Snakelike winding deviation correction control method, device, equipment and storage medium

Abstract

This application discloses a serpentine winding correction control method, apparatus, device, and storage medium. When the counting duration of the current counting cycle reaches the oscillation cycle duration of the sensor, the reference value of the sensor is updated to obtain a target reference value, simulating the serpentine periodic motion of the sensor. The reference value is used to detect feed deviation, thereby tracking and detecting the offset during the serpentine motion of the roll material. The target reference value is then compared with the current simulated value collected by the sensor to determine the current offset state of the sensor. If the current offset state indicates an offset, the actuator of the winding machine is controlled to move in the reverse direction and enter the next counting cycle, so as to correct the deviation in a timely manner within the current counting cycle and ensure winding quality.

Description

Technical Field

[0001] This application relates to various technologies of roll material control, and in particular to a serpentine winding correction control method, device, equipment and storage medium. Background Technology

[0002] Currently, conventional micro-oscillating correction controllers typically cause the actuator to oscillate periodically at a certain rate and amplitude, which can create a certain wave shape during material winding or evenly distribute friction on the roller, but they do not provide a correction function for material winding. For some materials that require wavy winding (serpentine) winding, the actual winding effect depends entirely on the feed quality and the balance of the machine itself, which places high demands on both materials and machinery, resulting in poor versatility. If the material deviates during winding, the inability to correct the deviation will lead to material waste, thus failing to meet customer winding requirements. Summary of the Invention

[0003] This application provides a serpentine winding correction control method, apparatus, device, and storage medium to solve the technical problem that current correction systems cannot achieve serpentine winding correction.

[0004] To address the aforementioned technical problems, firstly, this application provides a serpentine winding correction control method, comprising:

[0005] If the counting duration of the current counting cycle reaches the oscillation cycle duration of the sensor, the reference value of the sensor is updated to obtain the target reference value, which is a reference value used to detect the feed deviation.

[0006] The target reference quantity and the current analog quantity collected by the sensor are compared to determine the current offset state of the sensor;

[0007] If the current offset state is already offset, the actuator of the winding machine is controlled to move in the reverse direction and enter the next counting cycle.

[0008] In some implementations of the first aspect, before updating the reference quantity of the sensor based on a preset update strategy to obtain the target reference quantity if the counting duration of the current counting cycle reaches the oscillation cycle duration of the sensor, the method further includes:

[0009] Obtain the current swing parameters of the sensor, including the swing rate and swing amplitude;

[0010] Based on the preset parameter relationship between the swing parameters and the swing period, the swing period duration of the sensor is calculated.

[0011] In some implementations of the first aspect, updating the reference quantity of the sensor to obtain the target reference quantity includes:

[0012] Obtain the reference quantity update table of the sensor, which records the reference quantity update pattern between multiple counting cycles;

[0013] Based on the reference quantity update rule table and the first preset reference quantity of the sensor in the previous counting cycle, the second preset reference quantity of the sensor in the current counting cycle is determined.

[0014] Based on the second preset reference value, the reference value of the sensor is assigned a value to obtain the target reference value.

[0015] In some implementations of the first aspect, comparing the target reference quantity with the current analog quantity acquired by the sensor to determine the current offset state of the sensor includes:

[0016] The current offset of the sensor is obtained by performing a difference calculation between the target reference quantity and the current analog quantity;

[0017] If the current offset is not within the preset range, it is determined that the sensor has shifted.

[0018] In some implementations of the first aspect, the reversing movement of the actuator controlling the winding machine includes:

[0019] Generate a voltage signal proportional to the current offset state;

[0020] Based on the voltage signal, the actuator is controlled to move in the reverse direction.

[0021] In some implementations of the first aspect, the sensor is mounted between the last two conveying components before the take-up mechanism.

[0022] Secondly, this application also provides a serpentine winding correction control device, comprising:

[0023] The update module is used to update the reference value of the sensor if the counting duration of the current counting cycle reaches the oscillation cycle duration of the sensor, so as to obtain the target reference value, which is a reference value used to detect the feed deviation.

[0024] The comparison module is used to compare the target reference quantity with the current analog quantity collected by the sensor to determine the current offset of the sensor.

[0025] The control module is used to control the actuator of the winding machine to move in the reverse direction and enter the next counting cycle based on the current offset if the current offset is greater than a preset value.

[0026] In some implementations of the second aspect, the update module includes:

[0027] The acquisition unit is used to acquire the reference quantity update table of the sensor, which records the reference quantity update rules between multiple counting cycles.

[0028] The determining unit is used to determine the second preset reference value of the sensor in the current counting cycle based on the reference value update rule table and the first preset reference value of the sensor in the previous counting cycle.

[0029] The assignment unit is used to assign a value to the reference quantity of the sensor based on the second preset reference quantity to obtain the target reference quantity.

[0030] Thirdly, this application also provides a computer device, including a processor and a memory, wherein the memory is used to store a computer program, and the computer program, when executed by the processor, implements the serpentine winding correction control method as described in the first aspect.

[0031] Fourthly, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the serpentine winding correction control method as described in the first aspect.

[0032] Compared with the prior art, this application has at least the following beneficial effects:

[0033] When the counting duration of the current counting cycle reaches the oscillation cycle duration of the sensor, the reference value of the sensor is updated to obtain a target reference value, which simulates the serpentine periodic motion of the sensor. The reference value is used to detect the feed (winding) deviation, thereby tracking and detecting the offset during the serpentine motion of the roll material. Then, the target reference value and the current analog value collected by the sensor are compared to determine the current offset state of the sensor, so as to periodically detect the feed offset. If the current offset state is that the offset has occurred, the actuator of the winding machine is controlled to move in the opposite direction and enter the next counting cycle, so as to correct the deviation in time within the current counting cycle and ensure the winding quality. Attached Figure Description

[0034] Figure 1 This is a schematic flowchart illustrating a serpentine winding correction control method according to an embodiment of this application;

[0035] Figure 2 This is a schematic diagram of the operation of a winding machine as shown in an embodiment of this application;

[0036] Figure 3 This is a flowchart illustrating a serpentine winding correction control method according to another embodiment of this application;

[0037] Figure 4 This is a schematic diagram of the winding machine layout structure shown in an embodiment of this application;

[0038] Figure 5 This is a schematic diagram of the serpentine winding and correction control device shown in the embodiments of this application;

[0039] Figure 6 This is a schematic diagram of the structure of a computer device shown in an embodiment of this application. Detailed Implementation

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0041] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a serpentine winding correction control method provided in an embodiment of this application. The serpentine winding correction control method of this application embodiment can be applied to computer equipment, including but not limited to programmable logic controllers (PLCs), distributed control systems (DCS), supervisory control and data acquisition (SCADA) systems, and computer numerical control machine tools (CNCs). This equipment is equipped with a correction controller, which is communicatively connected to the winding mechanism (actuator) and sensors. Figure 1 As shown, the serpentine winding correction control method of this embodiment includes steps S101 to S103, which are described in detail below:

[0042] Step S101: If the counting duration of the current counting cycle reaches the oscillation cycle duration of the sensor, the reference value of the sensor is updated to obtain the target reference value, which is a reference value used to detect the feed deviation.

[0043] In this step, when the winding machine feeds (winds) the material, the actuator moves left and right along a preset motion trajectory to wind the roll into a serpentine shape. However, the actuator may deviate from the serpentine shape for various reasons, so this embodiment performs deviation detection for each left and right movement of the roll.

[0044] Optionally, the oscillation period of the sensor is synchronized with the motion period of the actuator. The duration of the oscillation period of the sensor is determined by the motion period of the actuator. For example, a counting cycle is defined as the movement of the actuator from the leftmost end to the rightmost end (or from the rightmost end to the leftmost end). In each counting cycle, the counter starts timing. If the counting time reaches the duration of the oscillation period of the sensor, it means that the actuator has reached the leftmost (or rightmost) end of this movement. Therefore, in order to synchronize the sensor and the actuator, the reference value of the sensor is adjusted to the reference value corresponding to the leftmost (or rightmost) end, thereby realizing the sensor to simulate periodic motion.

[0045] Optionally, the sensor may include, but is not limited to, an ultrasonic sensor, a photoelectric sensor, or a charge-coupled device (CCD) sensor. The reference value may be the center value of the sensor, serving as a benchmark for measuring whether the serpentine feed has deviated.

[0046] It is understandable that for different products, there may be multiple types of coil serpentine patterns at the same time, and the amplitude of the actuator's left and right movements may be different each time, that is, the counting time of each counting cycle may be different. Adaptive adjustments can be made based on the actual product's serpentine cycle.

[0047] Optionally, the sensor is mounted between the last two conveying components before the take-up mechanism. For example... Figure 2 The schematic diagram of the winding machine shows a sensor rigidly connected to the winding trolley (winding mechanism), positioned between the last two conveying components (rollers). The feed gap is greater than the pre-feed gap, where the feed gap is the distance between the winding trolley and the last conveying component, and the pre-feed gap is the distance between the last two conveying components. The feed gap satisfies the following condition: [formula missing], where [formula missing] is the maximum span of the roll material. The sensor's rigid connection to the winding trolley stabilizes the positional relationship between the sensor and the actuator, facilitating synchronized movement. A feed gap greater than [formula missing] helps achieve feedforward control and reduces control latency.

[0048] Step S102: Compare the target reference quantity with the current analog quantity collected by the sensor to determine the current offset state of the sensor.

[0049] In this step, the current analog quantity is the sensor's output value, which characterizes the current feeding position of the roll material. The current offset characterizes both the sensor's offset and the deviation during roll material feeding, including both the magnitude and direction of the offset. This step compares the updated target reference quantity with the current analog quantity to determine the difference between the current feeding position and the reference position, thereby determining the current offset and providing data for corrective control.

[0050] Optionally, the current offset status includes offset and no offset, and offset includes left offset and right offset. By comparing the target reference value with the current analog value, if the current analog value is greater than the target reference value, the roll is determined to be right offset; if the current analog value is less than the target reference value, the roll is determined to be left offset.

[0051] Optionally, the current offset between the target reference quantity and the current analog quantity is calculated. If the current offset is not greater than a preset value, it indicates that the feed deviation is within the normal industrial production error range, and therefore no correction control is performed. If the current offset is greater than the preset value, it indicates that the feed deviation exceeds the normal industrial production error range, and correction control is required. It is understood that the sensor reference quantity is continuously updated, but correction control is only executed when a feed deviation that meets the correction control conditions occurs.

[0052] Step S103: If the current offset state is already offset, control the actuator of the winding machine to move in the reverse direction and enter the next counting cycle.

[0053] In this step, the roll material usually deviates (exceeds) the feed serpentine range, so the actuator can be controlled to move in the reverse direction to return to the feed serpentine trajectory.

[0054] Optionally, for methods that use the numerical comparison between the current offset and a preset value, to ensure that the corrected serpentine feeding still has a good feeding effect, the preset value can be set to a small value. Because the preset value is small, when the current offset value detected by the sensor is also small, the correction condition can be met and the actuator can be controlled to move. This makes the corrected serpentine feeding trajectory imperceptible to the human eye, thereby reducing material waste and improving the efficiency of material production.

[0055] exist Figure 1 Based on the illustrated embodiment, Figure 3 A flowchart illustrating another embodiment of the serpentine winding correction control method is shown. Figure 4 A schematic diagram of the layout structure of a winding machine according to an embodiment of this application is shown, wherein S1 represents a sensor.

[0056] like Figure 3 As shown, in some embodiments, before step S101, the following steps are further included:

[0057] Obtain the current swing parameters of the sensor, including the swing rate and swing amplitude;

[0058] Based on the preset parameter relationship between the swing parameters and the swing period, the swing period duration of the sensor is calculated.

[0059] In this embodiment, the swing parameters can be obtained synchronously based on the motion parameters of the actuator during its serpentine motion. The swing rate represents the speed of the sensor during its left and right swings, and the swing amplitude represents the displacement of the sensor from the leftmost end to the rightmost end (or from the rightmost end to the leftmost end). The preset parameter relationship can be expressed as: T = f / s, where T represents the swing period duration, f represents the swing amplitude, and s represents the swing rate.

[0060] This embodiment calculates the duration of each swing cycle of the sensor by using the swing parameters obtained synchronously for each serpentine movement, enabling the sensor to track the roll material and detect deviations during serpentine winding, thereby achieving serpentine correction control.

[0061] like Figure 3 As shown, in some embodiments, step S101 includes:

[0062] Obtain the reference quantity update table of the sensor, which records the reference quantity update pattern between multiple counting cycles;

[0063] Based on the reference quantity update rule table and the first preset reference quantity of the sensor in the previous counting cycle, the second preset reference quantity of the sensor in the current counting cycle is determined.

[0064] Based on the second preset reference value, the reference value of the sensor is assigned a value to obtain the target reference value.

[0065] In this embodiment, the snake-like trajectory is fixed when the snake-like winding does not deviate. Therefore, the swing trajectory of the sensor can be determined based on the snake-like trajectory (i.e., the actuator motion trajectory), and a reference quantity update table can be generated based on the swing trajectory. This ensures that the target reference quantity for each counting cycle is updated according to the reference quantity update table when the snake-like winding deviates, thereby achieving the correction of snake-like winding deviation.

[0066] Optionally, the baseline update table records the baseline values ​​for each counting cycle, all of which are time-continuous. For example, there are three types of serpentine trajectories in the same serpentine winding, each trajectories constituting a counting cycle, denoted as A, B, and C respectively. The baseline update table records the baseline value 'a' corresponding to serpentine trajectory A, the baseline value 'b' corresponding to serpentine trajectory B, and the baseline value 'c' corresponding to serpentine trajectory C. If the current serpentine trajectory is B, then the next baseline value is the baseline value 'c' corresponding to serpentine trajectory C.

[0067] This embodiment records the reference quantity through a reference quantity update table and updates the reference quantity by assigning values, which reduces the amount of computation and difficulty of the serpentine web correction control process. The web correction detection of the sensor tracking the roll material can be realized by a simple assignment method, which reduces the requirements for computer equipment and is therefore more suitable for most industrial production environments that are mainly controller-based.

[0068] like Figure 3 As shown, in some embodiments, step S102 includes:

[0069] The current offset of the sensor is obtained by performing a difference calculation between the target reference quantity and the current analog quantity;

[0070] If the current offset is not within the preset range, it is determined that the sensor has shifted.

[0071] In this embodiment, optionally, P=JS, where P represents the current offset, J represents the target reference value, and S represents the current analog value. If P is not within the preset range and P<0, the roll material is determined to be right-biased; if P is not within the preset range and P>0, the roll material is determined to be left-biased.

[0072] like Figure 3 As shown, in some embodiments, step S103 includes:

[0073] Generate a voltage signal proportional to the current offset state;

[0074] Based on the voltage signal, the actuator is controlled to move in the reverse direction.

[0075] In this embodiment, a voltage signal is generated based on the left and right deviations in the current offset state. Based on this voltage signal, the actuator is controlled to move in the opposite direction to the current offset direction. For example, if the roll reaches the leftmost end of the theoretical trajectory and continues to move, resulting in a left deviation, the actuator is controlled to move to the right; if the roll reaches the rightmost end of the theoretical trajectory and continues to move, resulting in a right deviation, the actuator is controlled to move to the left.

[0076] It should be noted that although the serpentine correction method uses parameters to allow the controller to periodically modify the sensor's reference value to simulate the sensor's left and right oscillation, the actuator oscillates synchronously with the sensor because the sensor and actuator are under closed-loop control. This causes the roll material to oscillate periodically as well, forming a serpentine feeding pattern. At the same time, the reference value update table, set based on the theoretical trajectory, ensures timely correction of the serpentine feeding pattern.

[0077] To implement the serpentine winding and web correction control method corresponding to the above method embodiments, and to achieve the corresponding functions and technical effects. See also Figure 5 , Figure 5 This diagram illustrates a structural block diagram of a serpentine winding and web-correcting control device according to an embodiment of this application. For ease of explanation, only the parts relevant to this embodiment are shown. The serpentine winding and web-correcting control device provided in this embodiment includes:

[0078] The update module 501 is used to update the reference value of the sensor if the counting duration of the current counting cycle reaches the oscillation cycle duration of the sensor, so as to obtain the target reference value, which is a reference value used to detect the feed deviation.

[0079] The comparison module 502 is used to compare the target reference quantity with the current analog quantity collected by the sensor to determine the current offset state of the sensor.

[0080] The control module 503 is used to control the actuator of the winding machine to move in the reverse direction and enter the next counting cycle if the current offset state is offset.

[0081] In some embodiments, the control device further includes:

[0082] The acquisition module is used to acquire the current swing parameters of the sensor, the current swing parameters including swing rate and swing amplitude;

[0083] The calculation module is used to calculate the duration of the oscillation period of the sensor based on a preset parameter relationship between the oscillation parameters and the oscillation period.

[0084] In some embodiments, the update module 501 includes:

[0085] The acquisition unit is used to acquire the reference quantity update table of the sensor, which records the reference quantity update rules between multiple counting cycles.

[0086] The determining unit is used to determine the second preset reference value of the sensor in the current counting cycle based on the reference value update rule table and the first preset reference value of the sensor in the previous counting cycle.

[0087] The assignment unit is used to assign a value to the reference quantity of the sensor based on the second preset reference quantity to obtain the target reference quantity.

[0088] In some embodiments, the comparison module 502 is specifically used for:

[0089] The current offset of the sensor is obtained by performing a difference calculation between the target reference quantity and the current analog quantity;

[0090] If the current offset is not within the preset range, it is determined that the sensor has shifted.

[0091] In some embodiments, the control module 503 is specifically used for:

[0092] Generate a voltage signal proportional to the current offset state;

[0093] Based on the voltage signal, the actuator is controlled to move in the reverse direction.

[0094] In some embodiments, the sensor is mounted between the last two conveying components before the winding mechanism.

[0095] The aforementioned serpentine winding and correction control device can implement the serpentine winding and correction control method of the above-described method embodiments. The options in the above method embodiments are also applicable to this embodiment, and will not be detailed here. The remaining content of this application's embodiments can be referred to the content of the above method embodiments, and will not be repeated in this embodiment.

[0096] Figure 6 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Figure 6 As shown, the computer device 6 of this embodiment includes: at least one processor 60 ( Figure 6 (Only one is shown in the diagram), memory 61, and computer program 62 stored in said memory 61 and executable on said at least one processor 60, wherein the processor 60 executes said computer program 62 to implement the steps in any of the above method embodiments.

[0097] The computer device 6 may be a programmable logic controller (PLC), a distributed control system (DCS), a supervisory control and data acquisition (SCADA) system, or a computer numerical control machine tool (CNC), etc. This computer device may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will understand that... Figure 6 The computer device 6 is merely an example and does not constitute a limitation on the computer device 6. It may include more or fewer components than shown, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0098] The processor 60 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0099] In some embodiments, the memory 61 may be an internal storage unit of the computer device 6, such as a hard disk or memory of the computer device 6. In other embodiments, the memory 61 may be an external storage device of the computer device 6, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the computer device 6. Furthermore, the memory 61 may include both internal and external storage units of the computer device 6. The memory 61 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 61 can also be used to temporarily store data that has been output or will be output.

[0100] In addition, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps in any of the above method embodiments.

[0101] This application provides a computer program product that, when run on a computer device, enables the computer device to execute the steps described in the various method embodiments above.

[0102] In the several embodiments provided in this application, it will be understood that each block in the flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the figures. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved.

[0103] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0104] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this application. It should be understood that the above descriptions are merely specific embodiments of this application and are not intended to limit the scope of protection of this application. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application for those skilled in the art.

Claims

1. A method for controlling the deviation of a serpentine winding, characterized in that, The method comprises the following steps: If the counting duration of the current counting period reaches the swing period duration of the sensor, the reference quantity of the sensor is updated to obtain a target reference quantity, the reference quantity being a reference quantity for detecting the deviation of the incoming material; The target reference quantity and the current analog quantity collected by the sensor are compared to determine the current deviation state of the sensor; If the current deviation state is deviated, the actuator of the winding machine is controlled to move reversely, and the next counting period is entered; The updating of the reference quantity of the sensor to obtain the target reference quantity comprises the following steps: An updating table of the reference quantity of the sensor is obtained, the updating table of the reference quantity recording the updating rule of the reference quantity between multiple counting periods; Based on the updating table of the reference quantity and the first preset reference quantity of the sensor in the last counting period, the second preset reference quantity of the sensor in the current counting period is determined; Based on the second preset reference quantity, the reference quantity of the sensor is assigned to obtain the target reference quantity; The sensor is rigidly connected to the winding mechanism, and the sensor position is between the last two conveying components, the feeding interval being greater than the preset feeding interval, the feeding interval being the interval between the winding mechanism and the last conveying component, and the preset feeding interval being the interval between the last two conveying components; Before the updating of the reference quantity of the sensor to obtain the target reference quantity based on the preset updating strategy if the counting duration of the current counting period reaches the swing period duration of the sensor, the following steps are further included: The current swing parameter of the sensor is obtained, the current swing parameter comprising a swing rate and a swing amplitude; Based on the preset parameter relationship between the swing parameter and the swing period, the swing period duration of the sensor is calculated.

2. The serpentine winding deviation correction control method of claim 1, wherein, The comparison of the target reference quantity and the current analog quantity collected by the sensor to determine the current deviation state of the sensor comprises the following steps: The target reference quantity and the current analog quantity are subjected to difference operation to obtain the current deviation quantity of the sensor; If the current deviation quantity is not within the preset range value, it is determined that the sensor has deviated.

3. The serpentine winding deviation control method of claim 1, wherein, The control of the reverse movement of the actuator of the winding machine comprises the following steps: A voltage signal proportional to the current deviation state is generated; Based on the voltage signal, the actuator is controlled to move reversely.

4. A serpentine winding deviation control device, characterized by, The method comprises the following steps: An updating module is configured to update the reference quantity of the sensor to obtain a target reference quantity if the counting duration of the current counting period reaches the swing period duration of the sensor, the reference quantity being a reference quantity for detecting the deviation of the incoming material; A comparison module is configured to compare the target reference quantity and the current analog quantity collected by the sensor to determine the current deviation state of the sensor; A control module is configured to control the actuator of the winding machine to move reversely if the current deviation state is deviated, and to enter the next counting period; The updating module comprises the following steps: An obtaining unit is configured to obtain an updating table of the reference quantity of the sensor, the updating table of the reference quantity recording the updating rule of the reference quantity between multiple counting periods; The determining unit is configured to determine a second preset reference quantity of the sensor in a current counting period based on the reference quantity updating table and a first preset reference quantity of the sensor in a previous counting period; The assigning unit is configured to assign a reference quantity of the sensor based on the second preset reference quantity to obtain the target reference quantity; The sensor is rigidly connected to the winding mechanism, and the sensor is located between the last two conveying components; the feeding interval is greater than a preset feeding interval; the feeding interval is an interval between the winding mechanism and the last conveying component; and the preset feeding interval is an interval between the last two conveying components. The control device further comprises: The acquisition module is configured to acquire a current swing parameter of the sensor, the current swing parameter including a swing rate and a swing amplitude; The calculation module is configured to calculate a swing period length of the sensor based on a preset parameter relationship between the swing parameter and the swing period.

5. A computer device, comprising: The snake-shaped winding rectification control method comprises a processor and a memory, the memory is used for storing a computer program, and the computer program is executed by the processor to realize the snake-shaped winding rectification control method according to any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, The snake-shaped winding rectification control method comprises a processor and a memory, the memory is used for storing a computer program, and the computer program is executed by the processor to realize the snake-shaped winding rectification control method according to any one of claims 1 to 3.

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