Closed area indefinite wall blind hole guide hole forming process method

Abstract

The invention discloses a closed area indefinite wall blind hole guide hole making process method, which comprises the following steps of: measuring and positioning a positioning hole at a composite wall position of a closed area, correcting an actual hole making position through a hole position correction algorithm, performing point drawing on the composite wall to verify a hole edge distance and a hole pitch, and then recovering an external application wall plate. And finally, accurate hole making is conducted according to the corrected hole positions, the hole making technology of the wing closed area is achieved, dominance and accurate positioning of the positioning hole positions are achieved, the hole making efficiency and correctness of the closed area are improved, and the risk of hole position deviation caused by the fact that the hole positions cannot be visually observed manually is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of assembly hole making, and in particular relates to a method for making blind holes in indefinite walls of closed areas. Background Art

[0002] Aircraft structures are enclosed structures formed by connecting the exterior components to the frame. Manufacturing these structures requires numerous connectors, and a crucial step in this connection is drilling holes in both the exterior components and the frame. Traditionally, this process involves manually drawing locating holes in the frame. Using these locating holes as a reference, a drilling jig is then installed to drill holes in the desired area. However, the integral wall panel structure combines the composite wall and the exterior cladding into a single structural component, meaning the composite wall and short ribs can only be positioned after the lower wall panel is installed. At this point, the exterior cladding panel and the frame form a closed area. The composite wall in this closed area cannot be directly observed by humans, and pre-connection holes cannot be made by drilling holes. Furthermore, due to the manufacturing characteristics of composite materials, the coordinated positioning of the exterior cladding panels varies from flight to flight, and the position of the composite wall short ribs is also uncertain. Therefore, manual hole drilling is currently performed using a "customized template based on the frame position" method. However, due to the closed structure, the position of the closed cabin composite wall cannot be accurately and intuitively determined, resulting in the risk of excessive hole positioning, insufficient hole margins, and the production of 8-shaped holes. Furthermore, considering the material properties of the composite wall, weak rigidity and easy deformation, there is a risk of inaccurate positioning and misaligned holes during hole drilling.

[0003] In existing digital assembly systems, structures are typically positioned using locating holes. By marking the locating holes or installing process bolts, the digital assembly system identifies the markings or bolts, performs normal vector corrections, calculates all hole positions within the area, and then transmits the hole position data to the actuator to perform the hole production. For the aforementioned unfixed composite wall, installing process bolts to identify the locating holes is not feasible, and hole position and positioning accuracy cannot be guaranteed. Furthermore, due to the narrow edge strips of the composite wall, there is a risk that the hole margins will not meet the normal vector correction requirements of the digital assembly system.

[0004] Therefore, in view of the above-mentioned defects in the prior art, the present invention discloses a method for making blind holes in indefinite walls of closed areas. Summary of the Invention

[0005] The present invention discloses a process method for drilling blind holes in indefinite walls of closed areas. The method can identify the position of positioning mark points on a composite wall structure where it is impossible to directly drill holes from the skeleton to the wall panels, and correct the deviation to the theoretical point position of the connection hole on the surface of the external wall panel, thereby ensuring the accuracy and stability of drilling blind holes in indefinite walls of closed areas.

[0006] The present invention is achieved through the following technical solutions: A method for drilling blind holes in indeterminate walls in closed areas is implemented based on the end effector of a digital assembly system to identify the location of landmarks on composite walls where holes cannot be drilled directly from the skeleton to the wall panel. The method includes the following steps: Step 1: Adjust and correct the positioning step difference of the composite wall; Step 2: Mark the positioning holes uniformly on the composite wall and plan the positioning hole marking path; Step 3: The end effector of the digital assembly system detects whether the unified positioning hole identification and positioning hole identification path in step 2 are qualified based on the positioning hole identification information. If qualified, the process proceeds to step 4; if unqualified, the process returns to step 2 and performs unified positioning hole identification and positioning hole identification path planning again; Step 4: Perform positioning hole simulation point verification based on the unified positioning hole identification in step 3. If the verification is qualified, proceed to step 5. If the verification is unqualified, repeat steps 2-3. Step 5: Based on the positioning hole tracing results in step 4, assemble the exterior siding panels onto the composite wall; Step 6: Perform hole making normal correction on the outer wall panel, and make holes on the outer wall panel based on the correction result.

[0007] In order to better implement the present invention, further, the step 1 specifically includes: Step 1.1, establish a reference coordinate system with the wing span direction as the X direction, the heading direction as the Y direction, and the direction perpendicular to the wing outer skin as the Z direction; Step 1.2: Based on the reference coordinate system, check the Y-axis step difference of the composite wall. Let ν be the actual Y-axis step difference of the composite wall, and δY1 be the Y-axis coordination tolerance allowed for the composite wall. If ν ≤ δY1, proceed to step 1.3. Otherwise, re-coordinate the composite wall in the Y-axis until the Y-axis step difference requirement is met. Step 1.3: Based on the reference coordinate system, check the X-direction clearance between the composite wall and the surrounding fixed frame parts. Let μ be the actual X-direction clearance of the composite wall, and δX1 be the allowable X-direction coordination tolerance. If μ ≤ δX1, proceed to step 1.4. Otherwise, re-coordinate the X-direction positioning of the composite wall until the X-direction clearance requirement is met. Step 1.4: Based on the reference coordinate system, check the Z-axis step difference of the composite wall. Denote ω as the actual Z-axis step difference of the composite wall and δZ1 as the allowable Z-axis coordination tolerance. After adding Z-axis pads to the composite wall, if ω ≤ δZ1, the Z-axis step difference adjustment of the composite wall is complete. Otherwise, re-position the composite wall in the Z-axis until the Z-axis step difference requirement is met.

[0008] In order to better implement the present invention, further, the step 2 specifically includes: Step 2.1, determining the positioning holes in the closed area of ​​the composite wall for the end effector of the digital assembly system to identify; Step 2.2: Remove the positioning holes whose normal vectors are not perpendicular to both the composite wall surface and the exterior siding, as well as the positioning holes located on the curved edge of the composite wall; Step 2.3: Identify and number the positioning holes, and establish a mapping between the identification numbers and the positioning hole information; Step 2.4: Based on the position and normal vector of the locating hole, plan the locating hole identification path so that the posture change of the end effector of the digital assembly system is minimized when it moves along the planned locating hole identification path.

[0009] In order to better implement the present invention, further, the step 3 specifically includes: Step 3.1: Based on the unified identification of the positioning holes, affix reflective marking points on the composite wall; Step 3.2: The end effector of the digital assembly system determines whether the hole margin of the positioning hole meets the requirements based on the position of the identification point. If the hole margin requirements are met, the process proceeds to step 3.3. If not, the positioning hole is re-determined. Step 3.3, using the end effector of the digital assembly system to obtain the coordinates and deflection angle of the reflective marking point, which are used as the actual position data of the positioning hole; Step 3.4: Compare the actual position data of the positioning hole with the theoretical position data of the positioning hole to determine whether the position of the positioning hole is qualified. If the position of the positioning hole is qualified, the actual position data of the positioning hole is derived; if the position of the positioning hole is unqualified, the position of the positioning hole is corrected.

[0010] In order to better implement the present invention, further, the step 3.2 is specifically as follows: let the diameter of the connecting mark at the positioning hole be d, if D1≥2d+1 and D2≥2d+1 are satisfied at the same time, then it is judged that the hole margin of the positioning hole meets the requirements; wherein: D1 represents the hole margin of the positioning hole before the flight, and D2 represents the hole margin of the positioning hole after the flight.

[0011] In order to better implement the present invention, further, the step 3.4 is specifically as follows: Step 3.4.1. Detect the actual position data of the positioning hole and obtain the actual hole coordinates of the positioning hole; Step 3.4.2, calculate the difference between the actual hole coordinates of the positioning hole and the theoretical hole coordinates of the positioning hole; Step 3.4.3, calculate the allowable deviation of the positioning hole; Step 3.4.4: Compare the difference calculated in step 3.4.2 with the allowable deviation to determine whether the position of the locating hole is qualified.

[0012] In order to better implement the present invention, further, the step 4 specifically includes: Step 4.1: Draw points in the closed area of ​​the composite wall according to the hole making information and group the drawn points; Step 4.2: Using the actual position data of the positioning holes derived in step 3 as a reference, inspect the hole positions of the same group on the composite wall; Step 4.3: If all the hole positions in the same group are qualified, the final hole positions are output; if there is at least one qualified point in the same group, the positions of the remaining points are corrected according to the qualified point position; if all the points in the same group are unqualified, the positioning holes are re-determined and the points are re-marked.

[0013] In order to better implement the present invention, further, the step 5 specifically includes: Step 5.1: Before laying the exterior siding, recheck the positioning of the composite wall. If the positioning of the composite wall is acceptable, proceed to step 5.2. If the positioning of the composite wall is unacceptable, repeat steps 1 to 4. Step 5.2: According to the point marking results in step 4, hoist the external wall panels onto the composite wall to form a closed area and pre-connect the external wall panels.

[0014] In order to better implement the present invention, further, the step 6 specifically includes: Step 6.1: Based on the point drawing result in step 4, detect the actual deflection angle between the hole axis at the drawing point and the outer wall panel; Step 6.2: Compare the actual deflection angle with the deflection tolerance angle. If the actual deflection angle is less than or equal to the deflection tolerance angle, proceed to step 6.3. If the actual deflection angle is greater than the deflection tolerance angle, re-draw the hole points. Step 6.3: Drill holes on the exterior siding and composite wall based on the hole-making information.

[0015] Compared with the prior art, the present invention has the following advantages and beneficial effects: (1) The present invention first measures and locates the positioning holes at the composite wall positions of the closed area, and corrects the actual hole positions through a hole position correction algorithm, verifies the hole margins and hole spacing by tracing points on the composite wall, and then restores the outer wall panel. Finally, the holes are accurately drilled according to the corrected hole positions, thereby realizing the hole-making process of the wing closed area, making the positioning hole positions explicit, accurately positioning, improving the efficiency and accuracy of hole-making in the closed area, and reducing the risk of hole position offset caused by the inability to visually observe the hole positions manually; (2) Through the method provided by the present invention, workers do not need to make their own templates for drilling holes every time, and do not need to repeatedly hoist the external wall panels to check the hole positions after drilling holes. Workers can directly drill holes through the points on the external wall panels, or directly drill holes digitally, which improves the stability of drilling and reduces repeated operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of the process steps of the present invention. DETAILED DESCRIPTION

[0017] Example 1: The embodiment of the present invention is a blind hole drilling process method for an indefinite wall in a closed area, which is implemented based on the end effector of a digital assembly system to identify the position of a mark point on a composite wall where it is impossible to drill a hole directly from the skeleton to the wall panel. Figure 1 As shown, the following steps are included: Step 1: Adjust and correct the positioning step difference of the composite wall; Step 2: Mark the positioning holes uniformly on the composite wall and plan the positioning hole marking path; Step 3: The end effector of the digital assembly system detects whether the unified positioning hole identification and positioning hole identification path in step 2 are qualified based on the positioning hole identification information. If qualified, the process proceeds to step 4; if unqualified, the process returns to step 2 and performs unified positioning hole identification and positioning hole identification path planning again; Step 4: Perform positioning hole simulation point verification based on the unified positioning hole identification in step 3. If the verification is qualified, proceed to step 5. If the verification is unqualified, repeat steps 2-3. Step 5: Based on the positioning hole tracing results in step 4, assemble the exterior siding panels onto the composite wall; Step 6: Perform hole making normal correction on the outer wall panel, and make holes on the outer wall panel based on the correction result.

[0018] Furthermore, the step 1 specifically includes: Step 1.1, establish a reference coordinate system with the wing span direction as the X direction, the heading direction as the Y direction, and the direction perpendicular to the wing outer skin as the Z direction; Step 1.2: Based on the reference coordinate system, check the Y-axis step difference of the composite wall. Let ν be the actual Y-axis step difference of the composite wall, and δY1 be the Y-axis coordination tolerance allowed for the composite wall. If ν ≤ δY1, proceed to step 1.3. Otherwise, re-coordinate the composite wall in the Y-axis until the Y-axis step difference requirement is met. Step 1.3: Based on the reference coordinate system, check the X-direction clearance between the composite wall and the surrounding fixed frame components. Let μ be the actual X-direction clearance of the composite wall, and δX1 be the allowable X-direction coordination tolerance. If μ ≤ δX1, proceed to Step 1.4. Otherwise, re-coordinate the X-direction positioning of the composite wall until the X-direction clearance requirement is met. After adjusting the X-direction clearance, check the accuracy of the composite wall connection and the tightness of the connectors to ensure that the composite wall meets the required rigidity and does not deform.

[0019] Step 1.4: Based on the reference coordinate system, check the Z-axis step difference of the composite wall. Denote ω as the actual Z-axis step difference of the composite wall and δZ1 as the allowable Z-axis coordination tolerance. After adding Z-axis pads to the composite wall, if ω ≤ δZ1, the Z-axis step difference adjustment of the composite wall is complete. Otherwise, re-position the composite wall in the Z-axis until the Z-axis step difference requirement is met.

[0020] Furthermore, the step 2 specifically includes: Step 2.1, determining positioning holes in the closed area of ​​the composite wall for identification by the end effector of the digital assembly system, wherein the positioning holes are prefabricated or drawn in the closed area of ​​the composite wall; Step 2.2: Eliminate the positioning holes whose normal vectors are not perpendicular to both the composite wall surface and the exterior siding, as well as the positioning holes located on the curved edge of the composite wall. This will prevent the digital assembly system's end effector from being unable to correct its posture, which could result in the positioning holes being unrecognizable. Step 2.3, identify and number the positioning holes, and establish a mapping between the identification numbers and the positioning hole information, where the positioning hole information includes the sandwich material information at the positioning hole, the location information of the positioning hole, the connection part information at the positioning hole, etc.; Step 2.4: Based on the position and normal vector of the locating hole, plan the locating hole identification path so that the posture change of the end effector of the digital assembly system is minimized when it moves along the planned locating hole identification path, and ensure that the end effector of the digital assembly system can be fine-tuned in the X and Z directions when it moves along the planned locating hole identification path.

[0021] A corresponding NC program is generated based on the planned positioning hole identification path and positioning hole information. The NC program is used to control the positioning hole photo recognition system on the end effector of the digital assembly system to identify the hole position and normal vector direction of the positioning hole. Considering the width of the composite wall flange, the NC program does not perform normal vector correction, but the end effector of the digital assembly system can deflect in the X and Z directions according to the composite wall's external surface curve.

[0022] Furthermore, the step 3 specifically includes: Step 3.1: Based on the unified identification of the positioning holes, affix reflective marking points on the composite wall; Step 3.2: The end effector of the digital assembly system determines whether the hole margin of the positioning hole meets the requirements based on the position of the identification point. If the hole margin requirements are met, the process proceeds to step 3.3. If not, the positioning hole is re-determined. Step 3.3, using the end effector of the digital assembly system to obtain the coordinates and deflection angle of the reflective marking point, which are used as the actual position data of the positioning hole; Step 3.4: Compare the actual position data of the positioning hole with the theoretical position data of the positioning hole to determine whether the position of the positioning hole is qualified. If the position of the positioning hole is qualified, the actual position data of the positioning hole is derived; if the position of the positioning hole is unqualified, the position of the positioning hole is corrected.

[0023] Furthermore, the step 3.2 is specifically as follows: The diameter of the connecting mark at the positioning hole is d. If D1≥2d+1 and D2≥2d+1 are both satisfied, it is judged that the hole margin of the positioning hole meets the requirements; among which: D1 represents the hole margin of the positioning hole before the navigation, and D2 represents the hole margin of the positioning hole after the navigation.

[0024] Furthermore, the step 3.4 is specifically as follows: Step 3.4.1. Detect the actual position data of the locating hole to obtain the actual hole coordinates of the locating hole; specifically, based on the reference coordinate system, detect the actual X coordinate, actual Y coordinate, and actual Z coordinate of the locating hole; Step 3.4.2. Calculate the difference between the actual hole coordinates of the locating hole and the theoretical hole coordinates of the locating hole; that is, ΔX = |Xs-Xl|, ΔY = |Ys-Yl|, ΔZ = |Zs-Zl|, where: ΔX represents the difference between the actual X coordinate of the locating hole and the theoretical X coordinate of the locating hole; ΔY represents the difference between the actual Y coordinate of the locating hole and the theoretical Y coordinate of the locating hole; ΔZ represents the difference between the actual Z coordinate of the locating hole and the theoretical Z coordinate of the locating hole; Xs represents the actual X coordinate of the locating hole; Ys represents the actual Y coordinate of the locating hole; Zs represents the actual Z coordinate of the locating hole; Xl represents the theoretical X coordinate of the locating hole; Yl represents the theoretical Y coordinate of the locating hole; and Zl represents the theoretical Z coordinate of the locating hole.

[0025] Step 3.4.3. Calculate the allowable deviation of the positioning hole; the allowable deviation includes the allowable deviation in the X direction δX, the allowable deviation in the Y direction δY, and the allowable deviation in the Z direction δZ.

[0026] δX=δX1+δX2+δX3, where: δX1 represents the allowable X-direction coordinated positioning tolerance; δX2 represents the X-direction manufacturing tolerance; δX3 represents the X-direction positioning error.

[0027] δY=δY1+δY2+δY3+δY4, where: δY1 represents the allowable Y-direction coordinated positioning tolerance; δY2 represents the Y-direction manufacturing distance tolerance; δY3 represents the error caused by the angular limit deviation in the Y direction; δY4 represents the Y-direction positioning error.

[0028] δZ=δZ1+δZ2+δZ3+δZ4, where: δZ1 represents the allowable Z-direction coordinated positioning tolerance; δZ2 represents the skin thickness at the Z-direction positioning hole; δZ3 represents the Z-direction part thickness tolerance; δZ4 represents the Z-direction positioning error.

[0029] Step 3.4.4: Compare the difference calculated in step 3.4.2 with the allowable deviation to determine whether the position of the locating hole is qualified. If ΔX≤δX, ΔY≤δY, and ΔZ≤δZ are all satisfied, the current position of the locating hole is considered qualified. If any of ΔX>δX, ΔY>δY, and ΔZ>δZ is satisfied, then: If ΔZ>δZ, check the step difference ω between the composite wall and the fixed frame. If ω≤δZ, add pads as required. If ω>δZ1, the hole position cannot be used. If ΔY>δY, first check whether the connection position between the composite wall and the surrounding fixed frame is accurate and whether the connection parts are tightened to ensure that the rigidity of the composite wall meets the requirements and will not deform. If the requirements are met, check whether the step difference between the composite wall and the pre- and post-flight parts ν≤δY. If the requirements are not met, the composite wall needs to be re-coordinated and positioned, otherwise the composite wall cannot be drilled according to this process method; If ΔX>δX, the composite wall needs to be re-coordinated and repositioned.

[0030] Furthermore, the step 4 specifically includes: Step 4.1: Draw points in the closed area of ​​the composite wall according to the hole making information and group the drawn points; Step 4.2: Using the actual position data of the positioning holes derived in step 3 as a reference, inspect the hole positions of the same group on the composite wall; Step 4.3: If all the hole positions in the same group are qualified, the final hole positions are output; if there is at least one qualified point in the same group, the positions of the remaining points are corrected according to the qualified point position; if all the points in the same group are unqualified, the positioning holes are re-determined and the points are re-marked.

[0031] The diameter of the connecting mark at the tracing point is recorded as d1, and the hole margin of the tracing point is Dm. If Dm≥2d1+1, the tracing point is considered qualified and the hole can be made; if Dm<2d1+1, the tracing point is unqualified.

[0032] Furthermore, the step 5 specifically includes: Step 5.1: Before laying the exterior siding, recheck the positioning of the composite wall. If the positioning of the composite wall is acceptable, proceed to step 5.2. If the positioning of the composite wall is unacceptable, repeat steps 1 to 4. Step 5.2: According to the point marking results in step 4, hoist the external wall panels onto the composite wall to form a closed area and pre-connect the external wall panels.

[0033] Furthermore, the step 6 specifically includes: Step 6.1: Based on the point drawing result in step 4, detect the actual deflection angle between the hole axis at the drawing point and the outer wall panel; Step 6.2: Compare the actual deflection angle with the deflection tolerance angle. If the actual deflection angle is less than or equal to the deflection tolerance angle, proceed to step 6.3. If the actual deflection angle is greater than the deflection tolerance angle, re-draw the hole points. Step 6.3: Drill holes on the exterior siding and composite wall based on the hole-making information.

[0034] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A method for drilling blind holes in indeterminate walls in closed areas, based on the end effector of a digital assembly system, is used to identify the location of landmarks on composite walls where it is impossible to drill holes directly from the skeleton to the wall panel. The method is characterized by: The following steps are involved: Step 1: Adjust and correct the positioning step difference of the composite wall; Step 2: Mark the positioning holes uniformly on the composite wall and plan the positioning hole marking path; Step 3: The end effector of the digital assembly system detects whether the unified positioning hole identification and positioning hole identification path in step 2 are qualified based on the positioning hole identification information. If qualified, the process proceeds to step 4; if unqualified, the process returns to step 2 and performs unified positioning hole identification and positioning hole identification path planning again; Step 4: Perform positioning hole simulation point verification based on the unified positioning hole identification in step 3. If the verification is qualified, proceed to step 5. If the verification is unqualified, repeat steps 2-3. Step 5: Based on the positioning hole tracing results in step 4, assemble the exterior siding panels onto the composite wall; Step 6: Perform hole making normal correction on the outer wall panel, and make holes on the outer wall panel based on the correction result.

2. A method for making blind holes in indefinite walls of closed areas according to claim 1, characterized in that: The step 1 specifically includes: Step 1.1, establish a reference coordinate system with the wing span direction as the X direction, the heading direction as the Y direction, and the direction perpendicular to the wing outer skin as the Z direction; Step 1.2: Based on the reference coordinate system, check the Y-axis step difference of the composite wall. Let ν be the actual Y-axis step difference of the composite wall, and δY1 be the Y-axis coordination tolerance allowed for the composite wall. If ν ≤ δY1, proceed to step 1.

3. Otherwise, re-coordinate the composite wall in the Y-axis until the Y-axis step difference requirement is met. Step 1.3: Based on the reference coordinate system, check the X-direction clearance between the composite wall and the surrounding fixed frame parts. Let μ be the actual X-direction clearance of the composite wall, and δX1 be the allowable X-direction coordination tolerance. If μ ≤ δX1, proceed to step 1.

4. Otherwise, re-coordinate the X-direction positioning of the composite wall until the X-direction clearance requirement is met. Step 1.4: Based on the reference coordinate system, check the Z-axis step difference of the composite wall. Denote ω as the actual Z-axis step difference of the composite wall and δZ1 as the allowable Z-axis coordination tolerance. After adding Z-axis pads to the composite wall, if ω ≤ δZ1, the Z-axis step difference adjustment of the composite wall is complete. Otherwise, re-position the composite wall in the Z-axis until the Z-axis step difference requirement is met.

3. A method for making blind holes in indefinite walls of closed areas according to claim 2, characterized in that: The step 2 specifically includes: Step 2.1, determining the positioning holes in the closed area of ​​the composite wall for the end effector of the digital assembly system to identify; Step 2.2: Remove the positioning holes whose normal vectors are not perpendicular to both the composite wall surface and the exterior siding, as well as the positioning holes located on the curved edge of the composite wall; Step 2.3: Identify and number the positioning holes, and establish a mapping between the identification numbers and the positioning hole information; Step 2.4: Based on the position and normal vector of the locating hole, plan the locating hole identification path so that the posture change of the end effector of the digital assembly system is minimized when it moves along the planned locating hole identification path.

4. A method for making blind holes in indefinite walls of closed areas according to claim 3, characterized in that: The step 3 specifically includes: Step 3.1: Based on the unified identification of the positioning holes, affix reflective marking points on the composite wall; Step 3.2: The end effector of the digital assembly system determines whether the hole margin of the positioning hole meets the requirements based on the position of the identification point. If the hole margin requirements are met, the process proceeds to step 3.

3. If not, the positioning hole is re-determined. Step 3.3, using the end effector of the digital assembly system to obtain the coordinates and deflection angle of the reflective marking point, which are used as the actual position data of the positioning hole; Step 3.4: Compare the actual position data of the positioning hole with the theoretical position data of the positioning hole to determine whether the position of the positioning hole is qualified. If the position of the positioning hole is qualified, the actual position data of the positioning hole is derived; if the position of the positioning hole is unqualified, the position of the positioning hole is corrected.

5. A method for making blind holes in indefinite walls of closed areas according to claim 4, characterized in that: The step 3.2 is specifically as follows: The diameter of the connecting mark at the positioning hole is d. If D1≥2d+1 and D2≥2d+1 are both satisfied, it is judged that the hole margin of the positioning hole meets the requirements; among which: D1 represents the hole margin of the positioning hole before the navigation, and D2 represents the hole margin of the positioning hole after the navigation.

6. A method for making blind holes in indefinite walls of a closed area according to claim 4, characterized in that: The step 3.4 is specifically as follows: Step 3.4.

1. Detect the actual position data of the positioning hole and obtain the actual hole coordinates of the positioning hole; Step 3.4.2, calculate the difference between the actual hole coordinates of the positioning hole and the theoretical hole coordinates of the positioning hole; Step 3.4.3, calculate the allowable deviation of the positioning hole; Step 3.4.4: Compare the difference calculated in step 3.4.2 with the allowable deviation to determine whether the position of the positioning hole is qualified.

7. A method for making blind holes in indefinite walls of a closed area according to claim 4, characterized in that: The step 4 specifically includes: Step 4.1: Draw points in the closed area of ​​the composite wall according to the hole making information and group the drawn points; Step 4.2: Using the actual position data of the positioning holes derived in step 3 as a reference, inspect the hole positions of the same group on the composite wall; Step 4.3: If all the hole positions in the same group are qualified, the final hole positions are output; if there is at least one qualified point in the same group, the positions of the remaining points are corrected according to the qualified point position; if all the points in the same group are unqualified, the positioning holes are re-determined and the points are re-marked.

8. A method for making blind holes in indefinite walls of a closed area according to claim 7, characterized in that: The step 5 specifically includes: Step 5.1: Before laying the exterior siding, recheck the positioning of the composite wall. If the positioning of the composite wall is acceptable, proceed to step 5.

2. If the positioning of the composite wall is unacceptable, repeat steps 1 to 4. Step 5.2: According to the point marking results in step 4, hoist the external wall panels onto the composite wall to form a closed area and pre-connect the external wall panels.

9. A method for making blind holes in indefinite walls of a closed area according to claim 8, characterized in that: The step 6 specifically includes: Step 6.1: Based on the point drawing result in step 4, detect the actual deflection angle between the hole axis at the drawing point and the outer wall panel; Step 6.2: Compare the actual deflection angle with the deflection tolerance angle. If the actual deflection angle is less than or equal to the deflection tolerance angle, proceed to step 6.

3. If the actual deflection angle is greater than the deflection tolerance angle, re-draw the hole points. Step 6.3: Drill holes on the exterior siding and composite wall based on the hole-making information.

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