area; Selecting an iron core image from a preset iron core database according to the iron core image information; Determine the reference core image according to the electromagnet model; Determine whether the reference core image is consistent with the core image; If the reference core image is consistent with the core image, the detection is completed and a prompt is given; If the reference core image is inconsistent with the core image, a curved core image is framed out from a preset curved feature database according to the core image; Determine the bending value of the iron core according to a preset shape database and an iron core image; Determine the extrusion position according to the core image and the preset bending reference position; Determine the pressure value based on the bending value; Determine the extrusion temperature from the preset temperature database according to the core model and bending value; Controlling a preset extrusion device to heat according to the extrusion temperature, and controlling the preset extrusion device to extrude the iron core at an extrusion position; After the bent core image is updated and the reference core image is consistent with the core image, the detection is completed and a prompt is given.

[0020] By adopting the above technical solution, when the reference core image is inconsistent with the core image, it means that the core is bent, the bending value and the extrusion position are determined according to the core image, the pressure value is determined according to the bending value, the extrusion temperature is determined according to the electromagnet model and the bending value, and the extrusion device is controlled to heat the core at the extrusion temperature. After the extrusion is completed, if the reference core image is consistent with the core image, it means that the core has returned to its initial state, and a prompt is given. This improves the overall quality of the electromagnet assembly.

[0021] In a second aspect, the present application provides a detection system for an electromagnet assembly for rail transit, which adopts the following technical solution: A detection system for an electromagnet assembly for rail transit, comprising an acquisition module for acquiring image detection information, detection magnetic force value, epidermis image information, infrared image information, assembly image information, winding image information, and core image information; A memory for storing a program of the above-mentioned method for detecting an electromagnet assembly for rail transit; The program in the processor and the memory can be loaded and executed by the processor to implement any of the above-mentioned detection methods for electromagnet components for rail transit.

[0022] By adopting the above technical solution, the data is acquired through the acquisition module. By judging the magnetic field strength of the electromagnet component, determining the model according to the electromagnet image and matching the reference current value and the reference magnetic value, comparing the reference magnetic value and the detection magnetic value, the component with abnormal magnetic value is clamped to the abnormal area, and the current value of the component with normal magnetic value is continued to be detected, and the component with abnormal current value is also clamped to the abnormal area. This improves the accuracy and safety of detecting the electromagnet component, improves the detection efficiency, and reduces manual intervention.

[0023] In a third aspect, an intelligent terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute any of the above-mentioned detection methods for electromagnet components for rail transit.

[0024] By adopting the above technical solution, a computer program that can be loaded by a processor and execute the above vehicle refrigerator disinfection method is stored in the memory, and by judging the magnetic field strength of the electromagnet component, determining the model according to the electromagnet image and matching the reference current value and the reference magnetic value, and comparing the reference magnetic value with the detection magnetic value, the component with abnormal magnetic value is clamped to the abnormal area, and the current value of the component with normal magnetic value is continuously detected, and the component with abnormal current value is also clamped to the abnormal area. Thereby, the accuracy and safety of detecting the electromagnet component are improved, and the detection efficiency is improved, and manual intervention is reduced.

[0025] In summary, the present application includes at least one of the following beneficial technical effects: First, determine the model of the electromagnet based on its image, then match the reference current value and the reference magnetic value, and judge whether the magnetic force is abnormal by comparing the reference magnetic value and the detected magnetic value. If it is abnormal, clamp the component to the abnormal area. If it is normal, continue to detect the current value, and clamp the electromagnet component whose detected current value is inconsistent with the reference current value to the abnormal area, thereby improving the accuracy, safety and efficiency of electromagnet component detection and reducing manual intervention; The electromagnet components with damaged epidermis characteristics shown in the epidermis image information are repaired with repair fluid. Then, according to the comparison between the electromagnet weight value and the reference weight value, the electromagnets with the same weight value are moved from the abnormal area to the detection area, and the electromagnets with inconsistent weight value are moved to the waste area, thereby improving the utilization rate of the electromagnet components and reducing manual intervention. If the resistance detection value of the electromagnet assembly in the abnormal area is inconsistent with the resistance reference value, it means that there is a problem with the coil insulation layer. After determining the injection value through infrared image information, use a spray device to repair the abnormal resistance position. After repair, based on the comparison result of the resistance detection value and the reference value, the consistent electromagnet assembly is moved to the detection area, and the inconsistent one is moved to the waste area, so as to improve the efficiency and accuracy of electromagnet assembly detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a flow chart of a method for detecting an electromagnet assembly for rail transit according to an embodiment of the present invention; Figure 2 is a flow chart of a method for detecting the current of an electromagnet assembly in an abnormal area according to an embodiment of the present invention; Figure 3 is a flow chart of a method for detecting the resistance of an electromagnet assembly in an abnormal area according to an embodiment of the present invention; Figure 4 is a flow chart of a method for detecting the installation position of the iron core of the electromagnet assembly in the region of an embodiment of the present invention; Figure 5 is a flow chart of a method for detecting cables when assembling an electromagnet assembly according to an embodiment of the present invention; Figure 6 is a flow chart of a solution to the problem that dust on the cable is not removed successfully when assembling the electromagnetic assembly according to an embodiment of the present invention; Figure 7 is a flow chart of a detection method when cables are wound when an electromagnetic assembly according to an embodiment of the present invention is assembled; Figure 8 It is a flow chart of a method for detecting whether an iron core is bent when assembling an electromagnetic assembly according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0028] The embodiment of the present application discloses a detection method for an electromagnet assembly for rail transit, which determines the model and matches the reference current value and the reference magnetic value according to the electromagnet image, and clamps it to the abnormal area if the current value or the magnetic value is abnormal. If it is determined that the electromagnet assembly contains damaged epidermis characteristics according to the epidermis image information, the damaged epidermis is repaired with a repair fluid, and the electromagnet assembly with the correct weight value is moved from the abnormal area to the detection area after repair, and the inconsistent one is moved to the waste area; when the resistance is abnormal, the abnormal position of the resistance is determined by the infrared image, and the spraying device is controlled to repair the position of the abnormal resistance, and the electromagnet assembly with normal resistance is added to the detection area after repair, and the inconsistent one is clamped to the waste area. According to the core installation image, it is determined whether the installation position of the core is correct, and the crooked core is corrected by a manipulator. If there is dust on the cable during assembly, the blowing device is controlled to blow it away, and if it is not blown away, the eating device is controlled to blow, and the electrostatic adsorption plate is turned on to suck away the dust. If it has not been cleaned up, the cleaning device is controlled to clean and the drying device is controlled to dry. If the wire is crooked during coil winding, the spreading device is controlled to spread the wire to correct it. If the iron core is crooked, the extrusion device is controlled to heat and press the iron core.

[0029] Reference Figure 1 , a detection method for an electromagnet assembly for rail transit, comprising the following steps: Step 101: Obtain image detection information in a preset detection area and a detection magnetic value of an electromagnet assembly.

[0030] The detection area refers to the area where the electromagnet assembly is detected. The detection area is formed by the operator's pre-setting and storage. The image detection information refers to the image information obtained by detecting the detection area. The image detection information is obtained through a preset camera. The detection magnetic value is the magnetic value of the electromagnet assembly obtained through a preset Hall effect sensor.

[0031] Step 102: Select an electromagnet image from the image detection information according to preset electromagnet features.

[0032] The electromagnet feature is preset data, and the electromagnet feature refers to the appearance feature of the electromagnet component. The electromagnet feature of the electromagnet component in the image detection information is framed out according to the preset electromagnet feature, thereby obtaining the electromagnet image.

[0033] Step 103: Match the electromagnet model from the model database according to the electromagnet image.

[0034] The model database is a preset database, and the model database stores information of various models of electromagnet components. The electromagnet model refers to the model information of the electromagnet component, including the models of the coil and the core. The electromagnet image is input into the model database to obtain the electromagnet model.

[0035] Step 104: Match the reference current value from the current database according to the electromagnet model.

[0036] The current database stores the reference current values ​​corresponding to each type of electromagnet assembly. Different electromagnet models match different reference current values. The current database is a manually set database and will not be described here. The reference current value refers to the standard value of the current value determined by the model. Enter the electromagnet model into the current database to obtain the reference current value.

[0037] Step 105: Match a reference magnetic force value from a preset magnetic force database according to the electromagnet model.

[0038] The magnetic database stores the reference magnetic values ​​corresponding to each type of electromagnet assembly. Different electromagnet models correspond to different reference magnetic values. The magnetic database is a database set by humans and will not be described in detail here. The reference magnetic value refers to the standard of the magnetic value determined according to the model. The electromagnet model is input into the magnetic database to obtain the magnetic database.

[0039] Step 106: Determine whether the reference magnetic value is consistent with the detected magnetic value.

[0040] By judging whether the reference magnetic force value in the detection area is consistent with the detection magnetic force value, it is determined whether the magnetic force of the electromagnet is normal.

[0041] Step 1061: If the reference magnetic value is inconsistent with the detected magnetic value, the preset clamping device is controlled to move the electromagnet to the abnormal area.

[0042] The preset clamping device is a manipulator. The abnormal area refers to the placement area of ​​the abnormal electromagnet assembly, which is formed by the operator's pre-setting and storage. When the reference magnetic value is inconsistent with the detection magnetic value, it means that the magnetic force of this electromagnet assembly is abnormal, and the clamping device is controlled to move the electromagnet assembly to the abnormal area.

[0043] Step 1062: If the reference magnetic force value is consistent with the detected magnetic force value, the detected current value of the electromagnet assembly is obtained.

[0044] When the reference magnetic force value is consistent with the detection magnetic force value, it indicates that the magnetic force of the electromagnet assembly is normal. The detection current value of the electromagnet assembly is obtained through image detection information to determine whether the current is normal.

[0045] Step 107: Determine whether the detection current value is consistent with the reference current value.

[0046] By judging whether the detected current value in the detection area is consistent with the reference current value, it is determined whether the current of the electromagnet is normal.

[0047] Step 1071: If the detected current value is consistent with the reference current value, the detection is completed and a prompt is given.

[0048] When the detected current value is consistent with the reference current value, it means that the current is normal, and the preset reminder device will light up green. The preset reminder device is a light bulb.

[0049] Step 1072: If the detected current value is inconsistent with the reference current value, the preset clamping device is controlled to move the electromagnet to the abnormal area.

[0050] When the detected current value is inconsistent with the reference current value, it indicates that the current of the electromagnet assembly is abnormal, and the clamping device is controlled to move the electromagnet assembly to the abnormal area.

[0051] Reference Figure 2 The method for detecting the current of the electromagnet assembly in the abnormal area also includes the following steps: Step 201: Obtain epidermal image information of the electromagnet assembly in the abnormal area.

[0052] The epidermal image information refers to the epidermal image information of the coil in the electromagnet assembly obtained by detecting the abnormal area. The epidermal image information is obtained through a preset camera.

[0053] Step 202: Match the damaged skin characteristics from the wire characteristics database according to the electromagnet model.

[0054] The wire characteristic database stores the damaged surface characteristics of the coils of various types of electromagnet components. Different types of electromagnet components correspond to different damaged surface characteristics. The wire characteristic database is a database set by humans and will not be described here. The damaged surface characteristics refer to the various damaged features on the surface of the electromagnet. The electromagnet model is input into the wire characteristic database to obtain the damaged surface characteristics.

[0055] Step 203: Determine whether the epidermis image information contains damaged epidermis characteristics.

[0056] By judging whether the epidermis image information contains damaged epidermis characteristics, it is determined whether the coil of the electromagnet assembly is normal.

[0057] Step 2031: If not included, control the preset clamping device to move the electromagnet to the waste area.

[0058] The waste area refers to the area where discarded electromagnet components are placed. If the abnormal area does not contain damaged surface characteristics, it means that there is no problem with the coil surface of this electromagnet component. Then, the electromagnet component in the abnormal area is moved to the waste area through a preset clamping device, and the preset clamping device is a robot.

[0059] Step 2032: If included, mark it and determine the mark position according to the epidermal image information and the preset epidermal reference position.

[0060] The epidermis reference position is the preset epidermis position, of which there are three epidermis reference positions, which are used to determine the position where the coil epidermis is damaged. The marking position refers to the position where the position of the coil epidermis is marked. If the abnormal area contains the damaged epidermis characteristics, it means that there is a problem with the surface of the coil of this electromagnet assembly. The coordinate position is determined based on the three epidermis reference positions known in the epidermis image information and the marked position, and the determined coordinate position is the marking position.

[0061] Step 204: Determine the damage area from a preset damage database according to the epidermal image information and the marking position.

[0062] The damage database stores different shapes and postures of coil skin damage. The skin image information and the marking position are input into the damage database to obtain the different shapes and postures of coil skin damage at the marking position in the skin image information. The sum of the shape coverage areas corresponding to the marking position is the damage area.

[0063] Step 205: Determine the repair liquid value according to the damaged area, and control a preset repair device to perform repair with the repair liquid value according to the marked position.

[0064] The repair liquid value refers to the amount of the repair liquid. The repair liquid is used to repair the insulating coating of the coil. The repair liquid is set by a person skilled in the art according to the actual situation and will not be elaborated here. The repair device refers to a brush head for repairing the damaged position of the coil surface. The repair device is set in advance by a person skilled in the art. The repair liquid value is determined from a preset repair liquid database according to the damaged area. The repair liquid database stores different repair liquid values ​​corresponding to different damaged areas. The repair liquid database is a manually set database and will not be elaborated here. Control the repair device to brush and repair the marked position with the repair liquid value.

[0065] Step 206: After the marked position is repaired, the electromagnet weight value of the electromagnet assembly is obtained.

[0066] When the damaged part at the marked position is repaired, the electromagnet weight value of the electromagnet assembly is obtained through a preset weight sensor.

[0067] Step 207: Determine whether the electromagnet weight value is consistent with a preset reference weight value.

[0068] The reference weight value is preset by the staff. By judging whether the electromagnet weight value is consistent with the preset reference weight value, it can be determined whether the electromagnet assembly is normal.

[0069] Step 2071: If not consistent, control the preset clamping device to move the electromagnet assembly from the abnormal area to the preset waste area.

[0070] If the electromagnet weight value is inconsistent with the preset reference weight value, it means that there is still a problem with the electromagnet assembly, and the clamping device is controlled to move the electromagnet assembly from the abnormal area to the waste area.

[0071] Step 2072: If they are consistent, control the preset clamping device to move the electromagnet assembly from the abnormal area to the preset detection area.

[0072] If the electromagnet weight value is consistent with the preset reference weight value, it means that there is no problem with the electromagnet assembly, and the clamping device is controlled to move the electromagnet assembly from the abnormal area to the detection area.

[0073] Reference Figure 3 The method for detecting the resistance of the electromagnet assembly in the abnormal area also includes the following steps: Step 301: Obtain the resistance detection value of the electromagnet assembly in a preset abnormal area.

[0074] The resistance detection value is the resistance value of the electromagnet assembly detected by a preset multimeter.

[0075] Step 302: Determine a resistance reference value according to the electromagnet model.

[0076] The resistance reference value refers to the standard value of the resistance value determined according to the model. The electromagnet model is input into the preset resistance database to obtain the resistance reference value. The resistance database stores the resistance reference values ​​corresponding to each electromagnet component model. The resistance database is a manually set database and will not be described in detail here.

[0077] Step 303: Determine whether the resistance detection value is consistent with the resistance reference value.

[0078] By judging whether the resistance detection value is consistent with the resistance reference value, it is determined whether the resistance of the electromagnet assembly is normal.

[0079] Step 3031: If the resistance detection value is consistent with the resistance reference value, control the preset clamping device to move the electromagnet assembly from the abnormal area to the preset detection area.

[0080] The preset clamping device is a manipulator. If the resistance detection value is consistent with the resistance reference value, it means that the resistance of the electromagnet assembly is normal, and the clamping device is controlled to move the electromagnet assembly from the abnormal area to the preset detection area.

[0081] Step 3032: If the resistance detection value is inconsistent with the resistance reference value, infrared image information of the electromagnet assembly in the preset abnormal area is obtained.

[0082] Infrared image information refers to image information obtained by detecting the electromagnet component in the abnormal area. The infrared image information is obtained by a preset infrared camera.

[0083] If the resistance detection value is inconsistent with the resistance reference value, it means that the resistance of this electromagnet component is abnormal, and then the infrared image detection information of the abnormal area is obtained through a preset infrared camera.

[0084] Step 304: Determine the spraying position according to the infrared image information and the preset coil reference position.

[0085] The spraying position refers to the position where the coil is sprayed. The coil reference position is the position of the preset coil. In this embodiment, there are three coil reference positions, which are used to determine the position of the coil resistance anomaly.

[0086] The spraying position is determined based on the three known coil reference positions and the marked positions in the infrared image information.

[0087] Step 305: Determine the spraying area from a preset spraying database according to the infrared image information and the spraying position.

[0088] The spraying area refers to the area on the coil that needs to be sprayed with liquid.

[0089] The spraying database stores different coil spraying shapes and postures. The infrared image information and the spraying position are input into the spraying database to obtain the coil spraying shape and posture in the infrared image information. The sum of the shape coverage areas corresponding to the spraying position is the spraying area.

[0090] Step 306: Determine the injection amount according to the spraying area and the spraying position.

[0091] The injection volume refers to the total amount of insulating paint sprayed on the spraying area and spraying position.

[0092] The injection amount is obtained by inputting the spraying area and the spraying position into a preset injection database. The injection database stores different injection amounts corresponding to different spraying positions and different injection amounts corresponding to different spraying areas. The injection amount is obtained by adding the two injection amounts.

[0093] Step 307: Determine the injection force according to the spraying position.

[0094] The injection force refers to the injection force with which the spraying position is sprayed.

[0095] The injection force is obtained by inputting the spraying position into a preset force database. The force database means that after the spraying position is confirmed, different injection forces are corresponding to the spraying distance and environment to obtain the injection force.

[0096] Step 308: Control the preset spraying device to inject the spraying position with the injection amount and injection force.

[0097] The spraying device refers to transferring the solution in the volumetric flask to the nozzle through a water pump to spray the liquid. The nozzle is moved by a robot clamp. The spraying device is pre-set by a technician in this field and will not be described here.

[0098] The spraying device is controlled to inject the spraying position with abnormal resistance according to the injection amount and injection force.

[0099] Step 309: After the spraying position is repaired, the resistance detection value of the electromagnet assembly is updated.

[0100] When the spraying position is repaired, the resistance detection value of the electromagnet assembly in the abnormal area is re-obtained.

[0101] Step 310: Determine whether the updated resistance detection value is consistent with the resistance reference value.

[0102] By judging whether the updated resistance detection value is consistent with the resistance reference value, it is determined whether the resistance of the electromagnet assembly is normal.

[0103] Step 3101: If they are consistent, control the preset clamping device to move the electromagnet assembly from the abnormal area to the preset detection area.

[0104] If they are consistent, it means that the resistance of the electromagnet assembly repaired from the abnormal area is normal, and the clamping device is controlled to move the electromagnet assembly from the abnormal area to the preset detection area.

[0105] Step 3102: If not consistent, control the preset clamping device to move the electromagnet assembly from the abnormal area to the preset waste area.

[0106] If there is no inconsistency, it means that the resistance of the electromagnet assembly repaired from the abnormal area is abnormal, and then the preset clamping device is controlled to move the electromagnet assembly from the abnormal area to the preset waste area.

[0107] Reference Figure 4 The method for detecting the installation position of the iron core of the electromagnet assembly in the detection area further includes the following steps: Step 401: Select an iron core installation image based on image detection information and a preset installation posture database.

[0108] The installation posture database stores posture data of various angles of various models of the core. The installation posture database is a database set manually and will not be described in detail here. The core installation image refers to the image of the installation position of the core.

[0109] The posture of the iron core of the electromagnet assembly in the image detection information is framed out according to the installation posture database, thereby obtaining an iron core installation image.

[0110] Step 402: Determine the core installation position according to the core installation image and a preset reference datum position.

[0111] The reference position is the preset position of the core, of which there are three reference positions for determining the position of the core. The core installation position refers to the installation position of the core in the core installation image. The coordinate position is determined based on the three known reference positions and the marked position in the core installation image, and the determined coordinate position is the core installation position.

[0112] A coordinate system is established in the image detection information, and the core installation position is determined according to the core installation image and the reference datum position.

[0113] Step 403: Match the reference core angle value from a preset angle database according to the electromagnet model.

[0114] The angle database stores reference core angle values ​​corresponding to various postures and positions of the core in the electromagnet assembly. The reference core angle value refers to the angle value obtained by inputting the electromagnet assembly model into the preset reference angle database as the reference angle value.

[0115] Step 404: Determine whether the core installation image is consistent with the reference core installation image.

[0116] The reference core installation image refers to a core image used as a reference standard. By judging whether the core installation image is consistent with the reference core installation image, it is determined whether the installation position of the core in the electromagnet assembly is correct.

[0117] Step 4041: If the core installation image is consistent with the preset reference core installation image, the detection is completed and a prompt is given.

[0118] If the iron core installation image is consistent with the preset reference iron core installation image, it means that the installation position of the iron core in the electromagnet assembly is correct, then the detection is completed, and the preset reminder device is controlled to light up green.

[0119] Step 4042: If the core installation image is inconsistent with the preset reference core installation image, the deviation position of the core is determined according to the core installation image and the reference reference position.

[0120] If the core installation image is inconsistent with the preset reference core installation image, it means that the core installation position in the electromagnet assembly is incorrect. The deviation position is determined based on the core installation image and the reference reference position through the coordinate system established in the image detection information.

[0121] Step 405: Determine the core reference position according to the electromagnet model.

[0122] The core reference position refers to the correct installation position of the core in the electromagnet assembly. The electromagnet model is input into the preset core position database to obtain the core reference position. The core position database stores the core reference positions corresponding to different electromagnet assembly models. The core position database is a manually set database and will not be described in detail here.

[0123] Step 406: Determine correction parameters according to the core reference position and the offset position.

[0124] Correction parameters refer to parameters for correcting the core. The obtained core reference position and deviation position are input into a preset correction database. The correction database stores different core reference positions and deviation positions. The distance data and direction data calculated are correction parameters. The correction database is a manually set database and will not be described here.

[0125] The core reference position and the deviation position are input into the preset correction database for calculation, thereby obtaining the correction parameters.

[0126] Step 407: Control the preset correction device to correct the core with the correction parameters, and update the core installation image.

[0127] The correction device is a preset manipulator for correcting the iron core, and controls the correction device to correct the iron core from the deviated position according to the correction parameters.

[0128] Reference Figure 5 The method for detecting the cable when the electromagnet assembly is assembled also includes the following steps: Step 501: Acquire assembly image information in the assembly area.

[0129] The assembly area refers to the area where the electromagnet assembly is assembled. The assembly area is formed by the operator setting and storing it in advance. The assembly image information refers to the image detection information obtained by detecting the assembly area. The assembly image information is the image information in the assembly area obtained by the preset camera.

[0130] Step 502: Select a cable image from a preset cable database according to the assembly image information.

[0131] The cable database stores cable images of various types of electromagnet assemblies. The cable database is a manually set database and will not be described in detail here. The cable image refers to a photo of the cable selected from the assembly image information.

[0132] The image of the cable in the assembly image information is framed and selected according to the cable database, thereby obtaining the cable image.

[0133] Step 503: Determine a reference cable image according to the cable image and the cable model database.

[0134] The reference cable image refers to a cable image used as a standard reference. The cable model database stores data of various types of cables. The cable model database is a database set manually and will not be described in detail here.

[0135] The cable image is input into the cable model database to obtain a reference cable image.

[0136] Step 504: Determine whether the cable image is consistent with the reference cable image.

[0137] By judging whether the cable image is consistent with the reference cable image, it is determined whether the cable is abnormal.

[0138] Step 5041: If the cable image is consistent with the reference cable image, the detection is completed and a prompt is given.

[0139] If the cable image is consistent with the reference cable image, it means that there is no problem with the cable, then the detection is completed and the preset reminder device is controlled to light up green.

[0140] Step 5042: If the cable image is inconsistent with the reference cable image, a dust image is selected based on the cable image and a preset dust image database.

[0141] The dust image database stores dust image data of various shapes, materials and colors. The dust image database is a database set manually and will not be described in detail here.

[0142] If the cable image is inconsistent with the reference cable image, it means that there is dust on the cable, thereby affecting the detection data. The cable image is then input into the dust image database, and the image selected by the frame is the dust image.

[0143] Step 505: Determine the dust position according to the dust image and a preset dust reference position.

[0144] The dust position refers to the position of dust in the assembly area. The dust reference position refers to the position of a preset dust mark, of which there are three dust reference positions, which are used to determine the position of dust on the cable. A coordinate system is established in the image detection information, and the dust position in the dust image is determined according to the dust reference position in the coordinate system.

[0145] Step 506: Determine the blowing position according to the dust position.

[0146] The blowing position refers to the position where the dust is blown. A coordinate system is established in the image detection information, and the blowing position is determined according to the position in the coordinate system covered by the dust image.

[0147] Step 507: Control the preset blowing device to start, and blow air at the blowing position with a preset blowing force to update the assembly image information.

[0148] The blowing device refers to a device for blowing away dust in the assembly area, and may be a blower, a fan, a hair dryer, etc. The blowing force refers to the force of blowing away dust, which is set in advance by a person skilled in the art and will not be described in detail here. The blowing device is controlled to start, and the blowing position is blown with the blowing force, and the assembly image information in the assembly area is updated after blowing.

[0149] Step 508: After updating the assembly image information, determine whether the cable image is consistent with the reference cable image.

[0150] After the assembly image information is updated, it is determined whether the dust is removed successfully by judging whether the cable image is consistent with the reference cable image.

[0151] Step 5081: If the cable image is consistent with the reference cable image, the detection is completed and a prompt is given.

[0152] If the cable image is consistent with the reference cable image, it means that the dust is removed successfully, and the detection is completed and the preset reminder device is controlled to light up green.

[0153] Step 5082: If the cable image is inconsistent with the reference cable image, remove it using a preset removal method.

[0154] If the cable image is inconsistent with the reference cable image, it means that the dust has not been removed successfully, and the method of step 601 to step 612 is continued to remove the dust.

[0155] Reference Figure 6 The solution to the problem that dust on the cable is not removed when the electromagnetic assembly is assembled also includes the following steps: Step 601: Determine the dust area from a dust area database according to the cable image.

[0156] The cable image is input into the dust area database to obtain the morphological area of ​​the dust in the cable image. The dust area is the sum of the morphological coverage areas corresponding to the cable image. The dust area database is a manually set database and will not be described in detail here.

[0157] The dust area is obtained by inputting the cable image into the dust area database.

[0158] Step 602: Determine the dust thickness value according to the cable image and the color feature database.

[0159] The color feature database is preset data, and the color feature database stores the thickness data of dust of different colors. The darker the dust color, the thicker the thickness. The color feature database is a database set by humans, so it will not be described here. Input the cable image and the color feature database into the color feature database to obtain the dust thickness value. The dust thickness value refers to the thickness value of the dust detected in the cable image. The thickness of the dust in the cable image is marked according to the color feature database, and the dust thickness value is obtained according to the corresponding data information.

[0160] Step 603: Determine the wind force value according to the dust thickness value.

[0161] The wind force value refers to the blowing force value of the blowing device on the dust. The wind force value is obtained by inputting the dust thickness value into a preset wind force database. Different dust thicknesses in the wind force database correspond to different wind force values. The wind force database is a database set by humans and will not be described in detail here.

[0162] Step 604: Determine the wind direction value according to the dust position.

[0163] The wind direction value refers to the direction in which the blowing device blows air. The wind direction value is obtained by inputting the dust position into a preset wind direction database. Different dust positions in the wind direction database correspond to different wind direction values. The wind direction database is a database set by humans and will not be described in detail here.

[0164] Step 605: Control the preset blowing device to blow air to the dust position with the wind force value and wind direction value, and control the preset electrostatic adsorption plate to open, and update the assembly image information to determine whether the cable image is consistent with the reference cable image.

[0165] The electrostatic adsorption plate refers to a device that realizes the adsorption function through the principle of electrostatic induction. The blowing device is controlled to blow air to the dust position with the wind force value and wind direction value, and the electrostatic adsorption plate is controlled to open while the dust is blown, and the dust is adsorbed on the electrostatic adsorption plate, and the assembly image information in the assembly area is updated. By judging whether the cable image is consistent with the reference cable image, it is determined whether the dust is removed.

[0166] Step 6051: If they are consistent, the detection is completed and a prompt is given.

[0167] If the cable image is consistent with the reference cable image, it means that the dust is removed, and the detection is completed and the preset reminder device is controlled to light up green.

[0168] Step 6052: If not consistent, determine the ultrasonic oscillation value according to the dust area and dust thickness value.

[0169] The ultrasonic oscillation value refers to the vibration value to water. If the cable image is inconsistent with the reference cable image, it means that the dust has not been completely removed. Then the dust area and dust thickness values ​​are input into the preset oscillation database to obtain the ultrasonic oscillation value. The oscillation database stores different oscillation data corresponding to different dust area and dust thickness values. The oscillation database is a manually set database and will not be described in detail here.

[0170] Step 606: Control the preset cleaning device to move from the preset working position to the dust position, and lift it by a preset lifting value.

[0171] The cleaning device refers to a device that stores water and can oscillate. The working station refers to the working position where the cleaning device is to be operated. When the cleaning device is at the working station, water will not contact the cable. The lifting value refers to the lifting distance of the cleaning device, which is set in advance by a person skilled in the art and will not be described here. The cleaning device is controlled to move from the working station to the dust position, and the cleaning device is lifted by the lifting value. After the lifting, the water in the cleaning device reaches the dust position of the cable, and the lifting is completed.

[0172] Step 607: Control the preset cleaning device to vibrate with a preset vibration time and ultrasonic oscillation value.

[0173] The vibration time refers to the cleaning time of the water in the cleaning device. The cleaning device is controlled to vibrate according to the vibration time and the ultrasonic oscillation value.

[0174] Step 608: After the vibration is completed, control the preset cleaning device to move to the working station, and control the preset drying device to move to the dust position to dry for a preset time, and update the cable image to determine whether the cable image is consistent with the reference cable image.

[0175] The drying device refers to a hot air blower that dries the cables. The cleaning time is input into the preset drying database to obtain the drying time. Different cleaning times in the drying database correspond to different drying time data. The drying database is a database set manually and will not be described here. When the vibration is completed, the cleaning device is controlled to move from the dust position to the working station, and the drying device is controlled to move to the dust position for drying according to the preset time. After drying, the cable image in the assembly area is updated, and by judging whether the cable image is consistent with the reference cable image, it is determined whether the dust has been successfully removed.

[0176] Step 6081: If there is inconsistency, a warning is issued.

[0177] If the cable image is inconsistent with the reference cable image, it means that the dust has not been removed, and the preset reminder device is controlled to light up a red light.

[0178] Step 6082: If they are consistent, the detection is completed and a prompt is given.

[0179] If the cable image is consistent with the reference cable image, it means that the dust is removed successfully, and the preset reminder device is controlled to light up green.

[0180] Reference Figure 7 The detection method for the cable winding during the assembly of the electromagnetic assembly also includes the following steps: Step 701: Acquire winding image information in a winding area.

[0181] The winding area is the area where the cable is wound during the assembly process of the electromagnet assembly. The winding area is formed by the operator's pre-setting and storage. The winding image information refers to the image information obtained by detecting the winding area. The winding detection information is obtained through a preset camera.

[0182] Step 702: Select a circle image according to the winding image information and a preset circle database.

[0183] The winding database is a preset database, and the winding database stores images of windings of different types of electromagnet assemblies. The winding database is a database set manually and will not be described in detail here. The winding image refers to a photo of the winding of the cable of the electromagnet assembly framed from the winding image information. The photo of the winding of the cable of the electromagnet assembly in the winding image information is framed according to the winding database to obtain a frosting image.

[0184] Step 703: Determine a reference circle image according to the electromagnet model.

[0185] The reference winding image refers to the standard reference winding image when the cable of the electromagnet assembly is wound. The cable image is input into a preset winding database to obtain the reference winding image. The winding database stores winding image data corresponding to various types of electromagnet assemblies. The winding database is a manually set database and will not be described in detail here.

[0186] Step 704: Determine whether the circle image is consistent with the reference circle image.

[0187] By judging whether the winding image is consistent with the reference winding image, it is determined whether the cable of the electromagnet assembly is wound correctly.

[0188] Step 7041: If the circle image is consistent with the reference circle image, the detection is completed and a prompt is given.

[0189] If the winding image is consistent with the reference winding image, it means that the cable of the electromagnet assembly is wound correctly, and the preset reminder device is controlled to light up green.

[0190] Step 7042: If the winding image is inconsistent with the reference winding image, the preset winding device is controlled to stop, and the deflection distance is determined from a preset distance database through the winding image and the reference winding image.

[0191] The winding device is a device that winds the cable into a coil in the electromagnet assembly. The distance database stores the distance data corresponding to different winding images and the reference winding image. The distance database is a database set by humans and will not be described here. The deflection distance refers to the distance that the cable deviates when winding.

[0192] If the winding image is inconsistent with the reference winding image, it means that the cable of the electromagnet assembly is wound incorrectly, and the winding device is controlled to stop, and the winding image and the reference winding image are input into the distance database to obtain the skew distance.

[0193] Step 705: Determine the position of the distorted line according to the circle image and the position of the distorted line mark.

[0194] The skew line identification positions are preset marking positions, which are two marking positions used to determine the skew line positions. A coordinate system is established in the winding image information, and the skew line positions in the winding image are determined according to the skew line identification positions in the coordinate system.

[0195] Step 706: Determine a prying distance according to the deflection distance and a prying database, and control a preset prying device to pry the deflection position according to the prying distance.

[0196] The unwinding device is used to unwind the robot arm of the cable. The unwinding database stores the unwinding spacing data corresponding to each spacing. The database is set manually and will not be described here. The deflection distance is input into the unwinding database to obtain the spacing data. The preset unwinding device is controlled to unwind the deflection position in the winding area according to the unwinding spacing, so that the cable returns to the normal winding state.

[0197] Step 707: After the winding image information is updated and the winding image is consistent with the reference winding image, control the preset winding device to continue winding.

[0198] After the winding is pulled apart, the winding image information in the winding area is updated. When the winding image is consistent with the reference winding image, it indicates that the winding spacing is normal, and the winding device is controlled to continue winding.

[0199] Reference Figure 8 The method for detecting whether the iron core is bent when the electromagnetic assembly is assembled also includes the following steps: Step 801: Acquire the core image information in the core area.

[0200] The core area refers to the area where the cable core is installed during the assembly of the electromagnet assembly. The core area is formed by the operator's pre-setting and storage. The core image information refers to the image information obtained by detecting the core area. The core image information is obtained through a preset camera.

[0201] Step 802: Select an iron core image from a preset iron core database according to the iron core image information.

[0202] The core database stores image data of various types of electromagnet components. The core database is a database set manually and will not be described in detail here. The core image information is input into the core database to obtain the core image.

[0203] Step 803: Determine a reference core image according to the electromagnet model.

[0204] The reference core image refers to the standard reference core image of the core of the electromagnet assembly. The core image is input into a preset core position database to obtain the reference core image. The core position database stores the reference image data of the core corresponding to each type of electromagnet assembly.

[0205] Step 804: Determine whether the reference core image is consistent with the core image.

[0206] By judging whether the reference core image is consistent with the core image, it is determined whether the reference shape of the core of the electromagnet assembly is correct.

[0207] Step 8041: If the reference core image is consistent with the core image, the detection is completed and a prompt is given.

[0208] If the reference core image is consistent with the core image, indicating that the core is normal, the preset reminder device is controlled to light up green.

[0209] Step 8042: If the reference core image is inconsistent with the core image, a curved core image is selected from a preset curved feature database according to the core image.

[0210] If the reference core image is inconsistent with the core image, it means that the core is bent. The bending feature database is a model database obtained by training the core image and the bent core image through a neural network model. The bending feature database is a database set by humans and will not be described here. The bent core image is selected by inputting the core image into the bending feature database.

[0211] Step 805: Determine the bending value of the core according to the preset shape database and the core image.

[0212] The shape database is a model database obtained by training the core image and the bending value through a neural network model. The shape database is a database set by humans and will not be described here. The bending value refers to the degree of bending of the core. The bending value is obtained by inputting the core image into the shape database.

[0213] Step 806: Determine the extrusion position according to the core image and the preset bending reference position.

[0214] The bending reference position refers to the position of a preset mark, of which there are three bending reference positions, which are used to determine the extrusion position of the iron core. The extrusion position refers to the position where the iron core in the electromagnet assembly needs to be restored. A coordinate system is established in the image detection information, and the extrusion position in the dust image is determined according to the bending reference position in the coordinate system.

[0215] Step 807: Determine the pressure value according to the bending value.

[0216] The bending value is input into a preset pressure database to obtain the pressure value. The pressure database stores pressure value data corresponding to each bending value, which is a database set manually and will not be described in detail here.

[0217] Step 808: Determine the extrusion temperature from a preset temperature database according to the core model and the bending value.

[0218] Extrusion temperature refers to the temperature at which the core is extruded. The temperature database stores the extrusion temperature data corresponding to each core model and bending value. The database is set manually and will not be described here. The extrusion temperature is obtained by inputting the core model and bending value into the temperature database.

[0219] Step 809: Controlling a preset extrusion device to heat according to the extrusion temperature, and controlling the preset extrusion device to extrude the iron core at the extrusion position.

[0220] The extrusion device is a device that uses two heating clamps to extrude the iron core. A groove is provided in the extrusion device. The groove is determined according to the model of the electromagnet assembly. Different electromagnet assemblies correspond to different extrusion devices. The extrusion device is heated according to the extrusion temperature, and after heating, the iron core is extruded according to the extrusion position.

[0221] Step 8101: After the bent core image is updated and the reference core image is consistent with the core image, the detection is completed and a prompt is given.

[0222] When the bent core image is updated after extrusion, when the reference core image is consistent with the core image, it means that the standard shape is restored after extrusion, then the detection is completed and the preset reminder device is controlled to light up green.

[0223] Step 8102: After the bent core image is updated and the reference core image is inconsistent with the core image, the preset clamping device is controlled to clamp the electromagnet assembly to the preset waste area.

[0224] The preset clamping device is a manipulator. When the bent core image is updated after extrusion, when the reference core image is inconsistent with the core image, it means that the core shape has not been restored after extrusion, the clamping device is controlled to clamp the electromagnet assembly in the core area to the waste area.

[0225] Based on the same inventive concept, an embodiment of the present invention provides a detection system for an electromagnet assembly for rail transit, comprising: An acquisition module is used to acquire image detection information, detect magnetic force values, epidermis image information, infrared image information, assembly image information, winding image information, and core image information; A memory, used to store a program of the above-mentioned method for detecting an electromagnet assembly for rail transit; The program in the processor and the memory can be loaded and executed by the processor to implement the above-mentioned detection method of the electromagnet component for rail transit.

[0226] 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 by the processor and executes a method for detecting an electromagnet component for rail transit.

[0227] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A detection method for an electromagnet assembly for rail transit, characterized in that: include: Acquire image detection information in a preset detection area and a detection magnetic value of the electromagnet assembly; Selecting an electromagnet image from the image detection information according to preset electromagnet features; According to the electromagnet image, the electromagnet model is matched from the model database; Match the reference current value from the current database according to the electromagnet model; According to the electromagnet model, a reference magnetic force value is matched from a preset magnetic force database; Determine whether the reference magnetic value is consistent with the detected magnetic value; If the reference magnetic value is inconsistent with the detected magnetic value, the preset clamping device is controlled to move the electromagnet to the abnormal area; If the reference magnetic force value is consistent with the detection magnetic force value, the detection current value of the electromagnet assembly is obtained; Determine whether the detection current value is consistent with the reference current value; If the detected current value is consistent with the reference current value, the detection is completed and a prompt is given; If the detected current value is inconsistent with the reference current value, the preset clamping device is controlled to move the electromagnet to the abnormal area.

2. A detection method for an electromagnet assembly for rail transit according to claim 1, characterized in that: When the detection current value is inconsistent with the reference current value, it also includes: Acquire epidermal image information of the electromagnet assembly in the abnormal area; Match the damaged skin characteristics from the wire characteristics database according to the electromagnet model; determining whether the epidermis image information includes damaged epidermis characteristics; If not, the preset clamping device is controlled to move the electromagnet to the waste area; If included, mark it and determine the mark position according to the epidermal image information and the preset epidermal reference position; Determine the damaged area from a preset damage database according to the epidermal image information and the marking position; Determine the repair fluid value according to the damaged area, and control the preset repair device to perform repair with the repair fluid value according to the damaged position; After repairing at the marked position, obtaining the electromagnet weight value of the electromagnet assembly; Determine whether the electromagnet weight value is consistent with the preset reference weight value; If not, the preset clamping device is controlled to move the electromagnet assembly from the abnormal area to the preset waste area; If they are consistent, the preset clamping device is controlled to move the electromagnet assembly from the abnormal area to the preset detection area.

3. A detection method for an electromagnet assembly for rail transit according to claim 2, characterized in that: When the detection current value is inconsistent with the reference current value, it also includes: Obtaining a resistance detection value of the electromagnet assembly in a preset abnormal area; Determine the resistance reference value according to the electromagnet model; Determine whether the resistance detection value is consistent with the resistance reference value; If the resistance detection value is consistent with the resistance reference value, the preset clamping device is controlled to move the electromagnet assembly from the abnormal area to the preset detection area; If the resistance detection value is inconsistent with the resistance reference value, infrared image information of the electromagnet assembly in the preset abnormal area is obtained; Determine the spraying position according to the infrared image information and the preset coil reference position; Determine the spraying area from a preset spraying database according to the infrared image information and the spraying position; Determine the injection volume based on the spraying area and spraying position; Determine the injection force according to the spraying position; Control the preset spraying device to inject at the spraying position with injection amount and injection force; After repairing the spraying position, update the resistance detection value of the electromagnet assembly; Determine whether the updated resistance detection value is consistent with the resistance reference value; If they are consistent, the preset clamping device is controlled to move the electromagnet assembly from the abnormal area to the preset detection area; If not, the preset clamping device is controlled to move the electromagnet assembly from the abnormal area to the preset waste area.

4. A detection method for an electromagnet assembly for rail transit according to claim 1, characterized in that: When the detection current value is consistent with the reference current value, it also includes: Select the core installation image based on the image detection information and the preset installation posture database; Determine the core installation position according to the core installation image and the preset reference reference position; According to the electromagnet model, the reference core angle value is matched from the preset angle database; Determine whether the core installation image is consistent with the reference core installation image; If the core installation image is consistent with the preset reference core installation image, the detection is completed and a prompt is given; If the core installation image is inconsistent with the preset reference core installation image, the deviation position of the core is determined according to the core installation image and the reference reference position; Determine the core reference position according to the electromagnet model; Determine correction parameters based on the core reference position and deviation position; The preset correction device is controlled to correct the core with correction parameters and update the core installation image.

5. The detection method of an electromagnet assembly for rail transit according to claim 1, characterized in that: Also includes: Acquire assembly image information in the assembly area; Selecting a cable image from a preset cable database frame according to the assembly image information; Determine a reference cable image based on the cable image and the cable model database; determining whether the cable image is consistent with the reference cable image; If the cable image is consistent with the reference cable image, the detection is completed and a prompt is given; If the cable image is inconsistent with the reference cable image, a dust image is selected based on the cable image and a preset dust image database; Determining the dust position according to the dust image and a preset dust reference position; Determine the blowing position according to the dust position; Control the preset blowing device to start, and blow air at the blowing position with a preset blowing force, and update the assembly image information; After updating the assembly image information, determining whether the cable image is consistent with the reference cable image; If the cable image is consistent with the reference cable image, the detection is completed and a prompt is given; If the cable image is inconsistent with the reference cable image, it is removed using a preset removal method.

6. A detection method for an electromagnet assembly for rail transit according to claim 5, characterized in that: Removal methods include: determining a dust area from a dust area database according to the cable image; Determine the dust thickness value based on the cable image and color feature database; Determine the wind force value based on the dust thickness value; Determine the wind direction value based on the dust position; Control the preset blowing device to blow air to the dust position with the wind force value and wind direction value, and control the preset electrostatic adsorption plate to open, and update the assembly image information to determine whether the cable image is consistent with the reference cable image; If they are consistent, the test is completed and a prompt is given; If they are inconsistent, determine the ultrasonic oscillation value based on the dust area and dust thickness values; Control a preset cleaning device to move from a preset working position to a dust position, and lift it at a preset lifting value; Controlling a preset cleaning device to vibrate at a preset vibration time and ultrasonic oscillation value; After the vibration is completed, the preset cleaning device is controlled to move to the working station, and the preset drying device is controlled to move to the dust position to dry for a preset time, and the cable image is updated to determine whether the cable image is consistent with the reference cable image; If there is any inconsistency, a warning will be issued; If they are consistent, the test is completed and a prompt is given.

7. A detection method for an electromagnet assembly for rail transit according to claim 5, characterized in that: Also includes: Obtaining winding image information in the winding area; Selecting a winding image according to winding image information and a preset winding database frame; Determine the reference winding image according to the electromagnet model; Determining whether the circle image is consistent with the reference circle image; If the circle image is consistent with the reference circle image, the detection is completed and a prompt is given; If the winding image is inconsistent with the reference winding image, the preset winding device is controlled to stop, and the deflection distance is determined from a preset distance database through the winding image and the reference winding image; Determine the position of the skew line according to the circle image and the position of the skew line mark; Determine the prying distance according to the deflection distance and the prying database, and control the preset prying device to pry the deflection position according to the prying distance; After the winding image information is updated and the winding image is consistent with the reference winding image, the preset winding device is controlled to continue winding.

8. The detection method of an electromagnet assembly for rail transit according to claim 1, characterized in that: Also includes: Acquire the iron core image information in the iron core area; Selecting an iron core image from a preset iron core database according to the iron core image information; Determine the reference core image according to the electromagnet model; Determine whether the reference core image is consistent with the core image; If the reference core image is consistent with the core image, the detection is completed and a prompt is given; If the reference core image is inconsistent with the core image, a curved core image is framed out from a preset curved feature database according to the core image; Determine the bending value of the iron core according to a preset shape database and an iron core image; Determine the extrusion position according to the core image and the preset bending reference position; Determine the pressure value based on the bending value; Determine the extrusion temperature from the preset temperature database according to the core model and bending value; Controlling a preset extrusion device to heat according to the extrusion temperature, and controlling the preset extrusion device to extrude the iron core at an extrusion position; After the bent core image is updated and the reference core image is consistent with the core image, the detection is completed and a prompt is given.

9. A detection system for an electromagnet assembly for rail transit, comprising: An acquisition module is used to acquire image detection information, detect magnetic force values, epidermis image information, infrared image information, assembly image information, winding image information, and core image information; A memory for storing a program of a detection method for an electromagnet assembly for rail transit according to any one of claims 1 to 8; The program in the memory can be loaded and executed by the processor to implement a detection method for an electromagnet component for rail transit as described in any one of claims 1 to 8.

10. An intelligent terminal, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes a method for detecting an electromagnet assembly for rail transit as claimed in any one of claims 1 to 8.

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