Method and System for Detecting and Correcting Winding Angle Deviation of Thermal Sensors

Abstract

The present invention relates to a method and system for detecting and correcting the winding angle deviation of a thermal sensor, belonging to the technical field of production and detection of thermal sensors. The method includes: Step S1: Obtain the winding image of the capillary during the winding process; Step S2: Select the region of interest of the winding image, and the region of interest is the region where the capillary and the wire needle are located; Step S3: Identify the winding angle formed by each winding wire wound around the capillary in the region of interest; Step S4: Determine whether there is a deviation in the winding angle. If there is a deviation in the winding angle, adjust the offset angle of the wire needle for conveying the wire to change the winding angle; if there is no deviation in the winding angle, continue the detection until the winding of the capillary is completed to obtain a thermal sensor. The present invention can effectively detect whether there is a deviation in the winding angle of the capillary and adjust the deviation, which can effectively improve the yield rate of the thermal sensor.

Description

Technical Field

[0001] The present invention relates to the technical field of thermal sensor production and detection, and in particular to a method and system for detecting and correcting the winding angle deviation of a thermal sensor. Background Art

[0002] Thermal sensors are widely used in industrial and scientific research fields, and their performance and accuracy directly affect the accuracy and reliability of measurement results. Winding is one of the key steps in the manufacturing process of thermal sensors, and the quality and accuracy of winding are directly related to the performance of the sensors. During the winding process, the angular deviation generated by each roll of wire on the capillary is a common problem, which will lead to a decline in the performance of the sensor and even make it unable to be used normally.

[0003] In order to prevent angular deviation during the winding process of thermal sensors, the traditional manual adjustment method relies on the experience of operators, with low efficiency and difficult to guarantee accuracy. With the development of industrial automation and machine vision, image-based adaptive control is widely used, and modern means are needed to solve the angular deviation problem of thermal sensors during the winding process. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the problems of low efficiency and difficult accuracy guarantee in manually judging whether there is angular deviation during the winding process of thermal sensors in the prior art.

[0005] To solve the above technical problems, the present invention provides a method for detecting and correcting the winding angle deviation of a thermal sensor, including:

[0006] Step S1: Obtain the winding image of the capillary during the winding process;

[0007] Step S2: Select the region of interest of the winding image, and the region of interest is the region where the capillary and the wire needle of the conveying wire are located;

[0008] Step S3: Identify the winding angle formed by each winding wire wound on the capillary in the region of interest;

[0009] Step S4: Judge whether there is a deviation in the winding angle. If there is a deviation in the winding angle, adjust the deviation angle of the wire needle of the conveying wire to change the winding angle; if there is no deviation in the winding angle, continue the detection until the capillary winding is completed to obtain a thermal sensor.

[0010] In an embodiment of the present invention, the method for selecting the region of interest of the winding image in step S2 includes:

[0011] Let the coordinate region of the winding image be , , , , are the coordinate values of the boundary of the winding image and satisfy and ;

[0012] Define the central region of interest ROI_A in the winding image, expressed as , satisfying , where is the range parameter and , is the capillary radius, is the wire diameter, , is the shortest distance from the wire needle to the capillary, is the length of the wire needle;

[0013] Divide the variable region ROI_B in the central region of interest ROI_A, and use the variable region ROI_B as the region of interest, expressed as , where the horizontal position of the wire needle is set as , and its horizontal movement range is ;

[0014] When the wire needle moves horizontally, the horizontal coordinates of the variable region ROI_B move accordingly and satisfy the expression , , where is the horizontal displacement of the wire needle at moment, , are the initial horizontal coordinates of the variable region ROI_B respectively, and satisfy .

[0015] In an embodiment of the present invention, the variable region ROI_B is optimized, and the method includes:

[0016] Optimize the length of the variable region ROI_B in the horizontal direction to prevent and The interval between them is greater than the first length or less than the second length, and the formula is: , where is the length of the optimized variable region ROI_B in the horizontal direction, is the maximum horizontal movement range of the wire needle and , is the recognition time of the unit image area; is the adjustment coefficient.

[0017] In an embodiment of the present invention, the adjustment coefficient Satisfy:

[0018] .

[0019] In an embodiment of the present invention, the method for identifying the winding angle formed by each wire around the capillary in the region of interest in step S3 includes:

[0020] Perform grayscale processing on the image corresponding to the region of interest to obtain a grayscale image;

[0021] Smooth the grayscale image through Gaussian filtering to reduce noise interference;

[0022] Perform binarization on the image after Gaussian filtering to obtain a binary image;

[0023] Intercept the region ROI_C containing the wire needle in the binary image, denoted as , where ;

[0024] Perform Hough line detection on the intercepted region ROI_C and record the length of the line;

[0025] Select the two longest lines, corresponding to the left and right lines of the wire outlet of the wire needle, and define them as the left edge and the right edge of the wire needle;

[0026] Let the sum of the included angles of the left edge and the right edge of the wire needle be , select a line with the largest abscissa when the ordinates are the same among the left edge and the right edge of the wire needle, corresponding to the right line of the wire outlet of the wire needle, and define it as , take two points on and , where

[0027] If , , then the included angle between the right edge of the wire needle and the horizontal direction is , and the included angle between the wire at the wire outlet of the wire needle and the horizontal direction is ;

[0028] If , , then the included angle between the right edge of the wire needle and the horizontal direction is , and the included angle between the wire at the wire outlet of the wire needle and the horizontal direction is ;

[0029] Take the included angle between the wire at the wire outlet of the wire needle and the horizontal direction as the winding angle formed by each wire around the capillary.

[0030] In one embodiment of the present invention, in step S4, if there is a deviation in the winding angle, the method for adjusting the offset angle of the wire needle for conveying the wire to change the winding angle includes:

[0031] If there is a deviation in the winding angle, adjust the PWM signal frequency of the motor connected to the wire needle, and then change the horizontal movement direction of the wire needle to correct the winding angle.

[0032] In one embodiment of the present invention, the method for adjusting the PWM signal frequency of the motor connected to the wire needle includes:

[0033] Construct a correction model based on the angle deviation, and adjust the PWM signal frequency of the motor through the correction model. The correction model formula is:

[0034] ;

[0035] Wherein, is the frequency of the PWM signal of the motor; is the currently measured angle deviation; is In the ideal state of the corresponding PWM signal frequency; is the sensitivity parameter and .

[0036] To solve the above technical problems, the present invention provides a winding angle deviation detection and correction system for a thermal sensor, which uses the above winding angle deviation detection and correction method for a thermal sensor, including:

[0037] An acquisition module: used to acquire the winding image of the capillary during the winding process;

[0038] A selection module: used to select the region of interest of the winding image, and the region of interest is the region where the capillary and the wire needle for conveying the wire are located;

[0039] An identification module: used to identify the winding angle formed by each winding wire wound on the capillary in the region of interest;

[0040] A judgment and correction module: used to judge whether there is a deviation in the winding angle. If there is a deviation in the winding angle, adjust the offset angle of the wire needle for conveying the wire to change the winding angle; if there is no deviation in the winding angle, continue to detect until the winding of the capillary is completed to obtain a thermal sensor.

[0041] To solve the above technical problems, the present invention provides a thermal sensor winding detection device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the above-described winding angle deviation detection and correction method for thermal sensors are implemented.

[0042] To solve the above technical problems, the present invention provides a computer-readable storage medium with a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-described winding angle deviation detection and correction method for thermal sensors are implemented.

[0043] The above technical solution of the present invention has the following advantages compared with the prior art:

[0044] The winding angle deviation detection and correction method for thermal sensors according to the present invention can detect whether there is an offset in the winding angle during the winding process, and can also perform adaptive correction if there is an offset in the winding angle, ensuring that the winding quality can meet the requirements of industrial production.

[0045] The present invention extracts the region of interest from the winding image, and the obtained region of interest has the smallest area. This processing method can not only quickly locate the positions of the capillary and the wire needle, but also accelerate the operation time to meet the real-time detection requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to make the content of the present invention easier to be clearly understood, the following further describes the present invention in detail according to specific embodiments of the present invention in conjunction with the drawings.

[0047] Figure 1 is the flowchart of the method of the present invention;

[0048] Figure 2 is a schematic diagram of the positions of the central region of interest ROI_A, the variable region ROI_B, and the intercepted region ROI_C in an embodiment of the present invention;

[0049] Figure 3 is a schematic diagram of a wire needle in an embodiment of the present invention;

[0050] Figure 4 is a schematic diagram of taking two points on the right edge of the wire outlet of the wire needle in an embodiment of the present invention;

[0051] Figure 5 is a schematic diagram of the angle of the wire needle with respect to the horizontal direction in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0052] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and be able to implement it, but the embodiments cited do not limit the present invention.

[0053] Embodiment 1

[0054] Referring to Figure 1 as shown, the present invention relates to a method for detecting and correcting the winding angle deviation of a thermal sensor, including:

[0055] Step S1: Obtain the winding image of the capillary during the winding process, wherein the thermal sensor is obtained after the capillary winding is completed;

[0056] Step S2: Select the region of interest of the winding image, and the region of interest is the region where the capillary and the wire needle of the transmission wire are located;

[0057] Step S3: Identify the winding angle formed by each winding wire wound on the capillary in the region of interest;

[0058] Step S4: Determine whether there is a deviation in the winding angle. If there is a deviation in the winding angle, adjust the deviation angle of the wire needle of the transmission wire to change the winding angle; if there is no deviation in the winding angle, continue the detection until the capillary winding is completed to obtain the thermal sensor.

[0059] The following is a detailed introduction to this embodiment: During the detection process, in order to effectively reduce the calculation amount and inference time, this embodiment provides a method for selecting the ROI (region of interest). Please refer to Figure 2 and select a partial region of the captured winding image for identification, which specifically includes the following steps:

[0060] (1) Let the coordinate region of the winding image be , , , , are the coordinate values of the boundary of the winding image, satisfying and ;

[0061] (2) Define the central region of interest ROI_A in the winding image, expressed as , satisfying , where is the range parameter and It can be obtained that is the radius of the capillary, is the wire diameter of the wire, , is the shortest distance from the wire needle to the capillary, is the length of the wire needle;

[0062] (3) Further divide a variable region ROI_B in the central region of interest ROI_A, and use the variable region ROI_B as the region of interest, denoted as , where the horizontal position of the wire needle is set as , , and its horizontal movement range is ;

[0063] When the wire needle moves horizontally (the wire outlet direction of the wire needle is normally perpendicular to the radial direction of the capillary), the horizontal coordinate of the variable region ROI_B moves accordingly, and satisfies the following expression:

[0064] ;

[0065] ;

[0066] Among them, when the wire needle moves in the positive direction of the x-axis, then add , when the wire needle moves in the negative direction of the x-axis, then subtract ; is the horizontal displacement of the wire needle, , are the initial horizontal coordinates of the variable region ROI_B respectively, satisfying .

[0067] Further, this embodiment also optimizes the variable region ROI_B, specifically as follows: when , have too large an interval (greater than the first length), the variable region ROI_B to be recognized each time is too large, which will increase the calculation amount and inference time; when , have too small an interval (less than the second length), the number of times to be recognized will increase. For example, if the initial variable region ROI_B is only 1 / 2 the length of the current ROI_B, then recognizing the current variable region ROI_B is equivalent to recognizing the initial variable region ROI_B three times), that is, the variable region ROI_B is recognized by recognizing multiple times.

[0068] In view of this, this embodiment constructs a regional length optimization formula for the variable region ROI_B:

[0069] ;

[0070] Among them, is the length of the optimized variable region ROI_B in the horizontal direction (i.e., the x-direction), is the maximum horizontal movement range of the wire needle and , that is, the total current winding range length; is the recognition time of the unit image area (each image area is composed of several unit image areas); is the adjustment coefficient and .

[0071] This embodiment also recognizes the winding angle. The method includes:

[0072] (1) Perform gray processing on the image corresponding to the region of interest (i.e., the image corresponding to the variable region ROI_B) to obtain a grayscale image, so as to reduce the amount of data to be processed;

[0073] (2) Smooth the grayscale image through Gaussian filtering to reduce noise interference caused by dust or reflection;

[0074] (3) Binarize the image after Gaussian filtering by using the method of maximum inter-class variance (OTSU) to obtain a binarized image;

[0075] (4) Since the positions of the camera for shooting the winding image and the wire needle are relatively fixed, and the position of the wire needle is fixed in the lower region of the binarized image, intercept the region ROI_C including the wire needle below the entire binarized image, , where ;

[0076] (5) Perform Hough line detection on the intercepted region ROI_C and record the lengths of all lines (that is, the left and right straight edges of the wire needle should be recognized);

[0077] (6) Select the two longest lines, corresponding to the left and right straight lines of the wire outlet where the wire needle exits the wire, and define them as the left edge and the right edge of the wire needle;

[0078] It should be noted that please refer to Figure 3 , the wire needle is usually triangular in shape, and the wire outlet of the wire needle is an acute angle. Ideally, the wire passing through the wire outlet is usually perpendicular to the capillary tube. In short, theoretically, the angle between each winding wire on the capillary tube and the capillary tube should be 90 degrees;

[0079] (7) In this embodiment, let the sum of the angles between the left edge and the right edge of the wire needle be , select a straight line with the largest abscissa when the ordinates are the same among the left edge and the right edge of the wire needle, which corresponds to the right straight line of the wire outlet where the wire needle exits the wire, and define it as . Take two points on and , please refer to Figure 4 and Figure 5 , where

[0080] If , , the included angle between the right edge of the wire needle and the horizontal direction (i.e., the radial direction of the capillary) is , and the included angle between the wire at the wire outlet of the wire needle and the horizontal direction (i.e., the radial direction of the capillary) is ;

[0081] If , , the included angle between the right edge of the wire needle and the horizontal direction (i.e., the radial direction of the capillary) is , and the included angle between the wire at the wire outlet of the wire needle and the horizontal direction (i.e., the radial direction of the capillary) is .

[0082] It should be noted that when the wire needle has an angular deviation, the angle of the wire output by the wire needle will also change, that is, changes, and theoretically is . At the current moment during the wire winding process, as long as is not , it indicates that there is a deviation in the wire winding angle on the capillary at present.

[0083] In this embodiment, the included angle between the wire at the wire outlet of the wire needle and the horizontal direction is used as the wire winding angle formed by each wire winding on the capillary. If the included angle between the wire at the wire outlet of the wire needle and the horizontal direction changes, the wire winding angle formed by each wire winding on the capillary will inevitably change.

[0084] The reason for extracting the region of interest of the wire winding image in this embodiment is that it can not only quickly locate the position of the capillary, but also accelerate the operation time to meet the real-time detection requirements.

[0085] It is worth mentioning that when there is a deviation in the wire winding angle in step S4, the deviation angle of the wire needle for transporting the wire is adjusted, including: if there is a deviation in the wire winding angle, the PWM signal frequency of the motor connected to the wire needle is adjusted, and then the horizontal movement direction of the wire needle is changed to correct the wire winding angle.

[0086] Specifically, this embodiment constructs an angle deviation correction method. If there is a deviation in the wire winding angle in step S4, the PWM signal frequency of the motor is adjusted. By constructing a correction model based on the angle deviation, this correction model is used to adjust the PWM signal frequency of the motor, and then change the horizontal movement direction of the wire needle to complete the angle deviation correction.

[0087] The correction model formula of this embodiment is:

[0088] ;

[0089] Among them, is the frequency of the PWM signal for the motor; is the currently measured angle deviation value; is at the frequency of the corresponding PWM signal under the ideal state of , which is preset as the frequency threshold of the motor control system; is the sensitivity parameter and , which can be adjusted according to the actual motor characteristics.

[0090] Embodiment 2

[0091] This embodiment provides a winding angle deviation detection and correction system for a thermal sensor, which uses the winding angle deviation detection and correction method for a thermal sensor described in Embodiment 1, including:

[0092] An acquisition module: used to acquire the winding image of the capillary during the winding process;

[0093] A selection module: used to select the region of interest of the winding image, and the region of interest is the region where the capillary and the wire needle of the conveying wire are located;

[0094] An identification module: used to identify the winding angle formed by each winding wire around the capillary in the region of interest;

[0095] A judgment and correction module: used to judge whether there is a deviation in the winding angle. If there is a deviation in the winding angle, the deviation angle of the wire needle of the conveying wire is adjusted to change the winding angle; if there is no deviation in the winding angle, continue to detect until the winding of the capillary is completed to obtain a thermal sensor.

[0096] Embodiment 3

[0097] This embodiment provides a thermal sensor winding detection device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the winding angle deviation detection and correction method for a thermal sensor described in Embodiment 1 are implemented.

[0098] Embodiment 4

[0099] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the winding angle deviation detection and correction method for a thermal sensor described in Embodiment 1 are implemented.

[0100] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The solutions in the embodiments of the present application can be implemented using various computer languages. For example, object-oriented programming languages such as Java and interpreted scripting languages such as JavaScript, etc.

[0101] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0102] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0103] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0104] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concepts. Therefore, the appended claims are intended to be construed as including the preferred embodiments as well as all changes and modifications that fall within the scope of the present application.

[0105] Obviously, the above embodiments are merely examples given for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present invention.

Claims

1. A method for detecting and correcting winding angle deviation of a thermal sensor, characterized in that: include: Step S1: acquiring a winding image of the capillary during the winding process; Step S2: selecting a region of interest of the winding image, wherein the region of interest is the region where the capillary and the guide wire needle of the guide wire are located; The method for selecting the region of interest of the winding image in step S2 comprises: Assume the coordinate area of ​​the winding image is , , , , is the coordinate value of the boundary of the winding image and satisfies and ; Define the central region of interest ROI_A in the winding image, expressed as ,satisfy ,in, is a range parameter and , is the capillary radius, is the wire diameter, , is the shortest distance from the wire needle to the capillary, is the wire needle length; The variable region ROI_B is divided from the central region of interest ROI_A, and the variable region ROI_B is used as the region of interest, which is expressed as , where the horizontal position of the wire needle is , and its horizontal movement range is ; When the guide needle moves horizontally, the horizontal coordinate of the variable area ROI_B moves accordingly and satisfies the expression , ,in, For the wire needle The horizontal displacement at the moment, , are the initial horizontal coordinates of the variable region ROI_B, and satisfy ; Step S3: identifying the winding angle formed by each winding wire in the region of interest when it is wound on the capillary; Step S4: Determine whether there is a deviation in the winding angle. If there is a deviation in the winding angle, adjust the offset angle of the wire needle of the conveying wire to change the winding angle; if there is no deviation in the winding angle, continue to detect until the capillary winding is completed to obtain a thermal sensor.

2. The method for detecting and correcting winding angle deviation of a thermal sensor according to claim 1, characterized in that: The variable region ROI_B is optimized, and the method includes: The horizontal length of the variable region ROI_B is optimized to prevent and The interval between them is greater than the first length or less than the second length, and the formula is: ,in, is the horizontal length of the optimized variable region ROI_B, is the maximum horizontal motion range of the guide needle and , is the recognition time of unit image area; is the adjustment factor.

3. The method for detecting and correcting winding angle deviation of a thermal sensor according to claim 2, characterized in that: The adjustment factor satisfy: 。 4. The method for detecting and correcting winding angle deviation of a thermal sensor according to claim 1, characterized in that: The method for identifying the winding angle formed by each winding wire in the region of interest wound on the capillary in step S3 includes: Perform grayscale processing on the image corresponding to the region of interest to obtain a grayscale image; The grayscale image is smoothed by Gaussian filtering to reduce noise interference; Binarize the image after Gaussian filtering to obtain a binary image; The region ROI_C containing the wire needle in the binary image is intercepted and expressed as ,in, ; Perform Hough line detection on the intercepted area ROI_C and record the length of the line; Select the two longest straight lines, corresponding to the left and right sides of the wire outlet of the wire needle, and define them as the left and right edges of the wire needle; Suppose the sum of the angles between the left and right edges of the wire needle is , select a straight line with the same ordinate and the largest abscissa from the left and right edges of the conductor needle, which corresponds to the right straight line of the conductor needle outlet for the conductor to be used for outlet, and is defined as ,exist Take two points and ,in, like , , then the angle between the right edge of the wire needle and the horizontal direction is , the angle between the conductor at the conductor pin outlet and the horizontal direction is ; like , , then the angle between the right edge of the wire needle and the horizontal direction is , the angle between the conductor at the conductor pin outlet and the horizontal direction is ; The angle between the wire at the wire needle outlet and the horizontal direction is used as the winding angle formed by each winding wire on the capillary.

5. The method for detecting and correcting winding angle deviation of a thermal sensor according to claim 1, characterized in that: If there is a deviation in the winding angle in step S4, the method of adjusting the deviation angle of the guide wire needle of the conveying guide wire to change the winding angle includes: If there is a deviation in the winding angle, the PWM signal frequency of the motor connected to the wire needle is adjusted, thereby changing the horizontal movement direction of the wire needle to correct the winding angle.

6. The method for detecting and correcting winding angle deviation of a thermal sensor according to claim 5, characterized in that: The method for adjusting the PWM signal frequency of the motor connected to the wire needle includes: A correction model based on angle deviation is constructed, and the PWM signal frequency of the motor is adjusted by the correction model. The correction model formula is: ； in, is the frequency of the motor's PWM signal; is the currently measured angle deviation; for exist The frequency of the PWM signal corresponding to the ideal state; is the sensitivity parameter and .

7. A winding angle deviation detection and correction system for a thermal sensor, using the winding angle deviation detection and correction method for a thermal sensor as described in any one of claims 1 to 6, characterized in that: include: Acquisition module: used to acquire the winding image of the capillary during the winding process; A selection module: used for selecting a region of interest of the winding image, wherein the region of interest is a region where the capillary and the guide wire needle of the conveying guide wire are located; An identification module is used to identify the winding angle formed by each winding wire on the capillary in the region of interest; Judgment and correction module: used to judge whether there is a deviation in the winding angle. If there is a deviation in the winding angle, the offset angle of the wire needle of the conveying wire is adjusted to change the winding angle; if there is no deviation in the winding angle, the detection is continued until the capillary winding is completed to obtain a thermal sensor.

8. A thermal sensor winding detection device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the winding angle deviation detection and correction method for a thermal sensor as described in any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the winding angle deviation detection and correction method for a thermal sensor as claimed in any one of claims 1 to 6 are implemented.

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