Double-sensor efficient paper feeding rapid positioning structure

Abstract

The utility model belongs to the technical field of mechanical engineering, and discloses a double-sensor efficient paper feeding rapid positioning structure, which comprises a second color code sensor and a deviation correction sensor, and is characterized in that the second color code sensor is used for identifying color blocks on a material when the material moves along a paper feeding direction and controlling a servo motor to realize accurate positioning in an X direction; the deviation rectifying sensor is used for detecting the deviation amount of the material in the Y direction and outputting a signal to carry out accurate positioning in the Y direction; according to the utility model, the color blocks on the material are identified through the second color code sensor, so that accurate start-stop control along the paper feeding direction is realized; meanwhile, the deviation correcting sensor can monitor and correct deviation of the material in the direction perpendicular to the paper feeding direction in real time, and it is guaranteed that the material is accurately positioned in the two directions. And rapid and accurate positioning of the material in the X direction and the Y direction is achieved, and therefore the machining efficiency and the product quality are remarkably improved.

Description

Technical Field

[0001] This utility model relates to the field of mechanical engineering technology, and in particular to a dual-sensor high-efficiency paper feeding and rapid positioning structure. Background Technology

[0002] In traditional materials processing, especially in equipment involving paper feeding and cutting operations, position detection and positioning are crucial. Currently, a single sensor is commonly used for this task. However, single sensors face numerous challenges in practical applications. Modern industrial production demands increasingly higher precision in materials processing, particularly in high-end manufacturing sectors such as precision electronic component manufacturing and high-precision printing. However, a single sensor often only provides precise positional information in one direction. For example, during paper feeding, if only the accurate position of the paper in the X-direction can be determined, but precise positioning in the Y-direction is lacking, it becomes difficult to guarantee processing accuracy when complex graphic cutting or high-precision typesetting and printing are required. This is because many processing tasks require precise positioning of the material in multiple directions simultaneously, and precise positional information in a single direction is far from sufficient to meet overall accuracy requirements.

[0003] Furthermore, the limitations of a single sensor are quite evident. In high-speed processing scenarios, a single sensor struggles to ensure accurate material positioning each time it is started and stopped. Since processing is a continuous process, even minute positional errors accumulate with frequent start-ups and stops. As processing continues, this error accumulation severely impacts the quality of the final product. Moreover, when multi-directional positioning is required, a single sensor approach often necessitates additional steps or manual intervention. For example, after X-axis positioning, manual adjustment or other auxiliary methods are needed to achieve Y-axis positioning. This undoubtedly increases processing time and reduces overall production efficiency. In today's industrial environment that prioritizes high-efficiency production, such inefficiency caused by positioning methods is unacceptable.

[0004] Furthermore, on highly automated production lines, the equipment operates at high speeds, demanding real-time position detection and positioning. Due to limitations in structure and function, single sensors are insufficient in terms of rapid response, making it difficult to meet the real-time positioning requirements under high-speed operation.

[0005] To overcome the above problems, a dual-sensor high-efficiency paper feeding and rapid positioning structure is proposed. Utility Model Content

[0006] The main purpose of this invention is to provide a dual-sensor high-efficiency paper feeding and rapid positioning structure, which aims to solve the technical problem that a single sensor can often only provide accurate position information in one direction. For accurate positioning in multiple directions, additional steps or manual intervention are required, which not only increases processing time but also reduces overall production efficiency.

[0007] To achieve the above-mentioned utility model objectives, the first aspect of this utility model proposes a dual-sensor high-efficiency paper feeding and rapid positioning structure, including a second color mark sensor and a correction sensor, wherein the second color mark sensor is used to identify color blocks on the material when the material moves along the paper feeding direction, and to control the servo motor to achieve precise positioning in the X direction.

[0008] The correction sensor is used to detect the offset of the material in the Y direction and output a signal for precise positioning in the Y direction.

[0009] Furthermore, it also includes a first color mark sensor, used to perform preliminary position calibration of the tool holder with manual intervention when a new template enters the work area.

[0010] Furthermore, the second color mark sensor is fixedly installed above the material belt. As the material moves along the paper feeding direction, the second color mark sensor identifies the color blocks printed on the material and sends a signal to the control system. The control system controls the operation of the servo motor based on the signal, precisely controlling the start and stop of the material, thereby achieving precise positioning of the material in the paper feeding direction.

[0011] Furthermore, the correction sensor is installed at the edge of the material strip, with the center of its recognition range facing the edge of the material, serving as the zero-position setting point;

[0012] When the material shifts in the Y direction due to changes in tension, the correction sensor outputs the shift amount to the control system to achieve precise positioning in the Y direction.

[0013] Furthermore, this structure can complete the processing in three cycles: lifting the blade, fast paper feeding, and cutting the blade, eliminating the need for repeated positioning time.

[0014] Furthermore, after the cutter head completes the cutting action of one panel, it lifts the cutter. After the material moves quickly and stops, the current position of the material is obtained through the second color mark sensor and the correction sensor to avoid repeated positioning actions.

[0015] Furthermore, by working together with the second color mark sensor and the correction sensor, rapid and accurate positioning in both the X and Y directions is achieved, thereby improving overall processing efficiency.

[0016] Furthermore, the control logic employed by the control system can adjust the material position in real time based on feedback information from the second color mark sensor and the correction sensor, ensuring the accuracy of each operation.

[0017] Furthermore, the first color mark sensor, the correction sensor, and the second color mark sensor are all electrically connected to the control system, transmitting the identification information to the control system for corresponding control.

[0018] Furthermore, the control system precisely controls the movement of the tool holder based on the signals from the second color mark sensor and the correction sensor, thereby achieving high-speed machining.

[0019] Beneficial effects:

[0020] This invention uses a second color mark sensor to identify color blocks on the material, achieving precise start-stop control along the paper feed direction (X direction). Simultaneously, a correction sensor monitors and corrects material offset in the direction perpendicular to the paper feed direction (Y direction) in real time, ensuring accurate material positioning in both directions. Furthermore, this application allows the cutter holder to lift after completing the cutting action of one section, enabling the material to quickly move to the next position without repositioning. This significantly reduces the time required for repeated positioning, improving the speed and efficiency of the entire processing flow. It also achieves rapid and accurate material positioning in both the X and Y directions, thereby significantly improving processing efficiency and product quality.

[0021] By adjusting the mounting brackets to accommodate different types and sizes of materials, it offers wide applicability and flexibility, meeting diverse production needs. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of a dual-sensor high-efficiency paper feeding and rapid positioning structure according to an embodiment of the present invention;

[0023] Figure 2 This is a system structure block diagram of a dual-sensor high-efficiency paper feeding and rapid positioning structure according to an embodiment of the present invention.

[0024] in:

[0025] 1. First color mark sensor; 2. Correction sensor; 3. Second color mark sensor; 4. Tool holder.

[0026] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0027] It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0028] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly and specifically defined.

[0029] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0030] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0031] Reference Figures 1-2 An embodiment of this utility model provides a dual-sensor high-efficiency paper feeding and rapid positioning structure, including a second color mark sensor 3 and a correction sensor 2, wherein the second color mark sensor 3 is used to identify color blocks on the material when the material moves along the paper feeding direction, and control the servo motor to achieve precise positioning in the X direction;

[0032] The correction sensor 2 is used to detect the offset of the material in the Y direction and output a signal for precise positioning in the Y direction.

[0033] In this embodiment, the material's position is rapidly and accurately adjusted in the X and Y directions through the coordinated operation of different sensors.

[0034] It mainly includes a first color mark sensor 1, a correction sensor 2, a second color mark sensor 3, a tool holder 4, and a control system. All sensors are electrically connected to the control system so that the identified information can be transmitted to the control system in a timely manner, thereby executing the corresponding control operations.

[0035] The second color mark sensor 3 can be mounted 20-50mm above the material strip using a bracket. The bracket is equipped with a horizontal slide rail and locking bolts, allowing for ±15mm horizontal position fine-tuning to ensure strict alignment between the color mark recognition area and the material's travel trajectory. The correction sensor 2 is preferably mounted on the side of the material using an L-shaped cantilever.

[0036] During operation, the internal circuitry of the second color mark sensor 3 detects and converts the light signals entering its recognition area. It employs a specific optical filter that allows only light wavelengths matching the color characteristics of the color mark to pass through, and then converts the light signal into an electrical signal via a photodiode. This electrical signal is amplified and filtered before being sent to an internal analog-to-digital converter (ADC) to be converted into a digital signal for processing by the control system.

[0037] When a new template is put into operation, the first color mark sensor 1 comes into play. At this time, with manual intervention, the first color mark sensor 1 performs preliminary calibration of the position of the tool holder 4. Typically, the operator will observe the feedback from the first color mark sensor 1 based on the characteristics of the template and preset standards, and manually adjust the position of the tool holder 4 to place it in a relatively accurate starting processing position.

[0038] The second color mark sensor 3 precisely controls the position in the X direction during the material feeding process. This second color mark sensor 3 is fixedly installed directly above the material tape. As the material moves along the feeding direction, pre-printed color blocks on the material enter the recognition area of ​​the second color mark sensor 3. Once the second color mark sensor 3 recognizes these color blocks, it quickly sends corresponding signals to the control system.

[0039] After receiving the signal, the control system issues a stop command to the running servo motor, so that the material stops precisely at the preset position, thereby completing the precise positioning of the material in the paper feeding direction (that is, the X direction).

[0040] Optionally, a first color mark sensor 1 is also included, which is used to perform preliminary position calibration of the tool holder 4 under manual intervention when a new template enters the work area.

[0041] It should be noted that the second color mark sensor 3 is fixedly installed on the material belt. When the material moves along the paper feeding direction, the second color mark sensor 3 identifies the color blocks printed on the material and sends a signal to the control system. The control system stops the servo motor to stop the material, thereby realizing precise positioning control of the material in the paper feeding direction (X direction). The second color mark sensor 3 is fixedly installed on the material belt and can identify the color blocks printed on the material, and precisely control the start and stop of the material through the control system.

[0042] The correction sensor 2 is installed on the edge of the material strip, with the center of its recognition range facing the edge of the material, serving as the zero-position setting point;

[0043] When the material shifts in the Y direction due to changes in tension, the correction sensor 2 outputs the shift amount to the control system to achieve precise positioning in the Y direction.

[0044] The function of the correction sensor 2 is to locate the material in the Y direction. It is installed at the edge of the material strip and the center of the recognition range is precisely aligned with the edge of the material, which is set as the zero reference point.

[0045] The correction sensor 2 internally employs a laser emitter and receiver. The laser emitter emits a narrow laser beam towards the edge of the material. When the laser beam strikes the edge, a portion of the light is reflected back and received by the receiver. The intensity and timing information of the reflected light detected by the receiver are converted into an electrical signal, which reflects the positional information of the material edge. By analyzing and processing this electrical signal, the offset of the material in the Y direction can be obtained.

[0046] The control system incorporates a dual-channel PID closed-loop control module. The X-direction control channel uses the pulse signal from the second color mark sensor 3 as the trigger source. When the leading edge of the color block is detected, a position counter is activated, and the real-time position deviation is calculated based on the feedback value from the servo motor encoder, dynamically adjusting the motor's acceleration and deceleration curve. The Y-direction control channel employs a fuzzy control algorithm to convert the 0-10V analog offset signal output from the correction sensor 2 into a phase angle compensation value for the correction stepper motor, with a compensation response time ≤50ms. The data from both channels are fused within the motion control card to generate a three-dimensional spatial correction command.

[0047] The control system incorporates a dual-channel PID closed-loop control module. The X-direction control channel uses the pulse signal from the second color mark sensor 3 as its trigger source. When the leading edge of a color block is detected, a position counter is activated. Combined with feedback from the servo motor encoder, the real-time position deviation is calculated, dynamically adjusting the motor's acceleration / deceleration curve. Specifically, when the second color mark sensor 3 detects the leading edge of a color block, it generates a pulse signal, which is transmitted to the X-direction PID control channel of the control system. Inside the channel, the pulse signal is first shaped and counted to obtain the current position information of the color block. Simultaneously, the servo motor encoder provides real-time feedback on the motor's speed and position. The X-direction PID control channel compares these two pieces of information to calculate the real-time position deviation. Then, based on pre-set PID parameters (proportional, integral, and derivative coefficients), it calculates the voltage adjustment amount that should be applied to the motor to adjust its acceleration / deceleration curve. For example, if the position deviation is large, the proportional coefficient will result in a larger adjustment voltage, causing the motor to decelerate quickly; if the deviation persists, the integral coefficient will continuously accumulate the deviation value, further adjusting the voltage until the deviation is reduced to an acceptable range.

[0048] The calibration process is described in detail below:

[0049] The initial calibration of the first color mark sensor 1 includes the following steps:

[0050] The standard calibration plate is manually placed under the tool holder 4. The plate is printed with crosshair reference lines and color block array.

[0051] Activate the calibration mode through the HMI interface and control the tool holder 4 to move along the X / Y axis until the first color mark sensor 1 detects the center of the reference color block;

[0052] The operator observes the deviation between the laser positioning mark and the calibration plate scale, and fine-tunes the mechanical zero point of the tool holder 4 using the handwheel;

[0053] After completing the X / Y bidirectional calibration, the system automatically records the compensation parameters and generates a calibration report.

[0054] Material handling process optimization:

[0055] During the high-speed paper feeding stage (speed ≥ 3m / s), the control system executes a prediction algorithm: based on historical positioning data, a material deformation model is established, and dynamic deceleration is initiated 300mm before the target position, specifically including:

[0056] When the second color mark sensor 3 detects the Nth color block, the material expansion rate is calculated based on the spacing between the previous N-1 color blocks, and combined with the real-time offset of the correction sensor 2, the final stopping position coordinates are dynamically corrected.

[0057] In the last 50mm of travel, switch to a fine positioning mode with a resolution of 0.1mm to ensure that the positioning error is ≤ ±0.05mm.

[0058] When three consecutive color marks are not recognized, the system automatically switches to encoder mileage-assisted positioning mode and triggers an audible and visual alarm. When the Y-direction offset exceeds the set threshold (default 2mm), the roller reverse correction program is activated in an emergency, and the correction force curve is displayed on the touch screen. The system is equipped with a power failure memory module, which can save key data such as current coordinates and tension parameters to FRAM memory in the event of an abnormal power failure.

[0059] The second color mark sensor 3 preferably adopts an RGB three-channel photoelectric sensor (such as the SICK CLV series), which has a repeatability of 0.1mm. The correction sensor 2 maintains a detection distance of 1.5±0.2mm with the material edge, and the detection resolution reaches 0.02mm. The servo motor adopts a 20-bit absolute encoder motor, which, together with a harmonic reducer, achieves an angular positioning accuracy of 0.005°.

[0060] During the paper feeding process, various factors (such as tension changes) may cause the material to shift in the Y direction. Once this occurs, the correction sensor 2 will immediately detect the shift and output this shift information to the control system. The control system will then adjust the position of the material based on the received shift data to achieve precise positioning in the Y direction.

[0061] This structure can complete a highly efficient processing process in three cycles: lifting the blade, fast paper feeding, and cutting. This eliminates the need for repeated positioning time.

[0062] After the cutter holder 4 completes the cutting action of one panel, it lifts the cutter. After the material moves quickly and stops, the current position of the material is obtained by the second color mark sensor 3 and the correction sensor 2 to avoid repeated positioning actions.

[0063] This structure can complete efficient processing operations in a cycle consisting of three beats: blade lifting, rapid paper feeding, and blade lowering. The specific process is as follows:

[0064] After the cutter holder 4 completes the cutting of one panel, it immediately lifts the cutter. The material then moves at a relatively high speed and stops once it reaches the appropriate position. After the material stops, the second color mark sensor 3 and the correction sensor 2 quickly begin working, acquiring the current position information of the material in both the X and Y directions. Because of the real-time and accurate feedback from these sensors, the processing process eliminates the need for repeated positioning operations, allowing direct processing to the next cycle, significantly improving overall processing efficiency.

[0065] By working together with the second color mark sensor 3 and the correction sensor 2, rapid and accurate positioning in both the X and Y directions is achieved, thereby improving overall processing efficiency.

[0066] The control logic used in the control system can adjust the position of the material in real time based on the feedback information from the second color mark sensor 3 and the correction sensor 2, ensuring the accuracy of each operation.

[0067] The first color mark sensor 1, the correction sensor 2, and the second color mark sensor 3 are all electrically connected to the control system, transmitting identification information to the control system for corresponding control. The control system precisely controls the movement of the tool holder 4 based on the signals from the second color mark sensor 3 and the correction sensor 2, achieving high-speed machining.

[0068] The control logic employed by the control system is the core element ensuring the efficient and accurate operation of the entire structure. It dynamically and promptly adjusts the material's position in both the X and Y directions based on real-time information from the second color mark sensor 3 and the correction sensor 2. Before each processing operation, the control system precisely controls the movement of the tool holder 4 based on sensor feedback, ensuring accuracy in every operation and achieving a high-cycle, high-precision processing process.

[0069] Description: This dual-sensor high-efficiency paper feeding and rapid positioning structure achieves rapid and accurate material positioning and efficient processing in the X and Y directions through the coordinated work of multiple sensors and advanced control logic, and has significant application value and advantages.

[0070] After the cutter holder 4 completes the cutting of one section of the surface, it immediately performs a blade lifting operation. This lifting operation is achieved by the control system sending a specific command to the drive motor of the cutter holder 4. This command controls the motor's rotation direction and speed, causing the cutter holder 4 to lift upwards smoothly. During the lifting process, the control system monitors the position of the cutter holder 4 in real time to ensure that it accurately reaches the predetermined lifting height. For example, through limit switches or encoder feedback signals installed on the cutter holder 4, the control system can precisely control the lifting height of the cutter holder 4, with an error range within ±0.1mm.

[0071] The material moves at a relatively high speed. During this process, the speed and torque of the paper feed motor are dynamically adjusted according to the material's characteristics and the instructions from the control system. For example, for thicker materials or materials with high surface friction, the paper feed motor needs to provide greater torque to ensure smooth material movement. Simultaneously, to prevent material deviation during rapid movement, guide devices on both sides of the equipment adjust the material's position in real time. The guide devices detect the contact pressure between the material and the guide devices using pressure sensors. When the pressure is uneven, the control system adjusts the spacing or pressure of the guide devices to keep the material on the correct paper feed path. The speed control of the paper feed motor is achieved through feedback adjustment by the control system based on the preset paper feed speed and the actual detected material movement speed. For example, if the actual paper feed speed is lower than the preset speed, the control system increases the input voltage to the paper feed motor, increasing the motor speed until the actual speed reaches the preset speed.

[0072] The material stops once it reaches the appropriate position. This appropriate position is determined by the control system based on the processing task and previous positioning information. When the control system determines that the material has reached the appropriate position, it sends a stop command to the paper feed motor. Upon receiving the command, the paper feed motor gradually decelerates until it stops. During this process, to avoid sudden stops impacting the equipment, the control system employs soft-stop technology, gradually reducing the motor's input voltage to ensure a smooth stop. As the second color mark sensor 3 and the correction sensor 2 rapidly acquire the current material's position information in both the X and Y directions, the sensors transmit the detected position information to the control system in the form of electrical signals. The control system processes these signals quickly. For example, the X-direction position information detected by the second color mark sensor 3 is sent to the X-direction positioning module, and the Y-direction position information detected by the correction sensor 2 is sent to the Y-direction positioning module. The positioning module evaluates the material's position according to a preset positioning accuracy requirement (e.g., ±0.05mm). If the position deviation is within the allowable range, positioning is considered successful; if it exceeds the range, a corresponding adjustment mechanism is triggered.

[0073] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural or procedural transformations made based on the contents of the present utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present utility model.

Claims

1. A dual-sensor high-efficiency paper feeding and rapid positioning structure, characterized in that, It includes a second color mark sensor (3) and a correction sensor (2), wherein the second color mark sensor (3) is used to identify color blocks on the material when the material moves along the paper feed direction and control the servo motor to achieve precise positioning in the X direction; The correction sensor (2) is used to detect the offset of the material in the Y direction and output a signal for precise positioning in the Y direction.

2. The dual-sensor high-efficiency paper feeding and rapid positioning structure according to claim 1, characterized in that, It also includes a first color mark sensor (1) for performing preliminary position calibration of the tool holder (4) under manual intervention when a new template enters the work.

3. The dual-sensor high-efficiency paper feeding and rapid positioning structure according to claim 1, characterized in that, The second color mark sensor (3) is fixedly installed above the material belt. During the process of the material moving along the paper feeding direction, the second color mark sensor (3) identifies the color blocks printed on the material and sends a signal to the control system. The control system controls the operation of the servo motor based on the signal, accurately controls the start and stop of the material, thereby achieving precise positioning of the material in the paper feeding direction.

4. The dual-sensor high-efficiency paper feeding and rapid positioning structure according to claim 1, characterized in that, The correction sensor (2) is installed on the edge of the material strip, with the center of its recognition range facing the edge of the material, serving as the zero-position setting point; When the material shifts in the Y direction due to tension changes, the correction sensor (2) outputs the offset to the control system to achieve precise positioning in the Y direction.

5. The dual-sensor high-efficiency paper feeding and rapid positioning structure according to claim 1, characterized in that, This structure can complete the processing in three cycles: lifting the blade, fast paper feeding, and cutting the blade, saving the time spent on repeated positioning.

6. The dual-sensor high-efficiency paper feeding and rapid positioning structure according to claim 1, characterized in that, After the cutter holder (4) completes the cutting action of one panel, it lifts the cutter. After the material moves quickly and stops, the current position of the material is obtained through the second color mark sensor (3) and the correction sensor (2) to avoid repeated positioning actions.

7. The dual-sensor high-efficiency paper feeding and rapid positioning structure according to claim 1, characterized in that, By working together with the second color mark sensor (3) and the correction sensor (2), rapid and accurate positioning in both the X and Y directions is achieved, thereby improving the overall processing efficiency.

8. The dual-sensor high-efficiency paper feeding and rapid positioning structure according to claim 3, characterized in that, The control logic used by the control system can adjust the position of the material in real time based on the feedback information from the second color mark sensor (3) and the correction sensor (2), ensuring the accuracy of each operation.

9. The dual-sensor high-efficiency paper feeding and rapid positioning structure according to claim 2, characterized in that, The first color mark sensor (1), the correction sensor (2), and the second color mark sensor (3) are all electrically connected to the control system, and transmit the identification information to the control system for corresponding control.

10. The dual-sensor high-efficiency paper feeding and rapid positioning structure according to claim 9, characterized in that, The control system precisely controls the movement of the tool holder (4) based on the signals from the second color mark sensor (3) and the correction sensor (2), thereby achieving high-speed processing.

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