High-precision glass door and window drilling equipment and drilling control method thereof

Abstract

The application relates to the field of drilling control, in particular to a high-precision glass door and window drilling equipment and a drilling control method thereof. According to the distance between the current drilling bit position and the current to-be-drilled hole position and the change of the amplitude value of the drilling bit movement in time sequence, the position deviation of the drilling bit at the current to-be-drilled hole position is obtained, and the depth error value of the drilling bit at the current to-be-drilled hole position is obtained; according to the difference between the depth error values of the drilling bit at the current to-be-drilled hole position and the previous to-be-drilled hole position and the difference between the position deviation degrees, the depth inconsistency of the drilling bit at the current to-be-drilled hole position is obtained; the correlation between the depth inconsistency of the current to-be-drilled hole position and all the to-be-drilled hole positions before the current to-be-drilled hole position and the drilling bit feeding speed is analyzed; and the edge line distribution in the gray-scale image after drilling of the current to-be-drilled hole position is combined to adjust the feeding speed of the drilling bit at the next to-be-drilled hole position. The application can improve the drilling effect of the glass door and window.

Description

Technical Field

[0001] This invention relates to the field of drilling control, specifically to a high-precision drilling device for glass doors and windows and its drilling control method. Background Technology

[0002] In modern architecture, glass doors and windows are important building components that not only affect the building's appearance but also directly relate to its lighting, ventilation, and energy-saving performance. With the increasing diversification of architectural designs, the shape, size, and functional requirements of glass doors and windows are constantly improving. Often, large areas of high-performance glass are needed to achieve better visual effects and performance. The application of high-precision glass door and window drilling equipment can be widely used in the production and installation of doors and windows. For example, in the production process, precise drilling must be performed on the glass in order to install hardware, handles, and other accessories.

[0003] In related technologies, rotary drill bits are usually used to drill holes in glass doors and windows. However, since glass is relatively fragile, each location to be drilled is a stress concentration area during the drilling process. If the feed rate of the drill bit is not properly controlled, cracks or breakage may occur in the glass doors and windows at the drilling locations, resulting in poor drilling results. Summary of the Invention

[0004] To address the technical problem that improper control of drill bit feed rate can cause cracks or breakage in glass doors and windows at the drilling location, resulting in poor drilling performance, this invention aims to provide a high-precision glass door and window drilling device and its drilling control method. The specific technical solution adopted is as follows:

[0005] This invention proposes a high-precision drilling control method for glass doors and windows, the method comprising:

[0006] The drill bit position of the drilling equipment and multiple drilling positions on the glass doors and windows are obtained. The vibration amplitude of the drilling equipment at different times during the process of the drill bit moving from each drilling position to the next drilling position is obtained. The feed rate of the drill bit when drilling each drilling position is obtained, as well as the depth data and grayscale image after drilling are completed.

[0007] Based on the distance between the current drill bit position and the current hole position to be drilled, and the temporal variation of the vibration amplitude of the drilling equipment during the process of the drill bit moving from the previous hole position to the current hole position, the positional deviation of the drill bit at the current hole position is obtained; based on the difference between the depth data after drilling at the current hole position and the standard depth data, the depth error value of the drill bit at the current hole position is obtained; based on the difference between the depth error value and the difference in positional deviation between the current hole position and the previous hole position, the depth inconsistency of the drill bit at the current hole position is obtained.

[0008] Based on the correlation between the depth inconsistency of the current drilling position and all previous drilling positions and the drill bit feed rate, the cumulative error value of the drill bit at the current drilling position is obtained; based on the edge line distribution in the grayscale image after drilling at the current drilling position and the cumulative error value of the drill bit at the current drilling position, the drill bit speed adjustment coefficient is obtained.

[0009] Based on the speed adjustment coefficient, the feed speed of the drill bit is adjusted when drilling at the next drilling position to obtain the adjusted feed speed of the drill bit at the next drilling position.

[0010] Furthermore, obtaining the positional deviation of the drill bit at the current drilling location includes:

[0011] The Euclidean distance between the current drill bit position and the current hole position to be drilled is used as the numerator, the drilling radius of the current hole position to be drilled is used as the denominator, and the ratio is used as the position deviation coefficient between the drill bit and the current hole position to be drilled.

[0012] The positioning interference degree of the drill bit at the current drilling position is obtained based on the difference in vibration amplitude between two adjacent moments during the process of the drill bit moving from the previous drilling position to the current drilling position.

[0013] The product of the positioning interference degree and the position deviation coefficient is used as the position deviation degree of the drill bit at the current drilling position.

[0014] Furthermore, obtaining the positioning interference degree of the drill bit at the current drilling position includes:

[0015] During the process of the drill bit moving from the previous drilling position to the current drilling position, two adjacent moments are taken as a group of adjacent moments, and the absolute value of the difference between the vibration amplitudes of the two moments in each group of adjacent moments is taken as the vibration amplitude difference value of each group of adjacent moments.

[0016] The average value of the vibration amplitude difference in all adjacent time groups is normalized to obtain the positioning interference degree of the drill bit at the current drilling position.

[0017] Furthermore, obtaining the depth error value of the drill bit at the current drilling position includes:

[0018] The absolute value of the difference between the depth data after drilling at the current drilling location and the standard depth data at the current drilling location is used as the depth error value of the drill bit at the current drilling location.

[0019] Furthermore, obtaining the non-uniform depth of the drill bit at the current drilling position includes:

[0020] The depth error value of the drill bit at the current drilling position is used as the numerator, and the depth error value of the drill bit at the previous drilling position is used as the denominator. The ratio is used as the relative value of the depth error of the drill bit at the current drilling position.

[0021] The positional deviation of the drill bit at the current drilling position is used as the numerator, and the positional deviation of the drill bit at the previous drilling position is used as the denominator. The ratio is used as the relative positional deviation of the drill bit at the current drilling position.

[0022] After combining the relative values ​​of the depth error and the relative values ​​of the position deviation and performing normalization, the non-consistent depth of the drill bit at the current drilling position is obtained.

[0023] Furthermore, obtaining the cumulative error value of the drill bit at the current drilling position includes:

[0024] Map the two-dimensional data points consisting of the drill bit feed rate and the depth inconsistency of the current drilling position and all previous drilling positions to a two-dimensional coordinate system. Based on the slope of the line connecting two adjacent two-dimensional data points, obtain the feed rate interference degree of the drill bit at the current drilling position. The horizontal axis of the two-dimensional coordinate system is the drill bit feed rate, and the vertical axis is the depth inconsistency.

[0025] The average of the depth inconsistencies of the drill bit at the current drilling position and all previous drilling positions is taken as the overall depth inconsistency of the drill bit at the current drilling position.

[0026] The feed rate disturbance and overall inconsistency of the drill bit at the current drilling position are combined and normalized to obtain the cumulative error value of the drill bit at the current drilling position.

[0027] Furthermore, obtaining the feed rate disturbance of the drill bit at the current drilling position includes:

[0028] The average slope of the line connecting all adjacent two-dimensional data points is used as the feed rate disturbance of the drill bit at the current drilling position.

[0029] Furthermore, the method for obtaining the drill bit speed adjustment coefficient includes:

[0030] Edge detection is performed on the grayscale image after drilling at the current drilling location to obtain multiple edge lines in the grayscale image;

[0031] The variance of the slope values ​​of the lines connecting all two adjacent pixels on each edge line is used as the degree of irregularity of each edge line.

[0032] The average value of the irregularity of all edge lines and the number of all edge lines are combined to obtain the feed rate evaluation value of the drill bit at the current drilling position;

[0033] The feed rate assessment value and the cumulative error value of the drill bit at the current drilling position are combined and normalized to obtain the drill bit speed adjustment coefficient.

[0034] Furthermore, obtaining the adjusted feed rate of the drill bit at the next drilling position includes:

[0035] The product of the drill bit speed adjustment coefficient and the drill bit feed rate when drilling the next hole position is used as the feed rate adjustment amount of the drill bit at the next hole position.

[0036] The difference between the drill bit feed rate and the feed rate adjustment amount when the drill bit drills the next hole position is used as the adjusted feed rate of the drill bit at the next hole position.

[0037] This invention also proposes a high-precision glass door and window drilling device, including a drill bit. The drilling device further includes a feed rate control module for controlling the drill bit, a laser scanner for acquiring multiple drilling positions on the glass door and window, a vibration sensor for acquiring vibration amplitude during the movement of the drill bit, an industrial camera for acquiring grayscale images after drilling, and a depth sensor for acquiring depth data after drilling. The feed rate control module is connected to the laser scanner, vibration sensor, industrial camera, and depth sensor, and processes the acquired drilling positions, vibration amplitude, depth data, and grayscale images to implement any of the steps of a high-precision glass door and window drilling control method.

[0038] The present invention has the following beneficial effects:

[0039] This invention addresses the issue that improper control of the drill bit's feed rate can cause cracks or breakage in glass doors and windows at the drilling location, resulting in poor drilling performance. Therefore, it first considers the distance between the current drill bit position and the current drilling location, combined with the interference caused by the drill bit's vibration during movement, to obtain a positional deviation value reflecting the degree of deviation of the current drill bit position relative to the current drilling location. Furthermore, considering that improper control of the drill bit's feed rate can lead to significant errors in the drilling depth at the desired location, this invention uses a depth error value to reflect the error in the drilling depth after drilling at the current drilling location. Finally, it considers that the deviation between the drill bit position and the drilling location also affects the drilling depth. The obtained depth inconsistency reflects the degree of inconsistency between the current drilling position and the previous drilling position. Considering that if there is a large error in the previous drilling operation, if it is not adjusted in time, the error will continue to the next drilling operation, further increasing the cumulative error. Therefore, the obtained cumulative error value reflects the degree of cumulative error when it continues to the current drilling position. Considering that drilling may cause cracks in the glass, the edge line distribution in the grayscale image after drilling at the current drilling position is combined with the obtained speed adjustment coefficient to effectively adjust the drill bit feed speed for drilling at the next drilling position, so as to avoid cracks or breakage of glass doors and windows at the drilling position and improve the drilling effect of glass doors and windows. Attached Figure Description

[0040] To more clearly illustrate the technical solutions and advantages 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, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a flowchart of a high-precision glass door and window drilling control method provided in one embodiment of the present invention. Detailed Implementation

[0042] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of a high-precision glass door and window drilling device and its drilling control method according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0044] The following description, in conjunction with the accompanying drawings, details the specific scheme of a high-precision glass door and window drilling device and its drilling control method provided by the present invention.

[0045] Please see Figure 1 The diagram illustrates a flowchart of a high-precision glass door and window drilling control method according to an embodiment of the present invention, the method comprising:

[0046] Step S1: Obtain the position of the drill bit of the drilling equipment and multiple drilling positions on the glass door and window. Obtain the vibration amplitude of the drilling equipment at different times during the process of the drill bit moving from each drilling position to the next drilling position. Obtain the feed speed of the drill bit when drilling each drilling position and the depth data and grayscale image after drilling is completed.

[0047] For drilling equipment for glass doors and windows, it can perform drilling operations on multiple drilling positions on the glass doors and windows according to a pre-set sequence. Therefore, this embodiment of the invention first uses the photoelectric sensor and encoder of the drilling equipment to obtain the position of the drill bit, and uses the laser scanner installed on the drilling equipment to collect multiple pre-set drilling positions on the glass doors and windows. The drill bit position and the drilling position are both position points on a two-dimensional plane. Then, a vibration sensor is installed on the drilling equipment, and the vibration sensor is used to collect the vibration amplitude of the drilling equipment at different times during the process of the drill bit moving from each drilling position to the next drilling position. Since the feed speed of the drill bit is a key factor in whether the glass breaks during the drilling process, this embodiment of the invention also needs to record the feed speed of the drill bit when drilling each drilling position. The feed speed of the drill bit is a system parameter pre-set by the operator for each drilling position before using the drilling equipment, and the feed speed of the drill bit is a known value.

[0048] In this embodiment of the invention, an industrial camera and a depth sensor are also installed on the drilling equipment. After drilling is completed at each location to be drilled, the industrial camera is used to collect a grayscale image of each location after drilling, and the depth sensor is used to collect the depth data of each location after drilling. This depth data is the drilling depth.

[0049] Step S2: Based on the distance between the current drill bit position and the current hole position to be drilled, and the temporal change in the vibration amplitude of the drilling equipment during the process of the drill bit moving from the previous hole position to the current hole position, obtain the positional deviation of the drill bit at the current hole position; based on the difference between the depth data after drilling at the current hole position and the standard depth data, obtain the depth error value of the drill bit at the current hole position; based on the difference in depth error value between the current hole position and the previous hole position, and the difference in positional deviation, obtain the depth inconsistency of the drill bit at the current hole position.

[0050] During the process of moving the drill bit from one hole to the next, system errors may prevent the drill bit from precisely positioning itself above each hole. This can easily cause glass doors and windows to crack when the drill bit is drilling at the current hole location. Furthermore, the vibration generated during the process of moving the drill bit to the next hole location after drilling can also cause a deviation between the drill bit position and the hole location. The more pronounced the vibration, the greater the positional deviation. Therefore, this embodiment of the invention first analyzes the distance between the current drill bit position and the current hole location, as well as the temporal variation of the vibration amplitude of the drilling equipment during the process of moving the drill bit from the previous hole location to the current hole location. The obtained positional deviation reflects the degree of deviation of the current drill bit position relative to the current hole location. Subsequently, based on the positional deviation, the inconsistency of the drill bit's depth at the current hole location can be accurately analyzed.

[0051] Preferably, in one embodiment of the present invention, the method for obtaining the positional deviation of the drill bit at the current drilling position specifically includes:

[0052] First, since the required hole diameter is different for each drilling position, the corresponding drilling radius is pre-set for each drilling position in the glass door and window. The larger the distance between the drill bit position and the current drilling position relative to the drilling radius, the greater the positional deviation between the current drill bit position and the current drilling position. Therefore, the Euclidean distance between the current drill bit position and the current drilling position can be used as the numerator, the drilling radius of the current drilling position can be used as the denominator, and the ratio can be used as the positional deviation coefficient between the drill bit and the current drilling position.

[0053] Then, based on the difference in vibration amplitude between two adjacent moments during the process of the drill bit moving from the previous drilling position to the current drilling position, the positioning interference degree of the drill bit at the current drilling position is obtained. The greater the positioning interference degree, the greater the positional deviation caused by the vibration generated during the movement of the drill bit.

[0054] Preferably, in one embodiment of the present invention, the method for obtaining the positioning interference degree of the drill bit at the current drilling position specifically includes:

[0055] During the process of the drill bit moving from the previous drilling position to the current drilling position, two adjacent moments are considered as one adjacent moment group. The absolute value of the difference in vibration amplitude between the two moments in each adjacent moment group is taken as the vibration amplitude difference value of each adjacent moment group. The larger the vibration amplitude difference value, the greater the difference in vibration amplitude between the two adjacent moments, and the more obvious the vibration phenomenon. Therefore, the average value of the vibration amplitude difference values ​​of all adjacent moment groups can be normalized to limit the calculation result to a certain range. Within the range, the positioning interference of the drill bit at the current drilling position is obtained.

[0056] In embodiments of the present invention, normalization can be achieved using functions such as activation functions or hyperbolic tangent functions, and the same method can be used for normalization in subsequent steps, which will not be elaborated or limited further.

[0057] The larger the position deviation coefficient between the drill bit and the current hole position, and the greater the positioning interference of the drill bit at the current hole position, the greater the deviation between the drill bit position and the current hole position. Therefore, the product of the positioning interference and the position deviation coefficient can be used as the position deviation of the drill bit at the current hole position.

[0058] As an example, in one embodiment of the present invention, the expression for the positional deviation of the drill bit at the current drilling position can be specifically as follows:

[0059]

[0060]

[0061] in, This indicates the degree of deviation of the drill bit from the current position of the hole to be drilled; This indicates the degree of positioning interference of the drill bit at the current drilling position; This represents the Euclidean distance between the current drill bit position and the current hole position to be drilled; This indicates the drilling radius at the current drilling location; This represents the positional deviation coefficient between the drill bit and the current position of the hole to be drilled; and They represent the first The vibration amplitude between two moments in a group of adjacent moments; Indicates the first The difference in vibration amplitude between adjacent time groups; This indicates the number of all adjacent time groups; This represents the hyperbolic tangent function, used for normalization.

[0062] Considering that improper control of the drill bit's feed rate can lead to significant errors in the drilling depth at the target location, we first analyze the difference between the drilling depth data at the current target location and the standard depth data. The obtained depth error value reflects the error in the drilling depth after drilling at the current target location. Subsequently, we can combine the depth error value with the obtained position deviation to accurately analyze the inconsistency of drilling depth.

[0063] Preferably, in one embodiment of the present invention, the method for obtaining the depth error value of the drill bit at the current drilling position specifically includes:

[0064] The absolute value of the difference between the depth data after drilling at the current drilling position and the standard depth data at the current drilling position is used as the depth error value of the drill bit at the current drilling position. The standard depth data is a known value set for each drilling position before drilling operation, which represents the required drilling depth for each drilling position.

[0065] By monitoring and analyzing the consistency of drilling depth, depth deviations can be detected and adjusted in a timely manner, ensuring high precision and consistency in drilling. Furthermore, by analyzing the consistency of depth, potential problems can be identified early, reducing scrap due to unqualified depth, thereby reducing production costs and resource waste. Considering that the deviation between the drill bit position and the hole to be drilled can also affect the drilling depth, this embodiment of the invention analyzes the difference in depth error value and position deviation between the current hole to be drilled position and the previous hole to be drilled position. The obtained depth inconsistency reflects the degree of inconsistency in drilling depth between the current hole to be drilled position and the previous hole to be drilled position. Since the same analysis is performed when the drill bit of the drilling equipment moves to each hole to be drilled position, parameters such as the position deviation and depth error value of each hole to be drilled before the current hole to be drilled position have also been calculated.

[0066] Preferably, in one embodiment of the present invention, the method for obtaining the non-consistent depth of the drill bit at the current drilling position specifically includes:

[0067] The depth error value of the drill bit at the current drilling position is used as the numerator, and the depth error value of the drill bit at the previous drilling position is used as the denominator. The ratio is taken as the relative value of the depth error of the drill bit at the current drilling position. The drilling equipment drills the holes at the various positions on the glass door and window in a pre-set order. Therefore, the previous drilling position refers to the drilling position corresponding to the previous drilling operation at the current drilling position according to the drilling sequence. The larger the relative value of the depth error, the larger the depth error value of the current drilling position relative to its previous drilling position, and thus the more obvious the inconsistency in the depth of the drill bit at the current drilling position.

[0068] The ratio of the drill bit's positional deviation at the current drilling position to the numerator and the drill bit's positional deviation at the previous drilling position to the denominator is used as the relative value of the drill bit's positional deviation at the current drilling position. The larger the relative value of the positional deviation, the greater the depth error between the current drilling position and the previous drilling position, indicating a greater positional deviation of the drill bit at the current drilling position and thus a more significant degree of inconsistency in the depth at the current drilling position.

[0069] It should be noted that for the first drilling position, since there are no previous drilling positions, the relative values ​​of the depth error and position deviation of the drill bit at the first drilling position can be set to 0 for subsequent calculations.

[0070] After combining and normalizing the relative values ​​of depth error and position deviation, the calculation results are limited to a certain range. Within this range, the non-uniformity of the drill bit's depth at the current drilling position is obtained.

[0071] In embodiments of the present invention, the sum or product of the relative values ​​of depth error and position deviation can be calculated to achieve the integration of the two, which is not limited here. Furthermore, the same method can be used to integrate two or more data in subsequent steps.

[0072] As an example, in one embodiment of the present invention, the expression for the non-consistent depth of the drill bit at the current drilling position can be specifically as follows:

[0073]

[0074] in, This indicates that the drill bit's depth at the current drilling position is inconsistent; This indicates the degree of deviation of the drill bit from the current position of the hole to be drilled; This indicates the depth error value of the drill bit at the previous drilling position from the current drilling position; This indicates the relative deviation of the drill bit's position from the current drilling location; This indicates the degree of deviation of the drill bit from the current position of the hole to be drilled; This indicates the positional deviation of the drill bit from the previous drilling position at the current drilling position; This represents the relative depth error of the drill bit at the current drilling position. This represents the hyperbolic tangent function, used for normalization.

[0075] Similarly, the same method described above can be used to obtain the non-uniformity of the depth of each hole to be drilled before the current hole to be drilled.

[0076] Step S3: Based on the correlation between the depth inconsistency of the current drilling position and all previous drilling positions and the drill bit feed rate, obtain the cumulative error value of the drill bit at the current drilling position; based on the edge line distribution in the grayscale image after drilling at the current drilling position, and the cumulative error value of the drill bit at the current drilling position, obtain the drill bit speed adjustment coefficient.

[0077] Considering that if there is a large error in the previous drilling operation, and no timely adjustment is made, the error will continue to the next drilling operation, further increasing the cumulative error. The main factors causing glass door and window breakage and inconsistent depth during drilling are the feed rate of the drill bit. Therefore, this embodiment of the invention analyzes the correlation between the depth inconsistency of the current drilling position and all previous drilling positions and the feed rate of the drill bit. The cumulative error value reflects the degree of accumulation of the error that continues to the current drilling position. Subsequently, based on the cumulative error value, the feed rate of the drill bit at the next drilling position can be effectively adjusted to avoid causing the glass door and window to break during the next drilling.

[0078] Preferably, in one embodiment of the present invention, the method for obtaining the cumulative error value of the drill bit at the current drilling position specifically includes:

[0079] First, the two-dimensional data points representing the inconsistent drill bit feed rate and depth at the current drilling position and all previous drilling positions are mapped onto a two-dimensional coordinate system. Based on the slope of the line connecting two adjacent two-dimensional data points, the feed rate interference degree of the drill bit at the current drilling position is obtained. The horizontal axis of the two-dimensional coordinate system represents the drill bit feed rate, and the vertical axis represents the depth inconsistency. The greater the feed rate interference degree, the more the inconsistency of the drilling depth increases as the drill bit feed rate increases during the drilling process, which in turn indicates that the cumulative error up to the current drilling position is greater.

[0080] Preferably, in one embodiment of the present invention, the method for obtaining the feed rate disturbance of the drill bit at the current drilling position specifically includes:

[0081] The average slope of the line connecting all adjacent two-dimensional data points is used as the feed rate disturbance of the drill bit at the current drilling position.

[0082] Then, the average value of the depth inconsistency of the drill bit at the current drilling position and all drilling positions before it is taken as the overall depth inconsistency of the drill bit at the current drilling position. The greater the overall depth inconsistency, the greater the overall level of depth inconsistency of the drill bit at each drilling position up to the current drilling position, and thus the greater the cumulative error up to the current drilling position.

[0083] Furthermore, after comprehensively considering and normalizing the feed rate disturbance and overall inconsistency of the drill bit at the current drilling position, the calculation results are limited to... Within the range, the cumulative error value of the drill bit at the current drilling position is obtained.

[0084] As an example, in one embodiment of the present invention, the expression for the cumulative error value of the drill bit at the current drilling position can be specifically as follows:

[0085]

[0086] in, This indicates the cumulative error value of the drill bit at the current drilling position; Indicates the first The slope value of the line connecting two adjacent two-dimensional data points; This indicates the number of current drilling positions and all previous drilling positions. This represents the number of lines connecting all adjacent two-dimensional data points, where the number of two-dimensional data points is equal to the number of the current drilling position and all previous drilling positions. This indicates the feed rate disturbance of the drill bit at the current drilling position; This indicates that the overall depth of the drill bit at the current drilling position is not consistent; This represents the activation function, used for normalization.

[0087] It should be noted that since there are no drillable positions before the first drillable position, the cumulative error value of the drill bit at the first drillable position can be set to 0 for subsequent calculations.

[0088] After drilling at the desired location, improper control of the drill bit's feed rate may cause cracks to appear around the hole. Furthermore, a larger cumulative error value at the current drilling location indicates greater interference with subsequent drilling operations, necessitating a more significant adjustment to the drill bit's feed rate. Therefore, a drill bit speed adjustment coefficient can be obtained based on the edge line distribution in the grayscale image after drilling at the current location and the cumulative error value of the drill bit at that location. This coefficient can then be used to effectively adjust the drill bit's feed rate at the next drilling location, preventing damage to glass doors and windows during drilling and improving the final drilling effect.

[0089] Preferably, in one embodiment of the present invention, the method for obtaining the drill bit speed adjustment coefficient specifically includes:

[0090] Edge detection is performed on the grayscale image after drilling at the current drilling location to obtain multiple edge lines in the grayscale image. In one embodiment of the present invention, the existing Canny edge detection algorithm can be used to implement the edge detection of the image, which is not limited or described in detail here.

[0091] The variance of the slope values ​​of the lines connecting all adjacent pixels on each edge line is used as the irregularity of each edge line. The greater the irregularity, the more irregular the shape of each edge line. Then, the average value of the irregularity of all edge lines and the total number of edge lines are combined to obtain the feed rate evaluation value of the drill bit at the current drilling position. The larger the feed rate evaluation value, the more obvious cracks are generated around the drilling position after drilling, indicating that the feed rate of the drill bit at the current drilling position is more unreasonable, and the feed rate of the drill bit needs to be adjusted in subsequent operations.

[0092] The feed rate assessment and cumulative error value of the drill bit at the current drilling position are combined and normalized to limit the calculation results to within a certain range. Within this range, the speed adjustment coefficient of the drill bit can be obtained.

[0093] As an example, in one embodiment of the present invention, the expression for the drill bit speed adjustment coefficient can be specifically as follows:

[0094]

[0095]

[0096] in, This indicates the drill bit speed adjustment factor; This indicates the estimated feed rate of the drill bit at the current drilling position; This indicates the cumulative error value of the drill bit at the current drilling position; This indicates the number of edge lines in the grayscale image after drilling is completed at the current drilling location; Indicates the first The degree of irregularity of the edge line; This represents the hyperbolic tangent function, used for normalization.

[0097] Step S4: Based on the speed adjustment coefficient, adjust the drill bit feed speed for drilling at the next drilling position to obtain the adjusted feed speed of the drill bit at the next drilling position.

[0098] The larger the drill bit speed adjustment coefficient, the greater the need to reduce the drill bit feed speed when drilling the next hole position, in order to avoid damage to the glass doors and windows caused by excessive feed speed, thereby improving the drilling effect of the glass doors and windows. Therefore, the drill bit feed speed at the next hole position can be adjusted based on the speed adjustment coefficient to obtain the adjusted feed speed of the drill bit at the next hole position.

[0099] Preferably, in one embodiment of the present invention, the method for obtaining the feed rate of the drill bit at the next drilling position specifically includes:

[0100] The product of the drill bit speed adjustment coefficient and the drill bit feed rate when drilling the next hole position is used as the feed rate adjustment amount of the drill bit at the next hole position. The difference between the drill bit feed rate when drilling the next hole position and the feed rate adjustment amount is used as the adjusted feed rate of the drill bit at the next hole position.

[0101] As an example, in one embodiment of the present invention, the expression for adjusting the feed rate of the drill bit at the next drilling position can be specifically as follows:

[0102]

[0103] in, This indicates the adjusted feed rate of the drill bit at the next drilling position; This indicates the drill bit feed rate when the drill bit is drilling the next hole to be drilled. This indicates the drill bit speed adjustment factor; This indicates the amount of feed rate adjustment for the drill bit at the next drilling position.

[0104] After obtaining the adjusted feed speed of the drill bit at the next drilling position, the drilling equipment moves the drill bit to the next drilling position and drills at the corresponding adjusted feed speed, thereby improving the drilling effect on glass doors and windows.

[0105] One embodiment of the present invention provides a high-precision glass door and window drilling device, including a drill bit. The drilling device further includes a feed rate control module for controlling the drill bit, a laser scanner for acquiring multiple drilling positions on the glass door and window, a vibration sensor for acquiring vibration amplitude during the movement of the drill bit, an industrial camera for acquiring grayscale images after drilling, and a depth sensor for acquiring depth data after drilling. The feed rate control module is connected to the laser scanner, vibration sensor, industrial camera, and depth sensor, and processes the acquired drilling positions, vibration amplitude, depth data, and grayscale images to implement the methods described in steps S1 to S4.

[0106] It should be noted that the order of the above embodiments of the present invention is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0107] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

Claims

1. A high-precision glass door and window drilling control method, characterized in that, The method comprises: obtaining the drill bit position of a drilling device and a plurality of to-be-drilled positions on a glass door and window, obtaining the vibration amplitude of the drilling device at different time points in the process of the drill bit moving from each to-be-drilled position to the next to-be-drilled position, obtaining the feed speed of the drill bit when drilling each to-be-drilled position, and obtaining the depth data and grayscale image after drilling is completed; obtaining the position deviation of the drill bit at the current to-be-drilled position according to the distance between the current drill bit position and the current to-be-drilled position and the change in the vibration amplitude of the drilling device in the process of the drill bit moving from the previous to-be-drilled position to the current to-be-drilled position, obtaining the depth error value of the drill bit at the current to-be-drilled position according to the difference between the depth data after the current to-be-drilled position is drilled and the standard depth data, and obtaining the depth inconsistency of the drill bit at the current to-be-drilled position according to the difference between the depth error value between the current to-be-drilled position and the previous to-be-drilled position and the difference in the position deviation; obtaining the cumulative error value of the drill bit at the current to-be-drilled position according to the correlation between the depth inconsistency of the current to-be-drilled position and all the to-be-drilled positions before the current to-be-drilled position and the feed speed of the drill bit, and obtaining the speed adjustment coefficient of the drill bit according to the edge line distribution in the grayscale image after the current to-be-drilled position is drilled and the cumulative error value of the drill bit at the current to-be-drilled position; adjusting the drill bit feed speed for drilling the next to-be-drilled position based on the speed adjustment coefficient to obtain the adjusted feed speed of the drill bit at the next to-be-drilled position; The method for obtaining the depth inconsistency comprises: taking the depth error value of the drill bit at the current to-be-drilled position as the numerator, taking the depth error value of the drill bit at the previous to-be-drilled position of the current to-be-drilled position as the denominator, and taking the ratio as the relative depth error value of the drill bit at the current to-be-drilled position; taking the position deviation of the drill bit at the current to-be-drilled position as the numerator, taking the position deviation of the drill bit at the previous to-be-drilled position of the current to-be-drilled position as the denominator, and taking the ratio as the relative position deviation of the drill bit at the current to-be-drilled position; comprehensively processing the relative depth error value and the relative position deviation and performing normalization processing to obtain the depth inconsistency of the drill bit at the current to-be-drilled position.

2. The high-precision glass door and window drilling control method according to claim 1, characterized in that, The method for obtaining the position deviation of the drill bit at the current to-be-drilled position comprises: taking the Euclidean distance between the current drill bit position and the current to-be-drilled position as the numerator, taking the drilling radius of the current to-be-drilled position as the denominator, and taking the ratio as the position deviation coefficient between the drill bit and the current to-be-drilled position; obtaining the positioning interference degree of the drill bit at the current to-be-drilled position according to the difference between the vibration amplitudes at two adjacent time points in the process of the drill bit moving from the previous to-be-drilled position to the current to-be-drilled position; taking the product value of the positioning interference degree and the position deviation coefficient as the position deviation of the drill bit at the current to-be-drilled position; The method for obtaining the positioning interference degree comprises: In the process of moving the drill bit from the previous hole location to the current hole location, two adjacent time points are taken as an adjacent time group, and the absolute value of the difference between the vibration amplitudes of the two time points in each adjacent time group is taken as the vibration amplitude difference value of each adjacent time group. The average value of the vibration amplitude difference values of all adjacent time groups is normalized to obtain the positioning interference degree of the drill bit at the current hole location.

3. The high-precision glass door and window drilling control method according to claim 1, characterized in that, The depth error value of the drill bit at the current hole location includes: The absolute value of the difference between the depth data after the current hole location is drilled and the standard depth data of the current hole location is taken as the depth error value of the drill bit at the current hole location.

4. The high-precision glass door and window drilling control method according to claim 1, characterized in that, The cumulative error value of the drill bit at the current hole location includes: The two-dimensional data points formed by the drill feed speed and the depth inconsistency of the current hole location and all previous hole locations are mapped into a two-dimensional coordinate system, and the slope value of the line connecting adjacent two-dimensional data points is used to obtain the feed speed interference degree of the drill bit at the current hole location, wherein the horizontal coordinate of the two-dimensional coordinate system is the drill feed speed, and the vertical coordinate is the depth inconsistency. The average value of the depth inconsistency of the drill bit at the current hole location and all previous hole locations is taken as the overall depth inconsistency of the drill bit at the current hole location. The cumulative error value of the drill bit at the current hole location is obtained by synthesizing and normalizing the feed speed interference degree and the overall inconsistency of the drill bit at the current hole location.

5. The high-precision glass door and window drilling control method according to claim 4, characterized in that, The feed speed interference degree of the drill bit at the current hole location includes: The average value of the slope values of the lines connecting all adjacent two-dimensional data points is taken as the feed speed interference degree of the drill bit at the current hole location.

6. The high-precision glass door and window drilling control method according to claim 1, characterized in that, The speed adjustment coefficient of the drill bit includes: Edge detection is performed on the gray-scale image after the current hole location is drilled to obtain a plurality of edge lines in the gray-scale image. The variance of the slope values of the lines connecting all adjacent two pixels on each edge line is taken as the irregularity degree of each edge line. The average value of the irregularity degrees of all edge lines and the number of all edge lines are synthesized to obtain the feed speed evaluation value of the drill bit at the current hole location. The speed adjustment coefficient of the drill bit is obtained by synthesizing and normalizing the feed speed evaluation value and the cumulative error value of the drill bit at the current hole location.

7. The high-precision glass door and window drilling control method according to claim 1, characterized in that, The adjusted feed speed of the drill bit at the next hole location includes: The product value of the speed adjustment coefficient of the drill bit and the drill feed speed when drilling the next hole location is taken as the feed speed adjustment amount of the drill bit at the next hole location. The difference between the drill feed speed when drilling the next hole location and the feed speed adjustment amount is taken as the adjusted feed speed of the drill bit at the next hole location.

8. A high-precision glass door and window drilling apparatus comprising a drill bit, characterized in that, The drilling equipment further comprises an advancing speed control module for controlling the drill bit, a laser scanner for collecting a plurality of to-be-drilled positions on the glass door and window, a vibration sensor for collecting vibration amplitude of the drill bit during movement, an industrial camera for collecting a gray-scale image after drilling, and a depth sensor for collecting depth data after drilling, the advancing speed control module being connected to the laser scanner, the vibration sensor, the industrial camera, and the depth sensor, and processing the acquired to-be-drilled positions, vibration amplitude, depth data, and gray-scale image to realize the steps of the method according to any one of claims 1-7.

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