Machining track control method and system of numerical control lathe

Abstract

The invention discloses a machining track control method and system for a numerical control lathe, and the method comprises the steps: inputting at least one first real-time machining image into a preset image recognition model, and outputting a first tool image corresponding to the at least one first real-time machining image; fusing the first cutter images according to a preset fusion rule to obtain a first real-time processing sub-track in the first sampling period, and judging whether the similarity between the first real-time processing sub-track and the first initial processing sub-track is greater than a preset threshold; and if the first real-time processing sub-track is not greater than the preset threshold value, generating a first correction strategy according to the first real-time processing sub-track and the first initial processing sub-track, and correcting a second initial processing sub-track according to the first correction strategy to obtain a second target processing sub-track. The actual machining track can be closer to the theoretical machining track, and therefore the workpiece machining error is reduced as much as possible.

Description

Technical Field

[0001] The invention belongs to the technical field of CNC lathe control, and in particular relates to a machining trajectory control method and system for a CNC lathe. Background Art

[0002] The CNC system is the core control device of the CNC machine tool. The motion trajectory control during CNC machining is completed by the CNC system. The NC file is a file that describes the tool motion trajectory during CNC machine tool machining. The tool motion trajectory is usually described in G code (ISO6983) format. The CNC system parses the NC file based on the input NC file through the compilation (decoding) module and obtains the tool motion trajectory.

[0003] During the CNC machine tool processing process, the processing trajectory data will be generated in advance based on the model of the workpiece. The machine tool controls the tool to move according to the processing trajectory for processing. However, this processing trajectory is a theoretical trajectory. In fact, the age of the machine tool, the thermal effect and resistance between the workpiece and the tool will cause processing trajectory errors. That is, the actual processing trajectory is different from the theoretical processing trajectory to be achieved, which increases the processing error of the workpiece. Summary of the invention

[0004] The present invention provides a machining trajectory control method and system for a numerically controlled lathe, which are used to solve the technical problem that the actual machining trajectory is different from the desired theoretical machining trajectory, thereby increasing the machining error of the workpiece.

[0005] In a first aspect, the present invention provides a machining trajectory control method for a CNC lathe, comprising:

[0006] Acquire information of a workpiece to be processed, and generate an initial processing trajectory of a tool in the CNC lathe according to the information of the workpiece to be processed, wherein the initial processing trajectory includes an initial processing sub-trajectory in at least one sampling period;

[0007] Acquire at least one first real-time processing image based on the initial processing trajectory within a first sampling period, and input the at least one first real-time processing image into a preset image recognition model, the image recognition model outputting a first tool image corresponding to the at least one first real-time processing image;

[0008] fusing the first tool images according to a preset fusion rule to obtain a first real-time processing sub-trajectory within the first sampling period, and determining whether a similarity between the first real-time processing sub-trajectory and a first initial processing sub-trajectory is greater than a preset threshold, wherein the first initial processing sub-trajectory is an initial processing sub-trajectory within the first sampling period;

[0009] If it is not greater than a preset threshold, a first correction strategy is generated according to the first real-time processing sub-trajectory and the first initial processing sub-trajectory, and the second initial processing sub-trajectory is corrected according to the first correction strategy to obtain a second target processing sub-trajectory, wherein the second initial processing sub-trajectory is the initial processing sub-trajectory in the second sampling period, and the second sampling period is adjacent to the first sampling period.

[0010] In a second aspect, the present invention provides a machining trajectory control system for a CNC lathe, comprising:

[0011] A generating module, configured to obtain information of a workpiece to be processed, and generate an initial processing trajectory of a tool in the CNC lathe according to the information of the workpiece to be processed, wherein the initial processing trajectory includes an initial processing sub-trajectory in at least one sampling period;

[0012] an output module, configured to acquire at least one first real-time processing image based on the initial processing trajectory within a first sampling period, and input the at least one first real-time processing image into a preset image recognition model, wherein the image recognition model outputs a first tool image corresponding to the at least one first real-time processing image;

[0013] a judgment module, configured to fuse the first tool images according to a preset fusion rule to obtain a first real-time processing sub-trajectory within the first sampling period, and to judge whether the similarity between the first real-time processing sub-trajectory and the first initial processing sub-trajectory is greater than a preset threshold, wherein the first initial processing sub-trajectory is an initial processing sub-trajectory within the first sampling period;

[0014] The correction module is configured to generate a first correction strategy based on the first real-time processing sub-trajectory and the first initial processing sub-trajectory if it is not greater than a preset threshold, and correct the second initial processing sub-trajectory according to the first correction strategy to obtain a second target processing sub-trajectory, wherein the second initial processing sub-trajectory is the initial processing sub-trajectory in the second sampling period, and the second sampling period is adjacent to the first sampling period.

[0015] According to a third aspect, an electronic device is provided, comprising: at least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the steps of the machining trajectory control method for a CNC lathe of any embodiment of the present invention.

[0016] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein when the program instructions are executed by a processor, the processor is caused to execute the steps of the machining trajectory control method for a CNC lathe of any embodiment of the present invention.

[0017] The processing trajectory control method and system of the CNC lathe of the present application fuses each first tool image according to a preset fusion rule to obtain a first real-time processing sub-trajectory within a first sampling period, and determines whether the similarity between the first real-time processing sub-trajectory and the first initial processing sub-trajectory is greater than a preset threshold. If it is not greater than the preset threshold, a first correction strategy is generated according to the first real-time processing sub-trajectory and the first initial processing sub-trajectory, and the second initial processing sub-trajectory is corrected according to the first correction strategy to obtain a second target processing sub-trajectory, which can make the actual processing trajectory closer to the theoretical processing trajectory, thereby reducing the workpiece processing error as much as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A flowchart of a machining trajectory control method for a CNC lathe provided in one embodiment of the present invention;

[0020] Figure 2 A structural block diagram of a machining trajectory control system for a CNC lathe provided in one embodiment of the present invention;

[0021] Figure 3 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] See also Figure 1 , which shows a flow chart of a machining trajectory control method for a CNC lathe of the present application.

[0024] like Figure 1As shown, the machining trajectory control method of a CNC lathe specifically includes the following steps:

[0025] Step S101, obtaining information of a workpiece to be processed, and generating an initial processing trajectory of a tool in the CNC lathe according to the information of the workpiece to be processed, wherein the initial processing trajectory includes an initial processing sub-trajectory in at least one sampling period.

[0026] In this step, an ideal machining trajectory of the tool in the CNC lathe, i.e., an initial machining trajectory, is generated based on the machining drawing of the workpiece to be machined. After the machining starts, the tool movement is controlled based on the initial machining trajectory for machining. During the machining process, due to factors such as machine tool errors and the interaction between the tool and the workpiece, there will be a difference between the actual machining trajectory of the tool and the machining trajectory used for control. At this time, if the tool movement is controlled according to the initial machining trajectory, machining errors will occur. In this embodiment, the initial machining trajectory is optimized according to the actual machining trajectory of the tool, i.e., the machining trajectory used to control the CNC machine tool is optimized, so that machining according to the optimized machining trajectory can be closer to the ideal machining trajectory, thereby reducing the machining error of the workpiece.

[0027] Step S102, acquiring at least one first real-time processing image based on the initial processing trajectory within a first sampling period, and inputting the at least one first real-time processing image into a preset image recognition model, and the image recognition model outputs a first tool image corresponding to the at least one first real-time processing image.

[0028] In this step, the image recognition model can be a model obtained by iteratively training the processing image and the information of the tool annotation in the processing image into a neural network, and the neural network can be a VGGNet network or other convolutional neural networks.

[0029] Step S103, fusing each first tool image according to a preset fusion rule to obtain a first real-time processing sub-trajectory within the first sampling period, and determining whether the similarity between the first real-time processing sub-trajectory and the first initial processing sub-trajectory is greater than a preset threshold, wherein the first initial processing sub-trajectory is an initial processing sub-trajectory in the first sampling period.

[0030] In this step, a target overlapping area between a certain first tool image and another first tool image is obtained, and the certain first tool image and the other first tool image are positioned based on at least two pixel points in the target overlapping area, wherein the target overlapping area does not contain pixel points of the tool; it is determined whether the sizes of the certain tool area and the other tool area are consistent after positioning, wherein the certain tool area is the tool area in the certain first tool image, and the other tool area is the tool area in the other first tool image; if not, a certain target tool area and another target tool area of ​​the same size are obtained by simultaneously scaling the certain tool area and the other tool area, and the certain target tool area and the other target tool area are spliced ​​to obtain a first real-time processing sub-trajectory image, and the first real-time processing sub-trajectory image contains the first real-time processing sub-trajectory; if consistent, the certain tool area and the other tool area are directly spliced ​​to obtain a first real-time processing sub-trajectory image, and the first real-time processing sub-trajectory image contains the first real-time processing sub-trajectory.

[0031] It should be noted that if the first real-time processing sub-track image contains a size that is inconsistent with the initial processing track, the first real-time processing sub-track is scaled again to a size that is consistent with the size of the initial processing track.

[0032] In this embodiment, it is possible to avoid as much as possible the phenomenon that when a single or a small number of cameras are used to shoot the entire CNC machine tool, the captured image will appear larger when near and smaller when far, thereby causing inconsistent tool sizes in the image and affecting subsequent trajectory comparison, thereby achieving the accuracy of trajectory correction as much as possible.

[0033] In a specific embodiment, if it is greater than a preset threshold, at least one second real-time processing image based on the initial processing trajectory is obtained within a second sampling period, and at least one second real-time processing image is input into a preset image recognition model, and the image recognition model outputs a second tool image corresponding to at least one first second real-time processing image; each second tool image is fused according to a preset fusion rule to obtain a second real-time processing sub-trajectory within the first sampling period, and it is determined whether the similarity between the second real-time processing sub-trajectory and the second initial processing sub-trajectory is greater than a preset threshold.

[0034] Specifically, the similarity between the second real-time processing sub-track and the second initial processing sub-track is obtained, and is calculated by the number of tool pixel points at the same position. The more the number of tool pixel points at the same position, the higher the similarity, and vice versa.

[0035] Step S104: If it is not greater than the preset threshold, a first correction strategy is generated according to the first real-time processing sub-trajectory and the first initial processing sub-trajectory, and the second initial processing sub-trajectory is corrected according to the first correction strategy to obtain a second target processing sub-trajectory, wherein the second initial processing sub-trajectory is the initial processing sub-trajectory in the second sampling period, and the second sampling period is adjacent to the first sampling period.

[0036] In this step, a first normal real-time point and a second abnormal real-time point in the first real-time processing sub-trajectory are obtained, wherein the first normal real-time point is: a real-time point in the real-time processing sub-trajectory that is aligned with the first initial point of the first initial processing sub-trajectory at the first moment, and the second abnormal real-time point is: a real-time point in the real-time processing sub-trajectory that is not aligned with the second initial point of the first initial processing sub-trajectory at the second moment; a first correction distance is generated according to the distance between the first initial point and the second initial point; and the second abnormal real-time point is corrected according to the first correction distance to obtain a second target processing sub-trajectory.

[0037] In summary, the method of the present application fuses each first tool image according to a preset fusion rule to obtain a first real-time processing sub-trajectory within a first sampling period, and determines whether the similarity between the first real-time processing sub-trajectory and the first initial processing sub-trajectory is greater than a preset threshold. If it is not greater than the preset threshold, a first correction strategy is generated according to the first real-time processing sub-trajectory and the first initial processing sub-trajectory, and the second initial processing sub-trajectory is corrected according to the first correction strategy to obtain a second target processing sub-trajectory, which can make the actual processing trajectory closer to the theoretical processing trajectory, thereby reducing the workpiece processing error as much as possible.

[0038] See also Figure 2 , which shows a structural block diagram of a machining trajectory control system of a CNC lathe of the present application.

[0039] like Figure 2 As shown, the processing control system 200 includes a generating module 210 , an output module 220 , a determining module 230 and a correcting module 240 .

[0040] Among them, the generation module 210 is configured to obtain information of the workpiece to be processed, and generate an initial processing trajectory of the tool in the CNC lathe according to the information of the workpiece to be processed, wherein the initial processing trajectory contains an initial processing sub-trajectory in at least one sampling period; the output module 220 is configured to obtain at least one first real-time processing image based on the initial processing trajectory within a first sampling period, and input the at least one first real-time processing image into a preset image recognition model, and the image recognition model outputs a first tool image corresponding to the at least one first real-time processing image; the judgment module 230 is configured to fuse each first tool image according to a preset fusion rule to obtain the first tool image in the first sampling period. The first real-time processing sub-trajectory within the first sampling period is determined, and it is determined whether the similarity between the first real-time processing sub-trajectory and the first initial processing sub-trajectory is greater than a preset threshold, wherein the first initial processing sub-trajectory is the initial processing sub-trajectory in the first sampling period; the correction module 240 is configured to generate a first correction strategy according to the first real-time processing sub-trajectory and the first initial processing sub-trajectory if it is not greater than the preset threshold, and correct the second initial processing sub-trajectory according to the first correction strategy to obtain a second target processing sub-trajectory, wherein the second initial processing sub-trajectory is the initial processing sub-trajectory in the second sampling period, and the second sampling period is adjacent to the first sampling period.

[0041] It should be understood that Figure 2 Modules and references documented in Figure 1 Therefore, the operations and features described above for the method and the corresponding technical effects are also applicable to Figure 2 The modules in it will not be described in detail here.

[0042] In some other embodiments, the embodiments of the present invention further provide a computer-readable storage medium having a computer program stored thereon, wherein when the program instructions are executed by a processor, the processor is caused to execute the machining trajectory control method for a CNC lathe in any of the above method embodiments;

[0043] As an implementation mode, the computer-readable storage medium of the present invention stores computer-executable instructions, and the computer-executable instructions are configured as follows:

[0044] Acquire information of a workpiece to be processed, and generate an initial processing trajectory of a tool in the CNC lathe according to the information of the workpiece to be processed, wherein the initial processing trajectory includes an initial processing sub-trajectory in at least one sampling period;

[0045] Acquire at least one first real-time processing image based on the initial processing trajectory within a first sampling period, and input the at least one first real-time processing image into a preset image recognition model, the image recognition model outputting a first tool image corresponding to the at least one first real-time processing image;

[0046] fusing the first tool images according to a preset fusion rule to obtain a first real-time processing sub-trajectory within the first sampling period, and determining whether a similarity between the first real-time processing sub-trajectory and a first initial processing sub-trajectory is greater than a preset threshold, wherein the first initial processing sub-trajectory is an initial processing sub-trajectory within the first sampling period;

[0047] If it is not greater than a preset threshold, a first correction strategy is generated according to the first real-time processing sub-trajectory and the first initial processing sub-trajectory, and the second initial processing sub-trajectory is corrected according to the first correction strategy to obtain a second target processing sub-trajectory, wherein the second initial processing sub-trajectory is the initial processing sub-trajectory in the second sampling period, and the second sampling period is adjacent to the first sampling period.

[0048] The computer-readable storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required by at least one function; the data storage area may store data created according to the use of the machining trajectory control system of the CNC lathe, etc. In addition, the computer-readable storage medium may include a high-speed random access memory, and may also include a memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the computer-readable storage medium may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the machining trajectory control system of the CNC lathe via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0049] Figure 3 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention, such as Figure 3 As shown, the device includes: a processor 310 and a memory 320. The electronic device may also include: an input device 330 and an output device 340. The processor 310, the memory 320, the input device 330 and the output device 340 may be connected via a bus or other means. Figure 3In the example, the connection through the bus is taken as an example. The memory 320 is the above-mentioned computer-readable storage medium. The processor 310 executes various functional applications and data processing of the server by running the non-volatile software programs, instructions and modules stored in the memory 320, that is, the machining trajectory control method of the CNC lathe in the above-mentioned method embodiment is realized. The input device 330 can receive input digital or character information, and generate key signal input related to the user setting and function control of the machining trajectory control system of the CNC lathe. The output device 340 may include a display device such as a display screen.

[0050] The electronic device can execute the method provided by the embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in this embodiment, please refer to the method provided by the embodiment of the present invention.

[0051] As an implementation mode, the electronic device is applied to a machining trajectory control system of a CNC lathe, and is used for a client, and includes: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can:

[0052] Acquire information of a workpiece to be processed, and generate an initial processing trajectory of a tool in the CNC lathe according to the information of the workpiece to be processed, wherein the initial processing trajectory includes an initial processing sub-trajectory in at least one sampling period;

[0053] Acquire at least one first real-time processing image based on the initial processing trajectory within a first sampling period, and input the at least one first real-time processing image into a preset image recognition model, the image recognition model outputting a first tool image corresponding to the at least one first real-time processing image;

[0054] fusing the first tool images according to a preset fusion rule to obtain a first real-time processing sub-trajectory within the first sampling period, and determining whether a similarity between the first real-time processing sub-trajectory and a first initial processing sub-trajectory is greater than a preset threshold, wherein the first initial processing sub-trajectory is an initial processing sub-trajectory within the first sampling period;

[0055] If it is not greater than a preset threshold, a first correction strategy is generated according to the first real-time processing sub-trajectory and the first initial processing sub-trajectory, and the second initial processing sub-trajectory is corrected according to the first correction strategy to obtain a second target processing sub-trajectory, wherein the second initial processing sub-trajectory is the initial processing sub-trajectory in the second sampling period, and the second sampling period is adjacent to the first sampling period.

[0056] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or some parts of the embodiment.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A machining trajectory control method for a CNC lathe, characterized in that: include: Acquire information of a workpiece to be processed, and generate an initial processing trajectory of a tool in the CNC lathe according to the information of the workpiece to be processed, wherein the initial processing trajectory includes an initial processing sub-trajectory in at least one sampling period; Acquire at least one first real-time processing image based on the initial processing trajectory within a first sampling period, and input the at least one first real-time processing image into a preset image recognition model, the image recognition model outputting a first tool image corresponding to the at least one first real-time processing image; fusing the first tool images according to a preset fusion rule to obtain a first real-time processing sub-trajectory within the first sampling period, and determining whether a similarity between the first real-time processing sub-trajectory and a first initial processing sub-trajectory is greater than a preset threshold, wherein the first initial processing sub-trajectory is an initial processing sub-trajectory within the first sampling period; If it is not greater than a preset threshold, a first correction strategy is generated according to the first real-time processing sub-trajectory and the first initial processing sub-trajectory, and the second initial processing sub-trajectory is corrected according to the first correction strategy to obtain a second target processing sub-trajectory, wherein the second initial processing sub-trajectory is the initial processing sub-trajectory in the second sampling period, and the second sampling period is adjacent to the first sampling period.

2. The machining trajectory control method of a CNC lathe according to claim 1, characterized in that: The step of generating an initial machining trajectory of a tool in the CNC lathe according to the information of the workpiece to be machined comprises: An ideal machining trajectory of a tool in the CNC lathe, namely, an initial machining trajectory, is generated based on a machining drawing of a workpiece to be machined.

3. The machining trajectory control method of a CNC lathe according to claim 1, characterized in that: The step of fusing the first tool images according to a preset fusion rule to obtain a first real-time processing sub-trajectory within the first sampling period includes: Acquire a target overlapping region between a first tool image and another first tool image, and locate the first tool image and the another first tool image based on at least two pixel points in the target overlapping region, wherein the target overlapping region does not contain pixel points of the tool; Determine whether the size of a certain tool area is consistent with that of another tool area after positioning, wherein the certain tool area is a tool area in the certain first tool image, and the other tool area is a tool area in the other first tool image; If they are inconsistent, a target tool region and another target tool region of the same size are obtained by simultaneously scaling the certain tool region and the other tool region, and the certain target tool region and the other target tool region are spliced ​​to obtain a first real-time processing sub-track image, wherein the first real-time processing sub-track image contains the first real-time processing sub-track; If they are consistent, the certain tool area and the another tool area are directly spliced ​​to obtain a first real-time processing sub-track image, wherein the first real-time processing sub-track image includes the first real-time processing sub-track.

4. The machining trajectory control method of a CNC lathe according to claim 1, characterized in that: After determining whether the similarity between the first real-time processing sub-trajectory and the first initial processing sub-trajectory is greater than a preset threshold, the method further includes: If it is greater than a preset threshold, acquiring at least one second real-time processing image based on the initial processing trajectory within a second sampling period, and inputting the at least one second real-time processing image into a preset image recognition model, and the image recognition model outputs a second tool image corresponding to the at least one first second real-time processing image; The second tool images are fused according to a preset fusion rule to obtain a second real-time processing sub-trajectory within the first sampling period, and it is determined whether the similarity between the second real-time processing sub-trajectory and the second initial processing sub-trajectory is greater than a preset threshold.

5. The machining trajectory control method of a CNC lathe according to claim 1, characterized in that: The generating of the first correction strategy according to the first real-time processing sub-trajectory and the first initial processing sub-trajectory comprises: Acquire a first normal real-time point position and a second abnormal real-time point position in the first real-time processing sub-trajectory, wherein the first normal real-time point position is: a real-time point position in the real-time processing sub-trajectory that is aligned with a first initial point position of the first initial processing sub-trajectory at a first moment, and the second abnormal real-time point position is: a real-time point position in the real-time processing sub-trajectory that is not aligned with a second initial point position of the first initial processing sub-trajectory at a second moment; A first corrected distance is generated according to the distance between the first initial point and the second initial point.

6. The machining trajectory control method of a CNC lathe according to claim 5, characterized in that: The correcting the second initial processing sub-trajectory according to the first correction strategy to obtain the second target processing sub-trajectory includes: The second abnormal real-time point is corrected according to the first correction distance to obtain a second target processing sub-trajectory.

7. A machining trajectory control system for a CNC lathe, characterized in that: include: A generating module, configured to obtain information of a workpiece to be processed, and generate an initial processing trajectory of a tool in the CNC lathe according to the information of the workpiece to be processed, wherein the initial processing trajectory includes an initial processing sub-trajectory in at least one sampling period; an output module, configured to acquire at least one first real-time processing image based on the initial processing trajectory within a first sampling period, and input the at least one first real-time processing image into a preset image recognition model, wherein the image recognition model outputs a first tool image corresponding to the at least one first real-time processing image; a judgment module, configured to fuse the first tool images according to a preset fusion rule to obtain a first real-time processing sub-trajectory within the first sampling period, and to judge whether the similarity between the first real-time processing sub-trajectory and the first initial processing sub-trajectory is greater than a preset threshold, wherein the first initial processing sub-trajectory is an initial processing sub-trajectory within the first sampling period; The correction module is configured to generate a first correction strategy based on the first real-time processing sub-trajectory and the first initial processing sub-trajectory if it is not greater than a preset threshold, and correct the second initial processing sub-trajectory according to the first correction strategy to obtain a second target processing sub-trajectory, wherein the second initial processing sub-trajectory is the initial processing sub-trajectory in the second sampling period, and the second sampling period is adjacent to the first sampling period.

8. An electronic device, characterized in that: include: At least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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