Automatic deviation rectifying method and device for crawler belt of belt dryer for oligosaccharide production

Abstract

The invention relates to the technical field of industrial vision, in particular to an automatic deviation rectifying method and device for a crawler belt of a belt dryer for oligosaccharide production, and the method comprises the steps: obtaining a crawler belt surface image and an impact amplitude value of a crawler belt roller at each moment in the oligosaccharide production process; according to the change difference between the distribution conditions of edge pixel points in the crawler belt surface images at adjacent moments, determining a transmission accumulation condition coefficient at each moment, and determining a change correlation condition of the lag reaction at each moment by combining the impact amplitude of the crawler belt roller at the same moment, so as to adjust the transmission accumulation condition coefficient, and the adjusted accumulation early warning parameters at each moment are obtained and used for judging whether crawler belt deviation correction needs to be carried out or not. According to the method, the high efficiency and continuity of the transmission process are guaranteed through fine deviation correction.

Description

Technical Field

[0001] The present invention relates to the field of industrial vision technology, and particularly to a method and device for automatic deviation correction of a track of a belt dryer for oligosaccharide production. Background Art

[0002] The deviation correction of the track detects the balance state of the track in real time through a closed-loop feedback control system, locates the wear points by using mechanical sensors or vision recognition technology, and performs fine adjustment in combination with an automatic adjustment device (such as a cylinder or a hydraulic system). Integrating the SCADA (Supervisory Control And Data Acquisition) system and the industrial control unit can achieve precise monitoring and dynamic correction of the track deviation. In addition, this method also considers the adaptability of the equipment operating environment, adopts wear-resistant and corrosion-resistant materials, and combines predictive maintenance technology to ensure the stability of the production process. Through automatic deviation correction, the human operation error is significantly reduced, the operating efficiency and product consistency of the belt dryer are improved, and at the same time, it meets the food safety standards, providing an efficient and reliable solution for oligosaccharide production.

[0003] During the transmission of oligosaccharide powder, due to the dynamic behaviors such as the accumulation, slippage or collapse of powder particles, the accumulated material may cause a significant instantaneous impact on the track. This kind of impact usually shows that an unbalanced force is locally applied to the track, thus triggering a short-time change in the track attitude. Specifically, when the accumulated material suddenly slides or redistributes, it may cause an increase in the force on one side of the track, resulting in lateral deviation or local warping, and even deviating from the original track. Although this kind of impact is often instantaneous, its influence may be transmitted to a larger range through the track tension or other mechanical structures, triggering fluctuations in the overall track attitude. The track attitude sensors (such as photoelectric sensors, position sensors or angle sensors) may record severe short-time data fluctuations under impact conditions, which may be misjudged as continuous deviation of the attitude by the analysis algorithm, thus affecting the accurate judgment of the system on the operating state.

[0004] Existing problems: The dynamic characteristics of the oligosaccharide powder accumulated material make this kind of impact have a certain degree of uncertainty. The slippage and movement behaviors of the accumulated material are often unpredictable and have a certain periodicity. The accumulated material may form local collapses or redistributions during the transmission process. This kind of behavior may occur periodically in the form of low frequencies, or may be superimposed on the impact background of the track in the form of random high frequencies. The impact phenomenon caused by the movement of the accumulated material not only affects the track attitude in a short time, but may also cause cumulative interference to the long-term operation stability of the system, affecting the accuracy of the automatic deviation correction of the track of the belt dryer for oligosaccharide production. Summary of the Invention

[0005] The present invention provides a method and device for automatically correcting the deviation of the track of a belt dryer for oligosaccharide production to solve existing problems.

[0006] The method and device for automatically correcting the deviation of the track of a belt dryer for oligosaccharide production of the present invention adopt the following technical solutions:

[0007] An embodiment of the present invention provides a method for automatically correcting the deviation of the track of a belt dryer for oligosaccharide production, and the method includes the following steps:

[0008] Obtain the surface image of the track at each moment during the oligosaccharide production process and the impact amplitude of the track roller;

[0009] According to the change difference between the distribution conditions of the edge pixel points in the surface images of the track at adjacent moments, determine the transmission accumulation condition coefficient at each moment;

[0010] According to the correlation between the impact amplitude of the track roller and the transmission accumulation condition coefficient at the same moment, determine the change correlation condition of the lag reaction at each moment;

[0011] According to the change correlation condition of the lag reaction at the moments with the same transmission accumulation condition coefficient, adjust the transmission accumulation condition coefficient to obtain the adjusted accumulation warning parameter at each moment; judge whether track deviation correction is needed according to the size of the adjusted accumulation warning parameter.

[0012] Further, the step of determining the transmission accumulation condition coefficient at each moment includes the following specific steps:

[0013] Preset the window side length n. In the surface image of the track at each moment, construct a window with a size of n×n centered on any pixel point, and determine the edge density of the any edge pixel point according to the number of edge pixel points within the window of the any edge pixel point;

[0014] Calculate the sum value of the edge densities of all edge pixel points in each column of the surface image of the track as the edge density of each column, and statistically count the edge densities of all columns column by column from left to right to form an edge density vector corresponding to each moment;

[0015] According to the difference between the edge density vectors corresponding to adjacent moments, determine the transmission accumulation condition coefficient at each moment.

[0016] Further, the step of determining the edge density of the any edge pixel point according to the number of edge pixel points within the window of the any edge pixel point includes the following specific steps:

[0017] Take the ratio of the number of edge pixel points within the window of the any edge pixel point to the window area of the any edge pixel point as the edge density of the any edge pixel point.

[0018] Further, determining the transmission accumulation status coefficient at each moment according to the difference between the edge density vectors corresponding to adjacent moments includes the following specific steps:

[0019] Obtain the difference vector obtained by subtracting the edge density vector corresponding to the i-th moment from the edge density vector corresponding to the (i - 1)-th moment, and use the normalized value of the ratio of the norm of the difference vector to the norm of the edge density vector corresponding to the i-th moment as the transmission accumulation status coefficient at the i-th moment.

[0020] Further, determining the change correlation status of the lag reaction at each moment includes the following specific steps:

[0021] Use the normalized value of the impact amplitude of the crawler roller at each moment as the impact significance at each moment;

[0022] Determine the change correlation status of the lag reaction at each moment according to the difference between the impact significance and the transmission accumulation status coefficient at the same moment.

[0023] Further, determining the change correlation status of the lag reaction at each moment according to the difference between the impact significance and the transmission accumulation status coefficient at the same moment includes the following specific steps:

[0024] Calculate the ratio of the impact significance to the transmission accumulation status coefficient at the i-th moment, and use the inverse normalized value of the absolute value of the difference between 1 and the ratio as the change correlation status of the lag reaction at the i-th moment.

[0025] Further, obtaining the adjusted accumulation warning parameter at each moment includes the following specific steps:

[0026] Mark the moment with the same transmission accumulation status coefficient as the i-th moment as the reference moment;

[0027] Determine the adjusted accumulation warning parameter at the i-th moment according to the change correlation status of the lag reaction at the reference moment and the transmission accumulation status coefficient at the i-th moment.

[0028] Further, determining the adjusted accumulation warning parameter at the i-th moment according to the change correlation status of the lag reaction at the reference moment and the transmission accumulation status coefficient at the i-th moment includes the following specific steps:

[0029] Obtain the mean value of the change correlation status of the lag reaction at all reference moments, and use the normalized value of the product of the mean value and the transmission accumulation status coefficient at the i-th moment as the adjusted accumulation warning parameter at the i-th moment.

[0030] Further, determining whether track deviation correction is required according to the magnitude of the adjusted stacking warning parameter includes the following specific steps:

[0031] If the adjusted stacking warning parameter at the current moment is greater than the preset warning threshold, track deviation correction is started from the current moment.

[0032] The present invention also proposes a track automatic deviation correction device for a belt dryer used in oligosaccharide production. Using the track automatic deviation correction method for a belt dryer used in oligosaccharide production, the device includes the following modules:

[0033] Data acquisition module: used to obtain the track surface image and the impact amplitude of the track roller at each moment during the oligosaccharide production process;

[0034] Transport stacking analysis module: used to determine the transport stacking condition coefficient at each moment according to the change difference between the distribution conditions of the edge pixel points in the track surface images at adjacent moments;

[0035] Impact lag analysis module: used to determine the change correlation condition of the lag reaction at each moment according to the correlation between the impact amplitude of the track roller and the transport stacking condition coefficient at the same moment;

[0036] Track deviation correction module: used to adjust the transport stacking condition coefficient according to the change correlation condition of the lag reaction at the moments with the same transport stacking condition coefficient, and obtain the adjusted stacking warning parameter at each moment; determine whether track deviation correction is required according to the magnitude of the adjusted stacking warning parameter.

[0037] The beneficial effects of the technical solution of the present invention are:

[0038] In the embodiments of the present invention, according to the change difference between the distribution of edge pixel points in the surface images of the crawler at adjacent moments during the production process of oligosaccharides, the transmission and accumulation condition coefficient at each moment is determined. Combining with the impact amplitude of the crawler rollers at the same moment, the change correlation condition of the hysteretic reaction at each moment is determined. Thus, during the transmission process of oligosaccharide powder, due to phenomena such as accumulation movement and slippage, instantaneous impacts may be triggered, resulting in problems such as crawler attitude deviation, tension imbalance, and abnormal stress on mechanical components, ensuring the accuracy of subsequent crawler rectification. Adjust the transmission and accumulation condition coefficient according to the change correlation condition of the hysteretic reaction, obtain the adjusted accumulation warning parameter at each moment, and use it to judge whether crawler rectification is required. Thus, accurate accumulation warning parameters are obtained to improve the accuracy of crawler rectification. So far, through refined rectification, the present invention can perceive the attitude change in real time and quickly adjust the running state of the crawler, effectively improving the stability of equipment operation, reducing the roller wear, crawler fatigue, and component loss caused by impacts, ensuring the efficiency and continuity of the transmission process. At the same time, refined rectification can reduce powder spillage, equipment shutdown, and economic losses caused by abnormal attitude, improve the safety and automation level of production, and extend the service life of equipment, ultimately achieving the production goals of high efficiency, stability, and sustainability. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0040] Figure 1 It is a flowchart of the steps of the automatic crawler rectification method for the belt dryer crawler used in the production of oligosaccharides of the present invention;

[0041] Figure 2 It is a module structure diagram of the automatic crawler rectification device for the belt dryer crawler used in the production of oligosaccharides of the present invention;

[0042] Figure 3 It is a working schematic diagram of the belt dryer crawler for the production of oligosaccharides;

[0043] Figure 4 It is a schematic diagram of the impact signal of the crawler roller;

[0044] Figure 5 It is a schematic diagram of the accumulation and slippage of oligosaccharides. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] To further elaborate on the technical means and effects adopted by the present invention to achieve the intended invention purpose, the following specifically describes, in conjunction with the accompanying drawings and preferred embodiments, the automatic deviation rectification method and device for the track of a belt dryer used for oligosaccharide production according to the present invention, including its specific implementation manner, structure, features, and effects. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. In addition, the specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this invention belongs.

[0047] The following specifically describes the specific solution of the automatic deviation rectification method and device for the track of a belt dryer used for oligosaccharide production provided by the present invention in conjunction with the accompanying drawings.

[0048] Please refer to Figure 1 , which shows the step flowchart of the automatic deviation rectification method for the track of a belt dryer used for oligosaccharide production provided by one embodiment of the present invention. The method includes the following steps:

[0049] Step S001: Obtain the image of the track surface and the impact amplitude of the track roller at each moment during the oligosaccharide production process.

[0050] During the oligosaccharide production process, collect the image of the track surface and the impact amplitude of the track roller at each moment.

[0051] It should be noted that: Taking the acquisition frequency of 10 times per second as an example for description. The acquisition process of the crawler surface image and the impact amplitude of the crawler roller is as follows: Arrange industrial light sources and install them at appropriate positions to avoid reflection interference. Adjust the light intensity and angle to ensure that the acquired images are clear and shadow-free. Install the industrial camera above the crawler conveyor line to ensure that the visual field covers the crawler surface and the oligosaccharide powder transmission area. During the installation process, it is necessary to ensure the accuracy of visual information acquisition. Place the camera on a stable surface to avoid vibration or tilt, ensure that the crawler is perpendicular to the camera, and adjust the position and focal length of the industrial camera, set parameters such as resolution and frame rate to ensure that clear transmission images are captured. The column direction of the obtained crawler surface image is the oligosaccharide conveying direction. Install acceleration sensors, impact sensors, and displacement sensors on the roller bearing seat or key structural components of the crawler and fix them firmly. Connect all sensors to the data acquisition card through signal cables, and connect the data acquisition card to the industrial computer. Then calibrate the acceleration sensor and the impact sensor, set the measurement range and frequency response range, and synchronize the time of all devices to ensure that the timestamps of image and sensor data acquisition are consistent. Then start the crawler transmission device and start the transmission process of oligosaccharide powder. Trigger the acquisition program through the industrial computer or data acquisition system. The industrial camera real-time acquires the crawler surface image. At the same time, the impact sensor acquires the impact signal of the crawler roller. The working schematic diagram of the crawler of the belt dryer for oligosaccharide production is as Figure 3 shown. The schematic diagram of the impact signal of the crawler roller is as Figure 4 shown, Figure 4 where the horizontal axis is the impact signal amplitude and the vertical axis is the time (in seconds).

[0052] Step S002: Determine the transmission accumulation status coefficient at each moment according to the change difference between the distribution of edge pixel points in the crawler surface images at adjacent moments.

[0053] It should be noted that: Since the oligosaccharide reaches the crawler after drying through the transmission drum, it will accumulate to different degrees on the conveyor belt. Its accumulation status depends on the conveying efficiency of the conveyor belt. The more powdery products of oligosaccharide particles conveyed by the transmission drum per unit time, due to dynamic behaviors such as accumulation, slippage, or collapse, the greater the short-term impact force on the desiccant crawler, resulting in a greater change in the running posture of the crawler.

[0054] It should be further noted that in the accumulation and slip phenomenon of the oligosaccharide conveyor belt, visual information and impact information show the evolution of the material state from different dimensions, and present different response characteristics and time deviations at specific stages. In the initial stage of oligosaccharide accumulation, the aggregation of particles causes the edge density in the image to gradually increase, and the local texture becomes denser. As the accumulation gradually expands, the visual information shows a more obvious trend, the range of the accumulation area continues to increase, and the distribution of particles becomes chaotic and irregular. Compared with visual information, impact information reflects the impact and mechanical changes of the conveyor belt system, but its performance usually lags behind visual signals. In the initial stage of accumulation, the change of the impact signal is mainly affected by the falling condition of oligosaccharides from the driving drum. As the accumulation matures, the uneven distribution of materials begins to interfere with the operation of the conveyor belt. When the accumulation develops to the slip stage, the change of the impact signal becomes particularly significant, usually manifested as a short-term sudden increase in the impact amplitude and a violent change in high-frequency fluctuations. This violent impact signal directly reflects the slip condition caused by insufficient friction between the accumulated material and the conveyor belt. Therefore, the performance of visual information and impact information has stage differences and complementary relationships in the whole accumulation and slip process.

[0055] Preferably, in an embodiment of the present invention, the method for obtaining the transmission and accumulation condition coefficient at each moment includes:

[0056] It is assumed that the preset window side length n is 10, and this is used as an example for description.

[0057] In the image of the crawler surface at each moment, a window of size n×n is constructed with an arbitrary pixel point as the center.

[0058] Using the canny edge operator, the edge pixel points in the image of the crawler surface at each moment are obtained, and the ratio of the number of edge pixel points within the window of any edge pixel point to the window area of the any edge pixel point is used as the edge density of the any edge pixel point.

[0059] It should be noted that: among them, the canny edge operator is a well-known technology, and the specific method is not introduced here. Since the accumulation and slip of oligosaccharides usually occur in the direction away from the center line of the conveyor belt, for the manifestation of the accumulation condition, more is the deviation of the accumulation in the direction perpendicular to the conveyor belt conveying direction, that is, the farther away from the center line of the conveyor belt, the greater the possibility of accumulation, and the closer to the center line, the change of its edge density is mainly affected by the transmission. The schematic diagram of the accumulation and slip of oligosaccharides is as Figure 5 shown. Figure 5 In the figure, the conveyor belt between the two conveyor belt baffles moves along the conveying direction, and the accumulation of oligosaccharides slips from the center line of the conveyor belt to both sides gradually, that is, the direction of the accumulation condition is the vertical direction of the conveying direction. In this embodiment, the conveying direction is the column direction of the crawler surface image.

[0060] In the crawler surface image at each moment, calculate the sum value of the edge densities of all edge pixel points in each column as the edge density of each column, and count the edge densities of all columns column by column from left to right to form the edge density vector corresponding to each moment.

[0061] It should be noted that: the edge density vector reflects the projection of the edge pixel points in the crawler surface image along the conveying direction towards the stacking condition direction.

[0062] Obtain the difference vector obtained by subtracting the edge density vector corresponding to the i-th moment from the edge density vector corresponding to the (i - 1)-th moment, then obtain the ratio of the modulus of the difference vector to the modulus of the edge density vector corresponding to the i-th moment, and use the normalized value of this ratio as the transmission stacking condition coefficient at the i-th moment.

[0063] It should be noted that: the calculation of the difference vector between two vectors and the calculation of the modulus of the vector are both well-known technologies, and the specific methods are not introduced here. In this embodiment, the norm() linear normalization function is used to normalize the above ratio to between 0 and 1, and this is used as an example for description. Since the judgment of the stacking condition is based on a short period of time, it will be greatly affected by the numerical values of the edge density sequence of the image itself. If the ratio is larger, it means that the change in the transmission stacking condition is greater. In this embodiment, the transmission stacking condition coefficient at the first moment and the adjusted stacking warning parameters after the first moment are not analyzed.

[0064] Step S003: Determine the change correlation of the lag reaction at each moment according to the correlation between the impact amplitude of the crawler roller and the transmission stacking condition coefficient at the same moment.

[0065] It should be noted that: in the stacking and slipping phenomenon of the oligosaccharide conveyor belt, different stages in the stacking process exhibit different sensitive changes in visual information. Specifically, the change rate of the transmission stacking condition coefficient is different during the entire stacking process, and its change condition is more affected by the normal conveying process itself, resulting in insufficient accuracy in analyzing the crawler offset condition caused by the stacking and slipping phenomenon from visual information. The impact information received by the crawler can improve the accuracy of visual information. Therefore, it is necessary to comprehensively analyze the abnormal correlation conditions during the stacking process. Since the reflection of the impact condition usually lags behind visual information, but its actual lag condition will change with different stages. The lag condition is larger at the initial stage of stacking and will continuously decrease in the later stage of stacking. This is because there is a large impact between the stacked part and the crawler, manifested as significant changes in the texture of the image area and the impact data, with a significantly higher change rate compared to the initial stage and a smaller lag condition.

[0066] For the impact amplitudes of the crawler rollers at all moments, use the min-max normalization method to obtain the normalized value of the impact amplitude of the crawler roller at each moment as the impact significance at each moment.

[0067] It should be noted that: the min-max normalization method is a well-known technology, and the specific method will not be introduced here. It is used to normalize data values between 0 and 1. Since there is an error caused by the lag in the display of the value of the transmission accumulation status coefficient at each moment for the accumulation status of oligosaccharides on the belt of the actual belt dryer, the actual error impact depends on the actual display status of the correlation coefficient pair between the transmission accumulation status coefficient and the impact significance.

[0068] Calculate the ratio of the impact significance at the i-th moment to the transmission accumulation status coefficient at the i-th moment, and take the inverse normalization value of the absolute value A of the difference between 1 and this ratio as the change correlation status of the lag reaction at the i-th moment.

[0069] It should be noted that: in this embodiment, exp(-A) is used to present the inverse proportional relationship of A and the normalization process. The implementer can set the inverse proportional function and the normalization function according to the actual situation. exp() is the exponential function with the natural constant as the base. When the impact significance and the transmission accumulation status coefficient at the same moment are closer, A is smaller, so the change correlation status of the lag reaction is larger, and the correlation between the impact significance and the transmission accumulation status coefficient is stronger.

[0070] Step S004: Adjust the transmission accumulation status coefficient according to the change correlation status of the lag reaction at the moments with the same transmission accumulation status coefficient, and obtain the adjusted accumulation warning parameter at each moment; judge whether track correction is needed according to the size of the adjusted accumulation warning parameter.

[0071] It should be noted that: thus, the change correlation status of the lag reaction at all moments is obtained, and the transmission accumulation status coefficient is adjusted. The adjustment process should be realized based on the numerical fluctuation status of the transmission accumulation status coefficient, that is, the adjustment of the accumulation reaction status is carried out within the value range distribution of the transmission accumulation status coefficient at all moments.

[0072] Among the transmission accumulation status coefficients at all moments, count the moments with the same transmission accumulation status coefficient as the i-th moment, record them as reference moments, obtain the mean value of the change correlation status of the lag reaction at all reference moments, and take the normalization value of the product of this mean value and the transmission accumulation status coefficient at the i-th moment as the adjusted accumulation warning parameter at the i-th moment.

[0073] It should be noted that: in this embodiment, the norm() linear normalization function is used to normalize the above product to between 0 and 1, and this is used as an example for description.

[0074] The preset warning threshold is 0.83, and this is used as an example for description.

[0075] If the adjusted stacking warning parameter at the current moment is greater than the preset warning threshold, track correction is performed starting from the current moment, that is, the control parameters of the track drive roller are adjusted. By moving the position of the drive roller, the track tightness is changed, the friction force is changed, and the adjustment effect is that the adjusted stacking warning parameter obtained subsequently is less than or equal to the preset warning threshold, so as to effectively reduce the generation of oligosaccharide stacking conditions.

[0076] In a second aspect, please refer to Figure 2 , which shows a belt automatic correction device for oligosaccharide production according to an embodiment of the present invention. The device includes the following modules:

[0077] Data acquisition module: used to obtain the track surface image and the impact amplitude of the track roller at each moment during the oligosaccharide production process;

[0078] Transport stacking analysis module: used to determine the transport stacking condition coefficient at each moment according to the change difference between the distribution of edge pixel points in the track surface images at adjacent moments;

[0079] Impact lag analysis module: used to determine the change correlation condition of the lag reaction at each moment according to the correlation between the impact amplitude of the track roller and the transport stacking condition coefficient at the same moment;

[0080] Track correction module: used to adjust the transport stacking condition coefficient according to the change correlation condition of the lag reaction at the moments with the same transport stacking condition coefficient, and obtain the adjusted stacking warning parameter at each moment; judge whether track correction is required according to the size of the adjusted stacking warning parameter.

[0081] So far, the present invention is completed.

[0082] In summary, in the embodiment of the present invention, the track surface image and the impact amplitude of the track roller at each moment during the oligosaccharide production process are obtained. According to the change difference between the distribution of edge pixel points in the track surface images at adjacent moments, the transport stacking condition coefficient at each moment is determined. Combining with the impact amplitude of the track roller at the same moment, the change correlation condition of the lag reaction at each moment is determined, so as to adjust the transport stacking condition coefficient and obtain the adjusted stacking warning parameter at each moment, so as to judge whether track correction is required. The present invention ensures the efficiency and continuity of the transport process through refined correction.

[0083] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for automatically correcting the belt track of a belt dryer for oligosaccharide production, characterized in that: The method comprises the following steps: Obtain the track surface image and the impact amplitude of the track roller at every moment during the oligosaccharide production process; According to the difference in the distribution of edge pixel points in the track surface images at adjacent moments, the transmission accumulation condition coefficient at each moment is determined; According to the correlation between the impact amplitude of the track roller and the transmission accumulation condition coefficient at the same moment, the changing correlation of the hysteresis reaction at each moment is determined; According to the changing correlation of the lag reaction at the same moment of the transmission accumulation condition coefficient, the transmission accumulation condition coefficient is adjusted to obtain the adjusted accumulation warning parameters at each moment; according to the size of the adjusted accumulation warning parameters, it is determined whether the track deviation correction is needed.

2. The method for automatically correcting the belt dryer crawler for oligosaccharide production according to claim 1, characterized in that: The specific steps of determining the transmission accumulation condition coefficient at each moment are as follows: The window side length n is preset, and in the crawler surface image at each moment, a window of size n×n is constructed with any pixel point as the center, and the edge density of any edge pixel point is determined according to the number of edge pixel points in the window of any edge pixel point; Calculate the sum of the edge densities of all edge pixels in each column of the track surface image as the edge density of each column, and count the edge densities of all columns from left to right to form an edge density vector corresponding to each moment; The transmission accumulation condition coefficient at each moment is determined according to the difference between the edge density vectors corresponding to adjacent moments.

3. The method for automatically correcting the belt dryer crawler for oligosaccharide production according to claim 2, characterized in that: The step of determining the edge density of any edge pixel point according to the number of edge pixel points in the window of any edge pixel point comprises the following specific steps: The ratio of the number of edge pixels in the window of any edge pixel to the window area of ​​the any edge pixel is used as the edge density of the any edge pixel.

4. The method for automatically correcting the belt dryer crawler for oligosaccharide production according to claim 2, characterized in that: The specific steps of determining the transmission accumulation condition coefficient at each moment according to the difference between the edge density vectors corresponding to adjacent moments are as follows: Obtain a difference vector of the edge density vector corresponding to the i-th moment minus the edge density vector corresponding to the i-1th moment, and use the normalized value of the ratio of the modulus of the difference vector to the modulus of the edge density vector corresponding to the i-th moment as the transmission stacking condition coefficient at the i-th moment.

5. The method for automatically correcting the belt dryer crawler for oligosaccharide production according to claim 1, characterized in that: The specific steps of determining the change correlation status of the delayed reaction at each moment are as follows: The normalized value of the impact amplitude of the track roller at each moment is taken as the impact significance at each moment; According to the difference between the impact significance and the transmission accumulation condition coefficient at the same moment, the changing correlation status of the hysteresis response at each moment is determined.

6. The method for automatically correcting the belt dryer crawler for oligosaccharide production according to claim 5, characterized in that: The step of determining the change correlation status of the hysteresis reaction at each moment according to the difference between the impact significance and the transmission accumulation condition coefficient at the same moment includes the following specific steps: The ratio of the impact significance to the transmission accumulation condition coefficient at the i-th moment is calculated, and the inversely proportional normalized value of the absolute value of the difference between 1 and the ratio is taken as the change correlation condition of the hysteresis reaction at the i-th moment.

7. The method for automatically correcting the belt dryer crawler for oligosaccharide production according to claim 1, characterized in that: The specific steps of obtaining the adjusted accumulation warning parameters at each moment are as follows: The time with the same transmission accumulation condition coefficient as the i-th time is recorded as the reference time; The adjusted accumulation warning parameter at the i-th moment is determined according to the change correlation status of the hysteresis reaction at the reference moment and the transmission accumulation status coefficient at the i-th moment.

8. The method for automatically correcting the belt dryer crawler for oligosaccharide production according to claim 7, characterized in that: The method of determining the adjusted accumulation warning parameter at the i-th moment according to the change correlation status of the hysteresis reaction at the reference moment and the transmission accumulation status coefficient at the i-th moment comprises the following specific steps: The mean of the change correlation conditions of the hysteresis reactions at all reference moments is obtained, and the normalized value of the product of the mean and the transmission accumulation condition coefficient at the i-th moment is used as the adjusted accumulation warning parameter at the i-th moment.

9. The method for automatically correcting the belt dryer crawler for oligosaccharide production according to claim 1, characterized in that: The specific steps of judging whether to perform track deviation correction according to the adjusted accumulation warning parameter are as follows: If the adjusted accumulation warning parameter at the current moment is greater than the preset warning threshold, the track deviation correction will be performed from the current moment.

10. An automatic deviation-correcting device for a belt dryer crawler used for oligosaccharide production, using the automatic deviation-correcting method for a belt dryer crawler used for oligosaccharide production as claimed in any one of claims 1 to 9, characterized in that: The device includes the following modules: Data acquisition module: used to obtain the track surface image and the impact amplitude of the track roller at every moment in the oligosaccharide production process; Transmission accumulation analysis module: used to determine the transmission accumulation coefficient at each moment according to the change difference between the distribution of edge pixel points in the track surface images at adjacent moments; Impact hysteresis analysis module: used to determine the changing correlation of the hysteresis reaction at each moment according to the correlation between the impact amplitude of the track roller and the transmission accumulation condition coefficient at the same moment; Track deviation correction module: used to adjust the transmission accumulation condition coefficient according to the change correlation of the hysteresis reaction at the same transmission accumulation condition coefficient, and obtain the adjusted accumulation warning parameters at each moment; Determine whether track deviation correction is necessary based on the size of the adjusted accumulation warning parameter.

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