A bolt hole identification tool and method

Abstract

This invention provides a bolt hole identification tool and method, relating to the field of hole diameter identification. The application includes: a laser target module capable of emitting a circular aperture and a crosshair, a control module, at least three ranging sensors, and a robotic arm for adjusting the orientation of the laser target module and the ranging sensors. The ranging sensors are located on the same working plane, and the orientation of each ranging sensor is consistent with the orientation of the laser target module and perpendicular to the working plane. The laser target module and the ranging sensors are both located at the movable end of the robotic arm. The movable end of the robotic arm can rotate in three-dimensional space around at least two mutually perpendicular directions as axes. The control module is electrically connected to the laser target module, the ranging sensors, and the robotic arm. The robotic arm's posture is adjusted based on the ranging information from the ranging sensors, aligning it with the plane where the threaded hole is located to ensure accurate threaded hole detection results. Subsequently, in conjunction with the laser target module, the diameter of the threaded hole is identified.

Description

Technical Field

[0001] This invention relates to the field of bolt hole diameter measurement technology, and in particular to a bolt hole identification tool. Background Technology

[0002] Existing threaded hole diameter detection methods primarily rely on complex image recognition, as illustrated in patents CN105698694A and CN112102272A; or, more simply, direct testing with straight rods of different sizes, as shown in patent CN203364723U. While the former method achieves high accuracy and a wide detection range, its complex equipment and large size result in poor portability. The latter method suffers from inconvenience in use and carrying, as well as a limited detection range. Therefore, a method using a crosshair target aperture combined with distance is proposed to obtain the threaded hole size. When the target aperture coincides with the edge of the threaded hole, the hole diameter is directly proportional to the distance between them. However, this target-based method requires the target to be directly facing the threaded hole or the plane containing it. This is extremely difficult for an operator to control when positioning the target emitter directly towards the threaded hole. Therefore, an auxiliary device is needed to help adjust the angle between the target launcher and the threaded hole. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a bolt hole identification tool and identification method.

[0004] In a first aspect, the present invention provides a bolt hole identification tool, comprising: a laser target module capable of emitting a circular aperture and a crosshair, a control module, at least three ranging sensors, and a robotic arm for adjusting the orientation of the laser target module and the ranging sensors; wherein the ranging sensors are located on the same working plane, and the orientation of each ranging sensor is consistent with the orientation of the laser target module and perpendicular to the working plane; the laser target module and the ranging sensors are both disposed at the movable end of the robotic arm; the movable end of the robotic arm is capable of rotating in three-dimensional space around at least two mutually perpendicular directions as axes; the control module is electrically connected to the laser target module, the ranging sensors, and the robotic arm respectively.

[0005] Furthermore, the robotic arm includes: a first rotating device that rotates around a spatial Y-axis, a second rotating device that rotates around a spatial Z-axis, and a support base, wherein the first rotating device is movably mounted on the support base; the second rotating device is movably mounted on the first rotating device, and the second rotating device is also connected to the ranging sensor and the laser target module; the support base is used to connect to an external connection surface.

[0006] Furthermore, the three ranging sensors are arranged in an isosceles right triangle; and in the initial state, one of the two right-angled sides of the isosceles right triangle coincides with or is parallel to the axis of rotation of the first rotating device, and the other right-angled side coincides with or is parallel to the axis of rotation of the second rotating device.

[0007] Furthermore, the three ranging sensors located on the same working plane are distributed in an isosceles right triangle around the laser target module; the ranging sensors are ultrasonic ranging sensors.

[0008] Furthermore, a housing is fixedly installed at the movable end of the robotic arm; a control module is fixedly installed inside the housing; the end face of the control module away from the robotic arm serves as a working plane, and three ranging sensors and a laser target module are fixedly installed on the working plane of the control module; the battery pack is detachably connected to the outside of the housing through a snap-fit ​​structure, and the battery pack is also electrically connected to the control module.

[0009] Furthermore, the control module includes: a power supply circuit, a power control module, a signal processing circuit, a controller, and a communication module; wherein, the power supply circuit includes a laser head power supply that converts battery pack power to 5V, an ultrasonic sensor power supply that converts battery pack power to 12V, and a system power supply that converts battery pack power to 3.3V. The system power supply is connected to the controller to provide a stable operating voltage; the signal processing circuit is located between the ranging sensor and the controller to transmit the information collected by the ranging sensor to the controller; the ultrasonic sensor power supply is connected to the ranging sensor via the power control module to provide 12V to the ranging sensor; the laser head power supply is connected to the laser target module via the power control module to provide 5V to the laser target module; the power control module is connected to the controller via control I / O; and the controller is connected to the communication module.

[0010] Furthermore, the robotic arm includes a servo controller, which is electrically connected to the servo motors in the first and second rotating devices respectively; the servo controller is also communicatively connected to the control module.

[0011] Secondly, the present invention provides a bolt hole identification method, based on the above-mentioned bolt hole identification tool, comprising the following steps: Step 1: Activate the three distance sensors located on the working plane, and set the three distance sensors relative to the plane where the threaded hole to be detected is located. In the initial state, one of the two legs of the isosceles right triangle coincides with or is parallel to the axis of rotation of the first rotating device, and the other leg coincides with or is parallel to the axis of rotation of the second rotating device. Step 2: Obtain the distance information L1, L2 and L3 of the plane where the threaded hole is located, collected by the three distance sensors respectively. The distance sensors corresponding to distance information L1 and L2 are on the same right angle, and the distance sensors corresponding to distance information L2 and L3 are on the same right angle. Step 3: The controller calculates the rotation angle of the robotic arm in two directions based on the distance information collected by the ranging sensor. and ; Step 4: The controller starts the laser target module, aligns the laser target module with the threaded hole, and aligns the circle of the laser target module with the bolt hole. The threaded hole size information is calculated based on the distance measurement information.

[0012] Furthermore, the rotation angle in step 3 for: Rotation angle for: LA represents the distance between the distance measuring sensors corresponding to L1 and L2 on the working plane, and LB represents the distance between the distance measuring sensors corresponding to L2 and L3 on the working plane.

[0013] Furthermore, initialize the state vector. Process noise Q, observation noise R, and covariance matrix P; Obtain the three distances L1, L2, and L3 measured by the ranging sensor; Predicting state vectors using a state prediction model: ; Where F is the state transition matrix, and F is the identity matrix. For process noise, Follows a Gaussian distribution: , For process noise: ; in, The variance of the random walk noise at the rotation angle; Covariance prediction is performed using the following formula: ; Modeling observation model: The relationship between the distance measurements from the three distance sensors and the angle is as follows: ; Eliminating d using L1-L2 and L3-L2, we obtain: ; If the ranging sensors are arranged in isosceles right triangles, and LA=LB, then the matrix is ​​invertible, and the rotation angle can be directly calculated. and rotation angle ; The observation model is then: ; Nonlinear function for: ; This represents the noise covariance matrix of the ranging sensor. Linearize the observation model and calculate the Jacobian matrix. : ; Calculate the Kalman gain using the Jacobian matrix: ; State vector update based on Kalman gain: ; Covariance update based on Kalman gain: ; Iterate through the above process until the updated state vector elements are less than the set threshold. The filtered state vector is used to control the robotic arm to adjust its posture.

[0014] The beneficial effects of this invention are as follows: By setting at least three ranging sensors located on the same working plane, the tool's pose is adjusted to keep it facing the plane where the threaded hole is located, ensuring accurate threaded hole detection results. By setting the range sensors to be distributed in an isosceles right triangle, it is easier to perform Kalman filtering later and adjust the rotation angle more accurately based on the distance values ​​detected by the range sensors. By setting up a communication module, remote communication and remote control can be achieved, thus expanding the application scope of this embodiment. Attached Figure Description

[0015] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the overall structure of the bolt hole identification tool provided in this embodiment of the invention. Figure 1 ; Figure 2 A schematic diagram of the overall structure of the bolt hole identification tool provided in this embodiment of the invention. Figure 2 ; Figure 3 An exploded view of the overall structure of the bolt hole identification tool provided in an embodiment of the present invention; Figure 4 A schematic diagram of a battery pack provided in an embodiment of the present invention; Figure 5 A diagram showing the relationship between the control modules provided in an embodiment of the present invention; Figure 6 A schematic diagram of a controller provided in an embodiment of the present invention; Figure 7 A schematic diagram of the laser head power supply provided in an embodiment of the present invention; Figure 8 A schematic diagram of the system power supply provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of a signal processing circuit provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of the working plane of the distance sensor and the plane of the bolt to be measured, provided in an embodiment of the present invention. Figure 11 This is a schematic diagram illustrating the calculation of rotation angle and measurement distance in the identification method provided in an embodiment of the present invention; Figure 12 This is a schematic diagram illustrating another method for calculating rotation angle and measuring distance in the identification method provided in this embodiment of the invention.

[0018] Explanation of the symbols in the attached diagram: 1. Laser target module, 2. Control module, 3. Range sensor, 4. Housing, 41. Slide groove, 42. Slide bar, 43. Slot, 5. Battery pack, 51. Groove, 52. Elastic buckle. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0021] Example 1 like Figures 1-4 As shown, the present invention provides a bolt hole identification tool, including: a laser target module 1, a control module 2, at least three ranging sensors 3, and a robotic arm for adjusting the orientation of the laser target module 1 and the ranging sensors 3.

[0022] The laser target module 1 can emit a circular aperture and a cross, with the center of the cross coinciding with the center of the aperture. When detecting the diameter of a threaded hole, it is necessary to control the edge of the aperture emitted by the laser target module 1 to coincide as much as possible with the edge of the threaded hole.

[0023] At least three of the ranging sensors 3 are located on the same working plane, and the orientation of each ranging sensor 3 is consistent with the orientation of the laser target module 1, and the orientation is perpendicular to the working plane; specifically, the laser target module 1 and the ranging sensors 3 are both disposed at the movable end of the robotic arm. In three-dimensional space, the movable end of the robotic arm can rotate about at least two mutually perpendicular directions as axes.

[0024] The control module 2 is electrically connected to the laser target module 1, the ranging sensor 3, and the robotic arm. The control module 2 processes the distance information between the ranging sensor 3 and the bolt to be measured, and adjusts the rotation angle and posture of the robotic arm based on the distance to the bolt. In some other embodiments, a greater number of ranging sensors 3 are arranged in the working plane for more precise posture adjustment.

[0025] The robotic arm includes a first rotating device that rotates around a spatial Y-axis, a second rotating device that rotates around a spatial Z-axis, and a support base. The first rotating device is movably mounted on the support base; the second rotating device is movably mounted on the first rotating device; the support base is used to connect to an external connection surface, improving overall portability. It should be noted that the rotation axes of the first and second rotating devices are close to the working plane, preventing significant spatial displacement of the working plane during robotic arm rotation. The robotic arm also includes a servo controller, which is electrically connected to the servo motors in both the first and second rotating devices; the servo controller is also communicatively connected to a control module 2. The control module 2 controls the rotation angle of the robotic arm by controlling the servo motors through the servo controller.

[0026] like Figure 2 As shown, the three ranging sensors 3 are arranged in an isosceles right triangle. In the initial state, one of the two legs of the isosceles right triangle coincides with or is parallel to the axis of rotation of the first rotating device, and the other leg coincides with or is parallel to the axis of rotation of the second rotating device. The three ranging sensors 3, located on the same working plane, are arranged in a triangle around the laser target module 1. The end of the laser target module 1 and the ranging sensors 3 are located on the same plane, allowing the ranging sensors 3 to be used for both angle adjustment and calculation of the threaded hole diameter. In this example, the ranging sensors 3 are ultrasonic ranging sensors.

[0027] A bolt hole identification tool further includes a housing 4 and a battery pack 5; wherein the housing 4 is fixedly mounted on the movable end of a robotic arm; the control module 2 is fixedly mounted inside the housing 4; the end face of the control module 2 away from the robotic arm serves as a working plane, and three ranging sensors 3 and a laser target module 1 are fixedly mounted on the working plane of the control module 2; the battery pack 5 is detachably connected to the outside of the housing 4 via a snap-fit ​​structure, and the battery pack 5 is also electrically connected to the control module 2. Figure 3 and Figure 4As shown, the housing 4 has a rectangular groove 41 for connecting the battery pack 5. Raised sliding strips 42 are provided on both sides of the groove 41. The battery pack 5 has slots 51 on both sides corresponding to the sliding strips 42. A recessed slot 43 is also provided within the groove 41 of the housing 4. An elastic buckle 52 corresponding to the slot 43 is provided on the battery pack 5. When the sliding strips 42 are inserted into the slots 51 on both sides of the battery pack 5, the elastic buckle 52 on the battery pack 5 engages with the slot 43, achieving a snap-fit ​​connection. For easy disassembly, the pressing part of the elastic buckle 52 is located on the bottom of the battery pack 5, near its edge, on a sloped surface. A gap is formed between the sloped surface and the housing 4, facilitating the pressing down of the elastic buckle 52 and its separation from the slot 43. The end of the housing 4 also has a T-shaped rod structure for connecting with a robotic arm.

[0028] like Figure 5 As shown, the control module 2 includes: a power supply circuit, a power control module, a signal processing circuit, a controller, and a communication module. The power supply circuit includes a laser head power supply that converts the power supply from the battery pack 5 to 5V, an ultrasonic sensor power supply that converts the power supply from the battery pack 5 to 12V, and a system power supply that converts the power supply from the battery pack 5 to 3.3V. The system power supply is connected to the controller to provide a stable operating voltage. The signal processing circuit is located between the ranging sensor 3 and the controller to transmit the information collected by the ranging sensor 3 to the controller. The ultrasonic sensor power supply is connected to the ultrasonic ranging sensor 3 via the power control module, providing 12V to the ranging sensor 3. The laser head power supply is connected to the laser target module via the power control module, providing 5V to the laser target module. The power control module is connected to the controller via a control I / O port. The controller of the control module 2 is connected to the communication module. The communication module is used to realize WIFI communication and communication with the remote platform to achieve remote control comparison. In this example, through the communication module, some of the more complicated information processing processes can be transmitted to the remote platform with more powerful computing power for processing, which can effectively simplify the overall circuit structure of the device and reduce the size of the device. In addition, it can also realize remote processing, such as remote identification of thread hole diameter, and based on this, complete remote screw installation and other operations.

[0029] In this example, the battery pack 5 directly outputs a voltage of 12V. The capacity of the battery pack 5 is related to the ideal working time of the bolt hole recognition tool. Let the ideal working time of the bolt hole recognition tool be T, and the total power of the bolt hole recognition tool excluding the robotic arm be P. Assuming a workload rate of 50%, the battery capacity C is approximately: C = 0.5 * 1.2P / V * T. The table below shows the power consumption of each component of the bolt hole recognition tool.

[0030] like Figure 6 As shown, Figure 6 An example of a controller is provided, which has two pins, 5V_EN and 12V_EN, to control the power-on of the laser target module 1 and the ranging sensor 3, respectively. The controller also has five pins, SEN_N1, SEN_N2, SEN_N3, SEN_N4, and SEN_N5, to support communication with the ranging sensor 3. Finally, the controller includes a serial communication pin for connection to a communication module.

[0031] like Figure 7 As shown, Figure 7 A circuit diagram of the laser head power supply is provided, which uses a TLV76750DGNR step-down regulator chip to convert the 12V battery pack voltage into a 5V power supply voltage for the laser target module.

[0032] like Figure 8 As shown, Figure 8 A circuit diagram of the system power supply is given, which uses the LM317DCYR step-down regulator chip to convert the 12V battery pack voltage into a 3.3V controller operating voltage.

[0033] like Figure 9 As shown, Figure 9 The signal processing circuit set between the ranging sensor 3 and the controller is given, including coupling resistors coupled between the controller pins SEN_N1, SEN_N2, SEN_N3, SEN_N4, and SEN_N5 and the signal transmission terminals LEN_N1, LEN_N2, LEN_N3, LEN_N4, and LEN_N5 of each ranging sensor 3, as well as a grounded RC parallel circuit.

[0034] Example 2 A bolt hole identification method, based on the aforementioned bolt hole identification tool, includes the following steps: Step 1: Activate the three distance sensors 3 located on the working plane, positioning them relative to the plane containing the threaded hole to be detected, such as... Figure 10 As shown, in the initial state, one of the two legs of the isosceles right triangle coincides with or is parallel to the axis of rotation of the first rotating device, and the other leg coincides with or is parallel to the axis of rotation of the second rotating device. Step 2: Obtain the distance information L1, L2 and L3 of the plane where the threaded hole is located, collected by the three distance sensors 3 respectively. The distance sensors corresponding to distance information L1 and L2 are on the same right angle side, and the distance sensors corresponding to distance information L2 and L3 are on the same right angle side. Step 3: As Figure 11 and Figure 12As shown, the controller calculates the rotation angle of the robotic arm in two directions based on the distance information collected by the ranging sensor 3. and The controller adjusts the robotic arm's posture according to the rotation angle. Rotation angle for: Rotation angle for: LA represents the distance between the distance measuring sensors corresponding to L1 and L2 on the working plane, and LB represents the distance between the distance measuring sensors corresponding to L2 and L3 on the working plane.

[0035] In practice, the controller uses an extended Kalman filter to optimize the rotation angle. The process includes: Initialize state vector Process noise Q, observation noise R, and covariance matrix P; Obtain the three distances L1, L2, and L3 measured by the ranging sensor; Predicting state vectors using a state prediction model: ; Where F is the state transition matrix, and F is the identity matrix. For process noise, Follows a Gaussian distribution: , For process noise: ; in, The variance of the random walk noise at the rotation angle; Covariance prediction is performed using the following formula: ; Modeling observation model: The relationship between the distance measurements from the three distance sensors and the angle is as follows: ; Eliminating d using L1-L2 and L3-L2, we obtain: ; If the ranging sensors are arranged in isosceles right triangles, and LA=LB, then the matrix is ​​invertible, and the rotation angle can be directly calculated. and rotation angle ; The observation model is then: ; Nonlinear function for: ; This represents the noise covariance matrix of the ranging sensor. Linearize the observation model and calculate the Jacobian matrix. : ; Calculate the Kalman gain using the Jacobian matrix: ; State vector update based on Kalman gain: ; Covariance update based on Kalman gain: ; Iterate through the above process until the updated state vector elements are less than the set threshold. The filtered state vector is used to control the robotic arm to adjust its posture.

[0036] Step 4: The controller activates the laser target module 1, aligning it directly with the threaded hole to acquire the hole's dimensions, thus ending the process. The threaded hole dimensions are positively correlated with the distance between the laser target module 1 and the threaded hole at this point, and this distance can be obtained using the ranging sensor 3.

[0037] During implementation, by setting at least three distance sensors 3 located on the same working plane, the tool's posture is adjusted to keep it facing the plane where the threaded hole is located, ensuring that the threaded hole detection results are relatively accurate; by setting the distance sensors 3 to be distributed in an isosceles right triangle, it is convenient to obtain the rotation angle based on the distance value detected by the distance sensors 3; by setting a communication module, remote communication and remote control are realized, expanding the application scope of this embodiment.

[0038] In the embodiments provided by this invention, it should be understood that the disclosed structures and methods can be implemented in other ways. For example, the structural embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, structures, or units, and may be electrical, mechanical, or other forms.

[0039] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0040] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0041] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A bolt hole identification tool, characterized by, include: The system comprises a laser target module (1) capable of emitting a circular aperture and a crosshair, a control module (2), three range sensors (3), and a robotic arm for adjusting the orientation of the laser target module (1) and the range sensors (3); wherein the range sensors (3) are located on the same working plane, and the orientation of each range sensor (3) is consistent with the orientation of the laser target module (1) and perpendicular to the working plane, and the three range sensors (3) are distributed in an isosceles right triangle; the laser target module (1) and the range sensors (3) are both located at the movable end of the robotic arm; the movable end of the robotic arm can rotate in three-dimensional space around at least two mutually perpendicular directions as axes; the control module (2) is electrically connected to the laser target module (1), the range sensors (3), and the robotic arm respectively; During bolt hole identification, three distance sensors located on the working plane are activated, positioning them relative to the plane containing the threaded hole to be detected. In their initial state, one leg of the isosceles right triangle coincides with or is parallel to the axis of rotation of the first rotating device of the robotic arm, and the other leg coincides with or is parallel to the axis of rotation of the second rotating device of the robotic arm. The distance information L1, L2, and L3 from the plane containing the threaded hole is acquired from the three distance sensors, with distance information L1 and L2 corresponding to sensors on the same right-angled side, and distance information L2 and L3 corresponding to sensors on the same right-angled side. The controller calculates the rotation angle of the robotic arm in two directions based on the distance information acquired by the distance sensors. and And use extended Kalman filtering to adjust the rotation angle. and Optimization is performed; the controller activates the laser target module, aligns the laser target module with the threaded hole, and aligns the circle of the laser target module with the bolt hole, calculating the threaded hole size information based on the ranging information; Among them, the rotation angle is calculated based on the distance information collected by the ranging sensor. for: Rotation angle for: LA represents the distance between the distance measuring sensors corresponding to L1 and L2 on the working plane, and LB represents the distance between the distance measuring sensors corresponding to L2 and L3 on the working plane.

2. The bolt hole identification tool according to claim 1, characterized in that, The robotic arm includes: a first rotating device that rotates around the Y-axis, a second rotating device that rotates around the Z-axis, and a support base. The first rotating device is movably mounted on the support base. The second rotating device is movably mounted on the first rotating device. The second rotating device is also connected to the ranging sensor (3) and the laser target module (1). The support base is used to connect to an external connection surface.

3. The bolt hole identification tool according to claim 1, characterized in that, The three ranging sensors (3) located on the same working plane are arranged in an isosceles right triangle around the laser target module (1); the ranging sensors (3) are ultrasonic ranging sensors.

4. A bolt hole identification tool according to claim 1, characterized in that, A housing (4) is fixedly installed at the movable end of the robotic arm; a control module (2) is fixedly installed inside the housing (4); the end face of the control module (2) away from the robotic arm serves as the working plane, and three ranging sensors (3) and a laser target module (1) are fixedly installed on the working plane of the control module (2); the battery pack (5) is detachably connected to the outside of the housing (4) through a snap-fit ​​structure, and the battery pack (5) is also electrically connected to the control module (2).

5. A bolt hole identification tool according to claim 4, characterized in that, The control module (2) includes: a power supply circuit, a power control module, a signal processing circuit, a controller, and a communication module; wherein, the power supply circuit includes a laser head power supply that converts the power supply of the battery pack (5) to 5V voltage, an ultrasonic sensor power supply that converts the power supply of the battery pack (5) to 12V voltage, and a system power supply that converts the power supply of the battery pack (5) to 3.3V voltage. The system power supply is connected to the controller to provide a stable working voltage; the signal processing circuit is located between the ranging sensor (3) and the controller to transmit the information collected by the ranging sensor (3) to the controller. The ultrasonic sensor power supply is connected to the ranging sensor via the power control module to provide 12V voltage to the ranging sensor (3). The laser head power supply is connected to the laser target module (2) via the power control module to provide 5V voltage to the laser target module (1). The power control module is connected to the controller via control IO. The controller is connected to the communication module.

6. A bolt hole identification tool according to claim 2, characterized in that, The robotic arm includes a servo controller, which is electrically connected to the servo motors in the first and second rotating devices respectively; the servo controller is also communicatively connected to the control module (2).

7. A bolt hole identification tool according to claim 1, characterized in that, The extended Kalman filter is used to adjust the rotation angle. and The optimization process includes: Initialize state vector Process noise Q, observation noise R, and covariance matrix P; Obtain the three distances L1, L2, and L3 measured by the ranging sensor; Predicting state vectors using a state prediction model: ； Where F is the state transition matrix, and F is the identity matrix. For process noise, Follows a Gaussian distribution: , For process noise: ； in, The variance of the random walk noise at the rotation angle; Covariance prediction is performed using the following formula: ; Modeling and observation model: The relationship between the distance measurements from the three ranging sensors and the angles is as follows: ； Eliminating d using L1-L2 and L3-L2, we obtain: ； If the ranging sensors are arranged in isosceles right triangles, and LA=LB, then the matrix is ​​invertible, and the rotation angle can be directly calculated. and rotation angle ; The observation model is then: ； Nonlinear function for: ； This represents the noise covariance matrix of the ranging sensor. Linearize the observation model and calculate the Jacobian matrix. : ； Calculate the Kalman gain using the Jacobian matrix: ； State vector update based on Kalman gain: ； Covariance update based on Kalman gain: ； Iterate through the above process until the updated state vector elements are less than the set threshold. The filtered state vector controls the robotic arm to adjust its posture.

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