Precision detection method, device, medium and equipment for hole making normal vector measurement system

Abstract

The embodiments of the present application disclose a method, device, medium and equipment for detecting the accuracy of a hole-making normal vector measurement system, which relates to the field of aircraft automated assembly technology, including: obtaining a first deflection angle and a second deflection angle according to a first light spot group and a second light spot group at a plurality of target positions respectively; obtaining normal vector deflection angle values ​​at a plurality of target positions respectively according to the first deflection angle and the second deflection angle; obtaining a normal vector accuracy value according to the average of a plurality of normal vector deflection angle values. The present application utilizes a simple structure measurement tool, simplifies detection means, and improves detection efficiency. Deflections in different directions are obtained by relative laser sensors, and then the normal vector deflection angle is obtained. Since the deflections are obtained at a plurality of target positions, the data obtained at a plurality of positions are averaged, which can effectively avoid misjudgment caused by accidental errors and improve detection accuracy. Finally, the accurate normal vector accuracy value can be quickly obtained according to the average of the normal vector deflection angle to complete the accuracy detection of the hole-making normal vector measurement system.

Description

Technical Field

[0001] The present application relates to the technical field of aircraft automated assembly, and in particular to an accuracy detection method, device, medium and equipment for a hole making normal vector measurement system. Background Art

[0002] In the field of modern industrial aircraft assembly and manufacturing, normal vector measurement systems are generally used to measure and align normal vectors before digital hole making on complex surfaces of fuselage parts to ensure that the normal direction of digital hole making meets relevant requirements. Accuracy testing of the normal vector measurement system can effectively ensure the quality of automatic hole making.

[0003] At present, the accuracy detection method for normal vector measurement system usually adopts a large marble table, whose posture directly affects the detection accuracy. In addition, many tools are required for the detection, the detection efficiency is low, and the detection quality is also directly affected by the operator's level. Summary of the invention

[0004] The main purpose of the present application is to provide a method, device, medium and equipment for detecting the accuracy of a hole-making normal vector measurement system, aiming to solve the problem of low quality of the accuracy detection means for the normal vector measurement system in the prior art.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of the present application are as follows:

[0006] In a first aspect, an embodiment of the present application provides an accuracy detection method of a hole-making normal vector measurement system, which is applied to a detection device, wherein the detection device includes a coaxially connected clamping rod and a detection disc, the clamping rod is used to insert a hole-making end effector and be clamped on a tool handle, and four laser sensors are arranged on a housing of the hole-making end effector, the four laser sensors are evenly distributed around the axis of the hole-making end effector, and the four laser sensors include a first laser sensor, a second laser sensor, a third laser sensor, and a fourth laser sensor in sequence around the arrangement direction thereof, the laser projection directions of the four laser sensors are at the same angle to the axis direction of the hole-making end effector to form corresponding first light spots, second light spots, third light spots, and fourth light spots on the detection disc, and the accuracy detection method includes the following steps:

[0007] A first deflection angle and a second deflection angle are obtained according to the first light spot group and the second light spot group at a plurality of target positions respectively; wherein the first light spot group includes the first light spot and the third light spot, the second light spot group includes the second light spot and the fourth light spot, and the plurality of target positions include: an initial position and at least two rotation positions, the rotation position is obtained by rotating the clamping rod around its axis on the basis of the initial position, and the rotation angles between adjacent target positions are the same;

[0008] According to the first deflection angle and the second deflection angle, normal vector deflection angle values ​​at a plurality of target positions are obtained respectively;

[0009] The normal vector accuracy value is obtained based on the average of several normal vector deflection values.

[0010] In a possible implementation of the first aspect, obtaining a first deflection angle and a second deflection angle according to a first light spot group and a second light spot group at a plurality of target positions respectively includes:

[0011] At a plurality of target positions, respectively, a first deflection angle is obtained according to a second projection distance, a fourth projection distance and a distance between sensors on the opposite side; wherein the second projection distance is a projection distance of the second light spot, and the fourth projection distance is a projection distance of the fourth light spot;

[0012] At several target positions, the second deflection angle is obtained according to the first projection distance, the third projection distance and the distance between the opposite side sensors; wherein the first projection distance is the projection distance of the first light spot, and the third projection distance is the projection distance of the third light spot.

[0013] In a possible implementation of the first aspect, before obtaining the first deflection angle and the second deflection angle according to the first light spot group and the second light spot group at a plurality of target positions, the accuracy detection method further includes:

[0014] The projection distance is obtained according to the light spot spacing of the opposite side sensor and the spacing of the opposite side sensors; wherein the projection distance includes a first projection distance, a second projection distance, a third projection distance and a fourth projection distance.

[0015] In a possible implementation of the first aspect, obtaining normal vector deflection angle values ​​at a plurality of target positions respectively according to the first deflection angle and the second deflection angle includes:

[0016] The normal vector deflection angle value is obtained by summing the first deflection angle and the second deflection angle in the space coordinate system.

[0017] In a possible implementation manner of the first aspect, obtaining a normal vector accuracy value according to an average of a plurality of normal vector deflection angle values ​​includes:

[0018] According to the average of several normal vector deflection angle values, the mean normal vector deflection angle is obtained;

[0019] The normal vector accuracy value is obtained according to the deflection angle threshold and the normal vector deflection angle average.

[0020] In a possible implementation manner of the first aspect, after obtaining the normal vector accuracy value according to the average of the normal vector deflection values, the accuracy detection method further includes:

[0021] When the normal vector accuracy value is greater than the deflection angle threshold, the laser sensor is calibrated and the process returns to the step of obtaining the first deflection angle and the second deflection angle according to the first light spot group and the second light spot group at several target positions, respectively, until the normal vector accuracy value is no greater than the deflection angle threshold, thereby completing the accuracy detection of the hole-making normal vector measurement system.

[0022] In a possible implementation of the first aspect, before obtaining the first deflection angle and the second deflection angle according to the first light spot group and the second light spot group at a plurality of target positions, the accuracy detection method further includes:

[0023] The laser sensor is calibrated so that the projected light spot of the laser sensor is focused on the detection disk.

[0024] In a second aspect, an embodiment of the present application provides an accuracy detection device of a hole-making normal vector measurement system, which is applied to a detection device, wherein the detection device includes a coaxially connected clamping rod and a detection disc, the clamping rod is used to insert a hole-making end effector and is clamped on a tool handle, and four laser sensors are arranged on a housing of the hole-making end effector, and the four laser sensors are evenly distributed around the axis of the hole-making end effector, and the arrangement direction thereof includes a first laser sensor, a second laser sensor, a third laser sensor, and a fourth laser sensor in sequence, and the laser projection directions of the four laser sensors are at the same angle to the axis direction of the hole-making end effector to form corresponding first light spots, second light spots, third light spots, and fourth light spots on the detection disc, and the accuracy detection device includes:

[0025] A first obtaining module, the first obtaining module is used to obtain a first deflection angle and a second deflection angle according to a first light spot group and a second light spot group at a plurality of target positions respectively; wherein the first light spot group includes a first light spot and a third light spot, the second light spot group includes a second light spot and a fourth light spot, and the plurality of target positions include: an initial position and at least two rotation positions, the rotation position is obtained by rotating the clamping rod around its axis on the basis of the initial position, and the rotation angles between adjacent target positions are the same;

[0026] A second obtaining module, the second obtaining module is used to obtain normal vector deflection angle values ​​at a plurality of target positions according to the first deflection angle and the second deflection angle;

[0027] The third obtaining module is used to obtain a normal vector accuracy value according to an average of a number of normal vector deflection angle values.

[0028] In a third aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program. When the computer program is loaded and executed by a processor, the accuracy detection method of the hole normal vector measurement system provided in any one of the first aspects above is implemented.

[0029] In a fourth aspect, an embodiment of the present application provides a detection device, including a processor and a memory, wherein:

[0030] The memory is used to store computer programs;

[0031] The processor is used to load and execute a computer program so that the detection device executes the accuracy detection method of the hole normal vector measurement system provided in any one of the first aspects above.

[0032] Compared with the prior art, the beneficial effects of this application are:

[0033] The embodiments of the present application propose an accuracy detection method, device, medium and equipment for a hole-making normal vector measurement system. The method includes: obtaining a first deflection angle and a second deflection angle according to a first light spot group and a second light spot group at a plurality of target positions respectively; wherein the first light spot group includes a first light spot and a third light spot, and the second light spot group includes a second light spot and a fourth light spot. The plurality of target positions include: an initial position and at least two rotation positions, and the rotation position is obtained by rotating the clamping rod around its axis on the basis of the initial position, and the rotation angles between adjacent target positions are the same; obtaining normal vector deflection angle values ​​at a plurality of target positions respectively according to the first deflection angle and the second deflection angle; and obtaining a normal vector accuracy value according to the average of the plurality of normal vector deflection angle values. The present application utilizes a rod-shaped measuring tool with a simple structure to replace the marble table, thereby simplifying the detection means and improving the detection efficiency. The detection equipment is clamped on the tool handle by a clamping rod to simulate the direction of the main axis, and a plurality of laser sensors are arranged to project a light spot to the detection disk. The inclination of the clamping rod is also the normal vector offset, that is, the surface of the detection disk will be tilted synchronously, and there will be a normal vector deflection angle. The deflection angles in different directions are obtained respectively by a light spot group composed of relative laser sensors, and then the normal vector deflection angle is obtained according to the deflection angle. Since it is obtained at multiple target positions, each position is obtained by rotating at the same rotation angle, and all-round coverage is achieved under the uniform distribution setting. The data obtained at multiple positions are averaged, which can effectively avoid misjudgment caused by accidental errors and improve the detection accuracy. Finally, the accurate normal vector accuracy value can be quickly obtained according to the mean value of the normal vector deflection angle to complete the accuracy detection of the hole-making normal vector measurement system. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of the structure of a detection device for a hardware operating environment involved in an embodiment of the present application;

[0035] Figure 2 A schematic diagram of the structure of a detection device provided in an embodiment of the present application in one embodiment;

[0036] Figure 3 A schematic diagram of the structure of the detection device provided in the embodiment of the present application in an application scenario;

[0037] Figure 4A schematic flow chart of a method for detecting the accuracy of a hole making normal vector measurement system provided in an embodiment of the present application;

[0038] Figure 5 A schematic flow chart of an accuracy detection method for a hole making normal vector measurement system provided in an embodiment of the present application under an embodiment;

[0039] Figure 6 A schematic diagram of the principle of the accuracy detection method of the hole making normal vector measurement system provided in the embodiment of the present application;

[0040] Figure 7 A schematic diagram of the principle of solving the deviation in the accuracy detection method of the hole making normal vector measurement system provided in the embodiment of the present application;

[0041] Figure 8 A schematic diagram of a module of an accuracy detection device for a hole making normal vector measurement system provided in an embodiment of the present application;

[0042] Markings in the figure: 101 - processor, 102 - communication bus, 103 - network interface, 104 - user interface, 105 - memory, 1 - detection disc, 2 - clamping rod, 3 - pressure foot of hole-making end effector, 4 - laser sensor, 5 - housing, 6 - tool handle. DETAILED DESCRIPTION

[0043] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] The main solution of the embodiment of the present application is: at several target positions, according to the first light spot group and the second light spot group, obtain the first deflection angle and the second deflection angle respectively; wherein the first light spot group includes the first light spot and the third light spot, the second light spot group includes the second light spot and the fourth light spot, and the several target positions include: an initial position and at least two rotation positions, the rotation position is obtained by rotating the clamping rod around its axis on the basis of the initial position, and the rotation angles between adjacent target positions are the same; according to the first deflection angle and the second deflection angle, respectively obtain the normal vector deflection angle values ​​at several target positions; according to the average of the several normal vector deflection angle values, obtain the normal vector accuracy value.

[0045] In the field of modern industrial aircraft assembly and manufacturing, the normal vector measurement system is generally used to measure and align the normal vector before digital hole making on the complex curved surfaces of fuselage parts to ensure that the normal direction of digital hole making meets the relevant requirements. However, when the normal vector measurement system itself deviates, the correct measurement result cannot be obtained, resulting in deviation in the hole making normal direction. Therefore, before automatic hole making of aircraft parts, the accuracy of the normal vector measurement system is tested to effectively ensure the quality of automatic hole making.

[0046] The current method for detecting the accuracy of the normal vector measurement system is to first adjust the working surface of the 500mm*500mm standard marble table to be perpendicular to the feeding direction of the hole making, and then cover the working surface of the marble table with a layer of target paper. The personnel observe the position of the light spot of the normal vector sensor on the target paper during the movement of the hole making end effector, and calculate and evaluate the error of the normal vector measurement system. The current method has the following shortcomings: 1. The standard marble table is large in size and needs to be used in conjunction with special tooling, resulting in a large number of tools and a large area for the accuracy detection process; 2. The posture of the standard marble table directly affects the detection accuracy, and precise adjustment is required before detection. This process requires a high level of skill for the operator; 3. The existing detection method cannot be automated, and data recording and accuracy calculation are all done manually, resulting in low detection efficiency.

[0047] To this end, the present application provides a solution, which utilizes a rod-shaped measuring tool with a simple structure to replace the marble table, thereby simplifying the detection means and improving the detection efficiency. The detection equipment is clamped on the tool handle through a clamping rod to simulate the direction of the main axis, and a plurality of laser sensors are arranged to project a light spot onto the detection disk. The inclination of the clamping rod is also the normal vector offset, that is, the surface of the detection disk will be tilted synchronously, and there will be a normal vector deflection angle. The deflection angles in different directions are obtained respectively by a light spot group composed of relative laser sensors, and then the normal vector deflection angle is obtained according to the deflection angle. Since it is obtained at multiple target positions, each position is obtained by rotating at the same rotation angle, and all-round coverage is achieved under the uniform distribution setting. The data obtained at multiple positions are averaged, which can effectively avoid misjudgment caused by accidental errors and improve the detection accuracy. Finally, the accurate normal vector accuracy value can be quickly obtained according to the mean value of the normal vector deflection angle to complete the accuracy detection of the hole-making normal vector measurement system.

[0048] See attached Figure 1 , attached Figure 1The present invention is a schematic diagram of the structure of the detection device of the hardware operating environment involved in the embodiment of the present application. The detection device may include: a processor 101, such as a central processing unit (CPU), a communication bus 102, a user interface 104, a network interface 103, and a memory 105. Among them, the communication bus 102 is used to realize the connection and communication between these components. The user interface 104 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 104 may also include a standard wired interface and a wireless interface. The network interface 103 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 105 may optionally be a storage device independent of the aforementioned processor 101. The memory 105 may be a high-speed random access memory (RAM) memory, or it may be a stable non-volatile memory (NVM), such as at least one disk storage; the processor 101 may be a general-purpose processor, including a central processing unit, a network processor, etc., or it may be a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component.

[0049] Those skilled in the art will appreciate that Figure 1 The structure shown in the figure does not constitute a limitation on the detection device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0050] As attached Figure 1 As shown, the memory 105 as a storage medium may include an operating system, a network communication module, a user interface module, and an accuracy detection device of the hole making normal vector measurement system.

[0051] In the attached Figure 1 In the detection device shown, the network interface 103 is mainly used for data communication with the network server; the user interface 104 is mainly used for data interaction with the user; the processor 101 and the memory 105 in the present application can be set in the detection device, and the detection device calls the accuracy detection device of the hole-making normal vector measurement system stored in the memory 105 through the processor 101, and executes the accuracy detection method of the hole-making normal vector measurement system provided in the embodiment of the present application.

[0052] See attached Figure 4 Based on the hardware device of the aforementioned embodiment, the embodiment of the present application provides an accuracy detection method of a hole normal vector measurement system, which is applied to a detection device, such as the attached Figure 2As shown, the detection device includes a coaxially connected clamping rod 2 and a detection disc 1. The clamping rod 2 is used to insert the hole-making end effector and is clamped on the tool handle 6. Four laser sensors 4 are arranged on the housing 5 of the hole-making end effector. The four laser sensors 4 are evenly distributed around the axis of the hole-making end effector. After the detection device is clamped, as shown in the attached figure Figure 3 As shown in FIG. 1 , the laser sensors 4 are arranged in sequence around the first laser sensor, the second laser sensor, the third laser sensor and the fourth laser sensor. The laser projection directions of the four laser sensors are at the same angle to the axis direction of the hole-making end effector, so as to form the corresponding first light spot, the second light spot, the third light spot and the fourth light spot on the detection disk. Figure 6 As shown, A, B, C, and D are all laser sensors, A is the first laser sensor, C is the second laser sensor, B is the third laser sensor, and D is the fourth laser sensor. The light spots projected on the detection disk 1 are the first light spot A2, the second light spot C2, the third light spot B2, and the fourth light spot D2. The accuracy detection method includes the following steps:

[0053] S00: Calibrate the laser sensor so that the projected light spot of the laser sensor is focused on the detection disk.

[0054] In the specific implementation process, in order to improve the detection efficiency, the laser sensor 4 is calibrated and adjusted in advance. First, the detection equipment is clamped on the hole-making end effector, and then the clamping position is adjusted until the light spots of all laser sensors 4 are projected on the detection disc 1 and focused on it. When working, first use the hot tool installation instrument to install the detection equipment into the tool handle 6, and then use the machine tool tool installation mechanism to install the tool handle 6 into the machine tool spindle; the clamping method is to use the heat shrink tool handle and the clamping rod 2 to clamp, and the tool handle 6 uses the universal tool handle supporting the hole-making equipment. After clamping, no additional adjustment is required to ensure that the detection disc 1 is perpendicular to the spindle feed direction. The detection disc 1 and the clamping rod 2 are 90±0.05°, and the accuracy is guaranteed by the integrated machine processing of the parts. The surface area of ​​the detection disc 1 is small, which is convenient for ensuring flatness and finish in the manufacturing stage and reducing detection errors.

[0055] S10: Under a plurality of target positions, respectively, a first deflection angle and a second deflection angle are obtained according to the first light spot group and the second light spot group; wherein the first light spot group includes the first light spot and the third light spot, the second light spot group includes the second light spot and the fourth light spot, and the plurality of target positions include: an initial position and at least two rotation positions, the rotation position is obtained by rotating the clamping rod around its axis on the basis of the initial position, and the rotation angles between adjacent target positions are the same.

[0056] In the specific implementation process, the target position, that is, the detection position after the workstation is changed according to the adjustment of the detection equipment, the position after the detection equipment is clamped is the initial position, but the initial position is very one-sided and can only represent the deviation in one aspect. Therefore, it is necessary to continuously adjust according to the initial position, rotate the detection equipment by a certain angle and then clamp it again. This is the rotation position. If the rotation position is rotated in the same direction and angle again, the next rotation position is obtained. Until the detection equipment in the last rotation position coincides with the initial position after rotating by the same angle, it can be regarded as the completion of all-round detection. That is, in all target positions, the rotation angles of the detection equipment between two adjacent positions are the same.

[0057] At this time, the deviation angle is obtained according to the relative laser sensors 4, as shown in the attached figure. Figure 6 In the figure, the first light spot A2 and the third light spot B2 projected by the first laser sensor A and the third laser sensor B form a first light spot group, the second light spot C2 and the fourth light spot D2 projected by the second laser sensor C and the fourth laser sensor D form a second light spot group, the center of the installation plane of the laser sensor is O, and the center of the detection disk 1 is O1. Specifically, at several target positions, the first deflection angle and the second deflection angle are obtained according to the first light spot group and the second light spot group, including:

[0058] At a plurality of target positions, respectively, a first deflection angle is obtained according to a second projection distance, a fourth projection distance and a distance between sensors on the opposite side; wherein the second projection distance is a projection distance of the second light spot, and the fourth projection distance is a projection distance of the fourth light spot;

[0059] At several target positions, the second deflection angle is obtained according to the first projection distance, the third projection distance and the distance between the opposite side sensors; wherein the first projection distance is the projection distance of the first light spot, and the third projection distance is the projection distance of the third light spot.

[0060] In the specific implementation process, as shown in the attached Figure 6 As shown, taking the first laser sensor A as an example, D1 is its measurement degree, that is, the distance from the sensor to the projection spot or the detection disk 1, A1 is the projection position of the first spot A2, d1 is the first projection distance, and the acquisition situation under other laser sensors is similar. It is known that the distance between the opposite sensors is R, and the distance between the spots of the opposite sensors is r. Since the laser sensors 4 are evenly distributed, no matter which group of relative sensors, as long as the setting is completed, the values ​​of R and r are fixed, then the projection distance d i (i=1,2,3,4) can be obtained by the formula Obtaining, that is, before obtaining the first deflection angle and the second deflection angle according to the first light spot group and the second light spot group at a plurality of target positions, the accuracy detection method further includes:

[0061] The projection distance is obtained according to the light spot spacing of the opposite side sensor and the spacing of the opposite side sensors; wherein the projection distance includes a first projection distance, a second projection distance, a third projection distance and a fourth projection distance.

[0062] As attached Figure 7 As shown, in the case of deviation, the principle of solution is: if d1 and d3 obtained by laser sensor A and laser sensor B are not equal, the first deflection angle α is generated, and the calculation formula is α=arctan(d4-d2) / R; if d2 and d4 obtained by laser sensor C and laser sensor D are not equal, the second deflection angle β is generated, and the calculation formula is β=arctan(d1-d3) / R. In simple terms, the distance between the upper and lower surfaces and the projection of the sensor can be regarded as a frustum. In the case of no deviation, d1, d2, d3, and d4 are all equal. When a deviation occurs, at least a set of relative projection distances in the deviation direction will change.

[0063] S20: Obtain normal vector deflection angle values ​​at a plurality of target positions according to the first deflection angle and the second deflection angle.

[0064] In the specific implementation process, after the two sets of relative laser sensors 4 respectively obtain the deflection angles in two directions, the normal vector deflection angle value needs to be summed up by the deflection angle α and the deflection angle β in the space coordinate system. The calculation formula is:

[0065] S30: Obtaining a normal vector accuracy value according to an average of several normal vector deflection angle values.

[0066] In the specific implementation process, the average value θ0 of the normal vector deflection value is obtained by measuring the normal vector deflection angles obtained at multiple positions. Since the target position in this application includes at least three positions, coverage detection can be achieved in many aspects to avoid accidental errors. θ0=(θ1+θ2+θ3……θ n ) / n, n is the number of target positions set, taking three positions as an example, that is, the target positions differ by 120 degrees, from the initial position, the detection device rotates 120 degrees to obtain the first rotation position, and then rotates 120 degrees at the first rotation position to obtain the second rotation position, and the normal vector deflection values ​​θ1, θ2, and θ3 are measured at the three target positions, and the normal vector accuracy value θ0=(θ1+θ2+θ3) / 3 is obtained by averaging them. In other implementations, four target positions can also be set, each rotating 90 degrees, or 6 target positions can be set, each rotating 60 degrees.

[0067] Furthermore, in order to more quickly evaluate the normal vector accuracy value and obtain a qualified test result, the normal vector accuracy value is obtained according to the average of several normal vector deflection values, including:

[0068] According to the average of several normal vector deflection angle values, the mean normal vector deflection angle is obtained;

[0069] The normal vector accuracy value is obtained according to the deflection angle threshold and the normal vector deflection angle average.

[0070] In the specific implementation process, the normal vector deflection mean, that is, the normal vector accuracy value θ0 is compared with the deflection threshold M preset by the system to obtain the normal vector accuracy detection result. If θ0≤M, the normal vector detection result is qualified, otherwise it is unqualified. In the case of unqualified, it needs to be adjusted and re-tested, that is: after obtaining the normal vector accuracy value according to the mean of several normal vector deflection values, the accuracy detection method also includes:

[0071] When the normal vector accuracy value is greater than the deflection angle threshold, the laser sensor is calibrated and the process returns to the step of obtaining the first deflection angle and the second deflection angle according to the first light spot group and the second light spot group at several target positions, respectively, until the normal vector accuracy value is no greater than the deflection angle threshold, thereby completing the accuracy detection of the hole-making normal vector measurement system.

[0072] In the specific implementation process, as shown in the attached Figure 5 As shown, the final measurement result is not ideal. It is possible that there was a deviation in the initial calibration of the laser sensor. Therefore, the laser sensor needs to be recalibrated, and then return to the initial detection step to perform another accuracy detection measurement.

[0073] In this embodiment, a rod-shaped measuring tool with a simple structure is used instead of a marble table, which simplifies the detection means and improves the detection efficiency. The detection equipment is clamped on the tool handle by a clamping rod to simulate the direction of the main axis, and a plurality of laser sensors are arranged to project a light spot to the detection disk. The inclination of the clamping rod is also the normal vector offset, that is, the surface of the detection disk will be tilted synchronously, and there will be a normal vector deflection angle. The deflection angles in different directions are obtained respectively by a light spot group composed of relative laser sensors, and then the normal vector deflection angle is obtained according to the deflection angle. Since it is obtained at multiple target positions, each position is obtained by rotating at the same rotation angle, and all-round coverage is achieved under the uniform distribution setting. The data obtained at multiple positions are averaged, which can effectively avoid misjudgment caused by accidental errors and improve the detection accuracy. Finally, the accurate normal vector accuracy value can be quickly obtained according to the mean value of the normal vector deflection angle to complete the accuracy detection of the hole-making normal vector measurement system.

[0074] References as attached Figure 5 The flowchart shown in the figure takes two rotations and three position detections as an example to further illustrate the present application:

[0075] First, the normal vector measurement system accuracy rapid detection device, i.e., the detection equipment, is clamped;

[0076] After clamping, adjust the sensor spot to make it focused. If it is not focused, re-clamp the detection equipment;

[0077] After adjusting to the focus position, start reading the normal vector sensor, i.e. the laser sensor measurement value, and then calculate the normal vector deflection angle θ1;

[0078] Secondly, the normal vector measurement system accuracy rapid detection device is rotated 120 degrees, the normal vector sensor measurement value is read, and the normal vector deflection angle θ2 is calculated accordingly;

[0079] Then rotate the normal vector measurement system accuracy rapid detection device 120 degrees, that is, rotate 240 degrees from the initial position, read the normal vector sensor measurement value, and then calculate the normal vector deflection angle θ3;

[0080] Then the normal vector deflection angle average θ0 is calculated by the three measured normal vector deflection angles;

[0081] Whether the normal vector accuracy test is qualified is determined based on the mean and the threshold. If it is unqualified, the normal vector sensor is recalibrated and the process returns to the first step to clamp the normal vector measurement system accuracy rapid detection device. If it is qualified, the normal vector measurement system accuracy rapid detection device is removed, and the accuracy test of the normal vector measurement system is completed.

[0082] See attached Figure 8 Based on the same inventive concept as in the aforementioned embodiment, the embodiment of the present application further provides an accuracy detection device of a hole-making normal vector measurement system, which is applied to a detection device, wherein the detection device comprises a coaxially connected clamping rod and a detection disc, wherein the clamping rod is used to insert a hole-making end effector and be clamped on a tool handle, and four laser sensors are arranged on a housing of the hole-making end effector, wherein the four laser sensors are evenly distributed around the axis of the hole-making end effector, and sequentially include a first laser sensor, a second laser sensor, a third laser sensor, and a fourth laser sensor around the arrangement direction thereof, wherein the laser projection directions of the four laser sensors are at the same angle to the axis direction of the hole-making end effector, so as to form corresponding first light spots, second light spots, third light spots, and fourth light spots on the detection disc, and the accuracy detection device comprises:

[0083] A first obtaining module, the first obtaining module is used to obtain a first deflection angle and a second deflection angle according to a first light spot group and a second light spot group at a plurality of target positions respectively; wherein the first light spot group includes a first light spot and a third light spot, the second light spot group includes a second light spot and a fourth light spot, and the plurality of target positions include: an initial position and at least two rotation positions, the rotation position is obtained by rotating the clamping rod around its axis on the basis of the initial position, and the rotation angles between adjacent target positions are the same;

[0084] A second obtaining module, the second obtaining module is used to obtain normal vector deflection angle values ​​at a plurality of target positions according to the first deflection angle and the second deflection angle;

[0085] The third obtaining module is used to obtain a normal vector accuracy value according to an average of a number of normal vector deflection angle values.

[0086] Those skilled in the art should understand that the division of the various modules in the embodiment is only a division of logical functions, and can be fully or partially integrated into one or more actual carriers in actual application, and these modules can be implemented entirely in the form of software called by a processing unit, or entirely in the form of hardware, or in the form of a combination of software and hardware. It should be noted that each module in the accuracy detection device of the hole-making normal vector measurement system in this embodiment corresponds one by one to each step in the accuracy detection method of the hole-making normal vector measurement system in the aforementioned embodiment. Therefore, the specific implementation method of this embodiment can refer to the implementation method of the accuracy detection method of the hole-making normal vector measurement system in the aforementioned embodiment, which will not be repeated here.

[0087] Based on the same inventive concept as in the aforementioned embodiment, an embodiment of the present application further provides a computer-readable storage medium storing a computer program. When the computer program is loaded and executed by a processor, the accuracy detection method of the hole making normal vector measurement system provided in the embodiment of the present application is implemented.

[0088] Based on the same inventive concept as in the above-mentioned embodiment, an embodiment of the present application further provides a detection device, including a processor and a memory, wherein:

[0089] The memory is used to store computer programs;

[0090] The processor is used to load and execute a computer program so that the detection device executes the accuracy detection method of the hole making normal vector measurement system provided in the embodiment of the present application.

[0091] In some embodiments, the computer readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; or various devices including one or any combination of the above memories. The computer may be various computing devices including intelligent terminals and servers.

[0092] In some embodiments, executable instructions may be in the form of a program, software, software module, script or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine or other unit suitable for use in a computing environment.

[0093] As an example, executable instructions may, but need not, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, such as in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files storing one or more modules, subroutines, or code portions).

[0094] By way of example, executable instructions may be deployed to be executed on one computing device, or on multiple computing devices located at one site, or on multiple computing devices distributed across multiple sites and interconnected by a communication network.

[0095] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0096] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0097] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a multimedia terminal device (which can be a mobile phone, a computer, a television receiver, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0098] In summary, the present application provides a method, device, medium and equipment for detecting the accuracy of a hole-making normal vector measurement system, the method comprising: obtaining a first deflection angle and a second deflection angle according to a first light spot group and a second light spot group at a plurality of target positions respectively; wherein the first light spot group comprises a first light spot and a third light spot, the second light spot group comprises a second light spot and a fourth light spot, and the plurality of target positions comprise: an initial position and at least two rotation positions, the rotation position being obtained by rotating the clamping rod around its axis on the basis of the initial position, and the rotation angles between adjacent target positions being the same; obtaining the normal vector deflection angle values ​​at a plurality of target positions respectively according to the first deflection angle and the second deflection angle; obtaining the normal vector accuracy value according to the average of the plurality of normal vector deflection angle values. The present application utilizes a rod-shaped measuring tool with a simple structure to replace the marble table, thereby simplifying the detection means and improving the detection efficiency. The detection equipment is clamped on the tool handle by a clamping rod to simulate the direction of the main axis, and a plurality of laser sensors are arranged to project a light spot to the detection disk. The inclination of the clamping rod is also the normal vector offset, that is, the surface of the detection disk will be tilted synchronously, and there will be a normal vector deflection angle. The deflection angles in different directions are obtained respectively by a light spot group composed of relative laser sensors, and then the normal vector deflection angle is obtained according to the deflection angle. Since it is obtained at multiple target positions, each position is obtained by rotating at the same rotation angle, and all-round coverage is achieved under the uniform distribution setting. The data obtained at multiple positions are averaged, which can effectively avoid misjudgment caused by accidental errors and improve the detection accuracy. Finally, the accurate normal vector accuracy value can be quickly obtained according to the mean value of the normal vector deflection angle to complete the accuracy detection of the hole-making normal vector measurement system.

[0099] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A method for detecting the accuracy of a hole normal vector measurement system, characterized in that: Applied to a detection device, the detection device includes a coaxially connected clamping rod and a detection disc, the clamping rod is used to insert a hole-making end effector and be clamped on a tool handle, four laser sensors are arranged on the housing of the hole-making end effector, the four laser sensors are evenly distributed around the axis of the hole-making end effector, and the first laser sensor, the second laser sensor, the third laser sensor and the fourth laser sensor are sequentially included around the arrangement direction thereof, the laser projection directions of the four laser sensors are at the same angle to the axis direction of the hole-making end effector, so as to form corresponding first light spots, second light spots, third light spots and fourth light spots on the detection disc, and the accuracy detection method includes the following steps: At a plurality of target positions, respectively, according to the first light spot group and the second light spot group, a first deflection angle and a second deflection angle are obtained; wherein, the first light spot group includes the first light spot and the third light spot, the second light spot group includes the second light spot and the fourth light spot, and the plurality of target positions include: an initial position and at least two rotation positions, the rotation position is obtained by rotating the clamping rod around its axis on the basis of the initial position, and the rotation angles between adjacent target positions are the same; respectively, at a plurality of target positions, according to the first light spot group and the second light spot group, a first deflection angle and a second deflection angle are obtained, including: At a plurality of target positions, respectively, a first deflection angle is obtained according to a second projection distance, a fourth projection distance and a distance between sensors on opposite sides; wherein the second projection distance is a projection distance of the second light spot, and the fourth projection distance is a projection distance of the fourth light spot; At a plurality of target positions, respectively, a second deflection angle is obtained according to the first projection distance, the third projection distance and the distance between the sensors on the opposite side; wherein the first projection distance is the projection distance of the first light spot, and the third projection distance is the projection distance of the third light spot; Before obtaining the first deflection angle and the second deflection angle according to the first light spot group and the second light spot group at a plurality of target positions respectively, the accuracy detection method further comprises: Obtaining a projection distance according to the light spot spacing of the opposite sensor and the opposite sensor spacing; wherein the projection distance includes the first projection distance, the second projection distance, the third projection distance and the fourth projection distance; According to the first deflection angle and the second deflection angle, respectively obtain normal vector deflection angle values ​​at the target positions; wherein, according to the first deflection angle and the second deflection angle, respectively obtain normal vector deflection angle values ​​at the target positions, including: Obtaining a normal vector deflection angle value by summing the first deflection angle and the second deflection angle in a spatial coordinate system; The normal vector accuracy value is obtained according to the average of the normal vector deflection angle values.

2. The accuracy detection method of the hole making normal vector measurement system according to claim 1 is characterized in that: The obtaining of the normal vector accuracy value according to the average of the normal vector deflection angle values ​​comprises: averaging the normal vector deflection angle values ​​to obtain a normal vector deflection angle mean; The normal vector accuracy value is obtained according to the deflection angle threshold and the normal vector deflection angle average.

3. The accuracy detection method of the hole making normal vector measurement system according to claim 2 is characterized in that: After obtaining the normal vector accuracy value according to the average of the normal vector deflection angle values, the accuracy detection method further comprises: When the normal vector accuracy value is greater than the deflection angle threshold, the laser sensor is calibrated, and the step of obtaining the first deflection angle and the second deflection angle according to the first light spot group and the second light spot group at several target positions is returned to, until the normal vector accuracy value is no greater than the deflection angle threshold, so as to complete the accuracy detection of the hole-making normal vector measurement system.

4. The accuracy detection method of the hole making normal vector measurement system according to claim 1 is characterized in that: Before obtaining the first deflection angle and the second deflection angle according to the first light spot group and the second light spot group at a plurality of target positions respectively, the accuracy detection method further comprises: The laser sensor is calibrated so that the light spot projected by the laser sensor is focused on the detection disk.

5. An accuracy detection device for a hole making normal vector measurement system, characterized in that: Applied to a detection device, the detection device comprises a coaxially connected clamping rod and a detection disc, the clamping rod is used to insert a hole-making end effector and be clamped on a tool handle, four laser sensors are arranged on the housing of the hole-making end effector, the four laser sensors are evenly distributed around the axis of the hole-making end effector, and the first laser sensor, the second laser sensor, the third laser sensor and the fourth laser sensor are sequentially included around the arrangement direction thereof, the laser projection directions of the four laser sensors are at the same angle to the axis direction of the hole-making end effector, so as to form corresponding first light spots, second light spots, third light spots and fourth light spots on the detection disc, the precision detection device comprises: A first obtaining module, wherein the first obtaining module is used to obtain a first deflection angle and a second deflection angle according to a first light spot group and a second light spot group at a plurality of target positions respectively; wherein the first light spot group includes the first light spot and the third light spot, the second light spot group includes the second light spot and the fourth light spot, and the plurality of target positions include: an initial position and at least two rotation positions, wherein the rotation position is obtained by rotating the clamping rod around its axis on the basis of the initial position, and the rotation angles between adjacent target positions are the same; wherein the first deflection angle and the second deflection angle are obtained according to the first light spot group and the second light spot group at a plurality of target positions respectively, including: At a plurality of target positions, respectively, a first deflection angle is obtained according to a second projection distance, a fourth projection distance and a distance between sensors on opposite sides; wherein the second projection distance is a projection distance of the second light spot, and the fourth projection distance is a projection distance of the fourth light spot; At a plurality of target positions, respectively, a second deflection angle is obtained according to the first projection distance, the third projection distance and the distance between the sensors on the opposite side; wherein the first projection distance is the projection distance of the first light spot, and the third projection distance is the projection distance of the third light spot; Before obtaining the first deflection angle and the second deflection angle according to the first light spot group and the second light spot group at a plurality of target positions respectively, the method further comprises: Obtaining a projection distance according to the light spot spacing of the opposite sensor and the opposite sensor spacing; wherein the projection distance includes the first projection distance, the second projection distance, the third projection distance and the fourth projection distance; The second obtaining module is used to obtain normal vector deflection angle values ​​at a plurality of target positions according to the first deflection angle and the second deflection angle, respectively; wherein the obtaining normal vector deflection angle values ​​at a plurality of target positions according to the first deflection angle and the second deflection angle respectively includes: Obtaining a normal vector deflection angle value by summing the first deflection angle and the second deflection angle in a spatial coordinate system; The third obtaining module is used to obtain the normal vector accuracy value according to the average of several normal vector deflection angle values.

6. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is loaded and executed by the processor, the accuracy detection method of the hole making normal vector measurement system according to any one of claims 1 to 4 is implemented.

7. A detection device, characterized in that: comprising a processor and a memory, wherein: The memory is used to store computer programs; The processor is used to load and execute the computer program so that the detection device executes the accuracy detection method of the hole-making normal vector measurement system according to any one of claims 1 to 4.

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