A vibro-hole intelligent positioning and navigation method and its application

Abstract

The present invention discloses a vibro-hole intelligent positioning navigation method and application, belonging to the field of navigation, including: S1, calibrating N target hole-making points and establishing the coordinate information of the N hole-making points, the server receives and stores the coordinate information of the N target hole-making points; S2, determining one target hole-making point as the current target hole-making point C, receiving the coordinate information of the initial navigation positioning point A1 of the mobile terminal; S3, generating the coordinate information of the end point A2 of the navigation positioning point; S4, generating a navigation coordinate map; S5, the mobile terminal executes the navigation coordinate map; S6, receiving the real-time coordinate information of the verification point B, calculating the stability; S7, determining whether the current target hole-making point C, Bw and the real-time point A of the navigation positioning point are on the same straight line; S8, the mobile terminal starts the automatic hole-making program after receiving the unlocking command, and locks the automatic hole-making program after receiving the alarm command. The present invention solves the problem of hole-making offset.

Description

Technical Field

[0001] The invention relates to the field of navigation, and in particular to an intelligent positioning and navigation method for vibro-hole making and an application thereof. Background Art

[0002] The existing vibration operation method is to move a mobile terminal located outside the hole-making point to the hole-making point and stop. The vibrator carried by the mobile terminal is lowered to the target operation point of the vibration operation under the action of the pulling and releasing mechanism and immediately starts to make a hole. The navigation process (movement, descent) and the hole-making process are all controlled by the computer of the mobile terminal. Among them, the navigation during the movement process is realized by installing a GPS sensor on the bracket of the mobile terminal.

[0003] The existing vibro-impact operation mode has the following shortcomings:

[0004] (1) Due to the special nature of its operation, the vibrator on the mobile end needs to move up and down from the time it moves to the time the hole-making operation begins. Therefore, the vibrator needs to be moved up and down by a pulling and releasing mechanism. Therefore, the vibrator needs to be connected to the pulling and releasing mechanism. One of the more common connection methods is a traction rope, that is, the vibrator is hung on the traction rope. During the movement and falling of the traction rope, various factors (such as natural factors or the size of the traction force, etc.) may cause the vertical axis of the vibrator to not coincide with the vertical axis of the traction rope (the existing GPS sensor detection point installed on the bracket uses the vertical axis of the traction rope as the reference point, and the line connecting this point with the target hole-making point during operation is a vertical line), which causes the hole made after the operation to be offset.

[0005] (2) The navigation process and the hole-making process are independent of each other and have no intersection, forming an information island

[0006] The above background technology is for facilitating the understanding of the present invention and is not a known technology disclosed to the general public before the application of the present invention. Summary of the invention

[0007] In view of the above-mentioned defects, the present invention provides a method for improving at least one of the problems mentioned in the background technology.

[0008] The technical solution is: a vibro-hole intelligent positioning and navigation method, comprising:

[0009] S1, in the first stage, N target hole-making points are calibrated and the coordinate information of the N hole-making points is established, and the server receives and stores the coordinate information of the N target hole-making points;

[0010] S2, in the second stage, the server determines one target hole-making point from the N target hole-making points as the current target hole-making point C, and receives the coordinate information of the initial point A1 of the navigation positioning point of the mobile terminal;

[0011] S3, in the second stage, the server generates the coordinate information of the end point A2 of the navigation positioning point according to the coordinate information of the current target hole-making point C and the coordinate information of the initial point A1 of the navigation positioning point;

[0012] S4, in the second stage, the server generates a navigation coordinate map according to the coordinate information of the initial navigation positioning point A1 and the coordinate information of the end point A2 of the navigation positioning point and transmits the navigation coordinate map to the mobile terminal;

[0013] S5, in the third stage, the mobile terminal executes the navigation coordinate map, so that the real-time navigation positioning point A moves from the initial navigation positioning point A1 to the end point A2 of the navigation positioning point, and stops moving;

[0014] S6, in the fourth stage, the server starts to receive the real-time coordinate information of the verification point B, calculates the stability of the real-time coordinate information of the verification point B, and if the calculated stability is ≤ the threshold, continues to calculate until the calculated stability is greater than the threshold, then takes the real-time coordinate information of the verification point B, recorded as Bw;

[0015] S7, in the fifth stage, according to the coordinate information of the current target hole-making point C, Bw, and the real-time point A of the navigation positioning point, it is determined whether the current target hole-making point C, Bw and the real-time point A of the navigation positioning point are on the same straight line. If so, an unlocking command is issued, if not, an alarm command is output;

[0016] S8, in the sixth stage, the mobile terminal starts the automatic hole making program after receiving the unlocking command, and locks the automatic hole making program after receiving the alarm command.

[0017] Among them, X is the horizontal axis, Y is the horizontal axis, and Z is the vertical axis. The coordinate information of the current target hole-making point C is X c ,Y c ,Z c ; Navigation positioning point end point A2 coordinate X A2 ,Y A2 ,Z A2 , Bw coordinate information is X Bw ,Y Bw ,Z Bw , N is a natural number greater than 3.

[0018] Further, in S7, the method for determining whether they are on the same straight line is:

[0019] X c =X A2 , Y c =Y A2 , such as X Bw -X c =0, Y Bw -Y c= 0, then on the same straight line, such as X Bw -X c ≠0 or Y Bw -Y c≠ ≠0, then they are not in the same straight line.

[0020] Furthermore, it also includes S9, which includes: repeating S2-S8, in S2, the server determines another target hole-making point from the N target hole-making points as the current target hole-making point C.

[0021] Furthermore, the vibro-hole making is a cable-suspended vibro-hole making.

[0022] Furthermore, the sensor of the navigation positioning point is arranged on the frame of the mobile end, and the sensor of the verification point B is arranged in the central water outlet of the vibrator of the mobile end, and is located on the axis of the main shaft of the vibrator.

[0023] Further, in S8, the automatic hole making procedure includes:

[0024] S81, falling stage;

[0025] S82, pore-forming stage;

[0026] Among them, in the falling stage, when the bottom surface D of the vibrator of the mobile terminal is 10~20cm away from the target hole-making point C, it stops moving, and the server starts to re-receive the real-time coordinate information of the verification point B, and calculates the stability of the real-time coordinate information of the verification point B. If the calculated stability is ≤ the threshold, the calculation continues until the calculated stability is > the threshold. The real-time coordinate information of the verification point B is taken, recorded as Bw1, and it is determined whether the current target hole-making point C, Bw1 and the real-time navigation positioning point A are on the same straight line. If so, a transfer S82 instruction is issued, if not, an alarm instruction is output, and after receiving the instruction, the mobile terminal transfers to S82 or starts the locking program;

[0027] Among them, Bw1 coordinate information is X Bw1 ,Y Bw1 ,Z Bw1 .

[0028] Further, in S81, the method for determining whether they are on the same straight line is:

[0029] X c =X A2 , Y c =Y A2 , such as X Bw1 -X c =0, Y Bw1 -Y c = 0, then they are in the same straight line, such as X Bw1 -X c ≠0, Y Bw1-Y c ≠0, then they are not in the same straight line.

[0030] Further, in S6 or S81, stability is defined as stability WD, and threshold is defined as WD 阈值 , the calculation formula of WD is:

[0031] WD=1 / K;

[0032] K = (X i+1 -X i ) 2 + (Y i+1 -Y i ) 2 +(Z i+1 -Z i ) 2 ;

[0033] WD>WD 阈值 ;

[0034] Among them, X i+1 , Y i+1 , Z i+1 To check the real-time coordinate information of point B, X i , Y i , Z i It is the coordinate information of the calibration point B at the previous moment.

[0035] The invention also provides an electronic device.

[0036] The technical solution is: an electronic device, including a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the above-mentioned intelligent positioning and navigation method for vibro-fracturing are implemented.

[0037] The invention also provides a computer-readable storage medium.

[0038] The technical solution is: a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the above-mentioned intelligent positioning and navigation method for vibro-hole making are implemented.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] (1) The present invention generates a navigation coordinate map through the navigation positioning point end point A', so that the navigation information is clearer and more accurate.

[0041] (2) The present invention detects whether the target hole-making point is on the center line of the vibrator through Bw, thereby eliminating the hole-making deviation caused by various factors before hole-making (such as natural factors or traction force) that cause the target hole-making point to be not on the center line of the vibrator.

[0042] (3) The present invention adds a server to monitor the navigation and hole making of the mobile terminal, linking the navigation and hole making that were originally independent of each other to avoid information islands. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is an interactive diagram of the present invention;

[0044] Figure 2 It is an interactive diagram at the end of the falling stage of the present invention;

[0045] Figure 3 It is a schematic diagram of the starting point position of the mobile terminal of the present invention;

[0046] Figure 4 It is a schematic diagram of the terminal position of the mobile terminal of the present invention;

[0047] Figure 5 It is a schematic diagram of the movable end of the vibrator of the present invention descending to the vicinity of the hole-making operation point. DETAILED DESCRIPTION

[0048] The present invention will be further described below in conjunction with the accompanying drawings.

[0049] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In the description of the present invention, "plurality" means two or more, unless otherwise precisely and specifically specified.

[0051] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0052] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0053] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0054] In the present invention, X is the horizontal abscissa axis, Y is the horizontal ordinate axis, and Z is the vertical coordinate axis.

[0055] Please refer to Figure 1-Figure 5 ,in, Figure 1 This is an interactive diagram of the present invention. Figure 2 This is the interaction diagram at the end of the falling stage of the present invention. Figure 3 Schematic diagram of the starting point position of the mobile terminal of the present invention, Figure 4 This is a schematic diagram of the terminal position of the mobile terminal of the present invention. Figure 5 It is a schematic diagram of the mobile end of the vibrator of the present invention descending to the vicinity of the hole-making operation point.

[0056] A vibro-hole intelligent positioning and navigation method comprises the following steps:

[0057] S1, in the first stage: calibrate N target hole-making points and establish the coordinate information of the N hole-making points. The server receives and stores the coordinate information of the N target hole-making points, where N is a natural number greater than 3. In practice, in most operations, N is between 10 and 200.

[0058] In this step, when establishing the coordinate information of the N hole-making points, the coordinate information of the target hole-making point at the exact center of the N target hole-making points is taken as a reference, and the coordinate information is 0, 0, 0.

[0059] S2, in the second stage, the server determines one target hole-making point from the N target hole-making points as the current target hole-making point C, and receives the coordinate information of the initial A1 point of the navigation positioning point of the mobile terminal.

[0060] In this step, the initial point A1 of the navigation positioning point of the mobile terminal is a detection point of a GPS sensor in the prior art installed on a mounting frame of the mobile terminal before the mobile terminal moves.

[0061] S3, in the second stage, the server generates the coordinate information of the end point A2 of the navigation positioning point according to the coordinate information of the current target hole-making point C and the coordinate information of the initial point A1 of the navigation positioning point;

[0062] S4, in the second stage, the server generates a navigation coordinate map according to the coordinate information of the initial navigation positioning point A1 and the coordinate information of the end point A2 of the navigation positioning point and transmits the navigation coordinate map to the mobile terminal;

[0063] Through S3 and S4, the existing mobile terminal changes the way of using the target hole-making point C as the moving end point, the navigation path is shorter, the navigation destination is clearer, and the interference in the height direction is avoided. In S3-S4, the Z value of the coordinates of the generated navigation positioning point end point A2 is the same as the Z value of the coordinates of the navigation positioning point initial point A1 (that is, the height direction is the same), and the X and Y values ​​are the same as the target hole-making point C (that is, the navigation positioning point end point A2 is directly above the target hole-making point C).

[0064] S5, in the third stage, the mobile terminal executes the navigation coordinate map, so that the real-time navigation positioning point A moves from the initial navigation positioning point A1 to the end point A2 of the navigation positioning point, and stops moving;

[0065] S6, in the fourth stage, the server starts to receive the real-time coordinate information of the verification point B, calculates the stability of the real-time coordinate information of the verification point B, and if the calculated stability is ≤ the threshold, continues to calculate until the stability is greater than the threshold, and obtains the real-time coordinate information of the verification point B, which is recorded as Bw;

[0066] In the present invention, the sensor of the check point B can be set in the central water outlet of the vibrator at the mobile end, located on the axis of the main shaft of the vibrator, or can be set at other positions that can be set, but the detection point must be located on the axis of the main shaft of the vibrator. When the sensor is located underwater, the sensor is selected as a GPS sensor for underwater use.

[0067] By monitoring the vibration of the vibrator caused by the movement of the mobile end, it is possible to avoid misjudgment caused by the fact that the collected information of the verification point B is inconsistent with the actual situation.

[0068] S7, in the fifth stage, according to the coordinate information of the current target hole-making point C, Bw, and the real-time point A of the navigation positioning point, it is determined whether the current target hole-making point C, Bw and the real-time point A of the navigation positioning point are on the same straight line. If so, an unlocking command is issued, if not, an alarm command is output;

[0069] S8, in the sixth stage, the mobile terminal starts the automatic hole-making program after receiving the unlocking command, and locks the automatic hole-making program after receiving the alarm command;

[0070] Among them, the coordinate information of the current target hole-making point C is X c ,Y c ,Z c ; Navigation positioning point end point A2 coordinate X A2 ,Y A2 ,Z A2 , Bw coordinate information is X Bw ,Y Bw ,Z Bw , N is a natural number greater than 3.

[0071] The present invention determines whether the current target hole-making point C, Bw and the real-time navigation positioning point A are on the same straight line, thereby avoiding the defect of operation deviation caused by the deviation of the vibrator itself (while the end point A2 of the navigation positioning point is not offset) due to natural factors or the size of traction force, improves the operation quality, and effectively monitors the mobile terminal operation.

[0072] After the current target hole-making point C is completed, the server selects another target hole-making point from the N target hole-making points, and repeats S2-S8 from the newly completed target hole-making point C to perform the operation of the next target hole-making point. When the next target hole-making point is completed, it starts from the most recently completed target hole-making point, repeats S2-S8 to perform the operation of the next target hole-making point, and so on.

[0073] In one or more specific embodiments of the present invention, in S6, the method for determining whether the end points are on the same straight line may be: c =X A2 , Y c =Y A2 Next, if X Bw -X c =0, Y Bw -Y c = 0, it means they are on the same straight line, otherwise, it means they are not on the same straight line. Bw -X c =0, Y Bw -Y c=0 is an ideal state. In reality, there are engineering deviations. Here, 0 refers to the allowable range of engineering deviations.

[0074] In one or more specific embodiments of the present invention, in S8, the automatic pore making procedure includes the following steps:

[0075] S81, falling stage;

[0076] S82, pore-forming stage;

[0077] In the falling stage, when the bottom surface D of the vibrator of the mobile terminal is close to the target hole-making point C (close means the vertical distance from the target hole-making point C is about 10-20 cm), it stops moving, and the server starts to re-receive the real-time coordinate information of the verification point B, calculates the stability of the real-time coordinate information of the verification point B, and if the calculated stability is ≤ the threshold, continues to calculate until the calculated stability is > the threshold, takes the real-time coordinate information of the verification point B, recorded as Bw1, and determines whether the current target hole-making point C, Bw1 and the real-time navigation positioning point A are on the same straight line. If so, a transfer S82 instruction is issued, if not, an alarm instruction is output, and after receiving the instruction, the mobile terminal transfers to S82 or starts the locking program; wherein, the coordinate information of Bw1 ​​is X Bw1 ,Y Bw1 ,Z Bw1 The method for determining whether Bw1 is on the same straight line as the current target hole-making point C and the real-time navigation positioning point A is the same as Bw.

[0078] In X c =X A2 , Y c =Y A2 Next, if X Bw1 -X c =0, Y Bw1 -Y c = 0. It means they are on the same straight line, otherwise, it means they are not on the same straight line. Bw1 -X c =0, Y Bw1 -Y c =0 is an ideal state. In reality, there are engineering deviations. Here, 0 refers to the allowable range of engineering deviations.

[0079] By monitoring the Bw1 caused by the descent oscillation of the vibrator, the original automatic hole-making operation after the navigation ends and the descent begins is changed to uninterrupted operation, thus avoiding the problem of hole-making deviation caused by descent oscillation.

[0080] Furthermore, in S6 or S81, since the oscillation mode of the cable-suspended vibro-impact method is to swing left and right with a central fulcrum, within the same time, the larger the swing amplitude, the more violent the oscillation, and vice versa, the smaller the amplitude, the weaker the oscillation. Therefore, we define stability as stability WD, and the calculation formula of stability WD is:

[0081] WD=1 / K, K=(X i+1 -X i ) 2 + (Y i+1 -Y i ) 2 +(Z i+1 -Z i ) 2 , where X i+1 , Y i+1 , Z i+1 To check the real-time coordinate information of point B, X i , Y i , Z i The coordinate information of the calibration point B at the previous moment. The larger the WD is, the better the stability is, and the smaller the WD is, the worse the stability is. 阈值 is the critical point, when WD>WD 阈值 When the shock ends, WD 阈值 It can be determined based on experience or by a special method, and is not particularly limited here.

[0082] The present invention changes the existing independent operation process involving only the mobile terminal into the operation of the mobile terminal under the monitoring of the server through the setting of the server and by giving new functions to the existing mobile terminal, thereby avoiding the hole-making deviation caused by non-vibrator itself.

[0083] The present invention also provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to perform the steps of the above-mentioned intelligent positioning and navigation method for vibro-perforation.

[0084] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned intelligent positioning and navigation method for vibro-perforation are implemented.

[0085] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A vibro-hole intelligent positioning and navigation method, characterized in that: The vibro-hole making method is a cable-suspended vibro-hole making method, comprising: S1, in the first stage, N target hole-making points are calibrated and the coordinate information of the N hole-making points is established, and the server receives and stores the coordinate information of the N target hole-making points; S2, in the second stage, the server determines one target hole-making point from the N target hole-making points as the current target hole-making point C, and receives the coordinate information of the initial point A1 of the navigation positioning point of the mobile terminal; S3, in the second stage, the server generates the coordinate information of the end point A2 of the navigation positioning point according to the coordinate information of the current target hole-making point C and the coordinate information of the initial point A1 of the navigation positioning point; S4, in the second stage, the server generates a navigation coordinate map according to the coordinate information of the initial navigation positioning point A1 and the coordinate information of the end point A2 of the navigation positioning point and transmits the navigation coordinate map to the mobile terminal; S5, in the third stage, the mobile terminal executes the navigation coordinate map, so that the real-time navigation positioning point A moves from the initial navigation positioning point A1 to the end point A2 of the navigation positioning point, and stops moving; S6, in the fourth stage, the server starts to receive the real-time coordinate information of the verification point B, calculates the stability of the real-time coordinate information of the verification point B, and if the calculated stability is ≤ the threshold, continues to calculate until the calculated stability is greater than the threshold, then takes the real-time coordinate information of the verification point B, recorded as Bw; S7, in the fifth stage, according to the coordinate information of the current target hole-making point C, Bw, and the real-time point A of the navigation positioning point, it is determined whether the current target hole-making point C, Bw and the real-time point A of the navigation positioning point are on the same straight line. If so, an unlocking command is issued, and if not, an alarm command is output; the sensor of the navigation positioning point is set on the frame of the mobile end, and the sensor of the verification point B is set in the central water outlet of the vibrator of the mobile end, and is located on the axis of the main shaft of the vibrator; S8, in the sixth stage, the mobile terminal starts the automatic hole-making program after receiving the unlocking command, and locks the automatic hole-making program after receiving the alarm command; the automatic hole-making program includes: S81, falling stage; S82, pore-forming stage; Among them, in the falling stage, when the bottom surface D of the vibrator of the mobile terminal is 10~20cm away from the target hole-making point C, it stops moving, and the server starts to re-receive the real-time coordinate information of the verification point B, and calculates the stability of the real-time coordinate information of the verification point B. If the calculated stability is ≤ the threshold, the calculation continues until the calculated stability is greater than the threshold. The real-time coordinate information of the verification point B is taken, recorded as Bw1, and it is determined whether the current target hole-making point C, Bw1 and the real-time navigation positioning point A are on the same straight line. If so, a transfer S82 instruction is issued, if not, an alarm instruction is output; after the mobile terminal receives the transfer S82 instruction, it transfers to S82, and the mobile terminal starts the locking procedure after receiving the alarm instruction; Among them, X is the horizontal axis, Y is the horizontal axis, and Z is the vertical axis. The coordinate information of the current target hole-making point C is X c ,Y c ,Z c ; Navigation positioning point end point A2 coordinate X A2 ,Y A2 ,Z A2 , Bw coordinate information is X Bw ,Y Bw ,Z Bw , Bw1 coordinate information is X Bw1 ,Y Bw1 ,Z Bw1 , N is a natural number greater than 3.

2. The vibro-hole intelligent positioning and navigation method according to claim 1 is characterized in that: In S7, the method for determining whether they are on the same straight line is: X c =X A2 , Y c =Y A2 , such as X Bw -X c =0, Y Bw -Y c = 0, then on the same straight line, such as X Bw -X c ≠0 or Y Bw -Y c≠ ≠0, then they are not in the same straight line.

3. The vibro-hole intelligent positioning and navigation method according to claim 1 is characterized in that: After S8, S9 is also included. S9 includes: repeating S2-S8. In S2, the server determines another target hole-making point from the N target hole-making points as the current target hole-making point C.

4. The vibro-hole intelligent positioning and navigation method according to claim 1 is characterized in that: In S81, the method for determining whether they are on the same straight line is: X c =X A2 , Y c =Y A2 , such as X Bw1 -X c =0, Y Bw1 -Y c = 0, then they are in the same straight line, such as X Bw1 -X c ≠0, Y Bw1 -Y c ≠0, then they are not in the same straight line.

5. The vibro-hole intelligent positioning and navigation method according to claim 1 is characterized in that: In S6 or S81, stability is defined as stability WD and threshold is defined as WD 阈值 , the calculation formula of WD is: WD=1 / K; K =(X i+1 - X i ) 2 + (Y i+1 - Y i ) 2 +(Z i+1 - Z i ) 2 ; WD > WD 阈值 ; Among them, X i+1 , Y i+1 , Z i+1 To check the real-time coordinate information of point B, X i , Y i , Z i It is the coordinate information of the calibration point B at the previous moment.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the intelligent positioning and navigation method for vibro-perforation as described in any one of claims 1 to 5 are implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the intelligent positioning and navigation method for vibro-hole making as described in any one of claims 1 to 5 are implemented.

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