A tape running deviation correction method, device, equipment and computer readable storage medium

Abstract

The application discloses a kind of walking tape deviation correction method, device, equipment and computer readable storage medium, applied to industrial equipment field, the polar piece position data sent by the first sensor working in composite critical region is mirrored and copied and flips to obtain mirror polar piece position data;The diaphragm position data sent by the second sensor working in diaphragm critical region is mirrored and copied and flips to obtain mirror diaphragm position data;In switching region, using the mirror flipping data copied and polar piece position data or diaphragm position data in real time transmission are weighted average to calculate feedback value, to realize the smooth switching of sensor.It avoids the problem that the feedback value of the sensor data calculated in the process of switching the sensor in the prior art may change suddenly, resulting in excessive swing of the deviation corrector and poor deviation correction effect.

Description

Technical Field

[0001] This invention relates to the field of industrial equipment, and in particular to a method, apparatus, device, and computer-readable storage medium for belt tracking correction. Background Technology

[0002] With the development of new energy technologies, the battery manufacturing industry is also gradually emerging. Winded batteries are batteries composed of cells assembled by winding. They possess advantages such as excellent high and low temperature performance, fast charging, long service life, stable output voltage, robust structure, impact resistance, and ultra-high rate discharge capability. Winding is a crucial process in the manufacturing of wound batteries, assembling the positive and negative electrode sheets and the separator together. This process requires controlling the smooth operation of the winding machine's belt feed to prevent errors during winding. However, in actual production, problems such as mechanical vibration and bearing wear in the equipment can cause belt deviation during battery winding, necessitating belt deviation correction on the winding machine.

[0003] Currently, the method for correcting the belt conveyor belt deviation generally involves using a sensor to read the position data of the electrode in the composite belt conveyor area to calculate a feedback value, and using another sensor to read the position data of the diaphragm in the blank diaphragm area to calculate a feedback value. The feedback value is then used to control the belt conveyor belt deviation correction. However, during the use of this method, when switching from the composite belt conveyor area to the blank diaphragm area or vice versa, the composite process is not completely precise, and the electrode may not be perfectly centered on the diaphragm. The switching of sensors may cause a sudden change in the calculated feedback value, resulting in excessive oscillation of the deviation corrector and unsatisfactory deviation correction effect. Summary of the Invention

[0004] The purpose of this invention is to provide a belt tracking correction method, apparatus, device, and computer-readable storage medium for application in the field of industrial equipment. This method involves...

[0005] To achieve the above objectives, the present invention provides a belt travel correction method, comprising:

[0006] The system receives electrode position data from the first sensor and diaphragm position data from the second sensor in real time and caches the data.

[0007] The electrode position data sent by the first sensor when it is operating in the composite critical region is mirrored and flipped to obtain mirrored electrode position data; the diaphragm position data sent by the second sensor when it is operating in the diaphragm critical region is mirrored and flipped to obtain mirrored diaphragm position data.

[0008] When switching from the composite region to the diaphragm region, the feedback value is calculated by weighted average based on the mirrored electrode position data and the diaphragm position data; when switching from the diaphragm region to the composite region, the feedback value is calculated by weighted average based on the mirrored diaphragm position data and the electrode position data.

[0009] The feedback value is used to send a correction command to the correction device to control the correction device to perform belt travel correction.

[0010] Optionally, the step of calculating the feedback value by weighted average based on the mirror electrode position data and the diaphragm position data includes:

[0011] The first feedback value and the second feedback value are calculated based on the mirror electrode position data and the diaphragm position data, respectively.

[0012] The first feedback value and the second feedback value are input into the first model, and the feedback value is calculated by weighted averaging; wherein the mathematical expression of the first model is:

[0013] Q = a*x + (1-a)*y

[0014] In the formula, Q is the feedback value, x is the first feedback value, y is the second feedback value, and a is the number that smoothly decays from 1 to 0 within a preset time.

[0015] Optionally, the step of calculating the feedback value by weighted average based on the mirror diaphragm position data and electrode position data includes:

[0016] The third feedback value and the fourth feedback value are calculated based on the mirror diaphragm position data and the electrode position data, respectively.

[0017] The third and fourth feedback values ​​are input into the second model, and the feedback value is calculated by weighted averaging; wherein the mathematical expression of the second model is:

[0018] Q = b*m + (1-b)*n

[0019] In the formula, Q is the feedback value, m is the third feedback value, n is the fourth feedback value, and b is the number that smoothly decays from 1 to 0 within a preset time.

[0020] Optional, also includes:

[0021] The light intensity of the light source is adjusted by sending an adjustment command to the light source device based on the light data sent by the light sensor.

[0022] Optional, also includes:

[0023] An alarm is issued when a command is received indicating that the first sensor or the second sensor is malfunctioning.

[0024] To achieve the above objectives, the present invention also provides a belt tracking correction device, comprising:

[0025] The receiving module is used to receive electrode position data sent by the first sensor and diaphragm position data sent by the second sensor in real time, and to buffer them.

[0026] The mirror module is used to mirror and flip the electrode position data sent by the first sensor when it is operating in the composite critical region to obtain mirror electrode position data; and to mirror and flip the diaphragm position data sent by the second sensor when it is operating in the diaphragm critical region to obtain mirror diaphragm position data.

[0027] The calculation module is used to calculate the feedback value by weighted average based on the mirror electrode position data and the diaphragm position data when switching from the composite region to the diaphragm region; and to calculate the feedback value by weighted average based on the mirror diaphragm position data and the electrode position data when switching from the diaphragm region to the composite region.

[0028] The correction module is used to send correction commands to the correction device through the feedback value, so as to control the correction device to perform belt travel correction.

[0029] Optionally, the computing module includes:

[0030] The first calculation unit is used to calculate the first feedback value and the second feedback value based on the mirror electrode position data and the diaphragm position data, respectively.

[0031] The first feedback value and the second feedback value are input into the first model, and the feedback value is calculated by weighted averaging; wherein the mathematical expression of the first model is:

[0032] Q = a*x + (1-a)*y

[0033] In the formula, Q is the feedback value, x is the first feedback value, y is the second feedback value, and a is the number that smoothly decays from 1 to 0 within a preset time.

[0034] Optionally, the computing module includes:

[0035] The second calculation unit is used to calculate the third feedback value and the fourth feedback value based on the mirror diaphragm position data and the electrode position data, respectively.

[0036] The third and fourth feedback values ​​are input into the second model, and the feedback value is calculated by weighted averaging; wherein the mathematical expression of the second model is:

[0037] Q = b*m + (1-b)*n

[0038] In the formula, Q is the feedback value, m is the third feedback value, n is the fourth feedback value, and b is the number that smoothly decays from 1 to 0 within a preset time.

[0039] To achieve the above objectives, the present invention also provides a belt tracking correction device, comprising:

[0040] Memory, used to store computer programs;

[0041] A processor, configured to implement any of the aforementioned belt tracking correction methods when executing the computer program.

[0042] To achieve the above objectives, the present invention also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement any of the above-described belt tracking correction methods.

[0043] This invention provides a tape-carrying correction method, comprising: receiving electrode position data sent by a first sensor and diaphragm position data sent by a second sensor in real time, and buffering them; mirroring and flipping the electrode position data sent by the first sensor when it is operating in the composite critical region to obtain mirror electrode position data; mirroring and flipping the diaphragm position data sent by the second sensor when it is operating in the diaphragm critical region to obtain mirror diaphragm position data; when switching from the composite region to the diaphragm region, calculating a feedback value by weighted average based on the mirror electrode position data and the diaphragm position data; when switching from the diaphragm region to the composite region, calculating a feedback value by weighted average based on the mirror diaphragm position data and the electrode position data; and sending a correction command to a correction device based on the feedback value to control the correction device to perform tape-carrying correction.

[0044] As can be seen, this invention achieves smooth sensor switching by using a weighted average of copied mirror data and real-time transmitted electrode position data or diaphragm position data to calculate the feedback value during region switching. This avoids the problem in existing related technologies where the calculated sensor data feedback value may change abruptly during sensor switching, leading to excessive swing amplitude of the correction device and poor correction effect. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0046] Figure 1 A flowchart of a belt-carrying correction method provided in an embodiment of the present invention;

[0047] Figure 2 This is a schematic diagram of a belt tracking correction scheme for switching from a composite region to a diaphragm region, provided by an embodiment of the present invention.

[0048] Figure 3 This is a schematic diagram of a belt tracking correction scheme for switching from the diaphragm region to the composite region, provided by an embodiment of the present invention.

[0049] Figure 4 A specific embodiment of a belt-carrying correction method provided by the present invention is shown in the figure;

[0050] Figure 5 This is a structural block diagram of a belt-carrying correction device provided in an embodiment of the present invention. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] The function of a composite winding machine is to composite-wind electrodes and separators. Before composite winding, the electrodes are slit. After composite winding, the conveyor belt consists of two areas: a blank separator area containing only the separator, and a composite conveyor belt area where the electrodes and separator are combined. During the winding process, the conveyor belt needs to be corrected. The correction system relies on sensors to provide real-time feedback on the conveyor belt's position for correction. For lithium batteries, the alignment between the anode and cathode electrodes is crucial, not the alignment between the separators. Therefore, correction is typically performed by reading the position of the electrodes. In the separator area, although there are no electrodes, conveyor belt correction is still necessary. Therefore, sensors in this area typically perform correction by reading the position of the separator.

[0053] Currently, there is no suitable single sensor that can read both electrode position data and diaphragm position data. Therefore, two different sensors are generally used for data reading, distinguished by their primary and secondary sensors. The first sensor reads the electrode position, and the second sensor reads the diaphragm position. In the composite region, data from the first sensor is used for correction, while in the diaphragm region, data from the second sensor is used for correction.

[0054] The following combination Figure 1 , Figure 1 A flowchart of a belt tracking correction method provided in an embodiment of the present invention, the method may include:

[0055] S101: Receives electrode position data sent by the first sensor and diaphragm position data sent by the second sensor in real time, and buffers them.

[0056] This embodiment does not limit the type of execution entity; it can be a computer, server, FPGA (Field Programmable Gate Array), PLC (Programmable Logic Controller), or other devices. Generally, a PLC is preferred. A PLC is a digital computing and operating electronic system designed for industrial applications. It uses a programmable memory to store and execute logic operations, sequential control, and other operational instructions. It controls various types of mechanical equipment through digital or analog input / output, offering advantages such as high versatility and reliability. In this embodiment, a PLC can be used as the execution entity. Since the correction system relies on the difference between the read position of the conveyor belt and the set standard position for correction, reference values ​​are first set for the two sensors.

[0057] This embodiment does not limit the specific type of the first sensor. Generally, it can be an image sensor. The first sensor can identify the position of the electrode by acquiring the image, generate electrode position data and send it to the PLC for storage. The electrode position data is compared with the reference value to determine whether the belt is offset. In this embodiment, in order to make the image acquired by the image sensor clearer, a light sensor and a light source device can be set. By analyzing the data received by the light sensor, it is determined whether the lighting in the environment where the image sensor is located is sufficient. Then, based on the determination result, a command is sent to the light source device to adjust the light intensity of the light source device.

[0058] This embodiment does not limit the specific type of the second sensor. Generally, it can be a through-beam sensor, which typically consists of a receiver, a transmitter, and a detection circuit. In this embodiment, the edge of the diaphragm can be placed between the receiver and the transmitter, so that half of the light source emitted from the transmitter is blocked by the diaphragm. That is, the illuminance of the through-beam sensor is 50% of the full illuminance. During the operation of the winding equipment, if the belt deviates, the illuminance of the through-beam sensor will change, which means that the diaphragm position has begun to deviate. At this time, the position data of the diaphragm can be calculated based on the changed illuminance and sent to the PLC for buffering.

[0059] Furthermore, this embodiment does not limit the data transmission method between the first and second sensors and the PLC. It can be wired or wireless transmission. Wired transmission offers strong stability and high speed, while wireless transmission avoids cable layout issues. The specific method can be configured according to the actual usage scenario. This embodiment also does not limit the type of buffer the PLC uses when receiving and buffering data from the sensors. It can be Flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), or other types of memory. Flash memory is a long-life, non-volatile flash memory that retains its stored data even when power is off. It not only has electronic erasing and programmability but also allows for rapid data retrieval without data loss during power outages. It is generally used to store operating systems or program code. In this embodiment, Flash memory is selected to ensure the stability of data storage.

[0060] S102: Mirror the electrode position data sent by the first sensor when it is operating in the composite critical region to obtain mirror electrode position data; mirror the diaphragm position data sent by the second sensor when it is operating in the diaphragm critical region to obtain mirror diaphragm position data.

[0061] In this embodiment, the PLC mirrors and flips the electrode position data sent by the first sensor when it is operating in the composite critical region, and mirrors and flips the diaphragm position data sent by the second sensor when it is operating in the diaphragm critical region. The composite critical region is the area about to switch from the composite region to the diaphragm region, and this area is still within the composite region. The diaphragm critical region is the area about to switch from the diaphragm region to the composite region, and this area is still within the diaphragm region. This embodiment does not limit the setting method or size of the two critical regions, nor does it limit the specific method of identifying the critical regions; the specific settings can be made according to the actual application scenario.

[0062] In this embodiment, the copied mirror-flipped data is applied to the region switching process. The mirror-image electrode position data and the real-time received diaphragm position data can be used to calculate the feedback value when switching from the composite region to the diaphragm region. Since the mirror-image data is obtained by copying and flipping the sensor's position data sent during the critical region, it is equivalent to symmetrically flipping the critical region along its edge. The mirror-flipped data and the data received during the critical region smoothly transition along the axis of symmetry. Using mirror-flipped data avoids abrupt changes. In the subsequent weighted averaging process, the influence of the mirror-image data is gradually eliminated through weighting, resulting in a smooth transition of sensor data.

[0063] S103: When switching from the composite region to the diaphragm region, the feedback value is calculated by weighted average based on the mirror electrode position data and the diaphragm position data; when switching from the diaphragm region to the composite region, the feedback value is calculated by weighted average based on the mirror diaphragm position data and the electrode position data.

[0064] In this embodiment, when switching from the composite region to the diaphragm region, a first feedback value and a second feedback value can be calculated based on the mirror electrode position data and the diaphragm position data, respectively. The first and second feedback values ​​are then input into a first model to calculate a weighted average feedback value. The mathematical expression of the first model is:

[0065] Q = a*x + (1-a)*y

[0066] In the formula, Q is the feedback value, x is the first feedback value, y is the second feedback value, and a is the number that smoothly decays from 1 to 0 within a preset time. This embodiment does not limit the decay method of parameter a; it can be a linear smooth decay from 1 to 0, or a curve like a power function or exponential function that smoothly decays from 1 to 0.

[0067] In this embodiment, when switching from the diaphragm region to the composite region, a third feedback value and a fourth feedback value can be calculated based on the mirrored diaphragm position data and the electrode position data, respectively. These third and fourth feedback values ​​are then input into a second model to calculate the feedback value through a weighted average. The mathematical expression for the second model is as follows:

[0068] Q = b*m + (1-b)*n

[0069] In the formula, Q is the feedback value, m is the third feedback value, n is the fourth feedback value, and b is the number that smoothly decays from 1 to 0 within a preset time. This embodiment does not limit the decay method of parameter a; it can be a linear smooth decay from 1 to 0, or a curve like a power function or exponential function that smoothly decays from 1 to 0.

[0070] In this embodiment, although the calculation methods of the first model and the second model used when switching regions are the same, the input values ​​are different. When switching from the composite region to the diaphragm region, the first feedback value and the second feedback value calculated from the mirror electrode position data and the diaphragm position data are input respectively. As parameter a continues to decay, the weight of the first feedback value is gradually reduced to 0. When switching from the diaphragm region to the composite region, the third feedback value and the fourth feedback value calculated from the mirror diaphragm position data and the electrode position data are input respectively. As parameter b continues to decay, the weight of the third feedback value is gradually reduced to 0. In this way, the first sensor and the second sensor can switch smoothly, preventing abrupt changes.

[0071] S104: Send a correction command to the correction device through the feedback value to control the correction device to perform belt tracking correction.

[0072] Understandably, when the first sensor operates in the composite region, the PLC calculates a feedback value based on the received electrode position data. When the first sensor operates in the diaphragm region, the PLC calculates a feedback value based on the received diaphragm position data. During region switching, the feedback value is calculated using both the first and second models. The PLC sends a correction command to the tape guide based on the calculated feedback value to control the tape guide for tape movement correction. A specific solution could be as follows... Figure 2 and Figure 3 As shown, Figure 2 This is a schematic diagram of the belt tracking correction scheme when switching from the composite region to the diaphragm region. Figure 3 This is a schematic diagram of the belt tracking correction scheme for switching from the diaphragm region to the composite region.

[0073] This embodiment achieves smooth sensor switching by using a weighted average of copied mirror data and real-time transmitted electrode or diaphragm position data to calculate the feedback value during region switching. This avoids the problem in existing related technologies where the calculated sensor data feedback value may change abruptly during sensor switching, leading to excessive swing amplitude of the correction device and poor correction effect.

[0074] The following combination Figure 4 , Figure 4 This invention provides a specific embodiment diagram, in which the execution entity can be a PLC, the first sensor can be an image sensor, and the second sensor can be a through-beam sensor. This specific embodiment may include:

[0075] 1. The PLC receives electrode position data sent by the image sensor and diaphragm position data sent by the through-beam sensor, and buffers them.

[0076] 2. The data sent by the sensor when it is in the critical region is mirrored and flipped to obtain mirror electrode position data and mirror diaphragm position data.

[0077] 3. When switching from the composite region to the diaphragm region, the feedback value is calculated by weighted average based on the mirror electrode position data and the diaphragm position data.

[0078] 4. When switching from the diaphragm region to the composite region, the feedback value is calculated by weighted average based on the mirror diaphragm position data and electrode position data.

[0079] 5. The PLC controls the belt guide device to correct belt deviation through feedback values.

[0080] The following describes the tape tracking correction device, equipment, and storage medium provided in the embodiments of the present invention. The tape tracking correction device, equipment, and storage medium described below can be referred to in correspondence with the tape tracking correction method described above.

[0081] The following combination Figure 5 , Figure 5 This invention provides a structural block diagram of a tape-carrying correction device, which may include:

[0082] The receiving module 100 is used to receive electrode position data sent by the first sensor and diaphragm position data sent by the second sensor in real time, and to buffer them.

[0083] The mirror module 200 is used to mirror and flip the electrode position data sent by the first sensor when it is working in the composite critical region to obtain mirror electrode position data; and to mirror and flip the diaphragm position data sent by the second sensor when it is working in the diaphragm critical region to obtain mirror diaphragm position data.

[0084] The calculation module 300 is used to calculate the feedback value by weighted average based on the mirror electrode position data and the diaphragm position data when switching from the composite region to the diaphragm region; and to calculate the feedback value by weighted average based on the mirror diaphragm position data and the electrode position data when switching from the diaphragm region to the composite region.

[0085] The correction module 400 is used to send correction commands to the correction device through feedback values ​​to control the correction device to perform belt travel correction.

[0086] This invention achieves smooth sensor switching by using a weighted average of copied mirror data and real-time transmitted electrode or diaphragm position data to calculate the feedback value during region switching. This avoids the problem in existing related technologies where the calculated sensor data feedback value may change abruptly during sensor switching, leading to excessive swing amplitude of the correction device and poor correction effect.

[0087] Based on the above embodiments, the calculation module 300 may include:

[0088] The first calculation unit is used to calculate the first feedback value and the second feedback value based on the mirror electrode position data and the diaphragm position data, respectively.

[0089] The first and second feedback values ​​are input into the first model, and the feedback value is calculated by weighted averaging; the mathematical expression of the first model is:

[0090] Q = a*x + (1-a)*y

[0091] In the formula, Q is the feedback value, x is the first feedback value, y is the second feedback value, and a is the number that smoothly decays from 1 to 0 within a preset time.

[0092] Based on the above embodiments, the calculation module 300 may include:

[0093] The second calculation unit is used to calculate the third feedback value and the fourth feedback value based on the mirror diaphragm position data and the electrode position data, respectively.

[0094] The third and fourth feedback values ​​are input into the second model, and the feedback value is calculated by weighted averaging; the mathematical expression of the second model is:

[0095] Q = b*m + (1-b)*n

[0096] In the formula, Q is the feedback value, m is the third feedback value, n is the fourth feedback value, and b is the number that smoothly decays from 1 to 0 within a preset time.

[0097] Based on the above embodiments, the device may further include:

[0098] The illumination unit is used to send adjustment commands to the light source device based on the illumination data sent by the illumination sensor, so as to adjust the illumination intensity of the light source device.

[0099] Based on the above embodiments, the device may further include:

[0100] The alarm unit is used to issue an alarm when it receives a command indicating that the first or second sensor is malfunctioning.

[0101] Based on the above embodiments, the present invention also provides a belt tracking correction device, which may include a memory and a processor. The memory stores a computer program, and when the processor calls the computer program in the memory, it can implement the steps provided in the above embodiments. Of course, the device may also include various necessary network interfaces, power supplies, and other components.

[0102] The present invention also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by an execution terminal or processor, it can implement the tape-carrying correction method provided in the embodiments of the present invention. The storage medium may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0103] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0104] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0105] The foregoing has provided a detailed description of the belt tracking correction method, apparatus, device, and computer-readable storage medium provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A tape running deviation correction method characterized by comprising: include: The system receives electrode position data from the first sensor and diaphragm position data from the second sensor in real time and caches the data. The electrode position data sent by the first sensor when it is operating in the composite critical region is mirrored and flipped to obtain mirror electrode position data; The diaphragm position data sent by the second sensor when it is operating in the critical region of the diaphragm is mirrored and flipped to obtain mirrored diaphragm position data; When switching from the composite region to the diaphragm region, the feedback value is calculated by weighted average based on the mirror electrode position data and the diaphragm position data. When switching from the diaphragm region to the composite region, the feedback value is calculated by weighted average based on the mirrored diaphragm position data and the electrode position data. The feedback value is used to send a correction command to the correction device to control the correction device to perform belt travel correction.

2. The tape walking deviation correction method according to claim 1, wherein The step of calculating the feedback value by weighted average based on the mirror electrode position data and the diaphragm position data includes: The first feedback value and the second feedback value are calculated based on the mirror electrode position data and the diaphragm position data, respectively. The first feedback value and the second feedback value are input into the first model, and the feedback value is calculated by weighted averaging; wherein the mathematical expression of the first model is: In the formula, Q is the feedback value, x is the first feedback value, y is the second feedback value, and a is the number that smoothly decays from 1 to 0 within a preset time.

3. The tape guiding deviation correcting method according to claim 1, characterized by, The step of calculating the feedback value by weighted average based on the mirror diaphragm position data and electrode position data includes: The third feedback value and the fourth feedback value are calculated based on the mirror diaphragm position data and the electrode position data, respectively. The third and fourth feedback values ​​are input into the second model, and the feedback value is calculated by weighted averaging; wherein the mathematical expression of the second model is: In the formula, Q is the feedback value, m is the third feedback value, n is the fourth feedback value, and b is the number that smoothly decays from 1 to 0 within a preset time.

4. The tape guiding deviation correcting method according to claim 1, characterized by, Also includes: The light intensity of the light source is adjusted by sending an adjustment command to the light source device based on the light data sent by the light sensor.

5. The tape walking deviation correction method according to claim 1, wherein Also includes: An alarm is issued when a command is received indicating that the first sensor or the second sensor is malfunctioning.

6. A tape running deviation correcting device characterized by comprising: include: The receiving module is used to receive electrode position data sent by the first sensor and diaphragm position data sent by the second sensor in real time, and to buffer them. The mirror module is used to mirror and flip the electrode position data sent by the first sensor when it is working in the composite critical region to obtain mirror electrode position data. The diaphragm position data sent by the second sensor when it is operating in the critical region of the diaphragm is mirrored and flipped to obtain mirrored diaphragm position data; The calculation module is used to calculate the feedback value by weighted average based on the mirror electrode position data and the diaphragm position data when switching from the composite region to the diaphragm region. When switching from the diaphragm region to the composite region, the feedback value is calculated by weighted average based on the mirrored diaphragm position data and the electrode position data. The correction module is used to send correction commands to the correction device through the feedback value, so as to control the correction device to perform belt travel correction.

7. The apparatus of claim 6, wherein The computing module includes: The first calculation unit is used to calculate the first feedback value and the second feedback value based on the mirror electrode position data and the diaphragm position data, respectively. The first feedback value and the second feedback value are input into the first model, and the feedback value is calculated by weighted averaging; wherein the mathematical expression of the first model is: In the formula, Q is the feedback value, x is the first feedback value, y is the second feedback value, and a is the number that smoothly decays from 1 to 0 within a preset time.

8. The apparatus of claim 6, wherein, The computing module includes: The second calculation unit is used to calculate the third feedback value and the fourth feedback value based on the mirror diaphragm position data and the electrode position data, respectively. The third and fourth feedback values ​​are input into the second model, and the feedback value is calculated by weighted averaging; wherein the mathematical expression of the second model is: In the formula, Q is the feedback value, m is the third feedback value, n is the fourth feedback value, and b is the number that smoothly decays from 1 to 0 within a preset time.

9. A tape running deviation correcting apparatus characterized by comprising: include: Memory, used to store computer programs; A processor for executing the computer program to implement the belt tracking correction method as described in any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the belt tracking correction method as described in any one of claims 1 to 5.

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