Five-axis machine tool line laser in-situ measurement and hole position adaptive alignment method and system

Abstract

The application provides a five-axis machine tool line laser in-situ measurement and hole position self-adaptive alignment method and system, comprising the following steps: step 1: a first scanning measurement of a workpiece hole region is performed by a line laser sensor, the drilling normal is calculated based on the measurement data, and the coordinate system rotation angle is output; step 2: the machine tool coordinate system is adjusted according to the coordinate system rotation angle, the drilling and counterbore rough machining is performed, and a machining allowance is reserved; step 3: a second scanning measurement of the rough machined hole is performed by the line laser sensor, the current hole diameter is identified, and the depth compensation amount is calculated; step 4: the tool length parameter is adjusted according to the depth compensation amount, and the counterbore fine machining is performed; and step 5: a third scanning measurement is performed by the line laser sensor, and a final hole diameter detection report is output; wherein the line laser sensor is driven to move to a measurement position along a guide rail by a cylinder.

Description

Technical Field

[0001] This invention relates to the field of hole alignment technology, specifically to a method and system for in-situ measurement and adaptive hole alignment using line laser on a five-axis machine tool. Background Technology

[0002] In aircraft manufacturing, the precision of countersunk hole machining directly impacts the structural safety and aerodynamic performance of the aircraft. To ensure a flush fit between fasteners and the surfaces of aircraft skin and structural components, forming a continuous and smooth aerodynamic profile, countersunk hole machining imposes extremely stringent precision requirements on the recess diameter. Deviations in drilling direction and recess diameter not only disrupt the smoothness of the external contour, leading to a significant increase in flight drag, but may also cause localized stress concentration, potentially resulting in structural failure. However, most aircraft structural components are typically thin-walled parts, prone to deformation during machining, which can cause deviations in drilling direction and recess diameter. Therefore, methods for detecting and controlling drilling direction and recess diameter are crucial.

[0003] Patent document (application number: 202411607576.4) discloses a device and method for controlling the countersink depth of engine mounting fastener holes. It modifies the mechanical tool holder and adds a position sensor to achieve precise control of the countersink stroke, enabling automatic control of the countersink depth for assemblies and parts. However, this patent does not achieve adaptive hole alignment. Patent document (application number: 202410370560.X) discloses a method and device for in-situ measurement of aircraft skin countersink hole depth. Although it achieves drilling normal adjustment through a detachable in-situ measurement device, it lacks an online detection mechanism for the countersink diameter.

[0004] Patent application CN117906496A discloses a measuring fixture and its manufacturing method, as well as a detection and correction compensation method for hole position accuracy. The fixture body is a transparent or semi-transparent component with photosensitive color-changing properties. The fixture body includes a positioning disk for determining the coordinate system. The fixture body also includes an icon unit composed of several icon combinations. Each icon combination includes a reference icon, the center of which is aligned with the center of the laser-drilled hole to be detected. The reference icon is surrounded by a ring of offset icons, the number of which corresponds to the number of annular holes in the laser-drilled hole to be detected. After the reference icon of the icon combination is aligned with the center of the laser-drilled hole, there is a positional offset between the offset icons of the icon combination and the annular holes of the laser-drilled hole to be detected. The offset directions and values ​​of the offset icons on the fixture body are not entirely the same. However, this patent cannot completely solve the existing technical problems, nor can it meet the needs of this invention. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a method and system for in-situ measurement and adaptive hole alignment using line laser technology on five-axis machine tools.

[0006] The five-axis machine tool line laser in-situ measurement and hole position adaptive alignment method provided by the present invention includes:

[0007] Step 1: Perform the first scan measurement of the workpiece hole area using a line laser sensor, calculate the drilling normal based on the measurement data, and output the coordinate system rotation angle;

[0008] Step 2: Adjust the machine tool coordinate system according to the rotation angle of the coordinate system, perform rough machining of drilling and countersinking, and reserve machining allowance;

[0009] Step 3: Perform a second scan measurement on the rough-machined hole using a line laser sensor to identify the current hole diameter and calculate the depth compensation amount;

[0010] Step 4: Adjust the tool length parameters according to the depth compensation amount and perform countersinking finishing;

[0011] Step 5: Perform a third scan measurement using a line laser sensor and output the final detection report for the dimple diameter;

[0012] The line laser sensor is moved to the measurement position along the guide rail by a cylinder.

[0013] Preferably, step 1 includes: controlling the machine tool to move along the scanning direction, acquiring line laser contour data of the recessed and circular hole regions, and converting the laser coordinate system (LCS) data into three-dimensional point cloud data of the workpiece coordinate system (WCS) through homogeneous coordinate transformation, the expression being:

[0014]

[0015] in, These are the coordinate points in the workpiece coordinate system and the laser coordinate system, respectively. These are the homogeneous coordinate transformation matrices from the laser coordinate system to the tool coordinate system and from the tool coordinate system to the workpiece coordinate system, respectively.

[0016] Planar fitting was performed on the point cloud around the pores, and after outliers were filtered out, the normal vector was obtained by refitting.

[0017] Preferably, the plane fitting includes: initially fitting the plane equation Ax+By+Cz+D=0, calculating the distance from the point cloud to the coarsely fitted plane and removing outliers, fitting the plane again and outputting the normal vector, and calculating the rotation angle around the X-axis and Y-axis based on the deviation between the target normal and the current normal, where A, B, and C represent the three components of the normal vector of the fitted plane, (x,y,z) are the coordinates of the spatial point, and D is the directed distance from the origin to the plane.

[0018] Preferably, step 3, identifying the current hole diameter, includes: extracting planar point clouds whose distance from the hole center projection distance is greater than 1.1 times the theoretical radius, fitting the plane equation Ax+By+Cz+D=0, extracting conical hole point clouds whose distance from the hole center projection distance is less than 0.9 times the theoretical radius, dividing the conical hole point clouds into left and right groups according to the relative position of the center of the circle, fitting the spatial straight line equations respectively, taking the intersection of the spatial straight line and the plane as the edge point of the conical hole, fitting the edge point into a spatial circle, and the diameter of the circle is the current hole diameter d1.

[0019] Preferably, the calculation of depth compensation in step 3 includes: a given tool angle based on the current notch diameter d1 and the final notch diameter d2 set by the program. The depth compensation amount Δd is calculated using the following expression:

[0020]

[0021] Where θ is the pit angle.

[0022] The five-axis machine tool line laser in-situ measurement and hole position adaptive alignment system provided by the present invention includes:

[0023] Module M1: Drives the line laser sensor to perform the first scan measurement of the workpiece hole area, calculates the drilling normal based on the measurement data and outputs the coordinate system rotation angle;

[0024] Module M2: Adjusts the machine tool coordinate system according to the rotation angle of the coordinate system, performs rough machining of drilling and countersinking, and reserves machining allowance;

[0025] Module M3: Drives the line laser sensor to perform a second scan measurement on the rough-machined hole, identify the current hole diameter and calculate the depth compensation amount;

[0026] Module M4: Adjusts the tool length parameters according to the depth compensation amount to perform countersink finishing;

[0027] Module M5: Drives the line laser sensor to perform a third scan measurement and outputs the final detection report of the dimple diameter;

[0028] The line laser sensor is moved to the measurement position along the guide rail by a cylinder.

[0029] Preferably, module M1 includes: controlling the machine tool to move along the scanning direction, acquiring line laser contour data of the recessed and circular hole regions, and converting the laser coordinate system (LCS) data into three-dimensional point cloud data of the workpiece coordinate system (WCS) through homogeneous coordinate transformation, expressed as:

[0030]

[0031] in, These are the coordinate points in the workpiece coordinate system and the laser coordinate system, respectively. These are the homogeneous coordinate transformation matrices from the laser coordinate system to the tool coordinate system and from the tool coordinate system to the workpiece coordinate system, respectively.

[0032] Planar fitting was performed on the point cloud around the pores, and after outliers were filtered out, the normal vector was obtained by refitting.

[0033] Preferably, the plane fitting includes: initially fitting the plane equation Ax+By+Cz+D=0, calculating the distance from the point cloud to the coarsely fitted plane and removing outliers, fitting the plane again and outputting the normal vector, and calculating the rotation angle around the X-axis and Y-axis based on the deviation between the target normal and the current normal, where A, B, and C represent the three components of the normal vector of the fitted plane, (x,y,z) are the coordinates of the spatial point, and D is the directed distance from the origin to the plane.

[0034] Preferably, the identification of the current hole diameter in module M3 includes: extracting planar point clouds with a distance from the hole center projection distance greater than 1.1 times the theoretical radius, fitting the plane equation Ax+By+Cz+D=0, extracting conical hole point clouds with a distance from the hole center projection distance less than 0.9 times the theoretical radius, dividing the conical hole point clouds into left and right groups according to the relative position of the center of the circle, fitting the spatial straight line equations respectively, taking the intersection of the spatial straight line and the plane as the edge point of the conical hole, fitting the edge point into a spatial circle, and the diameter of the circle is the current hole diameter d1.

[0035] Preferably, the calculated depth compensation amount in module M3 includes: a given tool angle based on the current notch diameter d1 and the final notch diameter d2 set by the program. The depth compensation amount Δd is calculated using the following expression:

[0036]

[0037] Where θ is the pit angle.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] (1) This invention uses a line laser sensor to detect the drilling normal and modify the rotation angle of the coordinate system frame, which solves the problem of difficult drilling normal alignment in countersunk holes and achieves precise control of the drilling normal; it also uses a line laser sensor to detect the countersunk diameter and modify the tool length compensation, which solves the problem of the countersunk diameter easily exceeding the tolerance and achieves precise control of the countersunk diameter.

[0040] (2) By performing three scan measurements using a non-contact line laser in-situ measurement device, the problem of traditional methods requiring tool disassembly and being unable to detect the hole diameter online is solved, thus realizing online measurement and adaptive alignment of the hole position;

[0041] (3) By using a cylinder to drive the linear laser sensor to move along the guide rail to the measurement position, the problems of sensor positioning accuracy and protection are solved, and the automatic extension and retraction protection of the in-situ measurement device is realized.

[0042] (4) The laser coordinate system data is converted into the workpiece coordinate system point cloud by homogeneous coordinate transformation, which solves the problem of multi-coordinate system data fusion and realizes the unification of measurement data and processing datum. Attached Figure Description

[0043] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0044] Figure 1 This is a schematic diagram of the in-situ measuring device of the present invention;

[0045] Figure 2 This is a schematic diagram of line laser normal measurement;

[0046] Figure 3 This is a schematic diagram of a line laser data conversion device;

[0047] Figure 4 Here is a flowchart for extracting the plane normal.

[0048] Figure 5 A cross-sectional view of the point cloud data;

[0049] Figure 6 This is a schematic diagram for calculating depth compensation.

[0050] The diagram shows: 1-device housing, 2-wireless access point, 3-line laser controller, 4-line laser sensor, 5-guide rail, 6-cylinder, 7-cable, 8-recess, 9-round hole, 10-tool, 11-connector, 12-workpiece, Δd is the depth compensation amount, d1 is the current recess diameter, and d2 is the final recess diameter. θ is the tool angle, and θ is the hole angle. Detailed Implementation

[0051] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0052] Example 1

[0053] like Figure 1The in-situ measurement device of this invention is installed on the side of the spindle of a five-axis machine tool. The device includes a control section and a measurement section. The control section consists of a device housing 1, a wireless access point 2, and a line laser controller 3. The line laser controller 3 is connected to a line laser sensor 4 via a data cable and is used to receive contour data collected by the sensor. The wireless access point 2 is connected to the line laser controller 3 via a wired network port and simultaneously interacts with a host computer via a wireless network to achieve real-time transmission of measurement data. The device housing 1 provides overall protection and sealing, and internally fixes the controller and the wireless access point.

[0054] The measurement section consists of a line laser sensor 4, a guide rail 5, a cylinder 6, and a cable 7. It is used to acquire workpiece contour data. The line laser sensor 4 is fixed on the slider of the cylinder 6, which moves linearly along the measurement direction via the guide rail 5. The cylinder 6 is driven by control signals from the control section, allowing it to push the sensor to a designated measurement position or retract it to a protective position. The cable 7 provides the drive signal and air supply to the cylinder, as well as power and data transmission channels for the line laser sensor. During measurement, the cylinder 6 pushes the line laser sensor 4 to the designated position for in-situ measurement. In the in-situ hole measurement and hole position adaptive alignment method, three scanning measurements are performed. The first is a rapid scanning measurement to determine the drilling direction of the hole. By rotating the coordinate system frame, the machine tool is controlled to perform drilling and rough countersinking along the normal direction. After rough countersinking, the hole position is scanned again at a reduced speed. The diameter of the current hole is obtained by extracting the measurement point cloud, and the depth compensation is determined based on the current hole diameter. Finishing is then performed. Finally, a line laser scanning measurement is performed again to generate a measurement report.

[0055] Detailed steps:

[0056] Step 1: Line laser normal measurement;

[0057] Step 1.1: Collect measurement data: such as Figure 2 The horizontal lines represent single-frame measurement data of the linear laser. By controlling the machine tool to perform scanning measurement motion along the scanning direction to cover the area where the dimple 8 and the round hole 9 are located, the contour measurement data of the area where the dimple is located is obtained.

[0058] Step 1.2, Linear Laser Data Conversion:

[0059] like Figure 3The line laser sensor 4 is connected to the machine tool spindle via connector 11, and the workpiece 12 is mounted on the worktable. Line laser scanning data is acquired based on the line laser coordinate system (LCS), while the tool coordinate system (TCS) is located on the machine tool spindle. By offsetting the tool 10, the tool coordinate system can be positioned on connector 11, while the workpiece coordinate system (WCS) rests on the workpiece. Since the machine tool's programming and machining are based on the WCS, it is necessary to convert the measurement data from the laser coordinate system to the workpiece coordinate system to form three-dimensional point cloud data.

[0060]

[0061] in, These are the coordinate points in the workpiece coordinate system and the laser coordinate system, respectively. These are the homogeneous coordinate transformation matrices from the laser coordinate system to the tool coordinate system and from the tool coordinate system to the workpiece coordinate system, respectively.

[0062] Step 1.3, Extraction of Plane Normal:

[0063] like Figure 4 After obtaining the 3D point cloud data, the rotation angle of the coordinate system is calculated to ensure drilling along the workpiece's normal direction during subsequent machining. First, the point cloud data surrounding the hole is subjected to preliminary plane fitting to obtain the planar parameters of that area. Then, the distance from the surrounding point cloud to the coarsely fitted plane is calculated, outliers are filtered out based on the distance, and the plane is fitted again to output the normal direction for the hole location. The rotation amount of the coordinate system, i.e., the rotation angle around the X and Y axes, is calculated from the current normal and the target normal. Finally, the two rotation angles are output to the Siemens machine tool's dedicated coordinate system rotation loop command to control the coordinate system rotation.

[0064] Step 2: Drilling and countersinking rough machining;

[0065] The machine tool rotates the coordinate system according to the rotation angle given by the CYCLE800 coordinate system rotation command. The machine tool performs drilling and preliminary countersinking along the actual normal of the workpiece, leaving machining allowance.

[0066] Step 3: Wire laser aperture detection;

[0067] To obtain the current diameter of the notch in the current processing state, the scanning measurement speed is reduced. The notch area is measured again according to step 1.1 to obtain the notch contour measurement data. The laser data is then converted according to step 1.2. Finally, the current notch diameter is calculated and the depth compensation amount is output.

[0068] Step 3.1, Dig Diameter Identification: The input for the dimple diameter identification process is the center position of the dimple and the theoretical diameter of the dimple. The specific process is as follows:

[0069] Step 3.1.1: Extract planar point cloud data. All laser data is converted into point cloud data. Calculate the projection distance from all point clouds to the hole center. Only retain point clouds with a distance greater than 1.1 times the radius, thus filtering out the conical point cloud. Figure 5 The planar point cloud is shown, and the plane equation is obtained by fitting the planar point cloud:

[0070] Ax + By + Cz + D = 0

[0071] Step 3.1.2, as follows Figure 5 The image shows a single frame of laser data. The point cloud of the conical hole is extracted according to the distance to the center of the hole. Only the point cloud with a projection distance from the center of the hole less than 0.9 times the radius is retained as the point cloud of the conical hole.

[0072] Step 3.1.3: According to the relative position of the cone hole point cloud and the center of the circle, divide it into two cone surface point clouds, left and right. Fit the two cone surface point clouds to obtain two spatial straight line equations. Record the intersection points of the spatial straight line equations and the plane equations as the edge intersection points of the cone hole.

[0073] Step 3.1.4: Repeat steps 3.1.2 and 3.1.3 to obtain multiple edge intersection points. Fit the edge intersection points into a spatial circle and output the diameter of the spatial circle as the dimple diameter.

[0074] Step 3.2, Calculation of depth compensation;

[0075] like Figure 6 Based on the identified current notch diameter d1 and the final notch diameter d2 set by the program, the given tool angle Calculate the depth compensation amount Δd:

[0076] Hole angle θ:

[0077]

[0078] Step 4: Refining the countersink;

[0079] Based on the depth compensation amount Δd, the software system outputs the depth compensation amount to the CNC system via the OPCUA protocol, adjusts the tool length of the CNC system, and when the CNC machine tool executes the denting finishing CNC program, it calls the tool length parameter of the CNC system, which is equivalent to adjusting the machining depth during denting finishing, thereby improving the machining accuracy of the dent.

[0080] Step 5: Final detection of the laser aperture;

[0081] Perform laser scanning measurement again, and after obtaining laser data, convert it into three-dimensional point cloud data. Repeat the 3.1 pore diameter recognition process and output a pore diameter measurement report.

[0082] Example 2

[0083] This invention also provides a five-axis machine tool line laser in-situ measurement and hole position adaptive alignment system. The five-axis machine tool line laser in-situ measurement and hole position adaptive alignment system can be implemented by executing the process steps of the five-axis machine tool line laser in-situ measurement and hole position adaptive alignment method. That is, those skilled in the art can understand the five-axis machine tool line laser in-situ measurement and hole position adaptive alignment method as a preferred embodiment of the five-axis machine tool line laser in-situ measurement and hole position adaptive alignment system.

[0084] The system includes: Module M1: drives the line laser sensor to perform a first scan measurement of the workpiece's recessed area, calculates the drilling normal based on the measurement data, and outputs the coordinate system rotation angle; Module M2: adjusts the machine tool coordinate system according to the coordinate system rotation angle, performs rough drilling and countersinking, and reserves machining allowance; Module M3: drives the line laser sensor to perform a second scan measurement of the rough-machined recess, identifies the current recess diameter, and calculates the depth compensation amount; Module M4: adjusts the tool length parameter according to the depth compensation amount, and performs countersinking finishing; Module M5: drives the line laser sensor to perform a third scan measurement and outputs a final recess diameter detection report; wherein, the line laser sensor is driven by a cylinder to move along the guide rail to the measurement position.

[0085] The module M1 includes: controlling the machine tool to move along the scanning direction, acquiring line laser contour data of the recessed and circular hole regions, and converting the laser coordinate system (LCS) data into three-dimensional point cloud data of the workpiece coordinate system (WCS) through homogeneous coordinate transformation, expressed as:

[0086]

[0087] in, These are the coordinate points in the workpiece coordinate system and the laser coordinate system, respectively. These are the homogeneous coordinate transformation matrices from the laser coordinate system to the tool coordinate system and from the tool coordinate system to the workpiece coordinate system, respectively.

[0088] Planar fitting was performed on the point cloud around the pores, and after outliers were filtered out, the normal vector was obtained by refitting.

[0089] The plane fitting includes: initially fitting the plane equation Ax+By+Cz+D=0, calculating the distance from the point cloud to the coarsely fitted plane and removing outliers, fitting the plane again and outputting the normal vector, and calculating the rotation angles around the X and Y axes based on the deviation between the target normal and the current normal. Here, A, B, and C represent the three components of the normal vector of the fitted plane, (x,y,z) are the coordinates of the spatial point, and D is the directed distance from the origin to the plane.

[0090] The identification of the current hole diameter in module M3 includes: extracting planar point clouds at a distance greater than 1.1 times the theoretical radius from the hole center projection, fitting the plane equation Ax+By+Cz+D=0, extracting conical hole point clouds at a distance less than 0.9 times the theoretical radius from the hole center projection, dividing the conical hole point clouds into left and right groups according to the relative position of the center of the circle, fitting the spatial straight line equations for each group, finding the intersection of the spatial straight line and the plane as the edge points of the conical hole, fitting the edge points into a spatial circle, and the diameter of the circle is the current hole diameter d1.

[0091] The calculated depth compensation in module M3 includes: based on the current notch diameter d1 and the final notch diameter d2 set by the program, the given tool angle. The depth compensation amount Δd is calculated using the following expression:

[0092]

[0093] Where θ is the pore angle.

[0094] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0095] Those skilled in the art will understand that, in addition to implementing the system, apparatus, and their modules provided by this invention in purely computer-readable program code, the same program can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system, apparatus, and their modules provided by this invention can be considered a hardware component, and the modules included therein for implementing various programs can also be considered structures within the hardware component; alternatively, modules for implementing various functions can be considered both software programs implementing the method and structures within the hardware component.

[0096] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A method for in-situ measurement and adaptive hole alignment using line laser on a five-axis machine tool, characterized in that, include: Step 1: Perform the first scan measurement of the workpiece hole area using a line laser sensor, calculate the drilling normal based on the measurement data, and output the coordinate system rotation angle; Step 2: Adjust the machine tool coordinate system according to the rotation angle of the coordinate system, perform rough machining of drilling and countersinking, and reserve machining allowance; Step 3: Perform a second scan measurement on the rough-machined hole using a line laser sensor to identify the current hole diameter and calculate the depth compensation amount; Step 4: Adjust the tool length parameters according to the depth compensation amount and perform countersinking finishing; Step 5: Perform a third scan measurement using a line laser sensor and output the final detection report for the dimple diameter; The line laser sensor is driven by a cylinder to move along the guide rail to the measurement position; Step 3, identifying the current hole diameter, includes: extracting planar point clouds at a distance greater than 1.1 times the theoretical radius from the hole center projection, and fitting a plane equation. Point clouds of conical holes with a projection distance from the hole center less than 0.9 times the theoretical radius are extracted. These point clouds are then divided into left and right groups based on the relative positions of their centers. Spatial straight line equations are fitted to each group, and the intersection points of these lines and the plane are taken as the edge points of the conical holes. These edge points are then fitted into spatial circles, the diameter of which is the current hole diameter d1. The three components represent the normal vector of the fitted plane. These are the coordinates of a point in space. It is the directed distance from the origin to the plane; The calculation of depth compensation in step 3 includes: based on the current socket diameter. and the final diameter set by the program. Given tool angle Calculate depth compensation amount The expression is: in, The angle of the pore.

2. The five-axis machine tool line laser in-situ measurement and hole position adaptive alignment method according to claim 1, characterized in that, Step 1 includes: controlling the machine tool to move along the scanning direction, acquiring the line laser contour data of the recessed and circular hole regions, and converting the laser coordinate system (LCS) data into three-dimensional point cloud data of the workpiece coordinate system (WCS) through homogeneous coordinate transformation, expressed as: in, , These are the coordinate points in the workpiece coordinate system and the laser coordinate system, respectively. These are the homogeneous coordinate transformation matrices from the laser coordinate system to the tool coordinate system and from the tool coordinate system to the workpiece coordinate system, respectively. Planar fitting was performed on the point cloud around the pores, and after outliers were filtered out, the normal vector was obtained by refitting.

3. The five-axis machine tool line laser in-situ measurement and hole position adaptive alignment method according to claim 2, characterized in that, The plane fitting includes: preliminary fitting of the plane equation. The distance from the point cloud to the coarsely fitted plane is calculated and outliers are removed. The plane is fitted again and the normal vector is output. The rotation angles around the X and Y axes are calculated based on the deviation between the target normal and the current normal.

4. A five-axis machine tool line laser in-situ measurement and hole position adaptive alignment system, characterized in that, include: Module M1: Drives the line laser sensor to perform the first scan measurement of the workpiece hole area, calculates the drilling normal based on the measurement data and outputs the coordinate system rotation angle; Module M2: Adjusts the machine tool coordinate system according to the rotation angle of the coordinate system, performs rough machining of drilling and countersinking, and reserves machining allowance; Module M3: Drives the line laser sensor to perform a second scan measurement on the rough-machined hole, identify the current hole diameter and calculate the depth compensation amount; Module M4: Adjusts the tool length parameters according to the depth compensation amount to perform countersink finishing; Module M5: Drives the line laser sensor to perform a third scan measurement and outputs the final detection report of the dimple diameter; The line laser sensor is moved to the measurement position along the guide rail by a cylinder. The identification of the current hole diameter in module M3 includes: extracting planar point clouds at a distance greater than 1.1 times the theoretical radius from the hole center projection, and fitting a plane equation. Point clouds of conical holes with a projection distance from the hole center less than 0.9 times the theoretical radius are extracted. These point clouds are then divided into left and right groups based on the relative positions of their centers. Spatial straight line equations are fitted to each group, and the intersection points of these lines and the plane are taken as the edge points of the conical holes. These edge points are then fitted into spatial circles, the diameter of which is the current hole diameter d1. The three components represent the normal vector of the fitted plane. These are the coordinates of a point in space. It is the directed distance from the origin to the plane; The calculated depth compensation amount in module M3 includes: based on the current socket diameter. and the final diameter set by the program. Given tool angle Calculate depth compensation amount The expression is: in, The angle of the pore.

5. The five-axis machine tool line laser in-situ measurement and hole position adaptive alignment system according to claim 4, characterized in that, The module M1 includes: controlling the machine tool to move along the scanning direction, acquiring line laser contour data of the recessed and circular hole regions, and converting the laser coordinate system (LCS) data into three-dimensional point cloud data of the workpiece coordinate system (WCS) through homogeneous coordinate transformation, expressed as: in, , These are the coordinate points in the workpiece coordinate system and the laser coordinate system, respectively. These are the homogeneous coordinate transformation matrices from the laser coordinate system to the tool coordinate system and from the tool coordinate system to the workpiece coordinate system, respectively. Planar fitting was performed on the point cloud around the pores, and after outliers were filtered out, the normal vector was obtained by refitting.

6. The five-axis machine tool line laser in-situ measurement and hole position adaptive alignment system according to claim 5, characterized in that, The plane fitting includes: preliminary fitting of the plane equation. The distance from the point cloud to the coarsely fitted plane is calculated and outliers are removed. The plane is fitted again and the normal vector is output. The rotation angles around the X and Y axes are calculated based on the deviation between the target normal and the current normal.

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