CN113124805A

CN113124805A - Hole making tool, track information processing method and device and electronic equipment

Info

Publication number: CN113124805A
Application number: CN202110470199.4A
Authority: CN
Inventors: 陈帅
Original assignee: Hangzhou Feiti Aviation Intelligent Equipment Co ltd
Current assignee: Hangzhou Feiti Aviation Intelligent Equipment Co ltd
Priority date: 2021-04-28
Filing date: 2021-04-28
Publication date: 2021-07-16
Anticipated expiration: 2041-04-28
Also published as: CN113124805B

Abstract

The application provides a hole making tool, a track information processing method, a track information processing device and electronic equipment, wherein the track information processing method comprises the following steps: obtain the displacement variation of each displacement sensor on the system hole instrument, wherein, the system hole instrument includes: the device comprises a cutter and at least two displacement sensors, wherein each displacement sensor is connected with the cutter; calculating the axial vector of the cutter according to the displacement variation of each displacement sensor and the preset reference coordinate system parameters; calculating a deviation angle value between the axial vector and a reference normal vector of a reference plane; calculating to obtain a display coordinate of the tool on the display device according to the offset angle value, the axial vector and the parameter of the preset display device; and displaying the track of the tool on a display device according to the display coordinates. Therefore, the error rate can be reduced and the quality of the drilling and the whole machine can be improved by quantifying and processing the track information of the drill bit in the drilling process.

Description

Hole making tool, track information processing method and device and electronic equipment

Technical Field

The application relates to the technical field of information processing, in particular to a hole making tool, a track information processing method and device and electronic equipment.

Background

In the aviation industry, the skin and the airplane framework are connected by a multi-purpose riveting technology, most of the airplane framework is a curved surface, and in order to obtain the best riveting effect, when a hole is drilled in the airplane framework, the drilling position needs to be the normal direction of the current point on the machined curved surface.

At present, 70% of domestic drilling operations are manually carried out by pneumatic drills, the normal direction cannot be quantized and correctly found only by operation experience, large manual errors exist, the drilling quality is poor, and the inaccurate normal direction can influence the rivet head form on the skin, so that the quality of the whole machine is influenced.

Disclosure of Invention

The embodiment of the application aims to provide a hole making tool, a track information processing method and device and electronic equipment, which are used for realizing track information processing of a cutter in the hole making tool.

In a first aspect, the present application provides a track information processing method, including: obtain the displacement variation of each displacement sensor on the system hole instrument, wherein, the system hole instrument includes: the device comprises a cutter and at least two displacement sensors, wherein each displacement sensor is connected with the cutter; calculating the axial vector of the cutter according to the displacement variation of each displacement sensor and the preset reference coordinate system parameters; calculating a deviation angle value between the axial vector and a reference normal vector of a reference plane; calculating to obtain a display coordinate of the tool on the display device according to the offset angle value, the axial vector and the parameter of the preset display device; and displaying the track of the tool on a display device according to the display coordinates.

In one embodiment, calculating the axial vector of the tool according to the displacement variation of each displacement sensor and a preset reference coordinate system parameter includes: selecting two target displacement sensors with the largest displacement change in each displacement sensor; respectively determining a target vector formed by the current position in each target displacement sensor and an origin in a reference coordinate system in a preset reference coordinate system; and cross-multiplying the two target vectors to obtain the axial vector of the tool.

In one embodiment, the calculating the display coordinates of the tool on the display device according to the offset angle value, the axial vector and the parameters of the predetermined display device includes: searching a display scale coefficient of the track information of the cutter on the display device in a preset relation table according to the deviation angle value; and calculating the display coordinates of the tool on the display device according to the display scale coefficient, the axial vector and the reference coordinate system parameters.

In one embodiment, the reference coordinate system is a rectangular coordinate system, and the calculation of the display coordinates of the tool on the display device according to the display scale factor, the axial vector and the reference coordinate system parameters includes: calculating to obtain an X component of a coordinate displayed by the cutter on a display device according to the display scale coefficient, the axial vector and the direction vector in the X direction in the reference coordinate system parameter; and calculating to obtain the Y component of the display coordinate of the tool on the display device according to the display scale coefficient, the axial vector and the direction vector of the Y direction in the reference coordinate system parameter.

In one embodiment, the method for calculating the display coordinates of the tool on the display device according to the display scale factor, the axial vector and the reference coordinate system parameters further comprises: and deflecting the X component of the display coordinate and the Y component of the display coordinate by a preset angle to obtain the final display coordinate.

In an embodiment, the track information processing method further includes: judging whether the offset angle value exceeds a preset angle range or not; and when the offset angle value exceeds a preset angle range, recording the current offset angle value as punching error data, and outputting a stop operation command for the punching tool.

In an embodiment, the track information processing method further includes: and when the offset angle value is within the preset angle range, outputting the correction prompt information.

In an embodiment, the track information processing method further includes: the method comprises the steps of obtaining current pressure information of each limit sensor in the hole making tool, wherein the hole making tool further comprises a base, a cutter and a displacement sensor are arranged on the base, each displacement sensor is provided with a limit part, and each limit part is provided with a limit sensor; judging whether any current pressure information is in a pressure threshold range; and when any one of the current pressure information is within the pressure threshold value range, recording the current offset angle value as final hole forming normal information.

In an embodiment, after recording the current offset angle value as the final hole forming normal information, the track information processing method further includes: and generating a first hole forming report according to the final hole forming normal information.

In an embodiment, after calculating the offset angle value between the axial vector and the normal reference vector of the reference plane, and before recording the current offset angle value as the final hole-forming normal information, the track information processing method further includes: acquiring current feeding information of a feeding sensor in a hole making tool; the hole making tool also comprises a feeding sensor, and the feeding sensor is arranged on the base; and obtaining hole making normal deviation sampling data according to the current feeding information and the offset angle value.

In an embodiment, after recording the current offset angle value as the final hole forming normal information, the track information processing method further includes: and generating a second drilling report according to the drilling normal deviation sampling data and the final drilling normal information.

In a second aspect, the present application provides a trajectory information processing apparatus comprising: first module, axial vector calculation module, deviation angle value calculation module, demonstration coordinate calculation module and the display module of acquireing, first module of acquireing is used for acquireing on the system hole instrument displacement variation of each displacement sensor, and wherein, the system hole instrument includes: the device comprises a cutter and at least two displacement sensors, wherein each displacement sensor is connected with the cutter; the axial vector calculation module is used for calculating the axial vector of the cutter according to the displacement variation of each displacement sensor and the preset reference coordinate system parameters; the offset angle value calculation module is used for calculating an offset angle value between the axial vector and a reference normal vector of a reference plane; the display coordinate calculation module is used for calculating and obtaining the display coordinate of the cutter on the display device according to the offset angle value, the axial vector and the parameter of the preset display device; and the display module is used for displaying the track of the cutter on the display device according to the display coordinate.

In one embodiment, the axial vector calculation module is further configured to select two target displacement sensors with the largest displacement variation among the displacement sensors; respectively determining a target vector formed by the current position in each target displacement sensor and an origin in a reference coordinate system in a preset reference coordinate system; and cross-multiplying the two target vectors to obtain the axial vector of the tool.

In an embodiment, the display coordinate calculation module is further configured to search, in the preset relationship table, a display scale coefficient of the trajectory information of the tool on the display device according to the deviation angle value; and calculating the display coordinates of the tool on the display device according to the display scale coefficient, the axial vector and the reference coordinate system parameters.

In an embodiment, the display coordinate calculation module is further configured to calculate an X component of the display coordinate of the tool on the display device according to the display scale coefficient, the axial vector, and a direction vector in the X direction in the reference coordinate system parameter; and calculating to obtain the Y component of the display coordinate of the tool on the display device according to the display scale coefficient, the axial vector and the direction vector of the Y direction in the reference coordinate system parameter.

In an embodiment, the display coordinate calculation module is further configured to deflect both the X component of the display coordinate and the Y component of the display coordinate by a preset angle to obtain a final display coordinate.

In an embodiment, the track information processing apparatus further includes: the device comprises a first judgment module, a first recording module and a first output module, wherein the first judgment module is used for judging whether the offset angle value exceeds a preset angle range; the first recording module is used for recording the current offset angle value as punching error data when the offset angle value exceeds a preset angle range, and outputting a stop operation command aiming at the punching tool; the first output module is used for outputting the correct prompt information when the offset angle value is within the preset angle range.

In an embodiment, the track information processing apparatus further includes: the drilling tool comprises a first acquisition module, a first judgment module and a first recording module, wherein the first acquisition module is used for acquiring current pressure information of each limiting sensor in the drilling tool; the second judging module is used for judging whether any current pressure information exists in a pressure threshold range, and the second recording module is used for recording a current offset angle value as final hole forming normal information when any current pressure information exists in the pressure threshold range.

In an embodiment, the track information processing apparatus further includes: and the first generation module is used for generating a first hole making report according to the final hole forming normal information.

In an embodiment, the track information processing apparatus further includes: the third acquisition module is used for acquiring the current feeding information of a feeding sensor in the hole making tool; the hole making tool also comprises a feeding sensor, and the feeding sensor is arranged on the base;

and the deviation sampling data calculation module is used for obtaining the normal deviation sampling data of the hole making according to the current feeding information and the offset angle value.

In an embodiment, the track information processing apparatus further includes: and the second generation module generates a second drilling report according to the drilling normal deviation sampling data and the final drilling normal information.

In a third aspect, the present application provides an electronic device, comprising: a display, a memory to store a computer program, and a processor; the processor is used for executing the method.

In a fourth aspect, the present application provides a non-transitory electronic device readable storage medium comprising: a program, when executed by an electronic device, causes the electronic device to perform the method described above.

In a fifth aspect, the present application provides a hole making tool comprising: the rotary device is in transmission connection with the cutter and is used for driving the cutter to rotate; the base is fixed on the rotating device, at least two branch pipes are arranged on the base, and each branch pipe is provided with a displacement sensor; and the display device is connected with the displacement sensor. The hole making tool further comprises: at least two locating parts, every displacement sensor is equipped with a locating part.

In one embodiment, the drilling tool further comprises: and the limiting sensor is arranged on the limiting part.

In one embodiment, the drilling tool further comprises: and the feeding sensor is arranged on the base.

The hole making tool, the track information processing method and device and the electronic equipment are used for processing the track information of the cutter in the hole making tool, so that the error rate can be reduced, and the quality of drilling and the whole machine can be improved.

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 schematic structural view of a hole making tool according to an embodiment of the present application.

Fig. 2 is a schematic machining diagram of a hole making tool according to an embodiment of the present application.

Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Fig. 4 is a flowchart illustrating a track information processing method according to an embodiment of the present application.

Fig. 5 is a schematic diagram of a reference coordinate system according to an embodiment of the present application.

Fig. 6 is a schematic diagram of a reference coordinate system according to an embodiment of the present application.

Fig. 7 is a flowchart illustrating a track information processing method according to an embodiment of the present application.

Fig. 8 is a flowchart illustrating a track information processing method according to an embodiment of the present application.

Fig. 9 is a flowchart illustrating a track information processing method according to an embodiment of the present application.

Fig. 10 is a schematic structural diagram of a hole making tool according to an embodiment of the present application.

Fig. 11 is a schematic structural diagram of a hole making tool according to an embodiment of the present application.

Fig. 12 is a flowchart illustrating a track information processing method according to an embodiment of the present application.

Fig. 13 is a schematic step diagram of a track information processing method according to an embodiment of the present application.

Fig. 14 is a block diagram of a trajectory information processing device according to an embodiment of the present application.

Icon: 100-a hole making tool; 110-a base; 120-branch pipe; 130-a displacement sensor; 140-a stop; 150-limit sensor; 160-feed sensor; 170-a cutter; 180-a rotation device; 190-a display device; 191-a light spot; 192-a cross; 101-a control device; 200-surface to be processed; 201-data collection point; 300-an electronic device; 301-a bus; 302-a memory; 303-a processor; 304-a display; 400-trajectory information processing means; 410-a first acquisition module; 420-axial vector calculation module; 430-offset angle value calculation module; 440-display coordinate calculation module; 450-display 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.

Fig. 1 is a schematic structural diagram of a hole making tool 100 according to an embodiment of the present disclosure. The hole making tool 100 includes: the rotary device 180 is in transmission connection with the cutter 170 and used for driving the cutter 170 to rotate, the base 110 is fixed on the rotary device 180, at least two branch pipes 120 are arranged on the base 110, one displacement sensor 130 is arranged in each branch pipe 120, namely, each displacement sensor 130 is indirectly connected with the cutter 170, and the plurality of displacement sensors 130 are circumferentially arranged on the cutter 170.

The displacement sensor 130 may be a contact sensor or a non-contact sensor, and the tool 170 may be a tool such as a drill or a milling cutter, and may be used for machining a hole or a groove. The rotation means 180 may be a pneumatic drill or an electric drill. The number of the displacement sensors 130 is equal to the number of the branch pipes 120, and may be 2, 3, 4, 5, 6, or the like.

In this embodiment, the tool 170 is a drill bit and the rotary device 180 is a hand-held pneumatic drill. The displacement sensor 130 is a contact-type displacement sensor 130, and is movably provided in the branch pipe 120 by an elastic member such as a spring. The displacement sensors 130 are provided with 3, and the three displacement sensors 130 are circumferentially arranged on the cutter 170 at 120-degree included angles.

The hole making tool 100 further comprises a control device 101, the control device 101 comprises a display device 190, and the display device 190 is connected with the displacement sensor 130 and used for displaying the position of the cutter 170; the control device 101 further comprises a transceiver, a processor 303, and a memory 302.

The connection between the control device 101 and the displacement sensor 130 and the connection between the control device 101 and the display device 190 may be wireless or wired. That is, the display device 190 may be directly fixed to the base 110 by bolts, or may be independently provided, for example: the display device 190 may be located in a room or elsewhere.

Because each displacement sensor 130 is indirectly connected with the cutter 170, when the operator deflects the rotating device 180 by an angle, the cutter 170 and the displacement sensor 130 are also synchronously deflected under the driving of the rotating device 180 and the base 110, so that the displacement variation detected by each displacement sensor 130 in real time can reflect the deflection angle, i.e., the track information, of the cutter 170.

Each displacement sensor 130 sends the displacement variation detected in real time to the control device 101, and the control device 101 receives the collected signals of each displacement sensor 130, processes the signals and outputs the processed signals by the display device 190, so that the real-time motion track information of the cutter shaft of the cutter 170 can be fed back.

Fig. 2 is a schematic processing diagram of a hole-making tool 100 according to an embodiment of the present disclosure. The display screen of the display device 190 may display a grid, a cross 192 indicating the origin, and a spot 191 for indicating the position of the tool 170 in real time. The offset trajectory of the tool 170 is displayed on the display screen in the form of an offset of the pixels of the spot 191. When the light spot 191 is located at the center of the cross 192, the operator can know that the tool 170 is perpendicular to the surface to be processed 200, and the axis of the tool 170 is coincident with the normal of the current point of the surface to be processed 200; when spot 191 is not centered on cross 192, the operator knows the offset between the axis of tool 170 and the normal of the current point of surface to be machined 200 based on the position between spot 191 and cross 192 to facilitate manual adjustment by the operator.

In one operation, when the hole-making tool 100 does not make a hole and the display device 190 is opened, each displacement sensor 130 does not contact any surface, and the detected value is not changed, and the light spot 191 coincides with the center of the cross 192 in the display device 190.

An operator holds the rotating device 180 (see fig. 1) by hand, and presses the tool 170 against the surface 200 to be machined of the workpiece to be machined, at this time, the plurality of displacement sensors 130 extend and retract under the action of the elastic force of the spring and other components, and also press against the surface 200 to be machined, at this time, each displacement sensor 130 can measure a displacement variation, and the display device 190 can change the position of the light spot 191 according to the measured displacement variation to display the offset between the axis of the tool 170 and the normal of the current point of the surface 200 to be machined at this time.

When the operator deflects the rotating device 180 by an angle, the tool 170 and the displacement sensor 130 are also deflected synchronously under the driving of the rotating device 180 and the base 110, and at this time, each displacement sensor 130 can measure a new displacement variation, and the display device 190 can change the position of the light spot 191 according to the newly measured displacement variation to display the offset between the axis of the tool 170 and the normal of the current point of the surface 200 to be processed.

In another embodiment, the drilling tool 100 may be mounted on a robot, which automatically controls the feeding and deflection of the tool 170 to achieve fully automatic drilling.

Fig. 3 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 apparatus 101 in the above-described embodiment, and the electronic device 300 includes: at least one processor 303, a memory 302, and a display 304, the display 304 may be the display device 190 in the above embodiments, for example: a display screen.

Fig. 3 illustrates an example of a processor 303. The processor 303, the memory 302 and the display 304 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 flow of the method in the embodiments described below, so as to realize the track information processing of the cutter 170 in the hole making tool 100.

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 one 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.

Fig. 4 is a flowchart illustrating a track information processing method according to an embodiment of the present application. Please refer to fig. 5 and fig. 6, which are schematic diagrams of a reference coordinate system according to an embodiment of the present application. The method may be executed by the electronic device 300 shown in fig. 3 as the control apparatus 101 shown in any one of fig. 1 to 2, so as to implement the track information processing of the tool 170 in the drilling tool 100. This method may occur before, during, and after the drilling of the hole making tool 100. The method comprises the following steps:

step S110: the amount of change in displacement of each displacement sensor 130 on the drilling tool 100 is acquired.

This step may occur after the control device 101 receives a start command for the drilling tool 100, which may be input by an operator via a switch or a button.

The displacement variation obtained in this step is real-time detection information of all the displacement sensors 130 on the drilling tool 100. When the hole forming tool 100 is not used for forming a hole, the displacement sensors 130 do not contact any surface, and the detected value does not change. When the tool 170 contacts the surface 200 to be processed, each displacement sensor 130 expands and contracts under the action of the elastic force of a spring or the like and also abuts against the surface 200 to be processed, and at this time, each displacement sensor 130 can measure the displacement variation of each displacement sensor 130.

In one embodiment, before this step occurs, a zeroing process is further included for each displacement sensor 130 of the drilling tool 100, i.e., the initial value of each displacement sensor 130 is set to 0.

In another embodiment, the step may include the following steps: acquiring initial values set by the displacement sensors 130; acquiring current detection values of the displacement sensors 130; the displacement variation of each displacement sensor 130 is calculated by subtracting the initial value of each displacement sensor 130 from the current detection value of each displacement sensor 130.

Step S120: and calculating the axial vector of the tool 170 according to the displacement variation of each displacement sensor 130 and the preset reference coordinate system parameter.

The reference coordinate system preset in this step is the factory design of the hole making tool 100, which is determined by the relative positions between the plurality of displacement sensors 130 and the cutter 170. The reference coordinate system may be a rectangular coordinate system or an oblique coordinate system. The reference coordinate system parameters include parameters such as an origin of the reference coordinate system.

In this embodiment, referring to fig. 5 and fig. 6, the reference coordinate system is a rectangular spatial coordinate system, the vertex of the tool 170 is used as the origin O of the reference coordinate system, and the plane defined by the initial vertices A, B and C of the three displacement sensors 130 is used as the XY plane of the reference coordinate system. The normal line at the origin O in the XY plane serves as the Z-axis of the reference coordinate system.

Initial vertices A, B of three displacement sensors 130 andc is a vertex of 0 where the three displacement sensors 130 do not contact any surface and the detected value does not change when the hole forming tool 100 does not form a hole. Wherein, the XY plane is shown in FIG. 5, the line segments OA, OB and OC respectively represent the distance between the initial vertex of the three displacement sensors 130 and the cutter 170 when the hole making tool 100 is not making a hole, and the coordinates of the initial vertex of the three displacement sensors 130 are A (x)_a，y_a,0)、B(x_b，y_b0) and C (x)_c，y_c,0)。

When the tool 170 contacts the surface 200 to be processed, each displacement sensor 130 expands and contracts under the action of the elastic force of a spring or the like and also abuts against the surface 200 to be processed, and the current detection values of the three displacement sensors 130 are z_a、z_bAnd z_cThe displacement variation amounts of the three displacement sensors 130 are Δ z_a＝z_a、Δz_b＝z_bAnd Δ z_c＝z_cThen, at this time, the current vertex coordinates of the three displacement sensors 130 are a1 (x)_a，y_a，Δz_a)、B1(x_b，y_b，Δz_b) And C1 (x)_c，y_c，Δz_c)。

When the surface to be processed 200 is a plane, the surface to be processed 200 may coincide with an XY plane in the reference coordinate system, and the unit vector in the Z-axis direction is a normal vector of the surface to be processed 200.

As shown in fig. 6; when the surface to be processed 200 is a curved surface, since the initial vertexes A, B and C of the three displacement sensors 130 are axisymmetrically arranged with respect to the vertex O of the tool 170, the tangent plane of the surface to be processed 200 at the point 0 may coincide with or differ little from the XY plane in the reference coordinate system, and the unit vector in the Z-axis direction is the normal vector of the surface to be processed 200

The same or similar.

In this step, the axial vector of the tool 170

Is a unit vector of the axis of the tool 170 in the reference coordinate system, and is used to represent the current angle of the tool 170.

Because the three displacement sensors 130 are linked with the tool 170, the displacement variation detected by each displacement sensor 130 in real time can reflect the deflection angle of the tool 170, and the axial vector of the tool 170 can be calculated according to the current vertex coordinates and the reference coordinate system of the three displacement sensors 130.

Step S130: an offset angle value between the axial vector and a reference normal vector of the reference plane is calculated.

The reference plane in the step is the XY plane of the reference coordinate system, and the reference normal vector of the reference plane

Is a unit vector in the Z-axis direction for representing a normal vector of the surface to be processed 200.

According to axial vector

And the reference normal vector

The angle theta between the axis of the tool 170 and the Z axis can be calculated. The offset angle value θ can be calculated using the following equation:

wherein the content of the first and second substances,

is (0, 0, 1),

calculated for step S120.

Step S140: and calculating to obtain the display coordinates of the tool 170 on the display device 190 according to the offset angle value, the axial vector and the parameters of the preset display device 190.

In this step, the parameters of the predetermined display device 190 include the number of pixels on the display screen of the display device 190, and the display coordinates of the tool 170 on the display device 190 in this step are coordinate values of the light spot 191 with respect to the cross 192 as shown in fig. 2. Wherein the cross 192 in the display device 190 may represent the X-axis and the Y-axis of the reference coordinate system, respectively.

Since the deviation angle value represents the deviation amount between the axis of the tool 170 and the Z axis, the axial vector may represent the deviation direction of the axis of the tool 170 relative to the Z axis, the display scale of the deviation amount on the display screen may be determined according to the parameters of the display device 190, and then the display coordinates of the tool 170 on the display device 190 may be calculated according to the deviation angle value, the axial vector, and the parameters of the predetermined display device 190.

Step S150: the trajectory of the tool 170 is displayed on the display device 190 based on the display coordinates.

In this step, an output instruction is sent to the processor 303 in the display device 190, and the display screen in the display device 190 receives and executes the output instruction, so that an operator can know the track information of the cutter 170 in real time, the error rate can be reduced, the quality of drilling and the whole machine can be improved, and the rivet head form left on the skin in the aviation industry cannot be influenced.

Fig. 7 is a flowchart illustrating a track information processing method according to an embodiment of the present application. The method can be executed by the electronic device 300 shown in fig. 3 as the control device 101 shown in any one of fig. 1 to 2, so as to implement the track information processing of the tool 170 in the hole making tool 100. The method comprises the following steps:

step S210: the amount of change in displacement of each displacement sensor 130 on the drilling tool 100 is acquired. Refer to the description of step S110 for details.

Step S220: two target displacement sensors 130 with the largest displacement change amount among the displacement sensors 130 are selected.

Displacement variation Δ z for three displacement sensors 130_a、Δz_bAnd Δ z_cThe comparison of the numerical values is carried out,the target displacement sensor 130 with the largest displacement variation among the three displacement sensors 130 is selected, and the target displacement sensor 130 with the larger displacement variation among the two displacement sensors 130 is selected from the remaining two displacement sensors 130.

Step S230: in a preset reference coordinate system, a target vector formed by the current position of each target displacement sensor 130 and the origin in the reference coordinate system is determined.

As shown in fig. 6, it is assumed that the vertex coordinates of the current positions of the two target displacement sensors 130 selected in step S220 are a1 (x)_a，y_a，Δz_a) And B1 (x)_b，y_b，Δz_b) (ii) a The target vector determined in this step is

And

step S240: the two target vectors are cross-multiplied to obtain the axial vector of the tool 170.

In this step, the two target vectors of step S230 are cross-multiplied to obtain the axial vector of the tool 170. Axial vector

The following formula can be used for calculation:

wherein the content of the first and second substances,

determined for step S230 of (x)_a，y_a，Δz_a)，

Determined for step S230 of (x)_b，y_b，Δz_b)。

Step S250: an offset angle value between the axial vector and a reference normal vector of the reference plane is calculated. Refer to the description of step S130 for details.

Step S260: and searching the display scale factor of the track information of the cutter 170 on the display device 190 in a preset relation table according to the deviation angle value.

The preset relationship table in this step may be preset. In one embodiment, the predetermined relationship table may include a one-to-one relationship between the value of the offset angle and the value of the display scale factor under different parameters of the display device 190. In one embodiment, the predetermined relationship table may include a one-to-one relationship between the value of the offset angle value and the value of the display scaling factor under a certain parameter of the display device 190.

Step S270: and calculating the display coordinates of the tool 170 on the display device 190 according to the display scale coefficient, the axial vector and the reference coordinate system parameters.

In an embodiment, in this step, first, according to the display scale factor, the axial vector and the direction vector in the X direction in the reference coordinate system parameter, the X component E of the coordinate displayed on the display device 190 by the tool 170 is calculated; and then, calculating to obtain a Y component F of the display coordinates of the tool 170 on the display device 190 according to the display scale coefficient, the axial vector and the direction vector of the Y direction in the reference coordinate system parameter, and finally determining that the display coordinates of the tool 170 on the display device 190 are (E, F).

Wherein, the X component E of the display coordinate is calculated by adopting the following formula:

wherein m is the display scale factor found in step S260;

the axial vector calculated in step S240;

the vector of the X direction in the reference coordinate system parameter is found.

The Y component F of the display coordinates is calculated using the following formula:

wherein m is the display scale factor found in step S260;

the axial vector calculated in step S240;

the vector of the direction in the Y direction in the reference coordinate system parameters is found.

In another embodiment, the step first calculates the X component E of the coordinate displayed on the display device 190 by the tool 170 according to the display scale factor, the axial vector and the direction vector of the X direction in the reference coordinate system parameter; calculating to obtain a Y component F of the display coordinate of the tool 170 on the display device 190 according to the display scale coefficient, the axial vector and the direction vector of the Y direction in the reference coordinate system parameter; it may be determined that the tool 170 initially displays coordinates (E, F) on the display device 190; and finally, deflecting the X component and the Y component in the initial display coordinate by a preset angle beta to obtain a final display coordinate (E1, F1).

Since the quadrant in which the initial display coordinates (E, F) are located has a certain difference from the viewing angle of the operator, the initial display coordinates can be deflected by a preset angle β to conform to the viewing angle of the operator, for example, if the axis of the tool 170 is deflected leftward relative to the origin, the light spot 191 is also synchronously deflected leftward.

The final display coordinates (E1, F1) were calculated using the following formula:

where β is a preset deflection angle, and E and F are the X component and the Y component of the initial display coordinates of the tool 170 on the display device 190, respectively.

Step S280: the trajectory of the tool 170 is displayed on the display device 190 based on the display coordinates. Refer to the description of step S150 for details.

Fig. 8 is a flowchart illustrating a track information processing method according to an embodiment of the present application. The method can be executed by the electronic device 300 shown in fig. 3 as the control device 101 shown in any one of fig. 1 to 2, so as to implement the track information processing of the tool 170 in the hole making tool 100. The method comprises the following steps:

step S310: the amount of change in displacement of each displacement sensor 130 on the drilling tool 100 is acquired. Refer to the description of step S110 for details.

Step S320: and calculating the axial vector of the tool 170 according to the displacement variation of each displacement sensor 130 and the preset reference coordinate system parameter. Refer to the description of step S120 for details.

Step S330: an offset angle value between the axial vector and a reference normal vector of the reference plane is calculated. Refer to the description of step S130 for details.

Step S340: and calculating to obtain the display coordinates of the tool 170 on the display device 190 according to the offset angle value, the axial vector and the parameters of the preset display device 190. Refer to the description of step S140 for details.

Step S350: the trajectory of the tool 170 is displayed on the display device 190 based on the display coordinates. Refer to the description of step S150 for details.

Step S360: and judging whether the offset angle value exceeds a preset angle range.

The angle range preset in this step is preset. Judging whether the axis of the cutter 170 deviates from the normal direction according to the deviation angle value, if the deviation angle value exceeds the preset angle range, indicating that the axis of the cutter 170 deviates from the normal direction, executing the step S370, recording the current deviation angle value as punching error data for later examination of an operator, and simultaneously outputting a stop operation command aiming at the punching tool 100 so as to facilitate the operator to adjust the cutter 170 in time. When the offset angle value is within the preset angle range, it indicates that the axis of the cutter 170 is not offset from the normal direction, step S380 is executed, and a prompt message for checking the alignment is output, for example, a sound alarm can be issued to prompt an operator that the axis direction of the cutter 170 is accurate and the punching can be continued.

In another embodiment, the hole-making tool 100 is provided with a locking device such as a cylinder, and when it is determined in step S360 that the axis of the cutter 170 is not deviated from the normal direction, the display device 190 may further send a locking command for controlling the operation of the locking device to prevent the radial displacement of the cutter 170 and reduce the probability that the axis of the cutter 170 is deviated from the normal direction. Wherein the lock command may be sent after or before step S380 or sent synchronously.

In another embodiment, when it is determined in step S360 that the axis of the tool 170 is not offset from the normal direction, the displacement variation of each displacement sensor 130 at this time may be recorded as a comparison displacement value M, and then, by calculating a difference between the current detection value of each displacement sensor 130 and the comparison displacement value M, it may be determined whether the difference exceeds a preset range M ± M, so as to determine whether the tool 170 is offset from the normal direction and whether a normal direction alignment process needs to be performed (i.e., steps S310 to S350).

Step S370: the current offset angle value is recorded as the punching error data, and a stop command for the hole making tool 100 is output.

Step S380: and outputting the prompt information of correction.

The steps S360 to S380 may be executed after the step S330, and may be executed in synchronization with any step of the steps S340 to S350, or may be executed before any step of the steps S340 to S350.

Fig. 9 is a flowchart illustrating a track information processing method according to an embodiment of the present application. Please refer to fig. 10 and 11, which are schematic structural views of a hole making tool 100 according to an embodiment of the present application. The method may be executed by the electronic device 300 shown in fig. 3 as the control apparatus 101 shown in any one of fig. 1 to 2, so as to implement the track information processing of the tool 170 in the drilling tool 100. The method comprises the following steps:

step S410: the amount of change in displacement of each displacement sensor 130 on the drilling tool 100 is acquired. Refer to the description of step S110 for details.

Step S420: and calculating the axial vector of the tool 170 according to the displacement variation of each displacement sensor 130 and the preset reference coordinate system parameter. Refer to the description of step S120 for details.

Step S430: an offset angle value between the axial vector and a reference normal vector of the reference plane is calculated. Refer to the description of step S130 for details.

Step S440: and calculating to obtain the display coordinates of the tool 170 on the display device 190 according to the offset angle value, the axial vector and the parameters of the preset display device 190. Refer to the description of step S140 for details.

Step S450: the trajectory of the tool 170 is displayed on the display device 190 based on the display coordinates. Refer to the description of step S150 for details.

Step S460: current pressure information for each of the limit sensors 150 in the hole making tool 100 is obtained.

As shown in fig. 10 and 11, the displacement sensor 130 is provided with a limiting member 140, the limiting member 140 is provided with a limiting sensor 150, and the limiting sensor 150 may be a limiting switch or a pressure sensor.

As shown in fig. 10, before the hole drilling by the hole drilling tool 100 is completed, the stopper 140 of the displacement sensor 130 is not in contact with the branch pipe 120; as shown in fig. 11, after the hole drilled by the hole drilling tool 100 is completed, the position-limiting part 140 of the displacement sensor 130 abuts against the branch pipe 120, the position-limiting sensor 150 is a pressure sensor that can detect a signal indicating that the hole drilling by the hole drilling tool 100 is completed, and records and stores the current offset angle value as the normal angle value of the drilled hole, wherein the normal angle value of the drilled hole can be stored in the memory chip together with information such as operator ID and hole drilling serial number, and a hole drilling report is generated for quality control, and the qualification rate of the drilled hole and the serial number of the corresponding unqualified hole are counted, thereby pertinently improving the drilling quality.

When the hole is a through hole, the workpiece to be machined loses the resistance to the cutter 170 when the hole is punched, and the limiting member 140 triggers mechanical limiting after the cutter 170 continues to extend forward for a certain distance. Step S470: and judging whether any current pressure information is in a pressure threshold range.

Judging whether one displacement sensor 130 triggers mechanical limit according to whether the detection information of the limit sensor 150 meets a preset condition, if any current pressure information is within a pressure threshold range, indicating that punching is finished, executing a step S480, recording a current offset angle value as normal information of final hole forming, and then outputting a stop operation command for the hole forming tool 100; when any current pressure information is not within the pressure threshold range, the operation returns to step S410, steps S410 to S470 are executed, the hole making tool 100 continues to make holes, and the display device 190 continues to process the trajectory information of the tool 170 until there is a hit on the displacement sensor 130.

Step S480: the current offset angle value is recorded as the final hole forming normal information.

Step S490: and generating a first hole forming report according to the final hole forming normal information.

The final hole forming normal information in the step is the deviation angle value recorded in the step S480, and the first hole forming report in the step can further comprise information such as operator ID and hole forming serial number besides the final hole forming normal angle so as to prepare for quality control and statistics of the qualification rate of hole forming and the serial number of corresponding unqualified holes, thereby pertinently improving the drilling quality.

Fig. 12 is a flowchart illustrating a track information processing method according to an embodiment of the present application. Please refer to fig. 13, which is a schematic step diagram of a track information processing method according to an embodiment of the present application. The method may be executed by the electronic device 300 shown in fig. 3 as the control apparatus 101 shown in any one of fig. 1 to 2, so as to implement the track information processing of the tool 170 in the drilling tool 100. The method comprises the following steps:

step S501: the amount of change in displacement of each displacement sensor 130 on the drilling tool 100 is acquired. Refer to the description of step S110 for details.

Step S502: and calculating the axial vector of the tool 170 according to the displacement variation of each displacement sensor 130 and the preset reference coordinate system parameter. Refer to the description of step S120 for details.

Step S503: an offset angle value between the axial vector and a reference normal vector of the reference plane is calculated. Refer to the description of step S130 for details.

Step S504: current feed information of the feed sensor 160 in the hole making tool 100 is acquired.

As shown in fig. 13, since the tool 170 may still shift due to the unstable hand of the operator, the vibration of the machine, etc. during the drilling process, the present application collects the shifting track information of the axis of the tool 170 many times during the drilling process and the feeding process of the tool 170 to reflect the hole diameters of the sections in the drilled hole. In fig. 13, a plurality of data acquisition points 201 are shown for each segment of the drilled hole.

As shown in fig. 10, a feeding sensor 160 is further disposed on the base 110 of the hole forming tool 100, and the feeding sensor 160 may be a contact sensor or a non-contact sensor, and is used for detecting the displacement of the base, that is, measuring the distance between the base 110 and the surface 200 to be processed as the feeding amount, so that the current punching progress of the hole forming tool 100 can be determined to distinguish the data acquisition points 201.

The current feeding information of the feeding sensor 160 may be obtained in real time, or may be obtained once every preset time.

Step S505: and obtaining hole making normal deviation sampling data according to the current feeding information and the offset angle value.

In one embodiment, the current detection value and the offset angle value of the feeding sensor 160 can be recorded at the same time, and directly used as the drilling normal offset sampling data for indicating the offset amount of the cutter 170 at the current drilling progress of the drilling tool 100.

In another embodiment, the hole diameter of the hole to be drilled at the current drilling progress of the drilling tool 100 is calculated based on the offset angle value and the current detection value of the feeding sensor 160, and the hole diameter is used as the drilling normal deviation sampling data.

The hole diameter D of the hole made by the drilling tool 100 at the current drilling progress may be calculated by using the following formula:

D＝d+L*sinθ；

where d is the diameter of the tool 170, L is the travel distance of the tool 170, and is the current feeding information of the feeding sensor 160, and θ is the offset angle value, which is calculated in step S530.

Step S506: and calculating to obtain the display coordinates of the tool 170 on the display device 190 according to the offset angle value, the axial vector and the parameters of the preset display device 190. Refer to the description of step S140 for details.

Step S507: the trajectory of the tool 170 is displayed on the display device 190 based on the display coordinates. Refer to the description of step S150 for details.

Step S508: current pressure information for each of the limit sensors 150 in the hole making tool 100 is obtained. Refer to the description of step S460 for details.

Step S509: and judging whether any current pressure information is in a pressure threshold range. Refer to the description of step S470 for details.

Step S510: the current offset angle value is recorded as the final hole forming normal information. Refer to the description of step S480 for details.

Step S511: and generating a second drilling report according to the drilling normal deviation sampling data and the final drilling normal information.

The second drilling report in the step can further comprise information such as operator ID and drilling serial number besides the normal angle and the drilling normal deviation sampling data of the final hole forming, so that quality control can be carried out, the qualification rate of the drilling can be counted, the serial number of the corresponding unqualified hole can be counted, and the drilling quality can be improved in a targeted mode.

Fig. 14 is a block diagram of a track information processing apparatus 400 according to an embodiment of the present application. The apparatus can be applied to the electronic device 300 shown in fig. 3 to realize the trajectory information processing of the cutter 170 in the hole making tool 100. The trajectory information processing device 400 includes: the first obtaining module 410, the axial vector calculating module 420, the offset angle value calculating module 430, the display coordinate calculating module 440, and the display module 450. The principle relationship of the modules is as follows:

the first obtaining module 410 is used for obtaining the displacement variation of each displacement sensor 130 on the drilling tool 100.

The axial vector calculation module 420 is configured to calculate an axial vector of the tool 170 according to the displacement variation of each displacement sensor 130 and a preset reference coordinate system parameter.

The offset angle value calculation module 430 is configured to calculate an offset angle value between the axial vector and a normal reference vector of the reference plane.

The display coordinate calculation module 440 is configured to calculate display coordinates of the tool 170 on the display device 190 according to the offset angle value, the axial vector, and a parameter of the predetermined display device 190.

The display module 450 is used for displaying the track of the tool 170 on the display device 190 according to the display coordinates.

In an embodiment, the axial vector calculation module 420 is further configured to select two target displacement sensors 130 with the largest displacement variation among the displacement sensors 130; respectively determining a target vector formed by the current position in each target displacement sensor 130 and an origin in a reference coordinate system in a preset reference coordinate system; the two target vectors are cross-multiplied to obtain the axial vector of the tool 170.

In an embodiment, the display coordinate calculation module 440 is further configured to search a display scale coefficient of the trajectory information of the tool 170 on the display device 190 in a preset relationship table according to the deviation angle value; and calculating the display coordinates of the tool 170 on the display device 190 according to the display scale coefficient, the axial vector and the reference coordinate system parameters.

In an embodiment, the display coordinate calculation module 440 is further configured to calculate an X component of the display coordinate of the tool 170 on the display device 190 according to the display scale coefficient, the axial vector, and the direction vector in the X direction in the reference coordinate system parameter; and calculating the Y component of the display coordinate of the tool 170 on the display device 190 according to the display scale coefficient, the axial vector and the direction vector of the Y direction in the reference coordinate system parameter.

In an embodiment, the display coordinate calculation module 440 is further configured to deflect the initial display coordinate by a preset angle to obtain a final display coordinate.

In an embodiment, the track information processing apparatus 400 further includes: the device comprises a first judgment module, a first recording module and a first output module, wherein the first judgment module is used for judging whether the offset angle value exceeds a preset angle range; the first recording module is used for recording the current offset angle value as punching error data when the offset angle value exceeds a preset angle range, and outputting a stop operation command for the hole making tool 100; the first output module is used for outputting the correct prompt information when the offset angle value is within the preset angle range.

In an embodiment, the track information processing apparatus 400 further includes: the hole drilling tool 100 further comprises a base 110, a cutter 170 and displacement sensors 130 are arranged on the base 110, each displacement sensor 130 is provided with a limiting piece 140, and each limiting piece 140 is provided with a limiting sensor 150; the second judging module is used for judging whether a target limit sensor 150 with current pressure information meeting preset conditions exists or not, and the second recording module is used for recording the current offset angle value as final hole forming normal information when the target limit sensor 150 exists.

In an embodiment, the track information processing apparatus 400 further includes: and the first generation module is used for generating a first hole making report according to the final hole forming normal information.

In an embodiment, the track information processing apparatus 400 further includes: a third obtaining module and a deviation sampling data calculating module, wherein the third obtaining module is used for obtaining the current feeding information of the feeding sensor 160 in the hole making tool 100; the hole making tool 100 further includes a feed sensor 160, the feed sensor 160 being provided on the base 110;

In an embodiment, the track information processing apparatus 400 further includes: and the second generation module generates a second drilling report according to the drilling normal deviation sampling data and the final drilling normal information.

For a detailed description of the track information processing apparatus 400, please refer to the description of the related method steps in the above embodiments.

An embodiment of the present application further provides a non-transitory electronic device readable storage medium, including: the program, when executed on the electronic device 300, causes the electronic device 300 to perform all or part of the flow of the method in the above-described embodiments. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory 302(Flash Memory), a Hard Disk Drive (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like. The storage medium may also include a combination of memories 302 of the sort described above.

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.

It should be noted that the features of the embodiments in the present application may be combined with each other without conflict. The above embodiments are merely examples of the present application and are not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A track information processing method, comprising:

obtain the displacement variation of each displacement sensor on the drilling tool, wherein, the drilling tool includes: the displacement sensor is connected with the cutter;

calculating the axial vector of the cutter according to the displacement variation of each displacement sensor and a preset reference coordinate system parameter;

calculating a deviation angle value between the axial vector and a reference normal vector of a reference plane;

calculating to obtain a display coordinate of the cutter on a display device according to the offset angle value, the axial vector and a parameter of a preset display device;

and displaying the track of the cutter on the display device according to the display coordinates.

2. The trajectory information processing method according to claim 1, wherein the calculating an axial vector of the tool according to the displacement variation of each displacement sensor and a preset reference coordinate system parameter includes:

selecting two target displacement sensors with the largest displacement variation in the displacement sensors;

respectively determining a target vector formed by the current position in each target displacement sensor and the origin in the reference coordinate system in the preset reference coordinate system;

and cross-multiplying the two target vectors to obtain the axial vector of the cutter.

3. The trajectory information processing method according to claim 2, wherein the calculating of the display coordinates of the tool on the display device using the offset angle value, the axial vector, and a parameter of a predetermined display device includes:

searching a display scale coefficient of the track information of the cutter on the display device in a preset relation table according to the deviation angle value;

and calculating the display coordinate of the tool on the display device according to the display scale coefficient, the axial vector and the reference coordinate system parameter.

4. The trajectory information processing method according to claim 3, wherein the reference coordinate system is a rectangular coordinate system, and the calculating the display coordinates of the tool on the display device based on the display scale factor, the axial vector, and the reference coordinate system parameter includes:

calculating to obtain an X component of a coordinate displayed on the display device by the cutter according to the display scale coefficient, the axial vector and a direction vector in the X direction in the reference coordinate system parameter;

and calculating to obtain a Y component of the display coordinate of the tool on the display device according to the display scale coefficient, the axial vector and the direction vector of the Y direction in the reference coordinate system parameter.

5. The trajectory information processing method according to claim 4, wherein the calculating display coordinates of the tool on the display device based on the display scale factor, the axial vector, and the reference coordinate system parameter further includes:

and deflecting the X component of the display coordinate and the Y component of the display coordinate by a preset angle to obtain the final display coordinate.

6. The trajectory information processing method according to any one of claims 1 to 5, further comprising:

judging whether the offset angle value exceeds a preset angle range or not;

when the offset angle value exceeds a preset angle range, recording the current offset angle value as punching error data, and outputting a stop operation command for the hole making tool;

and when the offset angle value is within a preset angle range, outputting correction prompt information.

7. The trajectory information processing method according to any one of claims 1 to 5, further comprising:

acquiring current pressure information of each limit sensor in the drilling tool;

judging whether any current pressure information is in a pressure threshold range;

and when any one of the current pressure information is within the pressure threshold value range, recording the current offset angle value as final hole forming normal information.

8. The method according to claim 7, wherein after calculating the offset angle value between the axial vector and the normal reference vector of the reference plane, and before recording the current offset angle value as the final hole forming normal information, the method further comprises:

acquiring current feeding information of a feeding sensor in the hole making tool;

and obtaining hole making normal deviation sampling data according to the current feeding information and the offset angle value.

9. The method as claimed in claim 8, wherein after recording the current offset angle value as the final hole forming normal information, further comprising:

generating a first hole forming report according to the final hole forming normal information;

and generating a second drilling report according to the drilling normal deviation sampling data and the final drilling normal information.

10. A trajectory information processing apparatus characterized by comprising:

a first acquisition module for acquiring displacement variation of each displacement sensor on a drilling tool, wherein the drilling tool comprises: the displacement sensor is connected with the cutter;

the axial vector calculation module is used for calculating the axial vector of the cutter according to the displacement variation of each displacement sensor and preset reference coordinate system parameters;

the offset angle value calculation module is used for calculating an offset angle value between the axial vector and a reference normal vector of a reference plane;

the display coordinate calculation module is used for calculating and obtaining display coordinates of the cutter on the display device according to the offset angle value, the axial vector and parameters of a preset display device; and

and the display module is used for displaying the track of the cutter on the display device according to the display coordinate.

11. An electronic device, comprising:

a display;

a memory to store a computer program;

a processor to perform the method of any one of claims 1 to 9.

12. A non-transitory electronic device readable storage medium, comprising: program which, when run by an electronic device, causes the electronic device to perform the method of any one of claims 1 to 9.

13. A hole making tool, comprising:

a cutter;

at least two displacement sensors;

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

the base is fixed on the rotating device, at least two branch pipes are arranged on the base, and each branch pipe is provided with one displacement sensor;

the display device is connected with the displacement sensor; and

at least two locating parts, every displacement sensor is equipped with a locating part.

14. The hole making tool of claim 13, further comprising:

the limiting sensor is arranged on the limiting part; and

and the feeding sensor is arranged on the base.