Tool bit based offset correction method, system, and apparatus

Abstract

The application discloses a tool bit-based deviation correction method, system and device, relates to the tool bit correction technical field, and when a tool bit replacement correction request sent by a user end is received, the system performs first cutting to a direction, generates a cutting slot virtual model to the direction, and extracts cutting parameters and preset parameters for comparison to obtain cutting deviation data to the direction; after the system compensates the tool bit track, second cutting to a direction is performed, a cutting slot virtual model to the direction is generated, and cutting parameters are extracted to obtain cutting deviation data to the direction; the cutting deviation data to the direction is compared with a preset residual deviation threshold value, whether the tool bit has been corrected is judged; if the correction is not completed, a correctable value is calculated, and whether the cutting deviation data to the direction can be continuously used for subsequent compensation is judged. According to the method, whether the tool bit deviation can be compensated can be dynamically judged according to actual conditions, blind correction leading to system oscillation is avoided, rapid detection, effective compensation and intelligent decision of the tool bit deviation are realized, and the cutting precision and system stability are improved.

Description

Technical Field

[0001] This invention relates to the field of tool tip correction technology, and more specifically to a method, system and device for tool tip misalignment correction. Background Technology

[0002] Cutting based on a cutter head refers to a process in which a fixed or movable cutter head is used as the actuating element to cut sheet materials such as paper, film, and fiberboard with high precision. The cutting accuracy directly affects the appearance quality and dimensional stability of the product. In actual operation, the cutter head is highly susceptible to tool wear, installation errors, minor loosening of moving parts, and the inherent inhomogeneity of the material itself, resulting in misalignment. This can cause processing defects such as distorted cut lines, loose joints, and rough edges, and may even lead to the scrapping of large quantities of material, significantly increasing production costs.

[0003] To ensure that the cutter head does not deviate during the actual cutting process and to minimize the impact on the product, a pre-testing process is set up before the product is formally cut. This involves selecting an object made of the same material as the product for a cutting test to observe whether the cutting path is consistent with the preset path height, and to determine whether the cutter head in its current state can perform the subsequent formal cutting of the product. At the same time, based on the cutting status of the cutter head during the testing process, the deviation of the cutting data is intelligently calculated and corrected, thereby ensuring that the cutter head can eliminate the deviation before formally cutting the product, thus achieving accurate cutting in the subsequent formal cutting of the product.

[0004] However, existing pre-inspection processes for cutting head correction often simply correct the cutting head's deviation directly, lacking a mechanism to determine whether the cutting head can be corrected multiple times. Blindly correcting the cutting head's cutting deviation based on the pre-inspection process may lead to poor correction results, or even overcompensation or compensation failure when the cutting head cannot be effectively corrected. This approach not only fails to truly eliminate the cutting head's deviation before the product is officially cut, but may also further reduce the accuracy of subsequent product cutting, causing unnecessary deviation accumulation or mechanical vibration, ultimately affecting the product's appearance quality and dimensional stability. In severe cases, it may even lead to a large amount of material waste and increased production costs. Summary of the Invention

[0005] The purpose of this invention is to solve the problems mentioned above and to provide a method, system and device for correcting the deviation of the tool head.

[0006] In a first aspect of this invention, a method for correcting the offset of a cutting head is first proposed, the method comprising:

[0007] During the pre-detection process, a cutter head replacement and correction request sent by the user is received. After confirmation, the first directional cutting is performed to generate a directional cutting groove virtual model. The corresponding cutting parameter values ​​are extracted from the directional cutting groove virtual model and compared with the system preset parameters to obtain directional cutting deviation data.

[0008] The mirror-rotating cutter head compensates for the cutter head motion trajectory based on the outgoing cutting deviation data, then performs a second return cutting, generates a virtual model of the return cutting groove, and extracts the corresponding cutting groove parameters from the virtual model of the return cutting groove and compares them with the system preset parameters to obtain the return cutting deviation data.

[0009] The back-cutting deviation data is compared with the preset residual deviation threshold to determine whether the cutter head has been calibrated and whether it can enter the normal cutting mode.

[0010] If the cutter head cannot enter the normal cutting mode, calculate the calibrable value of the cutter head, and determine whether the return cutting deviation data can still be used as a new correction amount to continue the subsequent cutter head deviation correction based on the calibrable value.

[0011] Optionally, the steps of comparing the back-cutting deviation data with a preset residual deviation threshold to determine whether the cutter head has been calibrated and whether it can enter the normal cutting mode include:

[0012] If all data in the back-cutting deviation data are less than the corresponding preset residual deviation threshold, it means that the cutter head has been calibrated and no further calibration is needed. The subsequent formal cutting of the product can be carried out based on the cutter head after the offset correction is completed.

[0013] If any data in the back-cutting deviation data is not less than the corresponding preset residual deviation threshold, it means that the cutter head has not been calibrated and cannot enter the subsequent normal cutting mode.

[0014] Optionally, the steps for calculating the calibrable value of the tool tip include:

[0015] The deviation direction consistency ratio is calculated based on the status information of the first outgoing cutting process and the second returning cutting process; the compensation stability value is calculated based on the status information of the second returning cutting process; the deviation direction consistency ratio and the compensation stability value are added together to obtain the correctable value of the cutter head.

[0016] Optionally, the step of calculating the deviation direction consistency ratio based on the state information of the first outgoing cutting process and the second returning cutting process includes:

[0017] Obtain the lateral and longitudinal deviation values ​​of the first direction cut, and record them as the first lateral deviation value and the first longitudinal deviation value, respectively.

[0018] Obtain the lateral and longitudinal deviation values ​​of the second back cut, and record them as the second lateral deviation value and the second longitudinal deviation value, respectively.

[0019] Subtract the second lateral deviation value from the first lateral deviation value to obtain the lateral component of the difference; subtract the second longitudinal deviation value from the first longitudinal deviation value to obtain the longitudinal component of the difference; add the square of the lateral component of the difference to the square of the longitudinal component of the difference, and take the square root of the sum to obtain the magnitude of the difference.

[0020] Optionally, the step of calculating the deviation direction consistency ratio based on the state information of the first outgoing cutting process and the second returning cutting process further includes:

[0021] Calculate the product of the first lateral deviation value and the second longitudinal deviation value as the first product; calculate the product of the second longitudinal deviation value and the first longitudinal deviation value as the second product; and subtract the absolute difference between the first product and the second product as the numerator.

[0022] Add the absolute values ​​of the first and second products and the value 1, use the sum as the denominator, and divide the numerator by the denominator to obtain the rotation ratio factor.

[0023] Add the rotation ratio factor, the difference modulus, and the numerical value 1, and take the reciprocal of the sum as...

[0024] Consistent median value;

[0025] The exponential factor is obtained by adding the numerical value 1 and the difference modulus. The exponentiation operation is performed, with the consistency median value as the base and the exponent as the exponent. The result is used as the consistency ratio of the deviation direction.

[0026] Optionally, the step of calculating the compensation stability value based on the state information during the second back-cutting process includes:

[0027] Multiple continuous trajectory points of the cutter head during the second homing cutting process are obtained. A directional trend coding sequence is constructed based on the difference in horizontal and vertical coordinates between two adjacent trajectory points. The directional trend coding method is as follows: if the horizontal coordinate value of the subsequent trajectory point is greater than that of the previous trajectory point, and the vertical coordinate value is also greater than that of the previous trajectory point, then the directional code of the corresponding trajectory segment is +1; if the horizontal coordinate value of the subsequent trajectory point is less than that of the previous trajectory point, and the vertical coordinate value is also less than that of the previous trajectory point, then the directional code is -1; otherwise, the directional code is 0. A complete directional trend coding sequence is generated from all adjacent trajectory points.

[0028] Optionally, the step of calculating the compensation stability value based on the state information during the second back-cutting process further includes:

[0029] The number of the most frequent of the three coding values ​​in the directional trend coding sequence is recorded as the maximum repetition value. The maximum repetition value is divided by the total length of the directional coding sequence to obtain the directional trend repetition rate.

[0030] The number of times the values ​​between adjacent codes in a statistical directional trend coding sequence change is defined as the directional mutation number; the perturbation turning frequency is obtained by dividing the directional mutation number by the total length of the coding sequence minus one.

[0031] Subtract the square of the perturbation turning frequency from the value 1 as the base, use the directional trend repetition rate as the exponent, perform a power operation, and use the result as the compensation stability value.

[0032] Optionally, the step of determining whether the back-cutting deviation data can still be used as a new correction amount for subsequent cutting offset correction compensation based on the correctable value is as follows:

[0033] Compare the correctable value with the preset correctable value threshold. If the correctable value is not less than the preset correctable value threshold, it means that the back-cutting deviation data can be used as a new correction amount to continue the deviation correction compensation of the pre-detection process and the subsequent cutting until each data in the deviation data is less than the corresponding preset residual deviation threshold. The offset correction of the cutter head is completed, and the subsequent formal cutting of the product can be carried out based on the cutter head after the offset correction is completed.

[0034] If the correctable value is not less than the preset correctable value threshold, it means that the back-cutting deviation data cannot be used as a new correction amount to continue the pre-detection process and subsequent cutting deviation correction compensation. An alarm will be issued immediately, and the offset correction of the cutter head will be achieved manually.

[0035] In a second aspect of the invention, a tool tip-based offset correction system is proposed, the system comprising:

[0036] First cutting module: During the pre-detection process, it receives the cutter head replacement and correction request sent by the user terminal. After confirmation, it performs the first directional cutting, generates a directional cutting groove virtual model, and extracts the corresponding cutting parameter values ​​from the directional cutting groove virtual model and compares them with the system preset parameters to obtain directional cutting deviation data.

[0037] The second cutting module: The mirror rotating cutter head compensates for the cutting trajectory of the cutter head according to the cutting deviation data of the direction, then performs the second return cutting, generates a virtual model of the return cutting groove, and extracts the corresponding cutting groove parameters from the virtual model of the return cutting groove and compares them with the system preset parameters to obtain the return cutting deviation data.

[0038] Preliminary calibration module: compares the back-cutting deviation data with the preset residual deviation threshold to determine whether the cutter head has been calibrated and whether it can enter the normal cutting mode;

[0039] Judgment and correction module: If the cutter head cannot enter the normal cutting mode, calculate the correctable value of the cutter head, and determine whether the return cutting deviation data can still be used as a new correction amount to continue the subsequent cutter head deviation correction based on the correctable value.

[0040] In a third aspect of the present invention, an electronic device is provided, comprising a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus.

[0041] Memory, used to store computer programs;

[0042] When a processor executes a program stored in memory, it implements any of the steps described above.

[0043] The beneficial effects of this invention are:

[0044] This invention proposes a method, system, and device for correcting cutter head misalignment. Through this method, when cutter head misalignment correction is required, it can determine during the pre-testing process whether multiple corrections are possible based on the actual situation. This avoids blindly performing multiple subsequent corrections based solely on the pre-testing process, preventing over-compensation or failure of cutter head misalignment correction. Consequently, cutter head deviation is truly eliminated before the actual product cutting, ensuring the accuracy of subsequent product cutting, avoiding unnecessary deviation accumulation or mechanical vibration, ensuring the final appearance quality and dimensional stability of the product, and reducing production costs. Attached Figure Description

[0045] The invention will now be further described with reference to the accompanying drawings.

[0046] Figure 1 This is a flowchart of a tool tip-based offset correction method;

[0047] Figure 2 This is a framework diagram of a tool head-based offset correction system.

[0048] Figure 3 This is a schematic diagram of the structure of a device provided in an embodiment of the present invention. Detailed Implementation

[0049] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] This invention provides a method for correcting tool tip misalignment. See also: Figure 1 , Figure 1 A flowchart illustrating a tool tip-based offset correction method provided in an embodiment of the present invention. The method includes the following steps:

[0051] S1: During the pre-detection process, the cutter head replacement and correction request sent by the user terminal is received. After confirmation, the first directional cutting is performed to generate a directional cutting groove virtual model. The corresponding cutting parameter values ​​are extracted from the directional cutting groove virtual model and compared with the system preset parameters to obtain the directional cutting deviation data.

[0052] S2: The mirror-rotating cutter head compensates for the cutter head motion trajectory based on the outward cutting deviation data, then performs a second return cutting, generates a virtual model of the return cutting groove, and extracts the corresponding cutting groove parameters from the virtual model of the return cutting groove and compares them with the system preset parameters to obtain the return cutting deviation data.

[0053] S3: Compare the back-cutting deviation data with the preset residual deviation threshold to determine whether the cutter head has been calibrated and whether it can enter the normal cutting mode;

[0054] S4: If the cutter head cannot enter the normal cutting mode, calculate the calibrable value of the cutter head, and determine whether the return cutting deviation data can still be used as a new correction amount to continue the subsequent cutter head deviation correction based on the calibrable value.

[0055] Based on the cutter head-based deviation correction method provided in this invention, when cutter head deviation correction is required, it can determine whether multiple corrections can be performed on the cutter head during the pre-detection process, based on the actual situation. This avoids blindly performing multiple subsequent corrections on the cutter head cutting deviation based on the pre-detection process, preventing over-compensation or failure of cutter head deviation correction. Consequently, the cutter head deviation is truly eliminated before the product is officially cut, ensuring the accuracy of subsequent product cutting, avoiding unnecessary deviation accumulation or mechanical vibration, ensuring the final appearance quality and dimensional stability of the product, and reducing production costs.

[0056] In one embodiment, S1: During the pre-detection process, a cutter head replacement correction request sent by the user terminal is received. After confirmation, the first directional cutting is performed to generate a directional cutting groove virtual model. The corresponding cutting parameter values ​​are extracted from the directional cutting groove virtual model and compared with the system preset parameters to obtain directional cutting deviation data.

[0057] In one implementation, during the pre-detection process, a cutter head replacement and correction request sent by the user terminal is received. After the system confirms the request, the first directional cutting is performed. After the cutting is completed, the millimeter-wave radar group set on the cutting cutter holder is used to obtain the cutting groove information and generate a virtual model of the directional cutting groove. The cutting parameter values ​​include cutting parameter values ​​such as groove width, groove depth, groove opening position, groove line straightness, and groove line inclination angle.

[0058] The cutting parameter values ​​are used to characterize the geometric relationship between the actual cutting path and the preset ideal path, including but not limited to: the coordinate values ​​of the groove in the horizontal direction, the coordinate values ​​in the vertical direction, the average value of the groove width, and the inclination angle of the groove center line.

[0059] The cutting parameter values ​​are compared with the corresponding preset parameter values ​​of the system. By calculating the difference between the actual parameters and the preset parameters, the cutting deviation data is obtained.

[0060] It should be noted that in step S1, during the pre-detection process, after receiving and confirming the cutter head replacement and correction request sent by the user, the system performs the first directional cutting. After the cutting is completed, the millimeter-wave radar array deployed on the cutting blade holder scans the cutting groove, acquires point cloud data containing the geometry of the groove opening, and generates a virtual model of the directional cutting groove. The cutting parameter values ​​extracted from this virtual model include groove width, groove depth, groove opening position, groove line straightness, groove line inclination angle, etc. These parameter values ​​are used to characterize the geometric relationship between the actual cutting path and the preset ideal path, such as the coordinate values ​​of the groove opening in the horizontal direction, the coordinate values ​​in the vertical direction, the average value of the groove opening width, and the inclination angle of the groove line centerline. The system compares the above parameters with the preset parameters one by one and calculates the directional cutting through the difference. Cutting deviation data, particularly the directional cutting deviation data, specifically reflects the lateral and longitudinal offsets as well as additional geometric deviations. For example, if the system's preset ideal cutting groove parameters are a groove width of 1.20mm, a groove depth of 0.50mm, and a centerline angle of 0°, while the millimeter-wave radar detection results show a groove width of 1.27mm, a groove depth of 0.53mm, a centerline angle deviation of 0.8°, and a lateral position of +0.85mm and a longitudinal position of −0.40mm, then the directional cutting deviation data calculated through the difference is lateral +0.85mm, longitudinal −0.40mm, with a width error of 0.07mm, a depth error of 0.03mm, and an angle error of 0.8°. This allows for a comprehensive quantification of the difference between the actual cutting path obtained from the first cutting and the ideal path, providing a basis for subsequent compensation.

[0061] In one embodiment, S2: The mirror-rotating cutter head compensates for the cutter head motion trajectory based on the outward cutting deviation data, then performs a second return cutting, generates a virtual model of the return cutting groove, and extracts the corresponding cutting groove parameters from the virtual model of the return cutting groove and compares them with the system preset parameters to obtain the return cutting deviation data.

[0062] It should be noted that in step S2, after completing the outward cutting in step S1 and obtaining the outward cutting deviation data, the system first performs a mirror rotation of the cutter head, making its movement direction opposite to the first cutting, and uses this as the starting point for the return cutting. Before formally executing the return cutting, the system compensates for the movement trajectory of the cutter head based on the outward cutting deviation data obtained in step S1. That is, it adds correction amounts opposite to the outward deviation values ​​to the horizontal and vertical coordinate systems of the cutter head, so that the cutter head can closely follow the preset ideal cutting path during the second return cutting process. For example, if the outward cutting deviation is detected as +0.85mm horizontally and -0.40mm vertically in step S1, the system will apply a compensation amount of -0.85mm horizontally and +0.40mm vertically to the cutter head trajectory during the second return cutting to eliminate the original deviation in the return path. After the back-cutting is completed, the millimeter-wave radar scans the formed back-cutting groove again to generate a corresponding virtual model. The geometric parameters of the cutting groove, such as the groove opening position, groove width, groove depth, and centerline angle, are extracted from the model. These actual parameters are then compared one by one with the ideal parameters preset by the system. The back-cutting deviation data is obtained by calculating the difference. This deviation value is not only used to verify the effectiveness of the first deviation compensation, but also reflects the residual error after compensation. For example, if the detection result of the back-cutting groove shows a small deviation of only +0.10mm in the lateral direction and +0.05mm in the longitudinal direction, it indicates that the first deviation compensation has significantly reduced the deviation, proving that the compensation effect is basically effective. The residual back-cutting deviation data can be used for subsequent closed-loop correction and correctability judgment, thus providing continuous data support for the entire correction process.

[0063] In one embodiment, S3: The step of comparing the back-cutting deviation data with a preset residual deviation threshold to determine whether the cutter head has been calibrated and whether it can enter the normal cutting mode includes:

[0064] If all data in the back-cutting deviation data are less than the corresponding preset residual deviation threshold, it means that the cutter head has been calibrated and no further calibration is needed. The subsequent formal cutting of the product can be carried out based on the cutter head after the offset correction is completed.

[0065] If any data in the back-cutting deviation data is not less than the corresponding preset residual deviation threshold, it means that the cutter head has not been calibrated and cannot enter the subsequent normal cutting mode.

[0066] It should be noted that in step S3, the system compares the back-cutting deviation data obtained in step S2 with the preset residual deviation threshold to determine whether the cutter head has been calibrated and whether it can enter the normal cutting mode. The residual deviation threshold is an allowable error range preset by the system during design, used to limit the maximum acceptable difference between the actual cutting path and the ideal path. For example, the preset residual deviation threshold is ±0.20mm. When the back-cutting deviation data is less than this threshold in both the horizontal and vertical directions, it means that after two deviation detections and one compensation in the outward and return directions, the movement trajectory of the cutter head has basically coincided with the ideal path, and the residual error is within the range allowed by the system. Therefore, it can be determined that the cutter head has been calibrated and the subsequent formal cutting of the product can be carried out based on the cutter head after the offset correction is completed. The system will not perform any additional calibration operations at this time.

[0067] Conversely, if the deviation data of the back cutting is not less than ±0.20mm in either the horizontal or vertical direction, it indicates that the compensation has not completely eliminated the original deviation, and the cutter head still has a residual error that cannot be ignored. At this time, the system determines that the cutter head has not been calibrated and cannot directly enter the subsequent formal cutting of the product. Otherwise, it may lead to the accumulation of large-scale cutting deviations, causing the risk of product material scrapping or quality failure in the subsequent formal cutting. For example, if the back cutting deviation is detected to be +0.45mm in the horizontal direction and +0.30mm in the vertical direction in step S2, both exceeding the preset threshold of ±0.20mm, the system will determine that the cutter head has not been calibrated and enter the next step of the correctability judgment to determine whether multiple corrections can be performed to achieve the calibration of the cutter head. This avoids entering the normal cutting process rashly and also avoids unnecessary manual operation or over-adjustment, saving resources and time.

[0068] In one embodiment, S4: If the cutter head cannot enter the normal cutting mode, calculate the calibrable value of the cutter head, and determine whether the return cutting deviation data can still be used as a new correction amount to continue the deviation correction compensation for subsequent cutting based on the calibrable value.

[0069] In one implementation, the step of calculating the calibrable value of the tool head includes:

[0070] The deviation direction consistency ratio is calculated based on the status information of the first outgoing cutting process and the second returning cutting process; the compensation stability value is calculated based on the status information of the second returning cutting process; the deviation direction consistency ratio and the compensation stability value are added together to obtain the correctable value of the cutter head.

[0071] In one embodiment, the step of calculating the deviation direction consistency ratio based on the state information of the first outgoing cutting process and the second returning cutting process includes:

[0072] Obtain the lateral and longitudinal deviation values ​​of the first direction cut, and record them as the first lateral deviation value and the first longitudinal deviation value, respectively.

[0073] Obtain the lateral and longitudinal deviation values ​​of the second back cut, and record them as the second lateral deviation value and the second longitudinal deviation value, respectively.

[0074] Subtracting the second lateral deviation value from the first lateral deviation value yields the lateral difference component; subtracting the second longitudinal deviation value from the first longitudinal deviation value yields the longitudinal difference component; the square of the lateral difference component is added to the square of the longitudinal difference component, and the square root of the sum is taken to obtain the magnitude of the difference; this is used to characterize the overall difference between the two deviations in direction and magnitude.

[0075] Calculate the product of the first lateral deviation value and the second longitudinal deviation value as the first product; calculate the product of the second longitudinal deviation value and the first longitudinal deviation value as the second product; and subtract the absolute difference between the first product and the second product as the numerator.

[0076] Add the absolute values ​​of the first and second products and the value 1, use the sum as the denominator, and divide the numerator by the denominator to obtain the rotation ratio factor; the rotation ratio factor is used to reflect the degree of rotation between the two deviation vectors.

[0077] Add the rotation ratio factor, the difference modulus, and the numerical value 1, and take the reciprocal of the sum as...

[0078] The consistency median value; the numerical range of the consistency median value is between zero and one.

[0079] The numerical value of 1 and the difference modulus are added together to obtain the exponential factor. An exponentiation operation is then performed, using the consistency median value as the base and the exponential factor as the exponent. The result is used as the deviation direction consistency ratio. When the difference modulus and the rotation ratio factor are both small, the consistency median value approaches one, and the final deviation direction consistency ratio is close to one, indicating that the deviation directions of the outgoing and returning directions are highly consistent. When the difference modulus or the rotation ratio factor is large, the consistency median value approaches zero, and the final deviation direction consistency ratio is close to zero, indicating that the deviation directions of the outgoing and returning directions are inconsistent.

[0080] It should be noted that in the calculation of the above deviation direction consistency ratio, the data involved in each calculation step comes from the state information of the cutter head during the first outward cutting process and the second return cutting process. The state information is collected by the millimeter-wave radar group set on the cutting blade holder. The millimeter-wave radar obtains the geometric feature data of the cutting groove by emitting electromagnetic waves and receiving reflected signals. After processing by the system's built-in modeling module, a virtual model of the cutting groove is generated. In this virtual model, the positional deviation of the cutter head in the lateral and longitudinal directions can be directly extracted as the first lateral deviation value, the first longitudinal deviation value, the second lateral deviation value, and the second longitudinal deviation value. The input required for calculating the difference lateral component and the difference longitudinal component is the above four deviation values. The calculation of the difference modulus still uses the difference lateral component detected by the millimeter-wave radar and calculated by the system. The calculation of the longitudinal component of the deviation; the first and second products required for the calculation of the rotation ratio factor are obtained by calculating the first lateral deviation value, the first longitudinal deviation value, the second lateral deviation value, and the second longitudinal deviation value. These deviation values ​​are directly derived from the detection results of the millimeter-wave radar on the cutting groove model; the calculation process of the consistency intermediate value and the index factor both depend on the results of the difference modulus and the rotation ratio factor, and the difference modulus and the rotation ratio factor are derived from the deviation values ​​detected by the millimeter-wave radar; therefore, from the acquisition of the original data to the output of the final deviation direction consistency ratio, all input data come from the geometric parameters of the cutting groove collected by the millimeter-wave radar, which are extracted and converted into lateral and longitudinal deviation values ​​by the system's data processing module, and then the difference amount, rotation amount, consistency index and index factor are calculated step by step to finally complete the calculation of the deviation direction consistency ratio.

[0081] It should be noted that the deviation direction consistency ratio is used to measure the degree of consistency between the two cutting deviations in direction and magnitude. When this ratio is close to one, it indicates that the deviations in the outgoing and returning directions are consistent in direction or have only a slight difference, indicating that the compensation direction is correct and the system's correction to the first deviation can be effectively verified during the returning process. At this time, the convergence of the residual deviation is strong, and the ideal path can be further approximated by continuing to use the returning cutting deviation value as a new correction amount. Conversely, when the deviation direction consistency ratio is close to zero, it indicates that there is a significant divergence in the directions of the two deviations, which may indicate that the first compensation direction is incorrect, compensation fails, or the mechanical state of the cutter head is abnormal. If the returning cutting deviation value is still used as a new correction amount at this time, it is easy to cause the result after the compensation superposition to be further... If the deviation from the ideal trajectory causes system oscillations or even error accumulation, for example, if the initial deviation is +0.8mm laterally and -0.4mm longitudinally, and the subsequent deviation is +0.9mm laterally and -0.5mm longitudinally, the two deviations are essentially in the same direction, and the calculated deviation direction consistency ratio is close to one. This indicates that although the cutter head deviation has not been completely eliminated, the compensation direction is correct, and the system can continue iterative compensation until the error converges. However, if the subsequent deviation is -0.9mm laterally and +0.6mm longitudinally, the direction is completely opposite to the initial deviation, and the deviation direction consistency ratio is close to zero. This indicates that the cutter head has overcorrected or even deflected during the compensation process. If the system continues to compensate, it will cause further deviations. In this case, automatic correction must be stopped and manual intervention must be initiated. Therefore, the deviation direction consistency ratio is not only a quantitative basis for judging the relationship between the directions of two cutting deviations, but also a key condition for determining whether the residual deviation can be used as a new correction amount. The larger the value, the higher the correctability.

[0082] It should be noted that the reason for calculating the deviation direction consistency ratio using the above method, rather than the conventional method of vector angle cosine or simple difference comparison, is that the above method not only considers the numerical differences in the horizontal and vertical directions of the two deviations in the outward and return directions, but also introduces the linkage between the difference magnitude and the rotation ratio factor. This allows the result to simultaneously reflect the consistency of the deviation amplitude and the degree of rotation in the deviation direction. By progressively calculating the consistency intermediate value and the exponential factor, a non-linear convergent mapping is formed. This design can avoid the problems of loss of direction sign or amplitude distortion that are easy to occur in simple angle comparison. It can also overcome the shortcomings of conventional difference ratios in distinguishing between "consistent direction but large amplitude difference" and "inconsistent direction but small amplitude difference", thus achieving a more accurate and comprehensive measurement of the consistency of deviation direction. For example, when two cutting deviations are similar in amplitude but slightly rotated in direction, traditional methods may only give a high consistency evaluation based on the included angle, ignoring the error accumulation caused by rotation. The method described above, however, effectively amplifies this rotational difference through a rotation ratio factor, causing the consistency ratio to decrease and indicating that the system's compensation direction is not entirely correct. Conversely, when two deviations are highly consistent in direction and their amplitudes gradually converge, the method above ensures that the consistency ratio remains stable near one through the convergence of the consistency median value to one and the nonlinear compression of the exponential factor, accurately reflecting the sustainability of the compensation. In summary, the advantage of calculating the deviation direction consistency ratio in this way is that it can simultaneously reflect the combined effects of deviation amplitude and direction rotation within a unified 0-1 interval, possessing stronger robustness and discriminative ability. This makes the calculation results not only more stable and reliable but also provides a more scientific quantitative basis for whether to continue using residual deviations for compensation.

[0083] In one embodiment, the step of calculating the compensation stability value based on the state information during the second back-cutting process includes:

[0084] Multiple continuous trajectory points of the cutter head during the second homing cutting process are acquired. A directional trend coding sequence is constructed based on the difference in lateral and longitudinal coordinates between adjacent trajectory points. The directional trend coding method is as follows: if the lateral coordinate value of the subsequent trajectory point is greater than that of the previous trajectory point, and the longitudinal coordinate value is also greater than that of the previous trajectory point, then the directional code for that trajectory segment is +1; if the lateral coordinate value of the subsequent trajectory point is less than that of the previous trajectory point, and the longitudinal coordinate value is also less than that of the previous trajectory point, then the directional code is -1; otherwise, the directional code is 0. A complete directional trend coding sequence is generated from all adjacent trajectory points. The trajectory points are acquired by a millimeter-wave radar installed on the cutting device, recording the lateral and longitudinal coordinate values ​​that the cutter head sequentially passes through on the cutting path.

[0085] The number of the three coding values ​​(+1, 0, -1) that appear most frequently in the directional trend coding sequence is recorded as the maximum repetition value. The maximum repetition value is divided by the total length of the directional coding sequence to obtain the directional trend repetition rate. The directional trend repetition rate is used to characterize the uniformity and stability of the cutting head's running direction during the back-cutting process.

[0086] The number of times the values ​​between adjacent codes in the statistical directional trend coding sequence change is defined as the directional mutation number. Dividing the directional mutation number by the total length of the coding sequence minus one yields the perturbation turning frequency. The perturbation turning frequency is used to measure the frequency of directional disturbances in the tool trajectory over a short period of time.

[0087] The base is the square of the perturbation turning frequency, and the exponent is the directional trend repetition rate. The result is used as the compensation stability value. This dimensionless value, between 0 and 1, reflects the stability of the cutter head movement during the retrace cutting process. When the directional trend repetition rate is high and the perturbation turning frequency is low, the compensation stability value is close to 1, indicating stable cutter head operation and a smooth compensation process. When the directional trend repetition rate is low or the perturbation turning frequency is high, the compensation stability value approaches 0, indicating severe jitter in the cutter head movement direction and an unsustainable compensation process.

[0088] It should be noted that the compensation stability value is an indicator used to quantify whether the cutting head trajectory is stable during the second back-cutting process. It measures whether the cutting head completes its movement in a relatively consistent and stable direction during the compensation execution process. The closer the value is to 1, the less directional change, the more continuous the movement, the less the micro-disturbance, and the smaller the jitter in the cutting head trajectory, reflecting that the current system compensation behavior is stable and reliable. When the value is closer to 0, it indicates that there are frequent directional switching, high-frequency jumps in micro-disturbance, and chaotic directional trends in the cutting head trajectory, indicating that there is obvious instability or feedback fluctuation in the compensation process, which may be caused by mechanical loosening of the cutting head, material abnormalities, or lag in the actuator. The level of the compensation stability value not only reflects the stability of the cutter head's operation itself, but also directly affects whether the system has the ability to continuously perform automatic correction. When the compensation stability value is high, it indicates that the cutting head's operating trend is predictable and controllable under the current system control strategy, suggesting that the system compensation process has a good stability foundation. If residual deviation still exists, it is reasonable and safe to continue using the return cutting deviation value as the new round of compensation amount, and the cutting accuracy can be further optimized without introducing new errors. Conversely, when the compensation stability value is low, even if the return deviation value is not large, the subsequent compensation behavior may be difficult to converge or even "the more it is corrected, the more it deviates" may occur due to unstable system feedback. If the current residual deviation is forcibly used for compensation, it is very easy to cause system instability, trajectory oscillation or structural conflict. Therefore, automatic compensation should be stopped immediately and switched to alarm processing or manual correction. To illustrate, if the deviation in a certain back-cutting operation is +0.3mm laterally and -0.2mm longitudinally, the values ​​seem small. However, if the millimeter-wave radar's back-transmission trajectory encoding shows frequent oscillations in the cutter head direction within a few millimeters, and the compensation stability value is only 0.28, it indicates that even with a small residual value, the system cannot stably execute the compensation command, and automatic correction should not continue. Conversely, in another scenario, even if the deviation is +0.5mm laterally and +0.4mm longitudinally, if the trajectory direction remains consistent with minimal disturbances, and the calculated compensation stability value is 0.91, the system's compensation execution is stable and reliable. In this case, continuing to use this deviation for the next round of compensation is reasonable. Therefore, the compensation stability value is not only a core indicator for evaluating compensation quality but also a prerequisite for determining whether automatic deviation correction is feasible. The larger the value, the more stable the system's operation, the more calibrable the cutter head, and the more reliable the compensation behavior.

[0089] It should be noted that the reason for using the method described above, which combines directional trend encoding sequences with perturbation turning frequencies, to calculate the compensation stability value, instead of using conventional methods such as trajectory point position variance, velocity fluctuation amplitude, or Euclidean distance offset, is primarily because the above method is logically closer to the structural fluctuation characteristics in the actual operation of the cutting head. It can more accurately capture the nonlinear disturbance patterns caused by compensation instability or control jitter during the cutting process. Traditional stability evaluation methods often rely on statistical analysis of the spatial coordinate changes of continuous trajectory points, such as by calculating coordinate variance or trajectory fitting error to reflect the degree of fluctuation. However, these methods are essentially passive measurements of the "result," making it difficult to capture the regularity and command response characteristics at the "trend level" of the trajectory. They often fail to distinguish between minor path fluctuations caused by the inherent laws of system control and continuous directional jumps caused by control instability, and are even less suitable for establishing stability benchmarks in irregular paths. The aforementioned method encodes the changes in the cutter trajectory direction, extracting the trend repeatability (i.e., directional trend repetition rate) and abrupt change frequency (i.e., perturbation turning frequency) of its running direction. This not only maintains the accuracy of stability assessment even with low-resolution data but also directly models the features of perturbation sources, achieving positive modeling and stability evaluation of "directional control continuity," resulting in higher discriminative and interpretable capabilities. Furthermore, this method is mathematically independent of trajectory size or shape, unaffected by path length or cutter speed variations, and can be applied to complex curves, multi-segment paths, or cutting scenarios with different precision levels, making it more versatile and robust. For example, using traditional position variance methods, when the path is an intentionally designed arc or sawtooth shape, it may misjudge "non-fluctuating" paths as unstable. This method, based on direction encoding, can distinguish these trajectory structures with continuous trends and provide stability evaluation, avoiding erroneous alarm triggering or misleading compensation mechanisms. In summary, the advantage of calculating the compensation stability value in the above manner is that it takes into account multiple requirements such as control response structure, disturbance source identification, and algorithm adaptability. It can stably and accurately reflect the dynamic controllability of the cutter head compensation behavior under various cutting conditions, and is a calculation method with greater industrial practical value and more complete discrimination logic.

[0090] In one embodiment, the step of determining whether the back-cutting deviation data can still be used as a new correction amount for subsequent cutting offset correction compensation based on the correctable value is as follows:

[0091] Compare the correctable value with the preset correctable value threshold. If the correctable value is not less than the preset correctable value threshold, it means that the back-cutting deviation data can be used as a new correction amount to continue the deviation correction compensation of the pre-detection process and the subsequent cutting until each data in the deviation data is less than the corresponding preset residual deviation threshold. The offset correction of the cutter head is completed, and the subsequent formal cutting of the product can be carried out based on the cutter head after the offset correction is completed.

[0092] If the correctable value is not less than the preset correctable value threshold, it means that the back-cutting deviation data cannot be used as a new correction amount to continue the pre-detection process and subsequent cutting deviation correction compensation. An alarm will be issued immediately, and the offset correction of the cutter head will be achieved manually.

[0093] It should be noted that in the step of determining whether the back-cutting deviation data can still be used as a new correction for subsequent cutting deviation compensation based on the correctable value, the system first compares the currently calculated correctable value with a preset correctable value threshold. This correctable value is a dimensionless index calculated based on multiple dimensions such as the deviation direction consistency ratio and the compensation stability value. It is used to characterize whether the current cutting system still has the ability to stably and effectively continue to perform deviation compensation operations under a given residual deviation condition. If the correctable value is greater than or equal to the preset threshold, it indicates that the current cutter head operation is stable, the deviation direction continuity is good, and the system has a strong residual convergence ability. At this time, the current back-cutting deviation data can be used as a new correction. The input is fed into the next round of trajectory compensation to achieve continuous correction of the cutter head until all data in the deviation data are less than the corresponding preset residual deviation threshold. The cutter head offset correction is then complete, and subsequent product cutting can proceed based on the corrected cutter head. If the correctable value is less than the preset threshold, it indicates significant uncertainty in the current compensation path, such as large trajectory fluctuations, loss of control in the compensation direction, or abnormal system control response. Continuing to use the current deviation data as a correction may amplify the deviation or even cause instability. To ensure cutting accuracy and equipment safety, the system should immediately terminate the automatic compensation operation and trigger an alarm, requiring manual intervention for cutter head correction and system status confirmation to prevent the accumulation of large-scale cutting errors or abnormal equipment damage. For example, in a certain cutting operation, the system detects a return deviation of +0.5mm laterally and +0.4mm longitudinally. However, due to severe trajectory jitter and chaotic directional trends, the final correctable value is only 0.46, lower than the preset threshold of 0.70. In this case, the system automatically identifies it as an uncompensable state and proactively initiates manual intervention to avoid the risks of further miscompensation. Conversely, if the residual deviation still exists but the system trajectory is stable, the direction is consistent, and the compensation response is good, and the calculated correctable value is 0.85, which is higher than the threshold, then the system will automatically continue to use the return deviation as the correction amount to perform subsequent path optimization, thereby achieving high-precision cutter head correction control with a closed loop throughout the process and ensuring that the cutting path is accurate and consistent.

[0094] Based on the same inventive concept, embodiments of the present invention also provide a tool tip-based offset correction system. See also Figure 2 , Figure 2 This is a framework diagram of a tool-based offset correction system provided in an embodiment of the present invention. The system includes:

[0095] The first cutting module: During the pre-detection process, it receives the cutter head replacement and correction request sent by the user terminal. After confirmation, it performs the first directional cutting, generates a directional cutting groove virtual model, and extracts the corresponding cutting parameter values ​​from the directional cutting groove virtual model and compares them with the system preset parameters to obtain directional cutting deviation data.

[0096] The second cutting module: The mirror-rotating cutter head compensates for the cutter head movement trajectory based on the outward cutting deviation data, then performs a second return cutting, generates a virtual model of the return cutting groove, and extracts the corresponding cutting groove parameters from the virtual model of the return cutting groove and compares them with the system preset parameters to obtain the return cutting deviation data.

[0097] Preliminary calibration module: compares the back-cutting deviation data with the preset residual deviation threshold to determine whether the cutter head has been calibrated and whether it can enter the normal cutting mode;

[0098] Judgment and correction module: If the cutter head cannot enter the normal cutting mode, calculate the correctable value of the cutter head, and determine whether the return cutting deviation data can still be used as a new correction amount to continue the subsequent cutter head deviation correction based on the correctable value.

[0099] Based on the cutter head-based deviation correction system provided in this invention, when cutter head deviation correction is required, the system can determine whether multiple corrections can be performed on the cutter head during the pre-detection process, based on the actual situation. This avoids blindly performing multiple subsequent corrections on the cutter head cutting deviation based solely on the pre-detection process, preventing over-compensation or failure of cutter head deviation correction. Consequently, the system truly eliminates cutter head deviation before the actual product cutting, ensuring the accuracy of subsequent actual product cutting, avoiding unnecessary deviation accumulation or mechanical vibration, ensuring the final appearance quality and dimensional stability of the product, and reducing production costs.

[0100] This invention also provides a device, such as... Figure 3 As shown, it includes a processor 301, a communication interface 302, a memory 303, and a communication bus 304, wherein the processor 301, the communication interface 302, and the memory 303 communicate with each other through the communication bus 304.

[0101] Memory 303 is used to store computer programs;

[0102] When processor 301 executes a program stored in memory 303, it performs the following steps:

[0103] S1: During the pre-detection process, the cutter head replacement and correction request sent by the user terminal is received. After confirmation, the first directional cutting is performed to generate a directional cutting groove virtual model. The corresponding cutting parameter values ​​are extracted from the directional cutting groove virtual model and compared with the system preset parameters to obtain the directional cutting deviation data.

[0104] S2: The mirror-rotating cutter head compensates for the cutter head motion trajectory based on the outward cutting deviation data, then performs a second return cutting, generates a virtual model of the return cutting groove, and extracts the corresponding cutting groove parameters from the virtual model of the return cutting groove and compares them with the system preset parameters to obtain the return cutting deviation data.

[0105] S3: Compare the back-cutting deviation data with the preset residual deviation threshold to determine whether the cutter head has been calibrated and whether it can enter the normal cutting mode;

[0106] S4: If the cutter head cannot enter the normal cutting mode, calculate the calibrable value of the cutter head, and determine whether the return cutting deviation data can still be used as a new correction amount to continue the subsequent cutter head deviation correction based on the calibrable value.

[0107] The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not indicate that there is only one bus or one type of bus.

[0108] The communication interface is used for communication between the above-mentioned devices and other devices.

[0109] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0110] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0111] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the claims of this invention should still fall within the patent coverage of this invention.

Claims

1. A method for correcting the misalignment of a cutting head, characterized in that, Includes the following steps: During the pre-detection process, the user sends a cutter head replacement and correction request. After confirmation, the first directional cutting is performed to generate a directional cutting groove virtual model. The corresponding cutting parameter values ​​are extracted from the directional cutting groove virtual model and compared with the system preset parameters to obtain directional cutting deviation data. The mirror-rotating cutter head compensates for the cutter head motion trajectory based on the outgoing cutting deviation data, then performs a second return cutting, generates a virtual model of the return cutting groove, and extracts the corresponding cutting groove parameters from the virtual model of the return cutting groove and compares them with the system preset parameters to obtain the return cutting deviation data. The back-cutting deviation data is compared with the preset residual deviation threshold to determine whether the cutter head has been calibrated and whether it can enter the normal cutting mode. If the cutter head cannot enter the normal cutting mode, calculate the calibrable value of the cutter head, and determine whether the return cutting deviation data can still be used as a new correction amount to continue the subsequent cutter head deviation correction based on the calibrable value. The steps for calculating the calibrable values ​​of the cutting head include: The deviation direction consistency ratio is calculated based on the status information of the first outgoing cutting process and the second returning cutting process; the compensation stability value is calculated based on the status information of the second returning cutting process; the deviation direction consistency ratio and the compensation stability value are added together to obtain the correctable value of the cutter head. The steps for calculating the compensation stability value based on the state information during the second back-cutting process include: Multiple continuous trajectory points of the cutter head during the second homing cutting process are obtained. A directional trend coding sequence is constructed based on the difference in horizontal and vertical coordinates between two adjacent trajectory points. The directional trend coding method is as follows: if the horizontal coordinate value of the subsequent trajectory point is greater than that of the previous trajectory point, and the vertical coordinate value is also greater than that of the previous trajectory point, then the corresponding trajectory direction code is +1; if the horizontal coordinate value of the subsequent trajectory point is less than that of the previous trajectory point, and the vertical coordinate value is also less than that of the previous trajectory point, then the direction code is -1; otherwise, the direction code is 0. A complete directional trend coding sequence is generated from all adjacent trajectory points. The number of the most frequent of the three coding values ​​in the directional trend coding sequence is recorded as the maximum repetition value. The maximum repetition value is divided by the total length of the directional coding sequence to obtain the directional trend repetition rate. The number of times the values ​​between adjacent codes in a statistical directional trend coding sequence change is defined as the directional mutation number; the perturbation turning frequency is obtained by dividing the directional mutation number by the total length of the coding sequence minus one. Subtract the square of the perturbation turning frequency from the value 1 as the base, use the directional trend repetition rate as the exponent, perform a power operation, and use the result as the compensation stability value.

2. The method for correcting offset based on the cutting head according to claim 1, characterized in that, The steps for comparing the back-cutting deviation data with the preset residual deviation threshold to determine whether the cutter head has been calibrated and can enter the normal cutting mode include: If all data in the back-cutting deviation data are less than the corresponding preset residual deviation threshold, it means that the cutter head has been calibrated and no further calibration is needed. The subsequent formal cutting of the product can be carried out based on the cutter head after the offset correction is completed. If any data in the back-cutting deviation data is not less than the corresponding preset residual deviation threshold, it means that the cutter head has not been calibrated and cannot enter the subsequent normal cutting mode.

3. The method for correcting offset based on the cutting head according to claim 1, characterized in that, The steps for calculating the deviation direction consistency ratio based on the status information of the first outgoing cutting process and the second returning cutting process include: Obtain the lateral and longitudinal deviation values ​​of the first direction cut, and record them as the first lateral deviation value and the first longitudinal deviation value, respectively. Obtain the lateral and longitudinal deviation values ​​of the second back cut, and record them as the second lateral deviation value and the second longitudinal deviation value, respectively. Subtract the second lateral deviation value from the first lateral deviation value to obtain the lateral component of the difference; subtract the second longitudinal deviation value from the first longitudinal deviation value to obtain the longitudinal component of the difference; add the square of the lateral component of the difference to the square of the longitudinal component of the difference, and take the square root of the sum to obtain the magnitude of the difference.

4. The method for correcting the offset of a cutting head according to claim 1, characterized in that, The step of calculating the deviation direction consistency ratio based on the status information of the first outgoing cutting process and the second returning cutting process also includes: Calculate the product of the first lateral deviation value and the second longitudinal deviation value as the first product; calculate the product of the second longitudinal deviation value and the first longitudinal deviation value as the second product; and subtract the absolute difference between the first product and the second product as the numerator. Add the absolute values ​​of the first and second products and the value 1, use the sum as the denominator, and divide the numerator by the denominator to obtain the rotation ratio factor. Add the rotation ratio factor, the difference modulus, and the numerical value 1, and take the reciprocal of the sum as... Consistent median value; The exponential factor is obtained by adding the numerical value 1 and the difference modulus. The exponentiation operation is performed, with the consistency median value as the base and the exponent as the exponent. The result is used as the consistency ratio of the deviation direction.

5. The method for correcting offset based on the cutting head according to claim 1, characterized in that, The steps for determining whether the back-cutting deviation data can still be used as a new correction amount for subsequent cutting based on the correctable value are as follows: Compare the correctable value with the preset correctable value threshold. If the correctable value is not less than the preset correctable value threshold, it means that the back-cutting deviation data can be used as a new correction amount to continue the deviation correction compensation of the pre-detection process and the subsequent cutting until each data in the deviation data is less than the corresponding preset residual deviation threshold. The offset correction of the cutter head is completed, and the subsequent formal cutting of the product can be carried out based on the cutter head after the offset correction is completed. If the correctable value is not less than the preset correctable value threshold, it means that the back-cutting deviation data cannot be used as a new correction amount to continue the pre-detection process and subsequent cutting deviation correction compensation. An alarm will be issued immediately, and the offset correction of the cutter head will be achieved manually.

6. A tool-head-based offset correction system, used to implement the tool-head-based offset correction method according to any one of claims 1-5, characterized in that, The system includes: First cutting module: During the pre-detection process, it receives the cutter head replacement and correction request sent by the user terminal. After confirmation, it performs the first direction cutting, generates a direction cutting groove virtual model, and extracts the corresponding cutting parameter values ​​from the direction cutting groove virtual model and compares them with the system preset parameters to obtain the direction cutting deviation data. The second cutting module: The mirror rotating cutter head compensates for the cutting trajectory of the cutter head according to the cutting deviation data of the direction, then performs the second return cutting, generates a virtual model of the return cutting groove, and extracts the corresponding cutting groove parameters from the virtual model of the return cutting groove and compares them with the system preset parameters to obtain the return cutting deviation data. Preliminary calibration module: compares the back-cutting deviation data with the preset residual deviation threshold to determine whether the cutter head has been calibrated and whether it can enter the normal cutting mode; Judgment and correction module: If the cutter head cannot enter the normal cutting mode, calculate the correctable value of the cutter head, and determine whether the return cutting deviation data can still be used as a new correction amount to continue the subsequent cutter head deviation correction based on the correctable value.

7. A tool head-based offset correction device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; When a processor executes a program stored in memory, it implements the steps of the tool head-based offset correction method as described in any one of claims 1-5.

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