Automatic positioning method and device for steel body PDC bit machining

Abstract

The application relates to an automatic positioning method and device for steel body PDC drill bit machining. An industrial camera is used to shoot a drill bit crown to obtain a depth image. Through processing of the depth image, a drill bit positioning rotation angle can be obtained. Then, based on obtained drill bit crown height change information, through monitoring of the drill bit crown height, manual operation is not needed, and the drill bit rotation stopping timing can be accurately controlled to realize automatic positioning of the drill bit machining. The application can realize reliable positioning of the clamping angle of the steel body PDC drill bit, and can automatically complete tool setting operation, is accurate and reliable in positioning, can realize automatic continuous machining of the steel body PDC drill bit, is high in automation degree, greatly improves machining efficiency, reduces labor of workers, and reduces safety risks possibly caused by manual operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of drill bit machining, in particular, to an automatic positioning method and device for machining a steel body PDC drill bit. BACKGROUND

[0002] PDC drill bit is the abbreviation of polycrystalline diamond compact drill bit, which is a commonly used drilling tool in the geological drilling industry. The steel body PDC drill bit is a commonly used PDC drill bit at present, which is a blank drill body machined from Ni, Cr and other alloy materials, and is finally formed through hole processing, groove processing and other features on the blank drill body, pressing of artificial polycrystalline diamond composite sheet and wear-resistant alloy, and brazing process.

[0003] The steel body PDC drill bit has a complex structure but needs to ensure a certain machining precision. The steel body PDC drill bit has a special spatial structure, such as each cutting tooth, each water hole position, and each gauge position, each of which has a different spatial angle position. Low machining precision of each position will cause uneven wear of a certain cutting tooth, leading to premature failure of the drill bit, affecting drilling efficiency, and even causing serious economic losses. In order to ensure the machining precision of each cutting tooth position, the steel body PDC drill bit generally adopts a five-axis machining center for final machining.

[0004] At present, when machining a PDC drill bit, a bar is first roughly milled into a blank drill body or a blank drill body is directly cast, and then the blank drill body is loaded into a five-axis machine tool to determine the position of the program origin in the machine tool coordinate system (i.e., tool setting) for machining needs. Generally, the most forward face of the longest blade of the drill bit in the clockwise direction is used as the tool setting reference surface, and the projection of the reference surface along the axial direction of the drill bit can be called the tool setting reference line. When tool setting, the tool setting reference surface is adjusted to face a specific angle (generally parallel to the X-axis or Y-axis of the machine tool). In addition, due to the randomness of the clamping phase of the drill bit, in order to avoid accidental contact or damage to the machine tool probe, the Z-direction tool setting of the drill bit is often detected by manually operating the machine tool probe to a certain position to detect the Z-direction tool setting point of the drill bit. The whole process has low automation rate and frequent labor operation of workers; secondly, tool setting errors caused by human negligence may cause spindle collision risk, and the production safety performance is low; manual tool setting cannot realize automatic continuous machining of the steel body PDC drill bit, and the production efficiency is low. In addition, manual feeding and unloading and manual tool setting also lead to high machining cost of the steel body PDC drill bit, which is difficult to meet the mass production demand. SUMMARY

[0005] In order to overcome at least one deficiency in the prior art, the embodiments of the present application provide an automatic positioning method and device for machining a steel body PDC drill bit.

[0006] In a first aspect, an automatic positioning method for steel body PDC drill bit machining is provided, comprising:

[0007] obtaining crown height change information during drill bit rotation, wherein the crown height change information comprises a corresponding relationship between a drill bit rotation angle and a drill bit crown height;

[0008] obtaining a depth image of the drill bit crown;

[0009] determining a tool setting baseline of the drill bit according to the depth image;

[0010] determining a drill bit positioning rotation angle of the tool setting baseline relative to a zero position;

[0011] determining a drill bit crown height corresponding to the drill bit positioning rotation angle according to the drill bit crown height change information, controlling the drill bit rotation, and when the drill bit crown height reaches the drill bit crown height corresponding to the drill bit positioning rotation angle, the angle of the drill bit rotation reaches the drill bit positioning rotation angle, thereby achieving automatic positioning of the drill bit machining.

[0012] In an embodiment, determining a tool setting baseline of the drill bit according to the depth image comprises:

[0013] performing binary segmentation on the depth image to obtain a plurality of connected regions, wherein the plurality of connected regions are regions where drill bit blades are located;

[0014] in the depth image, taking the center of the drill bit as the origin and the edge of the drill bit as the edge to draw a circle, thereby obtaining a plurality of radius line segments of the circle contained by the region where the drill bit blades are located;

[0015] determining an average value of depth information corresponding to each radius line segment;

[0016] the minimum value in the average value of depth information corresponding to each radius line segment corresponds to the radius line segment of the tool setting baseline.

[0017] In an embodiment, the method further comprises:

[0018] when the drill bit is placed on a machine tool, determining a machine tool positioning deflection angle of the drill bit to compensate for the position of the drill bit;

[0019] determining the machine tool positioning deflection angle θ of the drill bit using the following formula:

[0020]

[0021] wherein X1 and X2 are X-axis coordinates of any two points on the tool setting surface of the drill bit, and Y1 and Y2 are Y-axis coordinates of any two points on the tool setting surface of the drill bit;

[0022] When Y2>Y1, the drill bit rotates clockwise by an angle θ; when Y2Y1, the drill bit rotates clockwise by an angle of 360°-θ; when Y2=Y1, the machine positioning deflection angle of the drill bit is 0, and the drill bit does not rotate.

[0023] In one embodiment, the method further comprises:

[0024] When the drill bit is placed on the machine tool, the Z-direction reference point coordinates of the drill bit are detected to realize automatic tool setting of the drill bit in the Z-direction.

[0025] In a second aspect, an automatic positioning device for machining a steel body PDC drill bit is provided, comprising:

[0026] A drill crown height information acquisition module is configured to acquire crown height change information during rotation of the drill bit; the crown height change information comprises a corresponding relationship between a rotation angle of the drill bit and a crown height of the drill bit.

[0027] A drill crown image acquisition module is configured to acquire a depth image of the drill crown.

[0028] A tool setting baseline determination module is configured to determine a tool setting baseline of the drill bit based on the depth image.

[0029] A drill positioning rotation angle determination module is configured to determine an angle of the tool setting baseline relative to a zero position as a drill positioning rotation angle.

[0030] A rotation angle control module is configured to determine a drill crown height corresponding to the drill positioning rotation angle based on the crown height change information of the drill crown, and control the rotation of the drill bit; when it is monitored that the drill crown height reaches the drill crown height corresponding to the drill positioning rotation angle, the rotation angle of the drill bit reaches the drill positioning rotation angle, thereby realizing automatic positioning of the drill bit machining.

[0031] In one embodiment, the tool setting baseline determination module is configured to:

[0032] The depth image is subjected to binary segmentation to obtain a plurality of connected regions, and the plurality of connected regions are regions where drill blades are located.

[0033] A plurality of radius line segments of a circle containing the region where the drill blades are located are obtained by taking the center of the drill bit as the origin and the edge of the drill bit as the edge in the depth image.

[0034] An average value of depth information corresponding to each radius line segment is determined.

[0035] The radius line segment corresponding to the minimum value in the average value of the depth information corresponding to each radius line segment is the line segment on which the tool setting baseline is located.

[0036] In one embodiment, the device further comprises a machine tool macro program control module configured to:

[0037] When the drill bit is placed in the machine tool, the machine tool positioning deflection angle of the drill bit is determined to compensate the position of the drill bit;

[0038] The machine tool positioning deflection angle θ of the drill bit is determined by using the following formula:

[0039]

[0040] Wherein, X1, X2 are respectively the X-axis coordinates of any two points on the tool setting surface of the drill bit, Y1, Y2 are respectively the Y-axis coordinates of any two points on the tool setting surface of the drill bit;

[0041] When Y2>Y1, the drill bit rotates clockwise by an angle θ; when Y2

[0042] In one embodiment, the machine tool macro program control module is further used for:

[0043] When the drill bit is placed in the machine tool, the Z-direction reference point coordinates of the drill bit are detected to realize automatic tool setting of the drill bit in the Z-direction.

[0044] Compared with the prior art, the present application has the following beneficial effects:

[0045] The automatic positioning method and device for steel body PDC drill bit machining of the present application uses an industrial camera to shoot the crown of the drill bit to obtain a depth image, and through processing of the depth image, the positioning rotation angle of the drill bit can be obtained. Then, based on the obtained height variation information of the crown of the drill bit, the height of the crown of the drill bit is monitored, without manual operation, so that the timing of stopping the rotation of the drill bit can be accurately controlled to realize automatic positioning of the drill bit machining. The present application does not need manual operation, can realize reliable positioning of the clamping angle of the steel body PDC drill bit, and automatically complete the tool setting operation, with accurate and reliable positioning. The present application can realize automatic continuous machining of the steel body PDC drill bit, has high automation degree, greatly improves the machining efficiency, reduces the labor of workers, and also reduces the safety risks that may be caused by manual operation. BRIEF DESCRIPTION OF DRAWINGS

[0046] The present application can be better understood by referring to the description given below in conjunction with the accompanying drawings, which are included in the specification and form a part of the specification, and together with the detailed description, serve to explain the present application. In the drawings:

[0047] Figure 1 A schematic view of an automatic positioning device according to an embodiment of the present application is shown;

[0048] Figure 2 A schematic view of an accurate automatic positioning device according to an embodiment of the present application is shown;

[0049] Figure 3 A flow chart of an automatic positioning method for steel body PDC drill bit machining is shown according to an embodiment of the present application;

[0050] Figure 4 A schematic diagram of any two points on the tool base surface is shown according to an embodiment of the present application;

[0051] Figure 5 A structural block diagram of an automatic positioning device for steel body PDC drill bit machining is shown according to an embodiment of the present application.

[0052] Reference signs:

[0053] 1-positioning table frame, 2-drill bit adapter, 3-control box, 4-industrial camera, 5-micro movement sliding table, 6-laser sensor, 7-claw type air claw, 8-stepping drive mechanism, 9-rotary sliding table, 10-machine tool, 11-drill bit clamping tooling, 12-machine tool measuring head. DETAILED DESCRIPTION

[0054] In the following, exemplary embodiments of the present application will be described with reference to the accompanying drawings. In the description, not all features of a practical embodiment are described in order to be clear and concise. It should be appreciated, however, that many embodiment-specific decisions can be made in the course of developing any such practical embodiment in order to achieve the specific objectives of the developer, and these decisions can vary from embodiment to embodiment.

[0055] It should also be noted here that, in order not to obscure the present application with unnecessary details, only the device structures closely related to the scheme according to the present application are shown in the drawings, and other details not closely related to the present application are omitted.

[0056] It should be understood that the present application is not limited to the described embodiments by virtue of the following description with reference to the drawings. In this context, embodiments can be combined with each other, features can be replaced or borrowed between different embodiments, and one or more features can be omitted in an embodiment, if possible.

[0057] The embodiments of the present application provide an automatic positioning system for steel body PDC drill bit machining, which comprises an outer automatic positioning device and a precision positioning device. After the drill bit passes through the outer automatic positioning system, a higher positioning precision can be achieved, and the longest blade of the machine tool can be oriented to a specific angle. However, due to various factors, a small angular error of the drill bit reference point may occur in the automatic feeding process of the robot manipulator, and the drill bit angular repositioning must be performed through the precision positioning system to realize the precision automatic tool setting.

[0058] Figure 1A schematic diagram of an external automatic positioning device according to an embodiment of the present application is shown, which comprises a drill bit rotating unit, an industrial camera 4, a laser sensor 6 and a control box 3, here, the drill bit rotating unit can comprise a drill bit adapter 2, a claw air claw 7, a stepping drive mechanism 8 and a rotating slide 9, the drill bit rotating unit, the industrial camera 4, the laser sensor 6 and the control box 3 are all mounted on a positioning table rack 1. The functions of various components of the system are described in detail as follows:

[0059] The claw air claw 7 is fixedly connected with the drill bit adapter 2, and the drill bit adapter 2 is used for clamping a drill bit to be processed. In order to adapt to drill bits of different joint specifications under the condition that the movement stroke of the claw air claw is fixed, the drill bit adapter 2 is tapered outside and has a stepped cylindrical step inside.

[0060] The stepping drive mechanism 8, the rotating slide 9 and the claw air claw 7 are connected in sequence, the stepping drive mechanism 8 drives the rotating slide 9 to rotate, and drives the claw air claw 7, the drill bit adapter 2 and the drill bit to rotate together.

[0061] The industrial camera 4 is used for collecting a depth image of a crown of the drill bit and sending it to the control box 3; here, the industrial camera 4 can be mounted on a mounting rod of the positioning table rack 1 and located above the drill bit adapter 2, so as to facilitate the collection of the depth image of the crown of the drill bit.

[0062] The laser sensor 6 is used for collecting crown height change information in a drill bit rotation process and sending it to the control box 3; here, the laser sensor 6 can also be mounted on the mounting rod of the positioning table rack 1 and located above the drill bit adapter 2, so as to facilitate the collection of the crown height change information in the drill bit rotation process, here, the rotation angle of the drill bit is N*360° (N is an integer), and the collected crown height change information is the corresponding relationship between the rotation angle of the drill bit and the crown height of the drill bit in the drill bit rotation process; the crown height of the drill bit is the distance information between the collected laser sensor 6 and the crown of the drill bit.

[0063] The control box 3 is used for realizing automatic positioning of the steel body PDC drill bit processing according to the obtained depth image of the crown of the drill bit and the crown height information in the drill bit rotation process.

[0064] Further, the external automatic positioning device further comprises a micro movement slide 5, the micro movement slide 5 is connected with the laser sensor 6 and is used for driving the laser sensor 6 to move to realize the collection of the crown height change information of drill bits of different sizes. Here, the micro movement slide 5 connected with the laser sensor 6 can drive the laser sensor 6 to move along the length direction of the mounting rod, so as to realize the collection of the crown height change information of drill bits of different sizes.

[0065] Figure 2A schematic diagram of a precise automatic positioning device according to an embodiment of the present application is shown, the precise positioning device comprises a machine tool 10, a drill chucking tool 11 is arranged on the machine tool 10, which is used to clamp a drill to be machined, and the drill chucking tool 11 can be a three-jaw self-centering hydraulic chuck or a three-jaw self-centering pneumatic chuck; a machine tool macro program control module is further arranged on the machine tool 10, which can execute a precise tool setting macro program on the machine tool, and is used to determine a machine tool positioning deflection angle of the drill and compensate the position of the drill. The machine tool macro program control module can also execute a Z-direction automatic tool setting macro program on the machine tool, which is used to detect the Z-direction reference point coordinates of the drill when the drill is placed on the machine tool 10, and realize Z-direction automatic tool setting of the drill.

[0066] After the automatic positioning system for machining the steel body PDC drill bit according to the embodiment of the present application realizes the automatic positioning operation of the drill bit, the machine tool enables the drill bit machining program, and then the drill bit machining can be performed. After the machining is completed, the robot grasps the drill bit to complete the discharging, that is, the entire automatic machining process of the drill bit is completed.

[0067] The specific process of the method for realizing the automatic positioning of the steel body PDC drill bit by the control box is introduced in detail as follows, Figure 3 A flow chart of an automatic positioning method for machining a steel body PDC drill bit according to an embodiment of the present application is shown, the method comprises:

[0068] In step S310, the crown height change information in the drill rotation process is obtained; the crown height change information comprises the corresponding relationship between the drill rotation angle and the drill crown height; in this step, the crown of the drill has uneven height, and through the rotation of the drill, the laser sensor 6 can collect the corresponding relationship information between the drill rotation angle and the crown height.

[0069] In step S320, the depth image of the drill crown is obtained; in this step, the industrial camera 4 photographs the drill crown to obtain the depth image of the drill crown.

[0070] In step S330, the tool setting baseline of the drill is determined according to the depth image;

[0071] In step S340, the angle of the tool setting baseline relative to the zero position is determined as the drill positioning rotation angle; in this step, the drill rotation unit of the system has a set zero position, and in order to realize the automatic positioning of the drill bit, the drill needs to be rotated to the position corresponding to the above-mentioned zero position.

[0072] In step S350, the drill crown height corresponding to the drill positioning rotation angle is determined according to the drill crown height change information, and the drill is controlled to rotate; when it is monitored that the drill crown height reaches the drill crown height corresponding to the drill positioning rotation angle, the drill rotation angle reaches the drill positioning rotation angle, and the automatic positioning of the drill machining is realized.

[0073] The embodiment of the application adopts an industrial camera to capture a crown of a drill bit to obtain a depth image, and through processing of the depth image, a positioning rotation angle of the drill bit can be obtained. Then, based on the obtained height variation information of the crown of the drill bit, through monitoring the height of the crown of the drill bit, without manual operation, the timing of stopping the rotation of the drill bit can be accurately controlled to realize automatic positioning of the drill bit machining.

[0074] In one embodiment, the step S330 of determining the tool setting base line of the drill bit according to the depth image can include:

[0075] The depth image is subjected to binary segmentation to obtain a plurality of connected regions, and the plurality of connected regions are regions where the drill bit blades are located. In this step, due to the particularity of the structure of the drill bit, the imaging of the blade and the non-blade part has an obvious gray threshold value. Through the binary segmentation method, the depth image of the drill bit is segmented to obtain several connected regions, and the connected regions are regions where the imaging of each blade is located. The number of the segmented connected regions is the same as the number of the drill bit blades.

[0076] Then, in the depth image, a circle is drawn with the center of the drill bit as the origin and the edge of the drill bit as the side, to obtain a plurality of radius line segments of the circle in which the regions where the drill bit blades are located are contained.

[0077] Then, the average value of the depth information corresponding to each radius line segment is determined.

[0078] Then, the minimum value in the average value of the depth information corresponding to each radius line segment corresponds to the radius line segment of the tool setting base line.

[0079] Due to various factors, when the robot manipulator grasps the drill bit onto the machine tool, i.e. in the automatic feeding process, the reference point of the drill bit will produce a small angular error, and the drill bit angular repositioning must be performed through the accurate positioning system, i.e. the position of the drill bit is compensated. The specific implementation process of the machine tool macro program control module arranged on the machine tool is described in detail below.

[0080] When the drill bit is placed on the machine tool, the machine tool positioning deflection angle of the drill bit is determined to compensate the position of the drill bit. The machine tool positioning deflection angle θ of the drill bit is determined by the following formula:

[0081]

[0082] Wherein, X1 and X2 are respectively the X-axis coordinates of any two points on the tool setting base surface of the drill bit, and Y1 and Y2 are respectively the Y-axis coordinates of any two points on the tool setting base surface of the drill bit. Figure 4 A schematic diagram of any two points on the tool setting base surface according to the embodiment of the application is shown. Here, the machine tool probe 12 touches any two points on the tool setting base surface of the drill bit. According to the mechanical coordinates of the probe 12 detection position, the worktable of the machine tool is automatically indexed and compensated by using the machine tool accurate tool setting macro program, so that the accurate positioning of the drill bit on the machine tool can be realized.

[0083] When Y2>Y1, the drill bit rotates by an angle of θ in the clockwise direction; when Y2Y1, the drill bit rotates by an angle of 360°-θ in the clockwise direction; when Y2=Y1, the machine positioning deflection angle of the drill bit is 0, and the drill bit does not rotate.

[0084] In an embodiment, the automatic positioning method for machining a steel-body PDC drill bit further comprises:

[0085] When the drill bit is placed on the machine tool, the Z-direction reference point coordinates of the drill bit are detected to realize automatic tool setting of the drill bit in the Z direction. In this embodiment, according to the position of the highest point of the programmed coordinates, a fine tool setting macro program on the machine tool is executed to automatically and accurately detect the Z-direction reference point coordinates of the drill bit.

[0086] Based on the same inventive concept as the automatic positioning method for machining a steel-body PDC drill bit, this embodiment further provides an automatic positioning device for machining a steel-body PDC drill bit, Figure 5 A structural block diagram of the automatic positioning device for machining a steel-body PDC drill bit according to an embodiment of the present application is shown, which comprises:

[0087] The drill bit crown height information acquisition module 510 is configured to acquire crown height change information during rotation of the drill bit; the crown height change information comprises a corresponding relationship between a rotation angle of the drill bit and a crown height of the drill bit; here, the crown of the drill bit is uneven, and the laser sensor can collect the corresponding relationship information between the rotation angle of the drill bit and the crown height by rotating the drill bit.

[0088] The drill bit crown image acquisition module 520 is configured to acquire a depth image of the drill bit crown; here, an industrial camera photographs the drill bit crown to obtain the depth image of the drill bit crown.

[0089] The tool setting baseline determination module 530 is configured to determine a tool setting baseline of the drill bit according to the depth image;

[0090] The drill bit positioning rotation angle determination module 540 is configured to determine an angle of the tool setting baseline relative to zero as a drill bit positioning rotation angle; here, the drill bit rotation unit of the system has a set zero, and in order to realize automatic positioning of the drill bit machining, the drill bit needs to be rotated to a position corresponding to the zero.

[0091] The rotation angle control module 550 is configured to determine a drill bit crown height corresponding to the drill bit positioning rotation angle according to the drill bit crown height change information; and control the rotation of the drill bit, so that when the drill bit crown height is monitored to reach the drill bit crown height corresponding to the drill bit positioning rotation angle, the rotation angle of the drill bit reaches the drill bit positioning rotation angle, thereby realizing automatic positioning of the drill bit machining.

[0092] The embodiment of the application adopts an industrial camera to capture a crown of a drill bit to obtain a depth image, and through processing of the depth image, a positioning rotation angle of the drill bit can be obtained. Then, based on the obtained height change information of the crown of the drill bit, through monitoring the height of the crown of the drill bit, without manual operation, the timing of stopping the rotation of the drill bit can be accurately controlled to realize automatic positioning of the drill bit processing.

[0093] In one embodiment, the tool setting baseline determination module of the drill bit is used to:

[0094] The depth image is subjected to binary segmentation to obtain a plurality of connected regions, and the plurality of connected regions are regions where the drill bit blades are located. Here, due to the particularity of the structure of the drill bit, the imaging of the blade and the non-blade part has an obvious gray threshold value. Through the binary segmentation method, the depth image of the drill bit is segmented to obtain several connected regions, and the connected regions are regions where the imaging of each blade is located. The number of segmented connected regions is the same as the number of drill bit blades.

[0095] In the depth image, a circle is drawn with the center of the drill bit as the origin and the edge of the drill bit as the side, to obtain a plurality of radius line segments of the circle containing the region where the drill bit blade is located.

[0096] The average value of the depth information corresponding to each radius line segment is determined.

[0097] The minimum value in the average value of the depth information corresponding to each radius line segment corresponds to the radius line segment of the tool setting baseline.

[0098] In one embodiment, the device further comprises a machine tool macro program control module, which is used to:

[0099] When the drill bit is placed on the machine tool, the machine tool positioning deflection angle of the drill bit is determined to compensate for the position of the drill bit.

[0100] The machine tool positioning deflection angle θ of the drill bit is determined by the following formula:

[0101]

[0102] Wherein, X1 and X2 are the X-axis coordinates of any two points on the tool setting base surface of the drill bit, and Y1 and Y2 are the Y-axis coordinates of any two points on the tool setting base surface of the drill bit.

[0103] When Y2>Y1, the drill bit rotates clockwise by an angle θ; when Y2Y1, the machine tool positioning deflection angle of the drill bit is 0, and the drill bit does not rotate.

[0104] In one embodiment, the machine tool macro program control module is further used to:

[0105] When the drill bit is placed in the machine tool, the Z-direction reference point coordinate of the drill bit is detected, and automatic tool setting of the drill bit in the Z-direction is realized. In this embodiment, according to the position of the highest point of the programmed coordinate, the machine tool macro program control module executes the fine tool setting macro program on the machine tool, and can automatically and accurately detect the Z-direction reference point coordinate of the drill bit.

[0106] In summary, the automatic positioning method and device for machining the steel body PDC drill bit can realize reliable positioning of the clamping angle of the steel body PDC drill bit, automatically complete tool setting, and has high positioning accuracy and reliability. The automatic continuous machining of the steel body PDC drill bit can be realized, the degree of automation is high, the machining efficiency is greatly improved, the labor of workers is reduced, and the safety risk that may be caused by manual operation is also reduced.

[0107] The above is only various embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An automatic positioning method for steel body PDC bit machining, characterized in that, The method comprises: obtaining crown height change information during rotation of the drill bit; the crown height change information comprises a corresponding relationship between a rotation angle of the drill bit and a crown height of the drill bit; obtaining a depth image of the crown of the drill bit; determining a tool setting baseline of the drill bit according to the depth image; determining an angle of the tool setting baseline relative to a zero position as a drill bit positioning rotation angle; determining a crown height corresponding to the drill bit positioning rotation angle according to the crown height change information of the crown of the drill bit, and controlling the rotation of the drill bit; when it is monitored that the crown height of the drill bit reaches the crown height corresponding to the drill bit positioning rotation angle, the angle of the rotation of the drill bit reaches the drill bit positioning rotation angle, and automatic positioning of the drill bit machining is achieved; the determining of the tool setting baseline of the drill bit according to the depth image comprises: performing binary segmentation on the depth image to obtain a plurality of connected regions, the plurality of connected regions being regions where drill bit blades are located; in the depth image, taking the center of the drill bit as the origin and the edge of the drill bit as the side to draw a circle, to obtain a plurality of radius line segments of the circle contained by the regions where the drill bit blades are located; determining an average value of depth information corresponding to each of the radius line segments; the radius line segment corresponding to the minimum value in the average value of the depth information corresponding to each of the radius line segments is the line segment on which the tool setting baseline is located.

2. The method of claim 1, wherein, The method further comprises: when the drill bit is placed on a machine tool, determining a machine tool positioning deflection angle of the drill bit to compensate for the position of the drill bit; The machine positioning deflection angle of the drill bit is determined using the following formula : wherein X1 and X2 are X-axis coordinates of any two points of the machine tool on the tool setting base surface of the drill bit, and Y1 and Y2 are Y-axis coordinates of any two points of the machine tool on the tool setting base surface of the drill bit; When Y2 > Y1, the drill bit rotates clockwise by an angle θ; when Y2 < Y1, the drill bit rotates clockwise by an angle ; when Y2 = Y1, the machine positioning deflection angle of the drill bit is 0, and the drill bit does not rotate.

3. The method of claim 1, wherein, The method further comprises: when the drill bit is placed on a machine tool, detecting a Z-direction reference point coordinate of the drill bit to achieve automatic tool setting of the drill bit in the Z-direction.

4. An automatic positioning device for steel body PDC bit machining, characterized in that, The method comprises: a drill bit crown height information acquisition module, configured to obtain crown height change information during rotation of the drill bit; the crown height change information comprises a corresponding relationship between a rotation angle of the drill bit and a crown height of the drill bit; a drill bit crown image acquisition module, configured to obtain a depth image of the crown of the drill bit; a tool setting baseline determination module, configured to determine a tool setting baseline of the drill bit according to the depth image; a drill bit positioning rotation angle determination module, configured to determine an angle of the tool setting baseline relative to a zero position as a drill bit positioning rotation angle; a rotation angle control module, configured to determine a crown height corresponding to the drill bit positioning rotation angle according to the crown height change information of the crown of the drill bit; and control the rotation of the drill bit; when it is monitored that the crown height of the drill bit reaches the crown height corresponding to the drill bit positioning rotation angle, the angle of the rotation of the drill bit reaches the drill bit positioning rotation angle, and automatic positioning of the drill bit machining is achieved; the tool setting baseline determination module is configured to: perform binary segmentation on the depth image to obtain a plurality of connected regions, the plurality of connected regions being regions where drill bit blades are located; in the depth image, taking the center of the drill bit as the origin and the edge of the drill bit as the side to draw a circle, to obtain a plurality of radius line segments of the circle contained by the regions where the drill bit blades are located; determining an average value of depth information corresponding to each of the radius line segments; determining an average value of depth information corresponding to each of the radius line segments; a radius line segment corresponding to a minimum value in the average value of depth information corresponding to each of the radius line segments is the line segment on which the tool setting base line is located.

5. The apparatus of claim 4, wherein, The device further comprises a machine tool macro program control module, configured to: when the drill bit is placed in the machine tool, determining a machine tool positioning deflection angle of the drill bit to compensate for the position of the drill bit; The machine positioning deflection angle of the drill bit is determined using the following formula : wherein X1 and X2 are X-axis coordinates of any two points on the tool setting base surface of the drill bit, and Y1 and Y2 are Y-axis coordinates of any two points on the tool setting base surface of the drill bit; When Y2 > Y1, the drill bit rotates clockwise by an angle θ; when Y2 < Y1, the drill bit rotates clockwise by an angle ; when Y2 = Y1, the machine positioning deflection angle of the drill bit is 0, and the drill bit does not rotate.

6. The apparatus of claim 5, wherein, The machine tool macro program control module is further configured to: when the drill bit is placed in the machine tool, detecting a Z-direction reference point coordinate of the drill bit to realize automatic tool setting of the drill bit in the Z-direction.

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