阅读说明：本技术 制孔机构的控制方法、装置、电子设备和制孔机构 (Control method and device of hole making mechanism, electronic equipment and hole making mechanism ) 是由 陈俊泰 陈帅 陈磊 刘绪乐 于 2021-08-17 设计创作，主要内容包括：本申请提供一种制孔机构的控制方法、装置、电子设备和制孔机构,本申请的制孔机构的控制方法包括：输出对制孔机构中刀具的第一控制指令,第一控制指令用于令刀具的轴线与第一基准孔的轴线重合,并且刀具与第一基准孔保持预设距离；制孔机构包括基座,基座上设有刀具和图像采集器；获取刀具刀尖点的当前位置信息；根据图像采集器与刀具的距离、图像采集器的标定参数、预设距离和当前位置信息,输出对刀具的第二控制指令,第二控制指令用于令图像采集器的镜头轴线与第一基准孔的轴线重合。故本申请可以找准图像采集器采集的角度,使得图像采集器所得图像不畸变。(The application provides a control method and a control device of a hole making mechanism, electronic equipment and the hole making mechanism, wherein the control method of the hole making mechanism comprises the following steps: outputting a first control instruction for a cutter in the hole making mechanism, wherein the first control instruction is used for enabling the axis of the cutter to be overlapped with the axis of the first reference hole, and the cutter and the first reference hole keep a preset distance; the hole making mechanism comprises a base, wherein a cutter and an image collector are arranged on the base; acquiring current position information of a tool point of a cutter; and outputting a second control instruction for the cutter according to the distance between the image collector and the cutter, the calibration parameter of the image collector, the preset distance and the current position information, wherein the second control instruction is used for enabling the axis of the lens of the image collector to coincide with the axis of the first reference hole. Therefore, the angle collected by the image collector can be accurately found, and the image obtained by the image collector is not distorted.)

1. A method of controlling a hole forming mechanism, comprising:

outputting a first control instruction for a cutter in a hole making mechanism, wherein the first control instruction is used for enabling the axis of the cutter to be overlapped with the axis of a first reference hole, and the cutter and the first reference hole keep a preset distance; the hole making mechanism comprises a base, and a cutter and an image collector are arranged on the base;

acquiring current position information of the tool point of the tool;

and outputting a second control instruction to the cutter according to the distance between the image collector and the cutter, the calibration parameter of the image collector, the preset distance and the current position information, wherein the second control instruction is used for enabling the axis of the lens of the image collector to coincide with the axis of the first reference hole.

2. The method of claim 1, further comprising:

acquiring a first image which is shot by the image collector and aims at the first reference hole;

extracting the shape information of the reference hole to be identified in the first image;

matching the shape information of the reference hole to be identified with the shape information of a standard hole, and judging whether the lens axis of the image collector is superposed with the axis of the first reference hole or not;

if the lens axis of the image collector is not overlapped with the axis of the first reference hole, outputting prompt information or generating a regulation and control instruction for controlling the hole making mechanism;

and if the lens axis of the image collector is superposed with the axis of the first reference hole, storing the first image.

3. The method of claim 1, further comprising:

acquiring displacement detection data of a detection device in a hole making mechanism, wherein the displacement detection data comprises a detection value of the detection device when the tool tip point is respectively positioned in each reference hole in a reference hole group;

acquiring an image set which is shot by the image collector and aims at the reference hole group;

determining actual position information of each reference hole in the reference hole group under a tool coordinate system according to the displacement detection data and the image set;

determining deviation information of the reference holes according to the actual position information of each reference hole in the reference hole group and the position information of the standard machining point;

and determining the position information of the target machining point according to the deviation information and the position information of the standard machining point.

4. The method of any of claims 1 to 3, wherein outputting a first control command for a tool in a hole making mechanism comprises:

outputting a first motion command to a cutter in a hole making mechanism, wherein the first motion command is used for enabling a cutter point of the cutter to be located in a first reference hole and enabling the cutter axis of the cutter to be overlapped with the axis of the first reference hole;

and outputting a second motion command to the tool, wherein the second motion command is used for enabling the tool to move for a preset distance under the condition that the axis of the tool is overlapped with the axis of the first reference hole.

5. The method of claim 4, wherein after said outputting a second motion command for the tool, and before said obtaining current position information of the tool tip point, further comprising:

acquiring current distance information measured by a second detection element on the hole making mechanism, wherein the current distance information comprises the distance between the tool nose point of the tool and the surface where the first reference hole is located;

judging whether the current distance information is within a distance threshold range;

if the current distance information is not within the range of the distance threshold, calculating the distance difference between the current distance information and the preset distance;

and outputting a third motion command to the cutter according to the distance difference, wherein the third motion command is used for enabling the cutter to move by the distance difference under the condition that the cutter axis is kept coincident with the axis of the first reference hole.

6. A control device for a hole making mechanism, comprising:

the first output module is used for outputting a first control instruction for a cutter in a hole making mechanism, wherein the first control instruction is used for enabling the axis of the cutter to be overlapped with the axis of a first reference hole, and the cutter and the first reference hole keep a preset distance; the hole making mechanism comprises a base, and a cutter and an image collector are arranged on the base;

the first acquisition module is used for acquiring the current position information of the tool point of the cutter;

and the second output module is used for outputting a second control instruction for the cutter according to the distance between the image collector and the cutter, the calibration parameter of the image collector, the preset distance and the current position information, wherein the second control instruction is used for enabling the lens axis of the image collector to coincide with the axis of the first reference hole.

7. An electronic device, comprising:

a memory to store a computer program;

a processor to perform the method of any one of claims 1 to 5.

8. A hole forming mechanism, comprising:

a cutter;

a base;

the driving device is in transmission connection with the base and is used for driving the base to move;

the rotating device is arranged on the base, is in transmission connection with the cutter and is used for driving the cutter to rotate;

the image collector is arranged on the base;

the detection device is used for detecting the position of the cutter; and

and the control device is connected with the detection device, the image collector, the driving device and the rotating device.

9. The hole making mechanism of claim 8, wherein the lens axis of the image collector is parallel to the axis of the cutter.

10. A hole forming mechanism as claimed in claim 8, wherein the detection means comprises:

the first detection element is arranged on the base and used for acquiring an angle between the axis of the cutter and a normal of a surface to be processed;

the second detection element is arranged on the base and used for acquiring the distance between the tool nose point of the tool and the surface to be processed; and

and the third detection element is arranged on the driving device or the base and used for acquiring the coordinate value of the tool point of the cutter on a tool coordinate system.

Technical Field

The application relates to the technical field of machine manufacturing, in particular to a control method and device of a hole making mechanism, electronic equipment and the hole making mechanism.

Background

Mechanical devices often require drilling holes for connecting various components such as bolts and rivets during the manufacturing process. With the development of science and technology, automatic hole making robots have emerged to make holes continuously. However, in the prior art, an automatic hole drilling robot generally performs hole drilling according to a program input in advance and a reference hole arranged on a mechanical device, and a camera is required to shoot the reference hole of a workpiece before hole drilling so as to determine a machining start coordinate.

Disclosure of Invention

An object of the embodiment of the application is to provide a control method and device for a hole making mechanism, an electronic device and a hole making mechanism, which are used for accurately finding an angle acquired by an image acquisition device so that an image acquired by the image acquisition device is not distorted.

In a first aspect, the present application provides a method of controlling a hole forming mechanism, comprising: outputting a first control instruction for a cutter in the hole making mechanism, wherein the first control instruction is used for enabling the axis of the cutter to be overlapped with the axis of the first reference hole, and the cutter and the first reference hole keep a preset distance; the hole making mechanism comprises a base, wherein a cutter and an image collector are arranged on the base; acquiring current position information of a tool point of a cutter; and outputting a second control instruction for the cutter according to the distance between the image collector and the cutter, the calibration parameter of the image collector, the preset distance and the current position information, wherein the second control instruction is used for enabling the axis of the lens of the image collector to coincide with the axis of the first reference hole.

In one embodiment, the method for controlling the hole forming mechanism further includes: acquiring a first image which is shot by an image collector and aims at a first reference hole; extracting the shape information of a reference hole to be identified in the first image; matching the shape information of the reference hole to be identified with the shape information of the standard hole, and judging whether the lens axis of the image collector is superposed with the axis of the first reference hole or not; if the lens axis of the image collector is not overlapped with the axis of the first reference hole, outputting prompt information or generating a regulation and control instruction for controlling the hole making mechanism; and if the lens axis of the image collector is superposed with the axis of the first reference hole, storing the first image.

In one embodiment, the method for controlling the hole forming mechanism further includes: acquiring displacement detection data of a detection device in a hole making mechanism, wherein the displacement detection data comprises a detection value of the detection device when a tool nose point of a tool is respectively positioned in each reference hole in a reference hole group; acquiring an image set which is shot by an image collector and aims at a reference hole group; according to the displacement detection data and the image set, determining the actual position information of each reference hole in the reference hole group in a tool coordinate system; determining deviation information of the reference holes according to the actual position information of each reference hole in the reference hole group and the position information of the standard machining point; and determining the position information of the target processing point according to the deviation information and the position information of the standard processing point.

In one embodiment, outputting a first control command for a tool in a hole making mechanism includes: outputting a first motion command to a cutter in the hole making mechanism, wherein the first motion command is used for enabling a cutter point of the cutter to be located in a first reference hole and enabling the cutter axis of the cutter to be overlapped with the axis of the first reference hole; and outputting a second movement command to the cutter, wherein the second movement command is used for enabling the cutter to move for a preset distance under the condition that the axis of the cutter is overlapped with the axis of the first reference hole.

In an embodiment, after outputting the second movement command to the tool and before acquiring the current position information of the tool tip point, the method further includes: acquiring current distance information measured by a second detection element on the hole making mechanism, wherein the current distance information comprises the distance between the tool nose point of the tool and the surface where the first reference hole is located; judging whether the current distance information is within the range of the distance threshold value; if not, calculating a distance difference value between the current distance information and a preset distance; and outputting a third movement command to the cutter according to the distance difference, wherein the third movement command is used for enabling the cutter to move by the distance difference under the condition of keeping the axis of the cutter to be overlapped with the axis of the first reference hole.

In a second aspect, the present application provides a control device for a hole making mechanism, comprising: the first output module is used for outputting a first control instruction for a cutter in the hole making mechanism, the first control instruction is used for enabling the axis of the cutter to be overlapped with the axis of a first reference hole, and the cutter and the first reference hole keep a preset distance; the hole making mechanism comprises a base, wherein a cutter and an image collector are arranged on the base; the first acquisition module is used for acquiring the current position information of a tool point of the cutter; the second output module is used for outputting a second control instruction for the cutter according to the distance between the image collector and the cutter, the calibration parameter of the image collector, the preset distance and the current position information, and the second control instruction is used for enabling the lens axis of the image collector to coincide with the axis of the first reference hole.

In one embodiment, the control device of the hole forming mechanism further includes: the second acquisition module is used for acquiring a first image which is shot by the image collector and aims at the first reference hole; the extraction module is used for extracting the shape information of the reference hole to be identified in the first image; the first judging module is used for matching the shape information of the reference hole to be identified with the shape information of the standard hole and judging whether the lens axis of the image collector is superposed with the axis of the first reference hole or not; the third output module is used for outputting prompt information or generating a regulating and controlling instruction for controlling the hole making mechanism when the lens axis of the image collector is not overlapped with the axis of the first reference hole, and the storage module is used for storing the first image when the lens axis of the image collector is overlapped with the axis of the first reference hole.

In one embodiment, the control device of the hole forming mechanism further includes: the third acquisition module is used for acquiring displacement detection data of a detection device in the hole making mechanism, and the displacement detection data comprises detection values of the detection device when a tool nose point of a tool is respectively positioned in each reference hole in a reference hole group; the fourth acquisition module is used for acquiring an image set which is shot by the image collector and aims at the reference hole group; the first determining module is used for determining the actual position information of each reference hole in the reference hole group under the tool coordinate system according to the displacement detection data and the image set; the second determining module is used for determining deviation information of the reference holes according to the actual position information of each reference hole in the reference hole group and the position information of the standard machining point; and the third determining module is used for determining the position information of the target machining point according to the deviation information and the position information of the standard machining point.

In an embodiment, the first output module is further configured to: outputting a first motion command to a cutter in the hole making mechanism, wherein the first motion command is used for enabling a cutter point of the cutter to be located in a first reference hole and enabling the cutter axis of the cutter to be overlapped with the axis of the first reference hole; and outputting a second movement command to the cutter, wherein the second movement command is used for enabling the cutter to move for a preset distance under the condition that the axis of the cutter is overlapped with the axis of the first reference hole.

In an embodiment, the first output module is further configured to: after a second movement command for the cutter is output and before current position information of a cutter point of the cutter is obtained, current distance information measured by a second detection element on the hole making mechanism is obtained, wherein the current distance information comprises the distance between the cutter point of the cutter and the surface where the first reference hole is located; judging whether the current distance information is within the range of the distance threshold value; if not, calculating a distance difference value between the current distance information and a preset distance; and outputting a third movement command to the cutter according to the distance difference, wherein the third movement command is used for enabling the cutter to move by the distance difference under the condition of keeping the axis of the cutter to be overlapped with the axis of the first reference hole.

In a third aspect, the present application provides an electronic device, comprising: a memory to store a computer program and a processor; the processor is configured to perform the method according to any of the preceding embodiments.

In a fourth aspect, the present application provides a hole making mechanism comprising: the device comprises a control device, a detection device, a driving device, a cutter, a rotating device, a base and an image collector, wherein the driving device is in transmission connection with the base and is used for driving the base to move. The rotating device is arranged on the base, is in transmission connection with the cutter and is used for driving the cutter to rotate; the image collector is arranged on the base. The detection device is used for detecting the position of the cutter; the control device is connected with the detection device, the image collector, the driving device and the rotating device.

In one embodiment, the lens axis of the image collector is parallel to the axis of the tool.

In one embodiment, the detection device comprises: the device comprises a first detection element, a second detection element and a third detection element, wherein the first detection element is arranged on a base and used for acquiring an angle between the axis of a cutter and the normal of a surface to be processed; the second detection element is arranged on the base and used for acquiring the distance between the tool nose point of the tool and the surface to be processed; the third detecting element is arranged on the driving device or the base and used for acquiring the coordinate value of the tool point of the cutter on a tool coordinate system.

According to the control method and device of the hole making mechanism, the electronic equipment and the hole making mechanism, the axis of the cutter is firstly overlapped with the axis of the first reference hole to be processed, and then the cutter is moved to enable the lens axis of the image collector to be overlapped with the axis of the first reference hole by utilizing the relation between the cutter and the image collector, so that the angle collected by the image collector is found accurately, and the image obtained by the image collector is not distorted.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a partial structural schematic diagram of a hole making mechanism provided in an embodiment of the present application.

Fig. 2 is a partial structural schematic diagram of a hole making mechanism provided in an embodiment of the present application.

Fig. 3 is a block diagram of a hole making mechanism provided in an embodiment of the present application.

Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Fig. 5 is a flowchart illustrating a control method of a hole forming mechanism according to an embodiment of the present application.

Fig. 6 is a schematic step diagram illustrating a control method of a hole forming mechanism according to an embodiment of the present application.

Fig. 7 is a schematic step diagram illustrating a control method of a hole forming mechanism according to an embodiment of the present application.

Fig. 8 is a flowchart illustrating a control method of a hole forming mechanism according to an embodiment of the present application.

Fig. 9 is a flowchart illustrating a control method of a hole forming mechanism according to an embodiment of the present application.

Fig. 10 is a flowchart illustrating a control method of a hole forming mechanism according to an embodiment of the present application.

Fig. 11 is a block diagram of a control device of a hole forming mechanism according to an embodiment of the present application.

Icon: 100-a hole making mechanism; 110-a base; 120-a detection device; 121-a first detection element; 122-a second detection element; 123-a third detection element; 130-a cutter; 140-a rotation device; 150-a drive device; 160-a control device; 170-image collector; 200-surface to be processed; 300-an electronic device; 301-a bus; 302-a memory; 303-a processor; 400-control means of the hole making mechanism; 410-a first output module; 420-a first acquisition module; 430-second output module.

Detailed Description

The terms "first," "second," "third," and the like are used for descriptive purposes only and not for purposes of indicating or implying relative importance, and do not denote any order or order. Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined. In the description of the present application, it should be noted that the terms "inside", "outside", "left", "right", "upper", "lower", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally arranged when products of the application are used, and are used only for convenience in describing the application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the application. In the description of the present application, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements.

The technical solution of the present application will be clearly and completely described below with reference to the accompanying drawings.

Please refer to fig. 1, which is a schematic diagram illustrating a partial structure of a hole forming mechanism 100 according to an embodiment of the present application. The hole making tool mechanism includes: the image acquisition device comprises a driving device 150, a cutter 130, a rotating device 140, a base 110 and an image acquisition device 170, wherein the rotating device 140 is arranged on the base 110, is in transmission connection with the cutter 130 and is used for driving the cutter 130 to rotate. The tool 130 may be a drill, a milling cutter, or the like, and may be used for machining a hole. The rotating device 140 may be a pneumatic drill or an electric drill.

The image collector 170 is disposed on the base 110 by means of bolts or clamping, and is located at one side of the knife 130. The image collector 170 may include a camera and a light source, and a lens of the camera may be a fixed-focus telecentric lens. Wherein the lens axis of the image collector 170 is parallel to the axis of the tool 130. So configured, when the axis of the tool 130 is perpendicular to the surface to be processed 200, the lens axis of the image collector 170 is also perpendicular to the surface to be processed 200.

Fig. 2 is a schematic structural diagram of a portion of a hole forming mechanism 100 according to an embodiment of the present application. The hole making tool mechanism includes: a detection device 120 for detecting the position of the tool 130; the detection device 120 includes: the number of the first sensing elements 121, the first sensing elements 121 may be 2, 3, 4, 5, 6, 7, etc. The plurality of first detecting elements 121 are disposed on the base 110, and the plurality of first detecting elements 121 are circumferentially disposed on the tool 130 for obtaining an angle between an axis of the tool 130 and a normal of the surface to be processed 200. In this embodiment, 4 first detecting elements 121 are provided.

It should be noted that the first detecting element 121 may be a contact type displacement sensor or a non-contact type displacement sensor, when the first detecting element 121 is a contact type displacement sensor, a plurality of branch pipes may be provided on the base 110, the first detecting element 121 may be movably provided in the branch pipes by an elastic member such as a spring, and the first detecting element 121 may contact with the plane to be processed by the elastic member. When the first detecting element 121 is a non-contact displacement sensor, the first detecting element 121 may be disposed behind the cutting edge of the tool 130, and does not need to contact with the plane to be processed.

Referring to fig. 3, a block diagram of a hole making mechanism 100 according to an embodiment of the present application is shown. The hole forming mechanism 100 further includes: a drive unit 150 and a control unit 160. The detection device 120 includes: a second sensing element 122. The second detecting element 122 is a photoelectric displacement sensor. The distance between the point of the tool tip of the tool 130 and the surface 200 to be machined is obtained by bolting, welding, or clamping the tool tip to the base 110.

The driving device 150 is connected to the base 110 by bolts, welding or clamping, and since the image collector 170 and each of the first detecting elements 121 are indirectly connected to the cutter 130, when the driving device 150 drives the base 110 to move, the driving device can drive the rotating device 140, the image collector 170, the first detecting elements 121 and the cutter 130 on the base 110 to move synchronously, so as to realize full-automatic punching. The driving device 150 may be a robot, a manipulator or a machine tool, and includes a lead screw, a cylinder, a motor or a slide rail, etc. to implement the movement of the base 110 along the X axis, the movement along the Y axis, the movement along the Z axis, the rotation around the X axis, the rotation around the Y axis or the rotation around the Z axis in the tool coordinate system.

The tool coordinate system is the factory design of the hole making mechanism 100, and the tool coordinate system may be a rectangular coordinate system or an oblique coordinate system. In this embodiment, the Tool coordinate system is a rectangular coordinate system, and includes an X-axis coordinate, a Y-axis coordinate, and a Z-axis coordinate that are perpendicular to each other, and further includes a direction coordinate Rx rotating around the X-axis, a direction coordinate Ry rotating around the Y-axis, and a direction coordinate Rz rotating around the Z-axis, and the Tool coordinate system takes an initial position of a Tool tip Point of the Tool 130 as a Tool Center Point (TCP).

The detecting device 120 further includes a third detecting element 123, and the third detecting element 123 is disposed on the driving device 150 or the base 110, and is configured to obtain coordinate values (including an X-axis coordinate, a Y-axis coordinate, a Z-axis coordinate, a direction coordinate Rx rotating around the X-axis, a direction coordinate Ry rotating around the Y-axis, and a direction coordinate Rz rotating around the Z-axis) of the tool tip point of the tool 130 on the tool coordinate system.

In an embodiment, the third detecting element may include a plurality of motor encoders respectively disposed on the motors of the driving device 150 for driving the base 110 to move along the X axis, move along the Y axis, move along the Z axis, rotate around the X axis, rotate around the Y axis, and rotate around the Z axis, and the motor encoders may measure the number of revolutions of each motor, so that the amount of change in the displacement of the driving device 150 for driving the base 110 to move may be calculated according to the number of revolutions of each motor, and the coordinate value of the tool point of the tool 130 on the tool coordinate system during the movement of the base 110 may be determined.

In an embodiment, the third detecting element 123 may include a plurality of photoelectric displacement sensors disposed on a slide rail or a base of the driving device 150, and is used for detecting a displacement variation of the base 110 driven by the driving device 150, so as to determine a coordinate value of a tool point of the tool 130 on the tool coordinate system during the movement of the base 110.

The control device 160 includes a man-machine interface, a transceiver, a processor 303, a memory 302, and the like, the control device 160 is connected to the detection device 120 and configured to receive and process information detected by the first detection element 121, the second detection element 122, and the third detection element 123, the control device 160 is further connected to the image collector 170 and configured to receive and process an image collected by the image collector 170, and the control device 160 is further connected to the rotation device 140 and configured to control the rotation device 140. The control device 160 is also connected to the drive device 150 for controlling the drive device 150. The connection between the control device 160 and the detection device 120, the image collector 170, the driving device 150 and the rotating device 140 may be wireless or wired.

In an operation process, the driving device 150 drives the base 110 to deflect at an angle, and the tool 130, the image collector 170 and the first detecting elements 121 are also driven by the base 110 to synchronously deflect, so that the displacement variation detected by each first detecting element 121 in real time can reflect the angle between the axis of the tool 130 and the normal of the surface to be processed 200 and the angle between the axis of the lens of the image collector 170 and the normal of the surface to be processed 200, that is, the offset information.

Each first detecting element 121 sends the displacement variation detected in real time to the control device 160, and the control device 160 receives the collected signal of each first detecting element 121 and processes the signal to obtain the tool 130 offset information reflected by the displacement variation.

The control device 160 calculates the moving distance and the deflection angle of the base 110, which need to be moved reversely when the tool 130 is calibrated, according to the processed offset information of the tool 130, so as to generate a first instruction for controlling the movement of the base 110, and sends the first instruction to the driving device 150, and the driving device 150 receives and executes the first instruction, and drives the base 110 to move, so that the tool 130 is automatically calibrated, and the axis of the tool 130 is made to coincide with the normal of the surface 200 to be machined, that is, the axis of the tool 130 is made to coincide with the axis of the first reference hole to be machined.

Meanwhile, the control device 160 generates a second instruction for controlling the movement of the base 110 according to the distance between the image acquirer 170 and the tool 130, the calibration parameter and the preset distance of the image acquirer 170, and the current position information detected by the second detecting element 122 and the third detecting element 123 in the detecting device 120, and sends the second instruction to the driving device 150, and the driving device 150 receives and executes the second instruction, so that the base 110 is driven to move, the image acquirer 170 automatically moves to be aligned with the first reference hole to be processed, and the lens axis of the image acquirer 170 is made to coincide with the axis of the first reference hole, so that the angle acquired by the image acquirer 170 is aligned, and the image acquired by the image acquirer 170 is not distorted.

Then, the control device 160 may repeatedly execute the above steps, the image collector 170 captures an image set of at least 2 reference holes of the surface 200 to be processed, and the control device 160 determines actual position information of the reference holes in the tool coordinate system according to the image set and the displacement detection data of the detection device 120, so as to compensate the originally preset processing path, generate a new processing path, and improve accuracy of batch punching.

Therefore, the angle collected by the image collector 170 can be accurately found in the embodiment, so that the image obtained by the image collector 170 is not distorted, the image collector 170 can be used for assisting the hole making mechanism 100 to compensate the actual position by the theoretical position, the accuracy of batch punching is improved, each reference hole does not need to be calibrated to adjust the processing path of offline programming, and the production efficiency is greatly improved.

In another embodiment, the hole forming mechanism 100 further includes: and a display device connected to the control device 160. The control device 160 transmits the processed information or image to the display device, and the processed information or image is output from the display device.

Fig. 4 is a schematic structural diagram of an electronic device 300 according to an embodiment of the present application. The electronic device 300 may serve as the control device 160 in the above-described embodiment, and the electronic device 300 includes: at least one processor 303 and memory 302. Fig. 4 illustrates an example of a processor 303. The processor 303, the memory 302 and the display are connected by the bus 301, and the memory 302 stores instructions executable by the processor 303, and the instructions are executed by the processor 303, so that the electronic device 300 can execute all or part of the process of the method in the embodiments described below to find the angle captured by the image capturing device 170, so that the image captured by the image capturing device 170 is not distorted.

In one embodiment, the Processor 303 may be a general-purpose Processor 303, including but not limited to a Central Processing Unit (CPU) 303, a Network Processor 303 (NP), etc., a digital signal Processor 303 (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor 303 may be a microprocessor 303 or the processor 303 may be any conventional processor 303 or the like, the processor 303 being the control center of the electronic device 300, and various interfaces and lines connecting the various parts of the entire electronic device 300. The processor 303 may implement or perform the methods, steps, and logic blocks disclosed in the embodiments of the present application.

In an embodiment, the Memory 302 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, including but not limited to, Random Access Memory 302 (RAM), Read Only Memory 302 (ROM), Static Random Access Memory 302 (SRAM), Programmable Read Only Memory 302 (PROM), Erasable Read Only Memory 302 (EPROM), electrically Erasable Read Only Memory 302 (EEPROM).

The electronic device 300 may be a mobile phone, a notebook computer, a desktop computer, or an operation system composed of multiple computers. Electronic device 300 may also include more or fewer components than shown in FIG. 5, or have a different configuration than shown in FIG. 5. For example, electronic device 300 may also include input and output devices for human interaction.

In another embodiment, the electronic device 300 further includes a display, which may be the display device in the above embodiments, for example: a display screen. The processor 303, memory 302 and display are connected by a bus 301.

Fig. 5 is a flowchart illustrating a control method of the hole making mechanism 100 according to an embodiment of the present disclosure. Please refer to fig. 6 and 7, which are schematic diagrams illustrating steps of a control method of a hole forming mechanism 100 according to an embodiment of the present application. The method can be executed by the electronic device 300 shown in fig. 4 as the control device 160 shown in any one of fig. 1 to 3, so as to align the angle acquired by the image acquirer 170, so that the image acquired by the image acquirer 170 is not distorted. The method can be used for drilling one hole and can also be used for drilling a plurality of holes. The method comprises the following steps:

step S110: and outputting a first control instruction to the cutter 130 in the hole making mechanism 100, wherein the first control instruction is used for enabling the axis of the cutter 130 to be coincident with the axis of the first reference hole, and the cutter 130 is kept at a preset distance from the first reference hole.

In practical scenarios, the factory design of the hole making mechanism 100 includes a preset tool coordinate system for programming the machining path program. The first control command, etc. driving tool 130 motion command is also generated from the tool coordinate system. The tool coordinate system may be a rectangular coordinate system or an oblique coordinate system. In this embodiment, the Tool coordinate system is a rectangular coordinate system, and includes an X-axis coordinate, a Y-axis coordinate, and a Z-axis coordinate that are perpendicular to each other, and further includes a direction coordinate Rx rotating around the X-axis, a direction coordinate Ry rotating around the Y-axis, and a direction coordinate Rz rotating around the Z-axis, and the Tool coordinate system takes an initial position of a Tool tip Point of the Tool 130 as a Tool Center Point (TCP).

The first reference hole in this step is any reference hole of the surface to be processed 200, and is indicated by a point W in fig. 6. The reference hole is a hole left by punching a sample on the surface 200 to be processed before drilling, and the hole can reduce the centering effect of the drill bit and improve the drilling accuracy. The surface to be processed 200 may be provided with one reference hole or a plurality of reference holes.

In this step, the control device 160 may generate a first control instruction according to a preset processing path program generated through a three-dimensional digital-analog offline programming or manually input, and send the first control instruction to the driving device 150, and the driving device 150 receives and executes the first control instruction to drive the base 110 to move, so as to drive the tool tip point of the tool 130 to move from the initial position to a point a shown in fig. 6. At this time, the axis of the tool 130 coincides with the axis of the first reference hole, and the tool 130 is maintained at a preset distance from the first reference hole.

The preset distance in this step is information carried in the first control instruction, and may be manually input in advance, or may be calculated by the control device 160. The preset distance needs to be greater than 0, so as to facilitate the calculation of generating the second control instruction in the subsequent step S130; the curvature of the surface to be processed 200 is also considered in the preset distance, so as to avoid that components such as a lens of the hole forming mechanism 100 collide with the surface to be processed 200 during the movement of the base 110, and damage to the hole forming mechanism 100 and the object to be processed is caused, thereby causing loss. In one embodiment, the predetermined distance is further greater than the focal length of the lens of the image acquirer 170.

It should be noted that, because the cutter 130 and the image collector 170 are indirectly connected, the distance between the two is fixed, and when the point of the knife edge of the cutter 130 moves to the point a, the center of the lens of the image collector 170 also moves to the point B, and the distance between the two is the length of AB. And the third detecting element 123 in the detecting device 120 can detect in real time during the movement of the base 110, and determine the coordinate value of the tool point of the tool 130 on the tool coordinate system.

This step may occur after controller 160 receives an activation command for hole making mechanism 100, or may occur during the processing of a plurality of holes. The start command of the hole making mechanism 100 may be inputted by an operator through a switch or a button.

Step S120: current position information of the tool tip point of the tool 130 is acquired.

The current position information in this step includes at least the distance between the tip point of the tool 130 and the first reference hole of the surface to be machined 200 (length of AW in fig. 6) and the coordinates (x0, y0) of point a.

In this step, in order to improve the current position information of step S130, which may be detected by the second detecting element 122 and the third detecting element 123 of the detecting device 120 in real time, the controlling device 160 receives the information detected by the detecting device 120.

In another embodiment, the control device 160 may directly assign the value of the preset distance in step S110 and the coordinate information carried in the first control instruction in step S110 to the current location information.

Step S130: and outputting a second control instruction for the cutter 130 according to the distance between the image collector 170 and the cutter 130, the calibration parameter of the image collector 170, the preset distance and the current position information, wherein the second control instruction is used for enabling the lens axis of the image collector 170 to coincide with the axis of the first reference hole.

In this step, the calibration parameters of the image acquirer 170 include a focal length parameter, and the distance between the image acquirer 170 and the tool 130 is the length AB in fig. 6, that is, the length A1B1 in fig. 7.

The control device 160 may generate a second control command according to a preset tool coordinate system, a distance between the image acquirer 170 and the tool 130, a calibration parameter of the image acquirer 170, a preset distance, and current position information, and send the second control command to the driving device 150, the driving device 150 receives and executes the second control command, and drives the base 110 to move, so as to drive the cutting edge point of the tool 130 to move from a point a to a1 point a shown in fig. 7, and the image acquirer 170 also moves from a point B to a point B1 shown in fig. 7, where the lens axis of the image acquirer 170 coincides with the axis of the first reference hole, and the distance between the point B1 and the point W of the first reference hole is equal to the focal length of the image acquirer 170.

In this embodiment, the lens axis of the image collector 170 is parallel to the axis of the tool 130. When the axis of the tool 130 is perpendicular to the surface 200 to be processed, the lens axis of the image collector 170 is also perpendicular to the surface 200 to be processed, so that the axis of the tool 130 does not deflect when the point of the tool tip of the tool 130 moves from point a1 in this step, thereby simplifying the calculation process of the coordinates (x1, y1) of point a1 in the second control command.

The calculation formula of the point coordinate a 1(x 1, y1) in the second control command is as follows:

x1＝x0+(AW-B1W)×cos(ɑ)+AB×sin(ɑ)；

y1＝y0-(AW-B1W)×sin(ɑ)+AB×cos(ɑ)；

where x0 and y0 are the coordinates (x0, y0) of the a point in the current position information obtained in step S120. AW is the length of AW in the current location information obtained in step S120; B1W is the calibration parameter of the image collector 170, namely the focal length; alpha is an angle between AW and an X axis and can be obtained by calculation according to the coordinate of the point A and the coordinate of the point W; AB is the distance between the image grabber 170 and the tool 130.

Therefore, in the embodiment, the axis of the tool 130 is made to coincide with the axis of the first reference hole to be processed, and then the relationship between the tool 130 and the image collector 170 is utilized to move the tool 130 to make the lens axis of the image collector 170 coincide with the axis of the first reference hole, so as to find the angle collected by the image collector 170, so that the image obtained by the image collector 170 is not distorted, the shooting precision of the reference hole on the surface 200 to be processed is improved, and the alignment of the hole-making position is facilitated to be more accurate.

In addition, the surface to be processed 200 may be a plane or a curved surface. The embodiment can be applied to hole making on a plane and can also be applied to hole making on a curved surface.

Fig. 8 is a flowchart illustrating a control method of the hole making mechanism 100 according to an embodiment of the present application. The method can be executed by the electronic device 300 shown in fig. 4 as the control device 160 shown in any one of fig. 1 to 3, so as to align the angle acquired by the image acquirer 170, so that the image acquired by the image acquirer 170 is not distorted. The method can be used for drilling one hole and can also be used for drilling a plurality of holes. The method comprises the following steps:

step S210: and outputting a first motion command to the cutter 130 in the hole making mechanism 100, wherein the first motion command is used for enabling the tool point of the cutter 130 to be located in the first reference hole, and enabling the axis of the cutter 130 to be coincident with the axis of the first reference hole.

In this step, the control device 160 may generate a first motion command, and send the first motion command to the driving device 150, the driving device 150 drives the base 110 to move to the start coordinate of the preset processing path program according to the first motion command, so that the tool tip point of the tool 130 is located in the first reference hole W, and then drives the base 110 to rotate and swing according to the detection information of each first detection element 121 to adjust the angle between the axis of the tool 130 and the axis of the first reference hole to be 0, so that the axis of the tool 130 is perpendicular to the surface 200 to be processed.

Step S220: a second movement command to the tool 130 for moving the tool 130 by a preset distance in a state of keeping the axis of the tool 130 coincident with the axis of the first reference hole is output.

In this step, the control device 160 may generate a second motion command, and send the second motion command to the driving device 150, and the driving device 150 drives the base 110 to retreat according to the second motion command, so that the tool tip point of the tool 130 retreats from point W to point a in fig. 6 along a straight line, during the movement, the axis of the tool 130 does not deflect, and at this time, the axis of the tool 130 and the axis of the lens of the image acquirer 170 both coincide with the axis of the first reference hole.

Step S230: the current distance information measured by the second detecting element 122 on the hole making mechanism 100 is acquired.

The surface of the first reference hole in this step is the surface to be machined 200. The current distance information includes the distance between the point of the tip of the tool 130 and the surface of the first reference hole, i.e., the length AW in fig. 6.

Step S240: and judging whether the current distance information is within the range of the distance threshold value.

The distance threshold range in this step may be manually input in advance, or may be calculated by the control device 160. Since the preset distance set in step S220 is a safety distance set in consideration of the curvature of the surface 200 to be processed to avoid collision, if the distance between the cutting edge of the tool 130 and the surface of the first reference hole does not meet the requirement due to the error of the driving device 150 driving the base 110 to move and other accidents, the collision accident is likely to occur, and the hole forming mechanism 100 and the object to be processed are damaged, resulting in loss. Therefore, in the present embodiment, a distance threshold range is input in advance, so that the collision can be avoided during the movement of the base 110 in step S280, and a dual safety is realized.

If the current distance information is not within the distance threshold range, step S250 and step S260 are executed, and the base 110 needs to be moved again until the tool 130 keeps a safe distance from the surface to be processed 200. If the current distance information is within the distance threshold range, step S270 is executed, and the next step is continued.

Step S250: and calculating a distance difference value between the current distance information and the preset distance. In this step, a distance difference can be obtained by subtracting the detection value of the second detection element 122 from the preset distance, as shown in step S260.

Step S260: and outputting a third motion command to the tool 130 according to the distance difference, wherein the third motion command is used for enabling the tool 130 to move by the distance difference under the condition of keeping the axis of the tool 130 coincident with the axis of the first reference hole. This step readjusts the distance between the tool 130 and the surface to be machined 200 based on the distance difference obtained in step S250. After this step, the process may return to step S230 to determine whether the current distance information is within the distance threshold again.

Step S270: current position information of the tool tip point of the tool 130 is acquired. Refer to the description of step S120 for details.

Step S280: and outputting a second control instruction for the cutter 130 according to the distance between the image collector 170 and the cutter 130, the calibration parameter of the image collector 170, the preset distance and the current position information, wherein the second control instruction is used for enabling the lens axis of the image collector 170 to coincide with the axis of the first reference hole. Refer to the description of step S130 for details.

Fig. 9 is a flowchart illustrating a control method of the hole making mechanism 100 according to an embodiment of the present application. The method can be executed by the electronic device 300 shown in fig. 4 as the control device 160 shown in any one of fig. 1 to 3, so as to align the angle acquired by the image acquirer 170, so that the image acquired by the image acquirer 170 is not distorted. The method can be used for drilling one hole and can also be used for drilling a plurality of holes. The method comprises the following steps:

step S310: and outputting a first control instruction to the cutter 130 in the hole making mechanism 100, wherein the first control instruction is used for enabling the axis of the cutter 130 to be coincident with the axis of the first reference hole, and the cutter 130 is kept at a preset distance from the first reference hole. Refer to the description of step S110 for details.

Step S320: current position information of the tool tip point of the tool 130 is acquired. Refer to the description of step S120 for details.

Step S330: and outputting a second control instruction for the cutter 130 according to the distance between the image collector 170 and the cutter 130, the calibration parameter of the image collector 170, the preset distance and the current position information, wherein the second control instruction is used for enabling the lens axis of the image collector 170 to coincide with the axis of the first reference hole. Refer to the description of step S130 for details.

Step S340: a first image taken by the image acquirer 170 for a first fiducial hole is acquired.

In this step, the image acquirer 170 captures an image while keeping the axis of the lens of the image acquirer 170 coincident with the axis of the first reference hole, and the distance B1W between the lens of the image acquirer 170 and the surface to be processed 200 is equal to the focal length, so as to obtain a first image.

In another embodiment, the image capturing device 170 may capture several images, and the control device 160 selects the image with the highest resolution as the first image.

Step S350: and extracting the shape information of the reference hole to be identified in the first image.

In this step, the control device 160 may extract the reference hole shape information to be recognized from the first image by using an image recognition technique.

Step S360: and matching the shape information of the reference hole to be identified with the shape information of the standard hole, and judging whether the lens axis of the image collector 170 is superposed with the axis of the first reference hole.

In this step, the standard hole shape information is input by the user in advance, and may be obtained by three-dimensional modeling or the like. The standard hole shape information includes a plurality of circular holes of different sizes.

In this step, the reference hole shape information to be recognized is matched with the standard hole shape information, and whether the shooting angle of the image acquirer 170 is selected is determined by determining whether the hole shape obtained by shooting the first image is a circular hole.

If the reference hole shape information to be recognized and the standard hole shape information cannot be successfully matched, it is indicated that the hole shape obtained by shooting the first image is not circular, the shooting angle of the image collector 170 is not good, and it is determined that the lens axis of the image collector 170 is not overlapped with the axis of the first reference hole, at this moment, step S370 is executed, and prompt information is output to prompt manual intervention; or generate a control command for controlling the hole forming mechanism 100, and readjust the shooting angle of the image acquirer 170.

If the reference hole shape information to be recognized and the standard hole shape information cannot be successfully matched, it is indicated that the hole shape obtained by shooting the first image is circular, the shooting angle of the image acquirer 170 is good, and it is determined that the lens axis of the image acquirer 170 coincides with the axis of the first reference hole, at this time, step S380 may be executed, and the first image may be stored and may be used as a reference for subsequently determining the processing coordinate and the position of the first reference hole. The process may then end or proceed to the next step based on manual commands or pre-design.

Step S370: outputting prompt information or generating a regulating instruction for controlling the hole making mechanism 100.

In this step, a prompt message is sent to prompt manual intervention, and a regulation instruction for controlling the hole making mechanism 100 may be generated to readjust the shooting angle of the image acquirer 170.

In this step, the control instruction for controlling the hole making mechanism 100 may be to return to step S310, and re-execute steps S310 to S360 until the lens axis of the image acquirer 170 coincides with the axis of the first reference hole.

Step S380: the first image is stored.

In this step, the clearly-imaged first image may be stored in a local database or a cloud database of the control device 160.

Fig. 10 is a flowchart illustrating a control method of the hole making mechanism 100 according to an embodiment of the present application. The method may be used to punch a plurality of holes. The method can be executed by the electronic device 300 shown in fig. 4 as the control device 160 shown in any one of fig. 1 to 3, so as to align the angle acquired by the image acquirer 170, so that the image acquired by the image acquirer 170 is not distorted, and the original preset processing path can be compensated to generate a new processing path, thereby improving the accuracy of batch punching. The method comprises the following steps:

step S410: and outputting a first control instruction to the cutter 130 in the hole making mechanism 100, wherein the first control instruction is used for enabling the axis of the cutter 130 to be coincident with the axis of the first reference hole, and the cutter 130 is kept at a preset distance from the first reference hole. Refer to the description of step S110 for details.

Step S420: current position information of the tool tip point of the tool 130 is acquired. Refer to the description of step S120 for details.

Step S430: and outputting a second control instruction for the cutter 130 according to the distance between the image collector 170 and the cutter 130, the calibration parameter of the image collector 170, the preset distance and the current position information, wherein the second control instruction is used for enabling the lens axis of the image collector 170 to coincide with the axis of the first reference hole. Refer to the description of step S130 for details.

Step S440: displacement detection data of the detection device 120 in the hole forming mechanism 100 is acquired, and the displacement detection data includes a detection value of the detection device 120 when the cutting edge point of the tool 130 is located in each reference hole in the reference hole group.

When the tool nose points of the tool 130 are respectively located in the reference holes, the coordinate values of the tool nose points of the tool 130 on the tool coordinate system at this time are the coordinates of the reference holes.

The reference hole group in this step includes a plurality of arbitrary reference holes. The present embodiment is explained in the case where the reference hole group includes 3 reference holes. The above-mentioned steps S410 to S430 are respectively performed for the 3 reference holes, so that the coordinate values of the tool tip point of the tool 130 on the tool coordinate system can be acquired by the third detecting element 123 of the detecting device 120 during the movement of the base 110 to determine the initial coordinate values of the respective reference holes.

Step S450: a set of images taken by the image acquirer 170 for the set of reference holes is acquired.

The image set of this step includes the first images obtained after the above steps S410 to S430 are performed on the 3 reference holes, respectively.

Step S460: and determining the actual position information of each reference hole in the reference hole group in the tool coordinate system according to the displacement detection data and the image set.

In this step, the control device 160 verifies the image set and the displacement detection data against each other, so that accurate actual position information of the reference holes in the tool coordinate system can be determined.

For example, the actual coordinates of the three reference holes are determined to be W1 (x'₁,y′₁,z′₁)、W2(x′₂,y′₂,z′₂) And W3 (x'₃,y′₃,z′₃) And can be represented by an actual coordinate matrix N, then:

step S470: and determining deviation information of the reference holes according to the actual position information of each reference hole in the reference hole group and the position information of the standard machining point.

The standard machining point position information of the step comprises theoretical coordinates of all reference holes which are generated through preset three-dimensional digital-analog off-line programming or carried in a manual input machining path program. Wherein the theoretical coordinates of the three reference holes are respectively W1' (x)₁,y₁,z₁)、W2'(x₂,y₂,z₂) And W3' (x)₃，y₃,z₃) And can be represented by a theoretical coordinate matrix M, then:

for the actual coordinate matrix N and the theoretical coordinate matrix M of the three reference holes, a transformation matrix R 'may be determined, i.e., R' M ═ N, and then converted, i.e.

The deviation information of the actual coordinates and the theoretical coordinates of the three reference holes can be represented by a transformation matrix R'.

Step S480: and determining the position information of the target processing point according to the deviation information and the position information of the standard processing point.

In the step, the position deviation between a theoretical digital model and an actual product is determined by taking a plurality of reference holes in the reference hole group as representatives, the position correction of other reference holes (target processing points) is automatically completed, the processing error caused by assembly deviation is eliminated, the accuracy of batch punching is improved, each reference hole does not need to be calibrated to adjust the processing path of offline programming, and the production efficiency is greatly improved.

In a calculation process, the tool coordinate system applied in the above steps is called O. Assuming a second coordinate system O 'which is a second coordinate system O' where the X-axis of the tool coordinate system O is rotated by an angle γ, the Y-axis of the tool coordinate system O is rotated by an angle β, and the Z-axis of the tool coordinate system O is rotated by an angle α, the three reference holes W1, W2, and W3 have coordinate values a ', b', and c 'in the O' coordinate system.

It is determined how to set this second coordinate system O 'again so that the coordinate values a', b ', and c' in the coordinate system of the three reference holes O 'may be closest to the theoretical coordinates W1', W2', and W3' of the three reference holes. That is, the angles γ, β, and α that need to be rotated around the X, Y and Z axes of the tool coordinate system O are calculated to minimize | W1 'a' + | W2 'b' + | W3 'c' |.

Wherein, a rotation matrix R can be obtained according to the rotation angles γ, β and α of the second coordinate system O_xyz(γ, β, α), rotation matrix R_xyzThe formula for the calculation of (γ, β, α) is:

and it has been determined in step S470 that the calculation formula of the transformation matrix R' of the actual coordinates and the theoretical coordinates of the three reference holes is:

then taking the matrix R_xyzThe (gamma, beta, alpha) elements r containing three variables of gamma, beta and alpha₁₂、r₁₃And r₂₃There are then three corresponding equations: r is₁₂′＝f₁(γ,β,α)；r₁₃′＝f₂(γ,β,α)；r₂₃′＝f₃(γ,β,α)。

Finally, the iterative method is adopted to solve, the approximate solutions gamma, beta and alpha which best satisfy the three equations can be solved, and the rotation matrix R is obtained_xyz(γ,β,α)。

If the standard machining point position information comprises theoretical coordinates of all the reference holes in the tool coordinate system O multiplied by the rotation matrix R_xyz(gamma, beta, alpha), namely obtaining the coordinates of all the reference holes in the second coordinate system O', wherein the coordinates can be equivalent to the actual coordinates of all the reference holes, thereby completing the theoretical position to the actual positionAnd (4) compensating the inter-position.

Fig. 11 is a block diagram of a control device 400 of a hole making mechanism according to an embodiment of the present application. The device can be applied to the electronic device 300 shown in fig. 4 to align the angle collected by the image collector 170, so that the image obtained by the image collector 170 is not distorted. The control device 400 of the hole forming mechanism includes: a first output module 410, a first obtaining module 420 and a second output module 430. The principle relationship of the modules is as follows:

the first output module 410 is configured to output a first control instruction for the tool 130 in the hole making mechanism 100, where the first control instruction is used to make the axis of the tool 130 coincide with the axis of the first reference hole, and the tool 130 keeps a preset distance from the first reference hole; the hole making mechanism 100 comprises a base 110, wherein a cutter 130 and an image collector 170 are arranged on the base 110; the first obtaining module 420 is configured to obtain current position information of a tool nose point of the tool 130; the second output module 430 is configured to output a second control instruction to the tool 130 according to the distance between the image acquirer 170 and the tool 130, the calibration parameter of the image acquirer 170, the preset distance, and the current position information, where the second control instruction is used to make the lens axis of the image acquirer 170 coincide with the axis of the first reference hole.

In one embodiment, the control device 400 of the hole forming mechanism further comprises: the second acquisition module is used for acquiring a first image which is shot by the image collector 170 and aims at the first reference hole; the extraction module is used for extracting the shape information of the reference hole to be identified in the first image; the first judging module is used for matching the shape information of the reference hole to be identified with the shape information of the standard hole and judging whether the lens axis of the image collector 170 is superposed with the axis of the first reference hole; the third output module is configured to output prompt information or generate a regulation instruction for controlling the hole control mechanism 100 when the lens axis of the image acquirer 170 is not overlapped with the axis of the first reference hole, and the storage module is configured to store the first image when the lens axis of the image acquirer 170 is overlapped with the axis of the first reference hole.

In one embodiment, the control device 400 of the hole forming mechanism further comprises: the third obtaining module is used for obtaining displacement detection data of the detection device 120 in the hole making mechanism 100, and the displacement detection data comprises a detection value of the detection device 120 when a tool tip point of the tool 130 is located in each reference hole in the reference hole group respectively; the fourth acquiring module is configured to acquire an image set for the reference hole group captured by the image acquirer 170; the first determining module is used for determining the actual position information of each reference hole in the reference hole group under the tool coordinate system according to the displacement detection data and the image set; the second determining module is used for determining deviation information of the reference holes according to the actual position information of each reference hole in the reference hole group and the position information of the standard machining point; and the third determining module is used for determining the position information of the target machining point according to the deviation information and the position information of the standard machining point.

In one embodiment, the first output module 410 is further configured to: outputting a first motion command to the tool 130 in the hole making mechanism 100, wherein the first motion command is used for enabling the tool point of the tool 130 to be located in the first reference hole and enabling the axis of the tool 130 to be coincident with the axis of the first reference hole; a second movement command to the tool 130 for moving the tool 130 by a preset distance in a state of keeping the axis of the tool 130 coincident with the axis of the first reference hole is output.

In one embodiment, the first output module 410 is further configured to: after the second movement command for the tool 130 is output and before the current position information of the tool point of the tool 130 is acquired, acquiring current distance information measured by a second detection element 122 on the hole making mechanism 100, wherein the current distance information includes a distance between the tool point of the tool 130 and the surface where the first reference hole is located; judging whether the current distance information is within the range of the distance threshold value; if not, calculating a distance difference value between the current distance information and a preset distance; and outputting a third motion command to the tool 130 according to the distance difference, wherein the third motion command is used for enabling the tool 130 to move by the distance difference under the condition of keeping the axis of the tool 130 coincident with the axis of the first reference hole.

For a detailed description of the control device 400 of the hole forming mechanism, please refer to the description of the related method steps in the above embodiment.

In the embodiments provided in the present application, the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s).

In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. The above description is only a preferred embodiment of the present application, and is only for the purpose of illustrating the technical solutions of the present application, and not for the purpose of limiting the present application. Any modification, equivalent replacement, improvement or the like, which would be obvious to one of ordinary skill in the art and would be within the spirit and principle of the present application, should be included within the scope of the present application.