Automatic horizontal drilling positioning and dynamic control method based on multi-sensor fusion
By optimizing the drilling path and processing sequence through multi-sensor fusion technology, the problems of decreased hole position accuracy and drill bit wear in existing CNC drilling were solved, achieving high-precision and high-efficiency automated drilling control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HAIZHIWEI FURNITURE (DALIAN) CO LTD
- Filing Date
- 2026-03-19
- Publication Date
- 2026-05-19
AI Technical Summary
The lack of multi-sensor closed-loop control in existing CNC drilling processes leads to decreased hole position accuracy, increased drill bit wear, and difficulty in adapting to sheet metal clamping errors and vibration load fluctuations during processing.
By employing multi-sensor fusion technology, real-time data of the sheet metal and drill bit are acquired through edge detection, line array cameras, and drill bit position sensors to optimize the drilling path and processing sequence, thereby achieving CNC execution and closed-loop adjustment.
It improves drilling accuracy and efficiency, enhances adaptability to complex processes, and achieves high-precision, high-efficiency automated drilling control.
Smart Images
Figure CN121893079B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of industrial automation control technology, and in particular to an automatic horizontal drilling positioning and dynamic control method based on multi-sensor fusion. Background Technology
[0002] In existing CNC drilling processes, the sheet metal is typically positioned and clamped first, and then the drill bit is controlled to sequentially complete the machining of multiple holes according to a preset drilling program. In existing technologies, drilling programs are mostly based on manual programming or simple rule generation, and the machining sequence is usually set according to the spatial order of the holes or a fixed scanning path, failing to fully consider the combined effects of differences in drill bit parameters, hole distribution characteristics, and equipment motion characteristics.
[0003] Current CNC drilling processes mostly employ open-loop control, where the machining program is executed according to a predetermined trajectory once generated, lacking real-time sensing and adjustment capabilities for drill bit movement, table position changes, and feed processes. When the sheet metal has clamping errors, local warping, or vibrations and load fluctuations during machining, existing technologies struggle to adjust the drill bit's posture and motion parameters in a timely manner, easily leading to decreased hole position accuracy, accelerated drill bit wear, and even the risk of tool breakage. Currently, industrial automation control suffers from insufficient intelligence in drilling paths and machining sequences, a lack of multi-sensor-based closed-loop control, limited sheet metal positioning and clamping accuracy, and poor adaptability to complex machining processes. Summary of the Invention
[0004] This application provides an automatic horizontal drilling positioning and dynamic control method based on multi-sensor fusion. It calculates the processing posture using sheet size, drilling distribution, and drill bit parameter information, and generates spatial positioning information by fusing edge detection, line scan camera, and drill bit position sensor data. It optimizes the drilling path and processing sequence, and realizes numerical control execution and closed-loop adjustment through an industrial computer. This improves drilling accuracy, processing efficiency, and adaptability to complex processes, achieving the technical effect of high-precision, high-efficiency, stable and reliable automated drilling control.
[0005] This application provides an automatic horizontal drilling positioning and dynamic control method based on multi-sensor fusion, comprising: acquiring processing data of the sheet material to be processed and drill bit parameter information, wherein the processing data includes sheet material size information and drilling position distribution data, and the drill bit parameter information includes drill bit specifications, installation position, and available range of motion, and the processing data is acquired through graphical editing input; using edge detection sensors set in the front and rear directions of the worktable to detect the front and rear edges of the sheet material, obtaining the actual front and rear boundary positions of the sheet material, and correcting the placement position and size information of the sheet material based on the front and rear boundary positions; collecting real-time data from the drill bit position sensor, the worktable height sensor, and the edge detection sensor, and performing time synchronization of the multi-source sensor data. The system performs step-by-step calculations to obtain the spatial positioning result of the drill bit relative to the sheet metal, forming positioning information under the current processing state. Based on the positioning information, sheet metal size information, and drilling position distribution data, the system calculates the clamping position of the sheet metal and controls the clamping mechanism to fix the sheet metal, while simultaneously determining the processing posture of the drill bit in the left-right movement direction and the height direction. Based on the acquired drill bit parameter information and drilling position distribution data, the system calculates the drilling path, generating a processing sequence and motion trajectory corresponding to the drill bit parameters. Based on the processing sequence and motion trajectory, the system generates a CNC machining program, loads the CNC machining program into the industrial computer control system, and executes it. Based on multi-sensor feedback data, the system adjusts the drill bit movement, worktable lifting, and feed process in real time. Attached Figure Description
[0006] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments of the present invention will be briefly described below. Flowcharts are used in this application to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed precisely in sequence. Instead, various steps can be processed in reverse order or simultaneously as needed. Furthermore, other operations can be added to these processes, or one or more steps can be removed from these processes.
[0007] Figure 1 This is a flowchart illustrating the automatic horizontal drilling positioning and dynamic control method based on multi-sensor fusion provided in an embodiment of this application. Detailed Implementation
[0008] The above description is merely an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below.
[0009] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description of this application will be provided in conjunction with the accompanying drawings. The described embodiments should not be considered as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0010] In the following description, references to "some embodiments" describe a subset of all possible embodiments. However, it is understood that "some embodiments" can be the same or different subsets of all possible embodiments and can be combined with each other without conflict. The terms "first" and "second" are used merely to distinguish similar objects and do not represent a specific ordering of objects. The terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or modules not explicitly listed or inherent to these processes, methods, products, or devices. 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 application belongs. The terminology used herein is for the purpose of describing embodiments of this application only.
[0011] This application provides an automatic horizontal drilling positioning and dynamic control method based on multi-sensor fusion, such as... Figure 1 As shown, the method includes:
[0012] S100: Obtain the processing data of the sheet material to be processed and the drill bit parameter information. The processing data includes the sheet material size information and the drilling position distribution data. The drill bit parameter information includes the drill bit specifications, installation position and available range of motion. The processing data is obtained through graphical editing input.
[0013] Specifically, the system acquires processing data and drill bit parameter information for the sheet metal to be processed. Users input the sheet metal dimensions, shape, and the distribution of drilling or grooving positions using graphic editing software. Hole positions can be marked by numerical input or drag-and-drop, and the system automatically generates hole layout data. Simultaneously, it reads the specifications, effective cutting length, installation position, and horizontal and vertical movable range of the installed drill bit, ensuring all holes are within the drill bit's processing range. It also supports importing CAD DXF files, directly parsing hole information from design drawings into processing data, and can interface with order splitting software to automatically import sheet metal information. After data acquisition, the system performs a completeness check on the sheet metal dimensions and drilling positions, including whether holes exceed boundaries, are duplicated, and whether the drill bit is reachable. Abnormal data is flagged or automatically corrected to ensure the reliability of subsequent drilling path calculations and CNC execution. Through these methods, the system accurately acquires sheet metal and drill bit parameters, providing a complete and accurate data foundation for multi-sensor fusion positioning, drilling path optimization, and closed-loop dynamic control, thereby supporting high-precision and high-efficiency automatic horizontal drilling.
[0014] S200: The front and rear edges of the sheet are detected by edge detection sensors set in the front and rear directions of the worktable to obtain the actual front and rear boundary positions of the sheet, and the placement position and size information of the sheet are corrected based on the front and rear boundary positions.
[0015] Furthermore, step S200 also includes:
[0016] S201: After completing the correction of the front and rear boundary positions of the sheet metal, the first linear array contour camera and the second linear array contour camera set at the inspection station are controlled to scan the splicing area of the sheet metal synchronously. The first linear array contour camera and the second linear array contour camera are arranged opposite each other at a preset angle to obtain multi-view contour data of the splicing area; S202: Contour points are extracted and coordinates are calibrated on the first contour data collected by the first linear array contour camera and the second contour data collected by the second linear array contour camera. The coordinate calibration is based on the corrected sheet metal placement position and size information to generate a first local contour set and a second local contour set. S203: Based on the spatial pose relationship between the first local contour set and the second local contour set, coordinate alignment and splicing processing are performed on the two sets of contour data to generate overall contour data covering the key structural area of the splicing of the sheet metal. The overall contour data is used as input for subsequent comparison and analysis. S204: Based on the overall contour data, contour segments related to sheet metal positioning and drilling position determination within the splicing area are filtered. The filtered contour segments are used as key contour features within the splicing area. The key contour features are compared segment by segment with the pre-stored sheet metal design drawing contour, and the corresponding contour deviation data is output.
[0017] Furthermore, step S203 also includes:
[0018] S203-1: Using the coordinate system of the first local contour set as the reference coordinate system, based on the spatial pose relationship between the first and second local contour sets, calculate the corresponding rotation matrix and translation vector, and perform coordinate transformation on the second local contour set to align it to the reference coordinate system; S203-2: Stitch the first and second contour sets together to generate overall contour data covering the stitched area. The multi-camera contour coordinate weighted stitching formula is: ;in, For the pre-stored sheet material design drawings corresponding to the first k Coordinates of key contour points The images were captured by the first and second linear array contour cameras, respectively. k Coordinates of the contour points Let be the rotation matrix from the two camera coordinate systems to the device coordinate system. It is a translation vector. The weighting coefficients for multi-view fusion have values in the range [0,1] and satisfy the following conditions: It can be dynamically adjusted based on contour integrity, viewing angle, camera calibration accuracy, etc., to complete the missing contour of a single camera; S203-3: The least squares optimization formula after fusion is:
[0019] ;in, This represents the actual placement offset of the sheet metal after correction, derived from the S200 edge detection results. Adjust the rotation and translation parameters for the overall outline after stitching. For the first in the sheet metal design drawings Theoretical position coordinates of each drill hole; S203-4: By solving least squares optimization, the optimal alignment of multi-camera data and the position of the correction sheet is achieved, and the overall contour data of the key structural area at the splicing of the cover sheet is generated.
[0020] Specifically, after the sheet metal is placed and its initial dimensions are entered, edge detection sensors positioned at the front and back of the worktable scan and detect the front and back boundaries of the sheet metal to obtain its actual front and back boundary positions. These positions are then used as a basis to correct the sheet metal's placement position and dimensional parameters on the worktable. Specifically, the data collected by the edge detection sensors is first filtered and noise-removed to eliminate the effects of measurement jitter and environmental interference. Based on this, the horizontal offset and front and back boundary errors of the sheet metal are calculated, and the offset is applied to correct the sheet metal's position on the worktable. Simultaneously, the sheet metal's dimensional information is updated to provide an accurate positioning reference for subsequent processing. After the sheet metal's front and back boundaries are corrected, a first and second linear array contour camera installed at the detection station simultaneously scans the sheet metal splicing area. The two linear array contour cameras are arranged at a preset angle to collect contour information of the splicing area from different perspectives. During the scanning process, the corrected sheet metal placement position and dimensional information are used as a reference to automatically determine the scanning start position and acquisition range of each linear array contour camera. For example, before processing the sheet metal, a second linear array contour camera is fixedly mounted on one side of the worktable, forming an angle of approximately 30° with the first linear array contour camera. The contour data acquired by both cameras is transmitted to an industrial computer via a high-speed data interface. Contour point extraction processing is then performed on each camera's data, including binarization, edge detection, and sub-pixel contour fitting, generating corresponding contour point sets. Subsequently, combined with the calibrated dimensions and placement of the sheet metal, the coordinates of each contour point set are calibrated, converting pixel coordinates into physical coordinate values in the device coordinate system, thus forming a first local contour set and a second local contour set, providing basic data for subsequent cross-camera contour alignment and stitching processing. Specifically, the pixel contour points acquired by the first linear array contour camera... Perform a coordinate transformation to map it to the device's local coordinate system: ;in, The three-dimensional coordinates of the i-th contour point in the device coordinate system are used to construct the first local contour set. Let be the rotation matrix from the first linear array profile camera coordinate system to the device coordinate system. The rotation matrix and the translation vector are both obtained by performing camera calibration on the first linear array contour camera. The pixel contour points acquired by the second linear array contour camera... Perform coordinate transformation: Generate a second local contour set, where, The first data acquired by the second linear array contour camera The x and y coordinates of each contour point in the camera pixel coordinate system represent the position of the sheet metal surface in the camera image, serving as the basic input for subsequent 3D coordinate calculations. 1 represents the homogeneous coordinate component, used to expand the 2D pixel points into homogeneous coordinate form, facilitating coordinate transformations through rotation matrices and translation vectors. This ensures that matrix operations can uniformly handle rotations and translations, representing a standard camera coordinate transformation method. This is a rotation matrix with a size of 3×3, used to rotate the contour points in the camera coordinate system to the working coordinate system, reflecting the camera mounting angle and viewing angle deviation. The corresponding translation vectors are obtained by calibrating the second linear array contour camera. They are 3×1 in size and are used to translate the rotated contour points to the correct position in the working coordinate system, reflecting the spatial offset between the camera and the worktable. For the first The three-dimensional coordinates of each contour point in the device's working coordinate system are used to construct a second local contour set, which is subsequently stitched with the first camera contour set to generate the overall contour of the sheet metal splicing area. The first and second local contour sets represent contour data acquired and mapped to the device coordinate system from different linear array contour cameras at their respective viewpoints. These two sets of local contour sets have not yet undergone cross-camera coordinate alignment and serve as input data for the subsequent overall contour generation of the splicing area. Based on the corrected sheet metal placement position, the first and second local contour sets are aligned to a unified reference coordinate system. ;in, The offset is corrected for the sheet metal position. This achieves overall contour generation through "multi-sensor + actual sheet metal placement correction". Subsequently, based on the spatial pose relationship of two sets of local contour sets, coordinate alignment and stitching are performed. Rotation, translation, and interpolation algorithms are used to merge the two sets of local contour data, generating overall contour data covering the key structural areas at the sheet metal splicing points. This overall contour data includes information on all key hole positions, slots, and joint contour points, and retains the spatial coordinates and corresponding image source identifiers for each contour point, ensuring traceability in subsequent processing. The first and second contour sets are then stitched together to generate overall contour data covering the splicing area. The multi-camera contour coordinate weighted stitching formula is: ;in, The images were captured by the first and second linear array contour cameras, respectively. k Coordinates of the contour points Let be the rotation matrix from the two camera coordinate systems to the device coordinate system. These are translation vectors, specifically representing the translation vectors from the coordinate systems of the first and second linear array contour cameras to the working coordinate system of the equipment. They are used to map the contour points of each camera from its own coordinate system to a unified working coordinate system. Those skilled in the art typically obtain these vectors through camera calibration using a static calibration plate method. A calibration plate of known size (such as a checkerboard or a calibration plate with high-precision holes) is placed on the worktable and its position is fixed. Images of the calibration plate are captured using the first and second cameras, respectively. The intrinsic and extrinsic parameters of each camera are calculated using a calibration algorithm (such as the Zhang Zhengyou calibration method), where the extrinsic parameters include the rotation matrix. Translation vector For example, the first camera is fixed on the left side of the sheet metal, and the second camera is fixed on the right side, forming an angle of approximately 30°. During calibration, the origin of the worktable is the origin of the equipment coordinate system. The calibration plate is placed in the center of the worktable, and a checkerboard image is captured for calibration, obtaining the first camera's... The second camera When collecting contour points afterwards, add them respectively. and Then through the rotation matrix This allows us to obtain the accurate three-dimensional position of the contour points in the working coordinate system. The weighting coefficients for multi-view fusion have values in the range [0,1] and satisfy the following conditions: It can be dynamically adjusted based on contour integrity, viewing angle, camera calibration accuracy, etc., to complete the missing contour of a single camera; the least squares optimization formula after fusion is: ;in, For the pre-stored sheet material design drawings corresponding to the first k Coordinates of key contour points This represents the actual placement offset of the sheet metal after correction, derived from the S200 edge detection results. Adjust the rotation and translation parameters for the overall outline after stitching. For the first in the sheet metal design drawings The theoretical position coordinates of each borehole (or feature point). n This refers to the number of effective feature points selected for fusion and correction within the stitching area. n The number of available contour points within the splicing area is adaptively determined, and each... k Each point corresponds to a contour point or drilling feature point that can be used for matching. By solving least-squares optimization, the optimal alignment of multi-camera data with the corrected sheet metal position is achieved, generating overall contour data covering the key structural areas at the sheet metal splicing points. The overall contour data is then compared segment by segment with the pre-stored sheet metal design drawing contour, extracting key contour features within the splicing area and outputting corresponding contour deviation data. This output data is used for subsequent processing and drilling positioning control. The spliced overall contour data... Outline of sheet metal design drawings Point-by-point comparison, calculate the deviation: The deviation data of each key point is combined into a deviation set: This serves as the input for subsequent drilling positioning correction and machining control. The deviation data undergoes threshold determination and filtering, for example: This ensures the smoothness and reliability of data used in subsequent processing control. Specifically, the overall contour data serves as input for subsequent comparative analysis and drilling positioning control. The overall contour data is compared segment by segment with the contour of the pre-stored sheet metal design drawings. By calculating the deviation value of each key contour point, including differences in the horizontal, vertical, and depth directions, contour deviation data for the splicing area is generated. Deviation points exceeding the set tolerance are marked. The generated contour deviation data can be used to automatically adjust the drilling start position, optimize the drilling path and processing sequence, and provide real-time correction basis for multi-sensor fusion positioning. Throughout the process, an industrial computer completes data acquisition, transmission, contour extraction, coordinate calibration, splicing processing, and comparative analysis, ensuring the continuity and real-time nature of the data flow. The scanning frequency, contour point spacing, and splicing algorithm parameters can be adjusted according to the sheet metal size and camera resolution, ensuring complete and accurate overall contour information can be obtained under different sheet metal specifications and complex splicing structures. This provides reliable reference data for subsequent drilling processing and ensures processing accuracy and sheet metal positioning accuracy. Through the above-mentioned operation steps, this application realizes a complete process of sheet material edge correction, multi-view contour scanning, local contour extraction, coordinate calibration, data splicing and comparative analysis, forming a feasible implementation scheme from sheet material placement to overall contour deviation output, providing a data foundation for the precise positioning and processing control of automatic horizontal drilling, while ensuring that the operation steps are simple, the data flow is clear, and the key parameters are controllable, and can be directly implemented on industrial computers and control systems.
[0021] The S300 collects real-time data from the drill bit position sensor, the worktable height sensor, and the edge detection sensor. It performs time synchronization and fusion calculations on the multi-source sensor data to obtain the spatial positioning result of the drill bit relative to the sheet metal, forming the positioning information under the current processing state.
[0022] Furthermore, step S300 also includes:
[0023] S301: Collect real-time position data from the drill bit position sensor in the horizontal and depth directions, generate the initial value of the drill bit's current horizontal pose, and use the initial value as the input for fusion calculation; S302: Collect real-time lifting height data from the worktable height sensor, generate the current height value of the worktable, and use the height value as the input for fusion calculation; S303: Collect real-time boundary position data from the front and rear edge detection sensors, generate the actual front and rear boundary information of the sheet metal, and use the boundary information as the input for fusion calculation; S304: Perform time synchronization processing on the multi-source sensor data from steps S301, S302, and S303, perform data fusion calculation on the drill bit position, worktable height, and sheet metal boundary information to obtain the spatial positioning information of the drill bit relative to the corrected sheet metal, including horizontal position, depth, and worktable height, for subsequent sheet metal clamping position determination and drilling path control.
[0024] Furthermore, step S304 also includes:
[0025] S304-1: Interpolate or align data from different sensors according to timestamps to ensure that each data corresponds to a unified processing time; S304-2: Perform weighted calculations on the drill bit horizontal position data and the sheet metal boundary position data to obtain the fused horizontal position of the drill bit relative to the sheet metal; S304-3: Use the drill bit depth data and the workbench height data as fusion inputs for the drill bit vertical position information, and output the fusion calculation results for subsequent sheet metal clamping position determination and drilling path control.
[0026] Specifically, during the drilling process, real-time data from drill bit position sensors, worktable height sensors, and front and rear edge detection sensors are collected. This multi-source sensor data is then synchronized and fused to obtain the spatial positioning information of the drill bit relative to the sheet metal, forming positioning data for the current processing state. This data is used for subsequent sheet metal clamping position determination and drilling path control. First, drill bit position sensors installed on the horizontal drilling mechanism collect real-time position information of the drill bit in the horizontal and depth directions (corresponding to the vertical direction of the equipment). For example, the current position of the drill bit on the horizontal guide rail and the current depth value of the drill bit in the feed direction are collected. This collected data is used as the initial value of the drill bit's current horizontal pose as input for fusion calculation. The initial horizontal pose value is the initial pose state of the drill bit within a preset horizontal working plane. This pose is determined based on the collected horizontal position data and combined with the depth direction position data to constrain and project the drill bit's spatial position, serving as the initial input for subsequent fusion calculation and pose optimization. The initial horizontal pose value does not represent only the position parameter in a single horizontal direction, but rather the initial pose of the drill bit within the horizontal working plane, determined jointly by horizontal and depth position data. Simultaneously, a height sensor mounted on the worktable's lifting mechanism collects real-time data on the worktable's lifting height, reflecting the actual positional change of the sheet metal in the vertical direction, and using this height value as the fusion input for vertical positioning. Furthermore, edge detection sensors positioned in the front and rear directions of the worktable continuously collect data on the front and rear boundary positions of the sheet metal, reflecting the actual boundary state of the sheet metal during processing, and using this boundary information as an important reference for the drill bit's positioning relative to the sheet metal. The front and rear boundary position data includes the front and rear boundary positions of the sheet metal, calculated based on the detection data collected by the edge detection sensors in the front and rear directions of the worktable through position conversion and coordinate mapping, reflecting the actual boundary state of the sheet metal during processing. During the fusion calculation process, the multi-source sensor data is first aligned according to timestamps. For example, when the sampling frequency of drill bit position data is higher than that of edge detection data, edge detection data is interpolated to ensure that all sensor data correspond to a unified processing time, thereby guaranteeing the consistency of the fusion calculation. After time synchronization, the horizontal position data of the drill bit is weighted and calculated with the front and rear boundary position data of the sheet metal to obtain the fused horizontal position of the drill bit relative to the sheet metal. The sheet metal boundary data is used to correct for the impact of sheet metal placement deviations. Simultaneously, the drill bit feed depth data and the table height data are used together as inputs for the vertical positioning of the drill bit to determine the actual drilling depth of the drill bit relative to the sheet metal surface. For example, if there is a thickness error in the sheet metal or the table lifting position changes, the true position of the drill bit relative to the sheet metal surface can be accurately obtained by fusing the drill bit depth and table height information.Finally, the system outputs spatial positioning information, including the horizontal position of the drill bit after fusion, the drilling depth, and the table height, as positioning data for the current processing state. This positioning data is then used for controlling the sheet metal clamping mechanism, correcting the drilling start position, and dynamically adjusting the drilling path. Through this method, this embodiment achieves stable acquisition of the relative position of the drill bit and the sheet metal without relying on a single sensor, ensuring the continuity and consistency of positioning data during processing and meeting the requirements for positioning accuracy and real-time performance in automatic horizontal drilling.
[0027] S400: Based on the positioning information, sheet size information and drilling position distribution data, calculate the clamping position of the sheet and control the clamping mechanism to fix the sheet, while determining the processing posture of the drill bit in the left and right movement direction and the height direction.
[0028] Furthermore, step S400 also includes:
[0029] S401: Based on the sheet metal size information and drilling position distribution data, determine the optimal placement position of the sheet metal on the worktable, so that the drilling area is within the machining range of the drill bit, and generate the corresponding clamping position coordinates; S402: Control the clamping mechanism to move the sheet metal to the clamping position and apply a fixing force to keep the sheet metal relatively stable during processing; S403: According to the drilling position distribution data and the actual position of the sheet metal after clamping, calculate the machining posture of the drill bit in the left and right movement direction and the height direction, including the drilling starting position, movement path and drilling depth.
[0030] Specifically, after obtaining the spatial positioning information of the drill bit relative to the sheet metal, the clamping position of the sheet metal is calculated based on the positioning information, sheet metal size information, and drill hole position distribution data. The clamping mechanism is then controlled to fix the sheet metal, and the processing posture of the drill bit in the left-right movement direction and the height direction is determined. First, after reading the length, width, and thickness information of the sheet metal, the spatial range of all drill holes to be processed in the sheet metal coordinate system is extracted based on the drill hole position distribution data. The minimum envelope range of the drilling area on the sheet metal is determined, including the maximum and minimum position values of the drilling area in the front-back direction and the left-right direction. Subsequently, the system reads the machinable range information of the drill bit on the worktable. This machinable range is jointly defined by the drill bit's left-right movement stroke, the worktable's lifting stroke, and the drill bit's installation position, representing the effective processing area that the drill bit can cover in the current equipment state. The system performs a matching analysis between the envelope range of the drilling area and the machinable range of the drill bit. By performing translation calculations on the overall position of the sheet metal in the worktable coordinate system, the target placement area is determined so that the drilling area completely falls within the machinable range of the drill bit. In this process, the system adjusts the placement of the sheet metal in the front-back and left-right directions using the worktable reference position as a reference, prioritizing a placement position that places the drilling area in the middle of the drill bit's machining range to reduce the drill bit's proximity to the stroke boundary during machining. The determined target placement area of the sheet metal is converted into specific clamping position coordinates to guide the clamping mechanism in performing sheet metal positioning and fixing operations. During this process, the placement offset of the sheet metal in the front-back and left-right directions is calculated using the worktable reference coordinate system as a reference, and the corresponding clamping position coordinates are generated accordingly. For example, when there is a dense drilling area on one side of the sheet metal, this area can be adjusted to the middle of the drill bit's left-right movement stroke to avoid the drill bit approaching its stroke limit during machining. Subsequently, based on the clamping position coordinates, the clamping mechanism is controlled to perform sheet metal positioning and clamping operations. The clamping mechanism can employ pneumatic, mechanical, or electric clamping structures. By controlling the movement position of the clamping device and the applied clamping force, the sheet metal is kept tightly against the worktable and fixed, preventing displacement or warping during drilling. After the sheet metal is clamped, its actual clamping position is obtained and used as the reference for subsequent processing posture calculations. Next, after clamping the sheet metal and obtaining its actual position on the worktable, the processing posture of the drill bit in the left-right movement direction and the height direction is calculated and planned based on the drill hole position distribution data. First, a three-dimensional coordinate system is established with the worktable reference plane as the reference. The actual position parameters of the clamped sheet metal are transformed into this coordinate system. The actual position of the sheet metal includes the front and rear boundary positions, left and right boundary positions, and the height information of the upper surface. Then, the relative coordinates of each drill hole in the drill hole position distribution data are mapped to the actual position of the sheet metal to obtain the absolute spatial position of each drill hole in the worktable coordinate system.Based on this, the system calculates the corresponding starting position for each hole to be drilled. This starting position is the safe approach point between the drill bit axis and the upper surface of the sheet metal in the height direction. This safe approach point is located at a preset distance above the upper surface of the sheet metal to prevent non-processing contact between the drill bit and the sheet metal during rapid positioning. The preset distance is set according to the drill bit specifications, sheet metal thickness, and equipment motion accuracy. Subsequently, based on the absolute spatial position of the hole, the system plans the drill bit's movement path in the left-right direction. This movement path is generated using linear interpolation or multi-segment linear interpolation, ensuring that the drill bit axis remains perpendicular to the sheet metal surface while smoothly moving from its current position to the starting position of the corresponding hole. For continuous drilling of multiple holes, the system also optimizes the movement paths between adjacent holes by sorting the drilling sequence to reduce ineffective reciprocating movements of the drill bit in the left-right direction, thereby reducing the overall idle travel time. Regarding the calculation of the drilling depth, the target drilling depth in the height direction is determined based on the sheet metal thickness information and drilling process parameters. The target drilling depth includes the sheet thickness and necessary penetration allowance, whereby the penetration allowance ensures complete penetration or reaches the design depth requirement. If the hole is a blind hole, the system limits the maximum downward displacement of the drill bit based on the drilling depth parameters to prevent over-drilling. When a depth detection or position feedback device is configured during drilling, the height position of the drill bit can be corrected in real time to improve the accuracy of drilling depth control. Finally, the drilling starting position, left and right movement paths, and drilling depth parameters are integrated to generate corresponding drill bit processing posture control commands, which are sent to the actuator in a predetermined sequence to achieve coordinated movement of the drill bit in the left-right and height directions, thereby completing the precise processing of each hole in the sheet.
[0031] S500: Based on the acquired drill bit parameter information and borehole position distribution data, calculate the borehole path and generate the processing sequence and motion trajectory corresponding to the drill bit parameters.
[0032] Furthermore, step S500 of this application also includes:
[0033] S501: Read drill bit parameter information, including drill bit specifications, machinable diameter, installation position, and movable range, to provide constraints for path calculation and motion trajectory generation; S502: Combine sheet metal size information and drilling position distribution data to calculate the drilling path and generate a preliminary drilling sequence and motion trajectory corresponding to the current drill bit parameters; S503: Based on the preliminary drilling sequence and motion trajectory generated in S502, optimize the motion trajectory to meet processing safety and equipment movement limitations; S504: Output the optimized drilling path and motion trajectory as input for CNC machining program generation to ensure that the drilling operation is executed according to the calculated processing sequence and trajectory.
[0034] Furthermore, step S502 of this application also includes:
[0035] S502-1: Based on sheet metal size information and drill hole location distribution data, read the coordinate values of each drill hole location in the equipment coordinate system. And obtain the drill bit's movable range and parameter constraints, where, i Number the borehole locations; S502-2: Define the cost function for the movement of the drill bit between adjacent borehole locations. This is used to evaluate the movement cost of a continuous drill bit moving from the i-th borehole position to the j-th borehole position. The movement cost function is: ;
[0036] in, For the first i The horizontal coordinates of each borehole location. For the first i The vertical coordinates of each borehole location. For the first j The horizontal coordinates of each borehole location. For the first j The vertical coordinates of each borehole location. This is a weighting coefficient for the drill bit's movement direction, set according to the drill bit's mechanical properties. In the current processing sequence, the first i The vertical coordinates of the previous borehole position before the current borehole position. S502-3: Based on the aforementioned movement cost function, sort the drilling positions and select the drilling sequence. To minimize the total movement cost of the drill bit between consecutive drilling positions, the following objective function is satisfied: ,in, This represents the total number of boreholes. In the drilling sequence, the first k The drilling location and its subsequent... k+1 Numbering of each drilling position; S502-4: Using the drilling sequence as the initial drilling sequence and generating the corresponding initial drilling trajectory.
[0037] Furthermore, step S503 of this application also includes:
[0038] S503-1: Based on the preliminary drilling sequence, determine the boundary range of the sheet metal in the equipment coordinate system, and establish drill bit edge protection constraints so that the drill bit meets the following constraints during processing: ;in, This is the safe distance between the drill bit and the edge of the sheet metal, used to ensure that the drill bit does not come into contact with the edge of the sheet metal during the drilling process. For the drill bit at all times t Horizontal position coordinates, These refer to the front and rear boundary positions of the sheet metal; S503-2: For adjacent drilling positions in the preliminary processing sequence, establish drilling interval safety constraints to prevent interference between the drill bit and the already processed hole position or sheet metal structure. The constraints satisfy: ;in, This refers to the minimum safe distance between drilling locations. These are the coordinates of the current borehole location. S503-3: Under the premise of satisfying the edge protection constraint and the drilling interval safety constraint, based on the movement cost function described in S502-2, the path of the preliminary drilling sequence is optimized to minimize the total movement cost of the drill bit between consecutive drilling positions, and the optimized drilling sequence and motion trajectory are obtained; S503-4: The optimized motion trajectory is interpolated and smoothed to ensure that the drill bit moves smoothly and accelerates and decelerates continuously, and the final set of trajectory control points is generated.
[0039] Specifically, the process involves reading drill bit parameter information, including drill bit specifications, machinable diameter, drill bit installation position in the equipment, and the drill bit's movable range in the horizontal and depth directions (corresponding to the equipment's vertical direction). The drill bit specifications and machinable diameter define the range of executable drilling sizes, the installation position determines the initial reference point of the drill bit in the equipment coordinate system, and the movable range serves as a hard constraint for subsequent path calculation and trajectory generation, preventing the generation of motion commands exceeding the equipment's capabilities. Combining the sheet metal size information and drill hole location distribution data, the drilling path is calculated, generating a preliminary processing sequence and motion trajectory corresponding to the current drill bit parameters. Based on the sheet metal size information and drill hole location distribution data, the coordinate values of each drill hole location in the equipment coordinate system are read. And obtain the drill bit's movable range and parameter constraints, where, i Number the borehole locations; simultaneously acquire the drill bit's movable range and related parameter constraints as boundary conditions for path planning. Define the cost function for drill bit movement between adjacent borehole locations. This is used to evaluate the movement cost of a continuous drill bit moving from the i-th borehole position to the j-th borehole position. The movement cost function is: ;in, For the first i The horizontal coordinates of each borehole location. For the first i The vertical coordinates of each borehole location. For the firstj The horizontal coordinates of each borehole location. For the first j The vertical coordinates of each borehole location. This is a weighting coefficient for the drill bit's movement direction, set according to the drill bit's mechanical properties. In the current processing sequence, the first i The vertical coordinates of the previous borehole position before the current borehole position. The absolute difference in vertical displacement of the drill bit during continuous drilling is represented by the movement cost function. Based on this cost function, the drilling positions are sorted, and a drilling sequence is selected. To minimize the total movement cost of the drill bit between consecutive drilling positions, the following objective function is satisfied: ;in, This represents the total number of boreholes. In the drilling sequence, the first k The drilling location and its subsequent... k+1 The drilling positions are numbered; this process optimizes the drilling sequence by minimizing the sum of movement costs between adjacent holes, thereby reducing the idle stroke and unnecessary movement of the drill bit. The drilling sequence is used as the preliminary drilling sequence, and a corresponding preliminary drilling trajectory is generated. This preliminary trajectory includes the movement path of the drill bit between each drilling position and the feed path during drilling. Based on the preliminary drilling sequence, the boundary range of the sheet metal in the equipment coordinate system is determined, and drill bit edge protection constraints are established to ensure that the drill bit meets the following constraints during processing: ;in, This is the safe distance between the drill bit and the edge of the sheet metal, used to ensure that the drill bit does not come into contact with the edge of the sheet metal during the drilling process. For the drill bit at all times t Horizontal position coordinates, These refer to the front and rear boundary positions of the sheet metal; for adjacent drilling positions in the initial processing sequence, drilling interval safety constraints are established to prevent interference between the drill bit and already processed holes or the sheet metal structure. These constraints satisfy: ;in, This refers to the minimum safe distance between drilling locations. These are the coordinates of the current borehole location. The coordinates of the next drilling position are given. Under the premise of satisfying the edge protection constraint and the drilling interval safety constraint, the path optimization of the preliminary drilling sequence is performed based on the movement cost function described in S502-2 to minimize the total movement cost of the drill bit between consecutive drilling positions, thereby obtaining the optimized drilling sequence and motion trajectory. The optimized motion trajectory is interpolated and smoothed to ensure that the drill bit moves smoothly and accelerates and decelerates continuously, and the final set of trajectory control points is generated. The optimized drilling sequence and motion trajectory are output to generate the corresponding CNC machining program.
[0040] S600: Generate a CNC machining program according to the machining sequence and motion trajectory, load the CNC machining program into the industrial computer control system and execute it, and adjust the drill bit movement, worktable lifting and lowering and the feed process in real time based on multi-sensor feedback data.
[0041] Specifically, the drilling sequence and corresponding drill bit movement trajectory data output in step S500 are first read. The horizontal movement path, drilling start position, feed depth, and retraction and transition movement paths after drilling are uniformly analyzed for each drilling position. The analysis results are then converted into CNC machining program instructions according to the equipment control protocol. The CNC machining program sequentially includes drill bit left and right movement instructions, feed depth control instructions, and table lifting control instructions, used to clarify the movement mode and execution sequence of the drill bit in each drilling stage. After generation, the CNC machining program is loaded into the industrial computer control system. Before machining begins, the drill bit's movable range, feed depth, and current table height are matched and verified to ensure that the CNC machining program is consistent with the current sheet metal size and drill bit parameters. During machining execution, the industrial computer control system drives the drill bit to move sequentially to each drilling position according to the CNC machining program and controls the drill bit to complete the drilling feed along the depth direction, while simultaneously controlling the table to perform the corresponding lifting actions. During drilling, the system collects real-time data on the drill bit's horizontal position and feed depth from the drill bit position sensor, the actual lifting height from the table height sensor, and the sheet metal boundary status from the edge detection sensor. This multi-sensor feedback data is then compared with the target motion state set in the current CNC machining program. When a deviation is detected between the actual drill bit position, feed depth, or table height and the target value, the industrial computer control system adjusts the drill bit's movement speed, feed rate, or table lifting amount in real-time based on the feedback data, gradually returning the drill bit's motion state to the predetermined machining trajectory range. After each hole is drilled, the system automatically switches to the next drilling position according to the CNC machining program, continuously executing multi-sensor feedback adjustments during drill bit movement, positioning, and feeding until all drilling operations are completed.
[0042] This application's embodiments, by introducing a multi-sensor collaborative acquisition and fusion computing mechanism, combined with drill bit parameter constraints, sheet metal boundary correction, and dynamic optimization control of the drilling path, have at least the following beneficial effects: They acquire processing data and drill bit parameter information of the sheet metal to be processed, including sheet metal length, width, thickness, and drilling position distribution, as well as drill bit specifications, installation position, and movable range, providing complete constraints and basic data for subsequent processing. Edge detection sensors positioned in the front and rear directions of the worktable acquire the actual front and rear boundary positions of the sheet metal, and the sheet metal placement position and size information are corrected based on the detection results. Subsequently, a dual-line array contour camera with a preset included angle is used to synchronously scan the sheet metal splicing area, acquiring multi-view contour data. Then, contour point extraction, coordinate calibration, spatial alignment, and splicing generate overall contour data covering key structural areas, which is compared segment by segment with pre-stored design drawings to extract key contour features and output deviation data, providing accurate reference for drilling positioning and sheet metal clamping. Real-time data from drill bit position sensors, table height sensors, and edge detection sensors are collected. Time synchronization and fusion calculations are performed on the multi-source sensor data to obtain the spatial positioning information of the drill bit relative to the calibrated sheet metal, including the drill bit's horizontal position, feed depth, and table height. In practice, data from different sensors are aligned according to timestamps and fused through weighted calculations to generate the precise pose of the drill bit relative to the sheet metal, reflecting the processing status in real time and ensuring the reliability of subsequent sheet metal clamping and drilling path control. Based on the positioning information, sheet metal dimensions, and drilling distribution data, the optimal clamping position of the sheet metal is calculated, and the clamping mechanism is controlled to move the sheet metal to the target position and apply a fixing force to keep the sheet metal stable during processing. Simultaneously, based on the drilling position and the actual position of the sheet metal after clamping, the processing posture of the drill bit in the left-right movement direction and depth direction is calculated, including the drilling start position, movement path, and feed depth, ensuring that the drilling area is always within the drill bit's machinable range. Combining drill bit parameters and hole location distribution data, the system automatically generates a preliminary drilling sequence and motion trajectory. It eliminates redundant movement through path optimization, establishes drill bit edge protection constraints and drilling interval safety constraints to prevent interference between the drill bit and sheet material edges, already machined holes, or other structures. Simultaneously, it optimizes the machining sequence based on the drill bit movement cost function, minimizing the total distance the drill bit travels between consecutive holes. The optimized drilling path and motion trajectory serve as input for CNC program generation, ensuring that drilling operations are executed according to the predetermined sequence and trajectory. A CNC machining program is generated based on the optimized drilling sequence and motion trajectory and loaded into the industrial computer control system for execution. During machining, the system collects real-time feedback data from multiple sensors, including drill bit position, table height, and sheet material boundary conditions, and compares the actual motion state with the target values of the CNC program.When deviations in drill bit position, feed depth, or table height are detected, the system corrects the drill bit movement speed, feed rate, and table lifting / lowering in real time, achieving closed-loop control to ensure stable and reliable machining and guarantee drilling accuracy and consistency. Thus, high-precision positioning of the drill bit and sheet metal is achieved through multi-sensor fusion and dynamic adjustment, making the drilling process unaffected by sheet metal placement errors; sheet metal clamping position calculation and machining posture determination ensure the drilling area remains within the drill bit's machinable range; drilling path calculation and constraint optimization minimize drill bit movement distance, ensure safety, and optimize machining sequence; closed-loop control with CNC program execution and real-time feedback from multiple sensors improves machining stability and consistency; it is applicable to different sheet metal sizes and drill bit parameter configurations, offering a high degree of automation, reducing the need for manual intervention, and ensuring machining efficiency and quality.
[0043] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand that various modifications, combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application. In some cases, the actions or steps described in this application can be performed in a different order than that shown in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
Claims
1. An automatic horizontal drilling positioning and dynamic control method based on multi-sensor fusion, characterized in that, The method includes: S100. Obtain the processing data of the sheet material to be processed and the drill bit parameter information. The processing data includes the sheet material size information and the drilling position distribution data. The drill bit parameter information includes the drill bit specifications, installation position and available range of motion. The processing data is obtained through a graphical editing input method. S200: Use edge detection sensors set in the front and back directions of the worktable to detect the front and back edges of the sheet metal, obtain the actual front and back boundary positions of the sheet metal, and correct the placement position and size information of the sheet metal based on the front and back boundary positions. The S300 collects real-time data from the drill bit position sensor, the worktable height sensor, and the edge detection sensor. It performs time synchronization and fusion calculations on the multi-source sensor data to obtain the spatial positioning result of the drill bit relative to the sheet metal, forming the positioning information of the current processing state. S400. Based on the positioning information, sheet size information and drilling position distribution data, calculate the clamping position of the sheet and control the clamping mechanism to fix the sheet, while determining the processing posture of the drill bit in the left and right movement direction and the height direction. S500: Based on the acquired drill bit parameter information and drilling position distribution data, calculate the drilling path and generate the processing sequence and motion trajectory corresponding to the drill bit parameters; S600: Generate a CNC machining program according to the machining sequence and motion trajectory, load the CNC machining program into the industrial computer control system and execute it, and adjust the drill bit movement, worktable lifting and lowering and the feed process in real time based on multi-sensor feedback data.
2. The automatic horizontal drilling positioning and dynamic control method based on multi-sensor fusion as described in claim 1, characterized in that, Edge detection sensors positioned in the front and rear directions of the worktable are used to detect the front and rear edges of the sheet metal, obtaining the actual front and rear boundary positions of the sheet metal. Based on these boundary positions, the placement position and size information of the sheet metal are corrected, including: S201. After completing the correction of the front and rear boundary positions of the sheet metal, the first linear array contour camera and the second linear array contour camera set at the detection station are controlled to scan the splicing area of the sheet metal synchronously. The first linear array contour camera and the second linear array contour camera are arranged opposite each other at a preset angle to obtain multi-view contour data of the splicing area. S202. Extract contour points and calibrate coordinates of the first contour data acquired by the first linear array contour camera and the second contour data acquired by the second linear array contour camera. The coordinate calibration is based on the corrected plate placement position and size information to generate a first local contour set and a second local contour set. S203. Based on the spatial pose relationship between the first local contour set and the second local contour set, coordinate alignment and splicing processing are performed on the two sets of contour data to generate overall contour data of the key structural area at the splicing point of the cover plate. The overall contour data is used as input for subsequent comparison and analysis. S204. Based on the overall contour data, the contour segments related to the positioning of the sheet metal and the determination of the drilling position in the splicing area are screened. The screened contour segments are used as key contour features in the splicing area. The key contour features are compared with the pre-stored sheet metal design drawing contour segment by segment, and the corresponding contour deviation data is output.
3. The automatic horizontal drilling positioning and dynamic control method based on multi-sensor fusion as described in claim 2, characterized in that, Based on the spatial pose relationship between the first and second local contour sets, coordinate alignment and splicing processing are performed on the two sets of contour data to generate overall contour data of the key structural area at the splicing point of the cover sheet. This overall contour data serves as input for subsequent comparative analysis and includes: S203-1. Using the coordinate system where the first local contour set is located as the reference coordinate system, based on the spatial pose relationship between the first local contour set and the second local contour set, calculate the corresponding rotation matrix and translation vector, and perform coordinate transformation on the second local contour set so that the second local contour set is aligned to the reference coordinate system. S203-2. Stitch the first contour set and the second contour set together to generate overall contour data covering the stitched area. The multi-camera contour coordinate weighted stitching formula is as follows: ； in, For the pre-stored sheet material design drawings corresponding to the first k Coordinates of key contour points The images were captured by the first and second linear contour cameras, respectively. k Coordinates of the contour points Let be the rotation matrix from the two camera coordinate systems to the device coordinate system. It is a translation vector. The weighting coefficients for multi-view fusion have a value range of [0,1] and satisfy the following conditions: It can be dynamically adjusted based on the integrity of the outline, the angle of view, and the accuracy of camera calibration to complete the missing outline of a single camera; S203-3, The least squares optimization formula after fusion is: ; in, This represents the actual placement offset of the sheet metal after correction, derived from the S200 edge detection results. Adjust the rotation and translation parameters for the overall outline after stitching. For the first in the sheet metal design drawings The theoretical coordinates of the borehole location; S203-4. By solving the least squares optimization problem, the optimal alignment of multi-camera data and the position of the correction sheet is achieved, and the overall contour data of the key structural area at the splicing point of the cover sheet is generated.
4. The automatic horizontal drilling positioning and dynamic control method based on multi-sensor fusion as described in claim 1, characterized in that, Real-time data from drill bit position sensors, worktable height sensors, and edge detection sensors are collected. Time synchronization and fusion calculations are performed on the multi-source sensor data to obtain the spatial positioning result of the drill bit relative to the sheet metal, forming the positioning information for the current processing state, including: S301. Collect real-time position data of the drill bit position sensor in the horizontal and depth directions, generate the initial value of the current horizontal pose of the drill bit, and use the initial value as the input for fusion calculation; S302. Collect real-time lifting height data from the workbench height sensor, generate the current height value of the workbench, and use the height value as the input for fusion calculation; S303. Collect real-time boundary position data from the front and rear edge detection sensors, generate actual front and rear boundary information of the sheet metal, and use the boundary information as the input for fusion calculation; S304. Perform time synchronization processing on the multi-source sensor data from steps S301, S302, and S303, and perform data fusion calculation on the drill bit position, workbench height, and sheet boundary information to obtain the spatial positioning information of the drill bit relative to the calibrated sheet, including horizontal position, depth, and workbench height, which is used for subsequent sheet clamping position determination and drilling path control.
5. The automatic horizontal drilling positioning and dynamic control method based on multi-sensor fusion as described in claim 4, characterized in that, Data fusion calculations are performed on the drill bit position, worktable height, and sheet boundary information to obtain the spatial positioning information of the drill bit relative to the corrected sheet, including: S304-1. Interpolate or align data from different sensors according to timestamps to ensure that each data corresponds to a unified processing time. S304-2. Perform a weighted calculation on the drill bit horizontal position data and the plate boundary position data to obtain the fusion horizontal position of the drill bit relative to the plate. S304-3. Use the drill bit depth data and the workbench height data as the fusion inputs for the vertical position information of the drill bit, and output the fusion calculation results for subsequent determination of the plate clamping position and control of the drilling path.
6. The automatic horizontal drilling positioning and dynamic control method based on multi-sensor fusion as described in claim 1, characterized in that, Based on the positioning information, sheet metal size information, and drilling position distribution data, the clamping position of the sheet metal is calculated, and the clamping mechanism is controlled to fix the sheet metal. Simultaneously, the processing posture of the drill bit in the left-right movement direction and the height direction is determined, including: S401. Based on the sheet size information and drilling position distribution data, determine the optimal placement position of the sheet on the worktable so that the drilling area is within the machining range of the drill bit, and generate the corresponding clamping position coordinates. S402. Control the clamping mechanism to move the sheet metal to the clamping position and apply a fixing force to keep the sheet metal in a stable relative position during processing; S403. Based on the drilling position distribution data and the actual position of the sheet after clamping, calculate the machining posture of the drill bit in the left and right movement direction and the height direction, including the drilling start position, movement path and drilling depth.
7. The automatic horizontal drilling positioning and dynamic control method based on multi-sensor fusion as described in claim 1, characterized in that, Based on the acquired drill bit parameter information and borehole location distribution data, the drilling path is calculated to generate the processing sequence and motion trajectory corresponding to the drill bit parameters, including: S501. Read drill bit parameter information, including drill bit specifications, machinable diameter, installation position and movable range, to provide constraints for path calculation and motion trajectory generation; S502. Combine the sheet metal size information and drilling position distribution data to calculate the drilling path and generate a preliminary drilling sequence and motion trajectory corresponding to the current drill bit parameters. S503. Based on the preliminary drilling sequence and motion trajectory generated in S502, the motion trajectory is constrained and optimized to meet the requirements of processing safety and equipment movement restrictions. S504. Output the optimized drilling path and motion trajectory as input for the CNC machining program generation to ensure that the drilling operation is executed according to the calculated machining sequence and trajectory.
8. The automatic horizontal drilling positioning and dynamic control method based on multi-sensor fusion as described in claim 7, characterized in that, Based on the sheet metal dimensions and drilling location distribution data, the drilling path is calculated to generate a preliminary drilling sequence and motion trajectory corresponding to the current drill bit parameters, including: S502-1. Based on the sheet metal size information and drilling location distribution data, read the coordinate values of each drilling location in the equipment coordinate system. And obtain the drill bit's movable range and parameter constraints, where, i Number the borehole locations; S502-2, Define the cost function for drill bit movement between adjacent borehole positions. This is used to evaluate the movement cost of a continuous drill bit moving from the i-th borehole position to the j-th borehole position. The movement cost function is: ; in, For the first i The horizontal coordinates of each borehole location. For the first i The vertical coordinates of each borehole location. For the first j The horizontal coordinates of each borehole location. For the first j The vertical coordinates of each borehole location. This is a weighting coefficient for the drill bit's movement direction, set according to the drill bit's mechanical properties. In the current processing sequence, the first i The vertical coordinates of the previous borehole position before the current borehole position. It represents the absolute difference in the vertical displacement of the drill bit during continuous drilling. S502-3. Based on the aforementioned moving cost function, sort the drilling positions and select the drilling sequence. To minimize the total movement cost of the drill bit between consecutive drilling positions, the following objective function is satisfied: ； in, This represents the total number of boreholes. In the drilling sequence, the first k The drilling location and its subsequent... k+1 The number of each drilling location; S502-4. The drilling sequence is used as the preliminary drilling sequence, and the corresponding preliminary drilling motion trajectory is generated.
9. The automatic horizontal drilling positioning and dynamic control method based on multi-sensor fusion as described in claim 7, characterized in that, Based on the sheet metal dimensions and drilling location distribution data, the drilling path is calculated to generate a preliminary drilling sequence and motion trajectory corresponding to the current drill bit parameters, including: S503-1. Based on the preliminary drilling sequence, determine the boundary range of the sheet metal in the equipment coordinate system, and establish drill bit edge protection constraints so that the drill bit meets the following constraints during processing: ； in, This is the safe distance between the drill bit and the edge of the sheet metal, used to ensure that the drill bit does not come into contact with the edge of the sheet metal during the drilling process. For the drill bit at all times t Horizontal position coordinates, These are the front and rear boundary positions of the sheet metal; S503-2. For adjacent drilling positions in the preliminary processing sequence, establish drilling interval safety constraints to prevent interference between the drill bit and already processed holes or sheet material structures. The constraints satisfy: ； in, This refers to the minimum safe distance between drilling locations. These are the coordinates of the current borehole location. These are the coordinates of the next borehole location; S503-3. Under the premise of satisfying the edge protection constraint and drilling interval safety constraint, based on the drill bit movement cost function of S502-2, the path optimization of the preliminary drilling sequence is performed to minimize the total movement cost of the drill bit between consecutive drilling positions, and the optimized drilling sequence and motion trajectory are obtained. S503-4. Interpolate and smooth the optimized motion trajectory to ensure smooth drill bit movement and continuous acceleration and deceleration, and generate the final set of trajectory control points.