Smart drill robot multi-point drilling control method

Abstract

The present invention relates to a smart drill robot and a multi-point drilling control method using the same, and more specifically, to a smart drill robot, a robot system, and a control method thereof that can perform drilling at an accurate position despite errors. According to an embodiment of the present invention, there is provided a drill robot equipped with a drill for drilling and performing drilling in a real space; and a terminal that converts the drilling point coordinates in the design coordinate system into the drilling point coordinates in the drill robot coordinate system and provides them to the drill robot, and corrects an error value between the drilling point coordinates manually set by the user in the real space (drilling point manual coordinates) corresponding to a specific drilling point and the drilling point coordinates (drilling point calculation coordinates) at which the drill robot drills in the real space corresponding to the specific drilling point. The drill robot is characterized by drilling the specific drilling point based on the drilling point manual coordinates, and a smart drill robot system can be provided.

Description

Technical Field

[0001] The present invention relates to a smart drill robot and a multi-point drilling control method using the same, and more specifically, to a smart drill robot, a robot system, and a control method capable of performing drilling at an accurate position despite errors.

Background Art

[0002] Generally, many drilling points are formed on the ceiling of a building. Support for various ceiling structures such as water pipes, fire pipes, sprinklers, or air conditioning equipment such as air conditioners is required. The ceiling structure is supported on the ceiling through anchor bolts, and thus it can be said that drilling the ceiling for the installation of anchor bolts is essential.

[0003] Of course, the number and position of drilling points on the ceiling surface may vary depending on the use of the building. Naturally, the more drilling points there are, the more difficult the drilling is, and the longer the time required for the drilling operation has to be.

[0004] In the case of a small building, it is common for an operator to perform a drilling operation manually using a drill on the ceiling surface. At this time, the operator has a lot of trouble in frequently moving the position of the ladder or the support stand depending on the drilling position. Of course, since the working posture is inconvenient, the operation of manually drilling the ceiling can be said to be a very difficult operation.

[0005] In the case of relatively large buildings, the area that needs to be drilled increases, and therefore the number of drilling points also increases. When the ceiling is high, a high-altitude work platform is used, but a lot of time is required not only for the direct drilling work but also for raising and lowering the platform. This is because, after drilling at one location, the platform must be moved to drill at another location, and for safety reasons, the platform must always be lowered before moving. Also, after the platform has been moved, it must be raised back up to the working height. Therefore, performing a large amount of drilling work manually, especially in a work environment with high ceilings, is extremely inefficient.

[0006] When performing large-scale drilling work, accuracy is just as important as efficiency. In other words, drilling must be carried out precisely at the designed location. Here, assuming the ceiling surface is a plane, the drilling points must be formed at precise locations in planar coordinates. Otherwise, many difficulties will inevitably arise in the process of forming the ceiling structure.

[0007] When a worker directly uses a drill to perform the drilling, marking the drilling location can also be done manually. That is, it is common practice to mark the drilling location each time by referring to the design drawing before drilling.

[0008] Therefore, the task of marking the drilling locations is not easy, and accuracy is inevitably low. As a result, the accuracy of the drilling decreases, and the probability of undrilled points occurring after the drilling work is completed inevitably increases. If undrilled points are later identified, the drilling work must be performed again, which significantly reduces work efficiency.

[0009] In other words, a great many problems arise, including issues related to the work environment and worker safety, quality such as the perpendicularity of the drilled holes, productivity, and ease of operation.

[0010] To solve such problems, KR10-2217247 (hereinafter referred to as the "prior patent") provides a smart drill robot that uses a drill robot to automatically drill based on the design coordinates of the drilling point.

[0011] According to prior patents, a total station and terminal are used to perform transformations between the design coordinate system, the actual coordinate system, and the robot coordinate system, allowing the drill robot to automatically perform drilling in real space.

[0012] However, automated drilling based on prior patents has a problem where errors occur between the drilling point position accurately reflecting the design coordinate system and the actual drilling point position by the drill robot. In other words, there is a problem where errors occur between the drilling position on the drawing and the actual drilling position. The causes of such errors can be diverse, including errors in the total station, the drill robot arm, or construction errors.

[0013] In typical buildings, when drilling holes in the ceiling to install anchor bolts, an error of approximately 50 mm in diameter does not significantly disrupt subsequent processes. This is because relatively small and lightweight supports are supported through the anchor bolts, and if necessary, the brackets supporting the supports can be deformed to a certain extent on-site.

[0014] However, drilling errors must be extremely small when fixing MEP facilities in large factories and buildings to walls and columns. In particular, MEP facilities in semiconductor factories and long tunnels are manufactured in block units or rack modules with various pipes attached at the factory, and then assembled and installed on-site. Therefore, in this case, drilling errors for the installation of MEP facilities must be extremely small, but it is not easy to achieve the precision required for automated drilling as in the prior patent.

[0015] Furthermore, in advanced industrial facilities such as semiconductor factories or extremely long facilities such as tunnels, the pattern of drilling can be highly repetitive. That is, the walls are regularly partitioned or columns are installed. In particular, when MEP facilities are installed on columns, drilling points may be formed at the same location and in the same number of locations relative to the column.

[0016] However, in such a work environment, the distance between the drill robot and the total station inevitably increases as the work progresses. This is because frequently moving the position of the total station is extremely cumbersome. Therefore, in such a work environment, the amount of error caused by the position of the total station can gradually increase.

[0017] Therefore, it is necessary to explore methods that allow for easy drilling while reducing drilling errors. [Overview of the project] [Problems that the invention aims to solve]

[0018] The present invention aims to solve the problems of conventional manual drilling and automated drilling using drill robots.

[0019] Through one embodiment of the present invention, we aim to provide a smart drill robot, a drill robot system, and a control method thereof, which enable a user to precisely manually set the drilling point and use this to perform precise automatic drilling.

[0020] Through one embodiment of the present invention, we aim to provide a smart drill robot, a drill robot system, and a control method thereof that allows the user to easily manually set the drilling point and easily correct the drilling error value.

[0021] Through one embodiment of the present invention, we aim to provide a smart drill robot, a drill robot system, and a control method thereof that minimize the repositioning of a total station in very large-scale and long-length work environments, making them convenient to use.

[0022] Through one embodiment of the present invention, we aim to provide a drilling-capable smart drill robot, drill robot system, and control method thereof that can minimize errors by setting and recognizing manual drilling points using direct teaching or vision.

[0023] Through one embodiment of the present invention, we aim to provide a smart drill robot, a drill robot system, and a control method thereof that allows the user to easily select between an automatic drilling mode and a manual drilling mode depending on the work environment.

[0024] Through one embodiment of the present invention, we aim to provide a smart drill robot, a drill robot system, and a control method thereof that minimize errors and enable continuous drilling of multiple drilling points by setting and recognizing only a reference point among multiple drilling points using manual drilling point coordinates in manual drilling mode.

[0025] Through one embodiment of the present invention, we aim to provide a smart drill robot, a drill robot system, and a control method thereof that enable precise drilling in a work site where a drilling pattern is repeated with a constant relative position between a number of drilling points, and which allows an operator to intuitively perform drilling command operations via an external terminal. [Means for solving the problem]

[0026] To achieve the aforementioned objectives, according to one embodiment of the present invention, a smart drill robot system can be provided, comprising: a drill robot equipped with a drill for drilling and performing drilling in real space; and an external terminal that converts drilling point coordinates in a design coordinate system to drilling point coordinates in a drill robot coordinate system and provides them remotely to the drill robot, and corrects the error value between drilling point coordinates manually set by the user in real space corresponding to a specific drilling point (manual drilling point coordinates) and drilling point coordinates that the drill robot drills in real space corresponding to the specific drilling point (calculated drilling point coordinates), wherein the drill robot drills the specific drilling point based on the manual drilling point coordinates.

[0027] The specific punching points have coordinates in the design coordinate system. The terminal can convert the coordinates of the specific punching points in the design coordinate system into coordinates in the drill robot coordinate system and provide them to the drill robot. That is, the punching point calculation coordinates can be calculated by the terminal and provided to the drill robot.

[0028] When the punching point manual coordinates corresponding to the specific punching points are set by the user, the terminal can control the drill robot to punch the specific punching points based on the punching point manual coordinates instead of the punching point calculation coordinates.

[0029] An error may occur between the punching point calculation coordinates and the actual punching point coordinates. The error can, for example, have an x-axis error value, a y-axis error value, and a z-axis error value. Correcting the error value may mean making the error value zero or the error value being removed. That is, correction values for making the x-axis error value, the y-axis error value, and the z-axis error value zero, respectively, can be calculated. The calculation of such correction values can be performed by the terminal.

[0030] The terminal is preferably provided to display a map having the space where punching is to be performed and the punching point positions, and display the completion of punching on the map after the completion of punching of the specific punching points.

[0031] As an example, a plurality of punching points to be punched may be displayed on the map displayed by the terminal. The plurality of punching points can be divided into punched and unpunched, and such division can be made by being displayed visually differently. Also, the punching points being punched can be visually distinguished and displayed differently from other punching points.

[0032] Preferably, the terminal device is equipped to provide a manual drilling mode and to drill the specific drilling point based on the manual coordinates of the drilling point in the manual drilling mode. That is, in manual drilling mode, the drill robot can drill the specific drilling point based on the manual coordinates of the drilling point rather than the calculated coordinates of the drilling point.

[0033] Preferably, the terminal device is equipped to provide an automatic drilling mode and to drill the specific drilling point based on the drilling point calculation coordinates in the automatic drilling mode.

[0034] In the manual perforation mode, the user can select one perforation point or the number of perforation points to be perforated. That is, the user can select or input the number of perforation points to be perforated in manual perforation mode via the terminal.

[0035] In the manual drilling mode, the manual coordinates of the drilling point can be set by the user manually moving the drill robot to directly teach the drill tip to the actual drilling point.

[0036] After the number of drilling points is selected in the manual drilling mode, the manual coordinates of the drilling points can be set for a reference point among the multiple drilling points by direct teaching.

[0037] After the direct teaching, it is preferable that the drill robot drills the reference point after performing verticality adjustment drive.

[0038] The coordinates of the drilling points, excluding the reference point, can be input as relative coordinates via the terminal, with the reference point as the zero point. If the drilling points form the corners of a rectangle, the coordinates of the remaining three points can be easily input by inputting the width and height of the rectangle. If the drilling points form an isosceles triangle, the coordinates of the remaining three points can be easily input by inputting the length of the base and the height.

[0039] It is preferable that, among multiple drilling points, the drilling points excluding the reference point are drilled after correcting the error value between the manually calculated drilling point coordinates and the calculated drilling point coordinates. In other words, it is preferable to use the correction value calculated when drilling the reference point to correct the calculated drilling point coordinates of the remaining drilling points so that the error value becomes 0 before drilling.

[0040] Preferably, the manual coordinates of the drilling point are set by the user displaying an intersection mark at the actual drilling point. That is, the intersection can be displayed as the point where drilling must actually take place.

[0041] According to one embodiment of the present invention, the drilling point manual coordinates may be set by directly teaching the drill tip of the drill robot to the intersection mark.

[0042] According to another embodiment of the present invention, a vision for recognizing the intersection marks may be provided. In this embodiment, the intersection marks themselves may be the setting of manual coordinates for the drilling points.

[0043] The aforementioned vision is preferably a camera capable of capturing images. Such images are provided to the user in various ways, and the user can recognize the completion of error value recognition and error value correction through the vision. Furthermore, the vision is preferably capable of sensing the distance to the wall. This is because it is preferable for the vision to be separated from the wall by a predetermined distance for image capture and error correction through the vision.

[0044] Preferably, the drill robot moves to the vision coordinates corresponding to the drilling point calculation coordinates, and then drills the corrected drilling point by reflecting the vision correction value through the vision.

[0045] Preferably, the vision coordinates are located at a predetermined distance from the drilling point calculation coordinates by a straight line. If the straight line distance is a vertical wall drilling, it is preferable that it be a horizontal straight line distance.

[0046] In other words, the drill robot moves the drill to the pre-correction vision coordinates, calculates a correction value through the vision, and then moves the drill to the new vision coordinates reflecting the correction value. It can then confirm that the error value has been corrected through the new vision coordinates. Specifically, it can confirm that the direction of the drill tip is accurately aimed at the intersection in the new vision coordinates. After this, the drill robot can move the drill forward and drill through the intersection.

[0047] Preferably, the monitor of the terminal or drill robot displays the screen captured through the vision system, and the screen displays both the pre-correction drilling point and intersection mark, and the post-correction drilling point and intersection mark. Specifically, it becomes possible to intuitively confirm through the screen the error occurrence state where the center of the vision system does not coincide with the intersection, and the error correction state where the center of the vision system coincides with the intersection.

[0048] To achieve the aforementioned objectives, according to one embodiment of the present invention, a control method for a smart drill robot is provided, which includes a drill for drilling, a drill robot that performs drilling in real space, and an external terminal that converts drilling point coordinates in a design coordinate system into drilling point coordinates in a drill robot coordinate system and remotely provides them to the drill robot, the method comprising the steps of: the terminal recognizing drilling point coordinates (manual drilling point coordinates) manually set by the user in real space in relation to a specific drilling point; the terminal correcting an error value between the drilling point coordinates (calculated drilling point coordinates) that the drill robot drills in real space in relation to the specific drilling point and the manual drilling point coordinates; and drilling the specific drilling point based on the manual drilling point coordinates.

[0049] The manual coordinates of the drilling point can be set by the user manually moving the drill robot to directly teach the drill tip to the actual drilling point.

[0050] The manual coordinates of the drilling points are set relative to a reference point among multiple drilling points, and the coordinates of the drilling points excluding the reference point can be input as relative coordinates through the terminal, with the reference point as the zero point.

[0051] Of the multiple drilling points, the drilling points excluding the reference point can be drilled by correcting the error value between the manually controlled drilling point coordinates and the calculated drilling point coordinates.

[0052] The manual coordinates of the drilling point are set by the user displaying an intersection mark at the actual drilling point, and the intersection mark can be recognized through vision.

[0053] Here, the specified drilling point can be a reference point for multiple drilling points, and drilling can be performed continuously and automatically for the remaining drilling points excluding the specified drilling point, based on the drilling point calculation coordinates for which the error value has been corrected.

[0054] The calculation of the error value, the calculation of a correction value to correct the error value, and the calculation of the corrected drilling point coordinates can be performed by the terminal device. In other words, it is preferable that the drill robot manually performs drilling based on the drilling coordinates transmitted through the terminal device, or in other words, the drilling coordinates in the robot coordinate system. [Effects of the Invention]

[0055] Through one embodiment of the present invention, a smart drill robot, a drill robot system, and a control method thereof can be provided, which enable a user to precisely manually set the drilling point and use this to perform precise automatic drilling.

[0056] Through one embodiment of the present invention, a smart drill robot, a drill robot system, and a control method thereof can be provided, which allow the user to easily manually set the drilling point and easily correct the drilling error value.

[0057] Through one embodiment of the present invention, a smart drill robot, a drill robot system, and a control method thereof can be provided that minimize the repositioning of a total station in very large-scale and long-length work environments, making them convenient to use.

[0058] Through one embodiment of the present invention, a drilling-capable smart drill robot, drill robot system, and control method thereof can be provided, which can minimize errors by setting and recognizing manual drilling points using direct teaching or vision.

[0059] Through one embodiment of the present invention, a smart drill robot, a drill robot system, and a control method thereof can be provided, which allow the user to easily select between an automatic drilling mode and a manual drilling mode depending on the work environment.

[0060] Through one embodiment of the present invention, a smart drill robot, a drill robot system, and a control method thereof can be provided that minimize errors and continuously drill multiple drilling points by setting and recognizing the drilling point manual coordinates only for a reference point among multiple drilling points in manual drilling mode.

[0061] Through one embodiment of the present invention, a smart drill robot, a drill robot system, and a control method thereof can be provided that enables precise drilling in a work site where a drilling pattern is repeated with a constant relative position between a number of drilling points, and in which the operator can intuitively perform drilling command operations via an external terminal. [Brief explanation of the drawing]

[0062] [Figure 1] This figure shows the configuration of a smart drill robot system according to one embodiment of the present invention. [Figure 2] This figure illustrates a smart drill robot according to one embodiment of the present invention. [Figure 3] An example of a control method for a smart drill robot according to one embodiment of the present invention is shown in the figure. [Figure 4] An example of the screen of a terminal device according to one embodiment of the present invention is shown in the figure. [Figure 5] Figure 4 shows a magnified view of the perforation point spreadsheet. [Figure 6] This diagram illustrates an example of selecting a reference point after four drilling points have been chosen. [Figure 7] This diagram illustrates an example of inputting the coordinates of the drilling points, excluding the reference point, when drilling four points. [Figure 8] This diagram illustrates the process of drilling using vision technology. [Figure 9] This diagram illustrates an example of a screen that allows for error verification and error correction using the Vision feature. [Modes for carrying out the invention]

[0063] In the following, a smart drill robot, a drill robot system, and a control method according to one embodiment of the present invention will be described in detail with reference to the attached drawings.

[0064] Figure 1 is a block diagram of the configuration of a smart drill robot system according to one embodiment of the present invention.

[0065] A smart drill robot system may include a terminal unit 100, a smart drill robot 200, and a total station 300. The terminal unit 100 can be remotely connected to the robot 200 and the total station 300 for communication.

[0066] Preferably, the total station 300 is installed at the work site separately from the robot 200, and the terminal 100 is provided for the worker to carry. That is, it is preferable that the terminal 100 is provided physically separately from the robot 200, and that the worker carrying the terminal 100 is also positioned at a distance from the robot 200.

[0067] Therefore, the terminal 100 can remotely provide the smart drill robot 200 with necessary information and control commands. In other words, the operator can remotely control the robot 200 through the terminal 100. For this reason, the terminal 100 can be called an external terminal. Therefore, the external terminal 100 is distinct from any screen or monitor that may be provided on the smart drill robot.

[0068] Drilling is performed using design drawings. The ceiling, wall, or column where drilling will be carried out is shown on the design drawings, and the drilling points may be indicated on the ceiling, wall, or column. Design drawings can be two-dimensional, but recently, for large-scale facilities, they are often created as three-dimensional drawings.

[0069] The drilling points must be drilled at the designed location and with the designed size and depth; that is, the drilling must be carried out according to the pre-defined drilling conditions.

[0070] Design drawings containing pre-configured drilling conditions can be recognized through the terminal device 100. The terminal device 100 can display design drawings corresponding to the space where the work is to be performed. It can also recognize and extract drilling point information contained in the design drawings.

[0071] The drilling point information and drilling conditions are transmitted from the terminal device to the drill robot 200, and the drill robot 200 performs automatic drilling based on the transmitted information.

[0072] The coordinates shown in the drawing and the coordinates in real space must be mapped. This is because the drill robot 200 will realize the drilling point based on the design coordinate system as a drilling point based on the actual coordinates. On the other hand, the drill robot 200 will operate based on its own coordinates, i.e., the drill robot coordinate system. Since the drill robot 200 itself is movable and rotatable, the coordinates of the drill robot's reference point are variable in the actual coordinate system. However, the coordinates of the drill robot's reference point are fixed in the drill robot coordinate system. Therefore, the actual coordinates and the drill robot coordinate system must be mapped, or the design coordinate system and the drill robot coordinate system must be mapped.

[0073] A total station 300 may be provided for mapping the design coordinate system to the actual coordinate system and for mapping the actual coordinate system to the drill robot coordinate system. The total station 300 may be located on the bottom surface in real space and fixed in a state supported by the bottom surface.

[0074] The total station 300 does not need to be modified for application to one embodiment of the present invention. In other words, an existing total station 300 can be used as is.

[0075] The total station 300 may include a control unit 310 for basic control, a measuring unit 320, an operating unit 330, and a communication unit 340. The measuring unit 320 may be provided to sight or track the object to be measured and obtain its positional information. Positional information can be obtained by shining a laser onto the prism of the object to be measured.

[0076] Location information obtained by the total station 300 can be transmitted to the terminal device 100 via the communication unit 340.

[0077] The Total Station 300 sights three reference points in real space, maps the coordinate information obtained through sighting with known coordinate information, and maps the design coordinate system to the actual coordinates. In other words, it can determine the transformation matrix for mapping the design space and the real space.

[0078] The drill robot 200 is located in real space. The reference point of the drill robot can be set through a prism 202 that moves in conjunction with the drill robot, particularly robot 250. The total station 300 can sight the prism 202 and obtain the coordinate information obtained through sighting. The terminal 100 can obtain the real-space coordinates of the prism 202 through the coordinate information of the prism. Furthermore, the terminal 100 can obtain the coordinates of the prism 202 in design space by using a transformation matrix between the design coordinate system and the actual coordinates.

[0079] On the other hand, the drill robot 200 is not a device that is always fixed to the bottom. That is, the drill robot 200 is a device that can move, and in particular, can rotate. However, when drilling, the drill robot 200 is fixed to the bottom surface, and it can be said that only the robot moves. Therefore, even if the position of the prism 202 of the drill robot 200 is known, it is necessary to know the attitude of the drill robot 200, and more specifically, the azimuth angle.

[0080] The Total Station 300 uses a drill robot to sight three reference points, maps the coordinate information obtained through sighting to the coordinate information known in the drill robot's coordinate system, and then maps the actual coordinates to the robot's coordinate system.

[0081] By obtaining the real-space coordinates for three reference points using the total station 300, a transformation matrix can be obtained for mapping real space to the drill robot space. In this case, the reference points in the drill robot coordinate system can be prisms attached to the drill robot, and the prisms can be moved by the robot's drive to three reference points that are predetermined and distinct from each other on the predetermined drill robot coordinate system.

[0082] In essence, the total station 300 transmits coordinate information obtained through sighting to the terminal 100, which then performs the mapping.

[0083] The terminal 100 may include a control unit 110, a communication unit 120, and a display unit 130. The control unit 110 may include a processor for performing various calculations and control flows.

[0084] The communication unit 120 includes a communication module for communicating with the drill robot 200 and the total station 300, and the communication module may be provided in multiple units depending on the communication method.

[0085] The communication unit 120 includes a communication module for wireless communication with the total station 300, and specifically may include a long-range communication module. For example, it may include a communication module capable of communicating via radio frequencies.

[0086] The communication unit 120 may include a communication module for wireless communication with the drill robot 200. Specifically, it may include a Wi-Fi communication module and a Bluetooth® communication module as short-range communication modules. Of course, the type of communication module may be changed.

[0087] The display unit 130 may include an operation unit function that can be operated by the operator by clicking or touching. Of course, the display unit may also include a display function for visually displaying information. Therefore, the display unit can also be said to be a user interface (UI) for inputting information and commands and displaying information and status. The display unit can display design drawings, i.e., maps. Furthermore, as will be described later, it can display drilled points on the map where drilling has been completed.

[0088] The drill robot 200 will be described in more detail below with reference to Figures 1 and 2.

[0089] The drill robot 200 may include a drill 230 and a control unit 210. The control unit 210 may be provided independently of the operation control of the drill 230. That is, the operation control of the drill 230 may be performed through the terminal unit 100.

[0090] The communication unit 220 of the drill robot may be configured to communicate with the communication unit 120 of the terminal device, and may include a Wi-Fi communication module and a Bluetooth communication module.

[0091] The drill robot 200 may include an operating unit 240. The operating unit 240 may include an operating unit for supplying power to the drill robot, and, if necessary, an operating unit for operating the lifting device 260 and the moving device 270, which will be described later. The operating unit 240 may be provided on the main body 201 of the drill robot 200, and may be connected to the main body 201 by wire or wireless. Of course, both the operating unit 240 provided on the main body 201 and the operating unit 240 connected to the main body 201 by wire or wireless are possible, in which case the functions of each operating unit may differ from each other.

[0092] For example, an operating unit connected to the main unit 201 by wire or wireless may be configured to command the movement of the mobile device 270 and the raising and lowering of the lifting device 260, and an operating unit attached to the main unit 201 may be provided separately from the terminal to monitor the operation of the drill robot 200 and issue an emergency stop command in an emergency situation.

[0093] Drilling requires not only rotation of the drill but also movement of the drill in the direction of the drilling depth. Furthermore, there may be more than one drilling point. Therefore, the position of the drill needs to be controlled in three axes. Accordingly, in this embodiment, it is preferable that the drill robot 200 includes a robot 250 for adjusting the position of the drill.

[0094] The robot 250 can adjust the position of a drill mounted on an end arm through multiple arms. Joints may be provided between the robot arms. That is, the position of the drill can be varied through rotational displacement at the joints. The position of the drill can be determined through a combination of rotational displacements of multiple joints. More specifically, the position of the drill tip 231 can be determined. Such a robot 250 can be realized as a collaborative robot.

[0095] Specifically, the robot 250 may include multiple arms (arm, 251) and joints 252 between the arms. The robot 250 may include three arms. The first arm may be connected to the main body 201, and the last arm (end arm) may be connected to the drill 230. The robot 250 is driven in six axes to move the drill 230 to the drilling position and can move the drill horizontally or vertically during drilling to perform the drilling. That is, the drill 230 is fixed to the end arm through a bracket 205, and the drill 230 can be moved tertiarily by driving the robot 250.

[0096] For precise drill position control, the drill's position must be accurately known. A prism 202 is provided for position tracking, and such a prism 202 must move in conjunction with the drill 230. That is, relative positional changes between the two must be eliminated. Therefore, it is preferable that the drill and the prism 202 be fixed together to the end arm. A rigid bracket 205 may be used to fix the prism.

[0097] The end of the robot 250 can be controlled to move relative to the drill robot coordinate system. That is, the end of the robot 250 can be moved to a precise desired position in three dimensions. Since a rigid bracket 205 is connected to the end of the robot 250, the prism 202 and drill 230 fixed to the rigid bracket 205 can also be moved to precise positions.

[0098] On the other hand, although not shown in the diagram, the drill robot 200 can be equipped with a variety of additional configurations. For example, it may include a vacuum cleaner that can suck up dust and other debris generated during drilling. The suction nozzle can be provided so as to surround the drill, and the suction nozzle can be made elastically deformable. That is, the suction nozzle will be in close contact with the area around the drilling point and will be compressed to maintain its contact as the drill moves upward during drilling. Therefore, dust generated during drilling can be drawn into the vacuum cleaner body through the suction nozzle.

[0099] The vacuum cleaner's operation can be synchronized with the drill's operation. That is, the vacuum cleaner can start suction as soon as the drill starts rotating. Since residual dust may remain after the drill stops rotating, the vacuum cleaner may be stopped a short time after the drill stops rotating.

[0100] The drill robot 200 may include a lifting device 260. The ceiling height at which drilling is performed can vary depending on the work site. Therefore, the height that the robot 250 can cover is inevitably limited. Consequently, a lifting device 260 is necessary to allow the reference position of the robot 250 to be raised or lowered.

[0101] The structure of the lifting device 260 may be the same as or similar to that of a high-altitude work platform. For example, the lifting device 260 may be a scissor-type lifting device or a telescopic-type lifting device. The lifting device 260 can be raised and lowered electrically. The lifting device may be located between the robot 250 and the main body 201. In addition, the current height difference between the main body 201 and the robot 250 due to the lifting device 260, i.e., the change in the robot's reference height due to the lifting device, can be displayed on the terminal (see Figure 4).

[0102] The drill robot 200 may include a moving device 270. The area of ​​the real space where drilling is performed may be large, and the area that can be covered by a fixed drill robot 200 is inevitably limited. Therefore, a moving device that can move the reference position of the robot 250 horizontally is necessary.

[0103] The moving device 270 may include wheels, and the drill robot can be moved by gripping the handle and pushing or pulling it.

[0104] On the other hand, the moving device may include a continuous track. Because the continuous track has a relatively large contact area with the bottom surface, stable movement is possible. In addition, because it can stably support the drill robot in a fixed state, vibrations that may occur during drilling or while the robot 250 is moving can be significantly reduced. Furthermore, because the continuous track has a very large contact area with the bottom surface, the influence of the condition of the bottom surface (construction errors or contamination) can be relatively greatly reduced.

[0105] The drill robot 200 may include a sensor 280. The sensor 280 may be a vision sensor, and details about vision sensors will be described later.

[0106] The drill robot 200 may include a horizontal adjustment device 290. The horizontal adjustment device 290 may be provided to sense the horizontality of the drill robot 200 itself. Depending on the condition of the bottom surface, the drill robot may tilt slightly. That is, the base of the robot may tilt. Such slight tilts can be amplified and cause large errors during actual drilling. Also, slight tilts mean that the robot performs drilling in an unstable state. This can lead to a decrease in the durability of the robot. Therefore, the horizontal adjustment device 290 may be provided to sense the horizontality of the drill robot and maintain the horizontality of the robot 250. It is preferable to perform drilling with the robot 250, in particular the base of the robot, maintaining a horizontal position through the horizontal adjustment device 290.

[0107] Specifically, the horizontal adjustment device 290 is provided between the robot 250 and the lifting device 260, and may be provided to ensure that the robot 250 maintains a horizontal position despite the inclination of the main body 201 and the lifting device 260. The horizontal adjustment device 290 is driven through its own actuator, and may be controlled to ensure that the drilling is performed with the base of the robot 250 maintaining a horizontal position.

[0108] The following describes in detail, with reference to Figures 3 to 9, a control method for a smart drill robot and system according to one embodiment of the present invention.

[0109] According to this embodiment, a manual drilling mode can be provided in which drilling is performed automatically after correcting the drilling point information in the drawing using drilling point information manually set by the user. Of course, according to this embodiment, an automatic drilling mode can also be provided in which drilling is performed automatically based on the drilling point information in the drawing.

[0110] The manual puncture mode can be started (S10) by input or selection via the user's terminal 100.

[0111] Figure 4 illustrates an example of a terminal device's display screen.

[0112] A map for performing drilling operations may be displayed in the left-hand area of ​​the display 130. Drilling points may be displayed on the map. Drilling points may be displayed in different colors before drilling, during drilling, and after drilling is complete. The current position of the total station may also be displayed in the left-hand area of ​​the display within the map. An icon for the total station may be displayed superimposed on the map. Preferably, the current position of the drill robot may be displayed within the map. An icon for the drill robot may be displayed superimposed on the map.

[0113] The upper area of ​​the display 130 may be equipped with menus for performing preliminary procedures for drilling operations. For example, menus may be provided for communication linking between the terminal and the total station, communication linking between the terminal and the drill robot, opening work drawings, and mapping drawing coordinates to real-space coordinates. In addition, there may be a menu for checking drillable points at the current robot position and an automatic drilling menu 141 for commanding the robot to automatically drill at drillable points. Through the selection of the automatic drilling menu 141, the drill robot will automatically drill at the drilling points based on the calculated drilling point coordinates.

[0114] The right-hand area of ​​the display may show the coordinates of the drilling points. The coordinates, status, and name of the drilling points may be displayed in a spreadsheet format. The top three rows of the spreadsheet may display the coordinates of three reference points for mapping the design coordinate system to real-space coordinates.

[0115] As illustrated, there are multiple drilling points in the space that currently needs to be drilled, and one method of drilling these points is manual drilling mode.

[0116] The perforation mode can be selected not only through the aforementioned automatic perforation menu 141 on the display, but also through separate mode menus 142 and 143. The user can select manual perforation, i.e., manual perforation mode 142, through the mode menu. The user can also select selected point perforation mode 143 through the mode menu. Selected point perforation mode 143 is for perforating a single point. Therefore, for example, to perforate three points using selected point perforation mode, the user can select selected point perforation mode for each point.

[0117] The manual drilling mode may be a mode in which the user can select the number of drilling points to be drilled. In other words, it may be a mode for multi-point drilling. Unlike the automatic drilling mode, drilling in manual drilling mode is not performed according to the calculated drilling point coordinates.

[0118] Specifically, when automatic drilling mode is selected, the terminal converts the drilling point coordinates on the map into coordinates in the drill robot coordinate system and transmits them to the drill robot. The drill robot moves itself using the transmitted coordinate information to perform drilling. Multiple drilling points can be drilled sequentially. In particular, unless otherwise instructed by the user, the drill robot can sequentially drill points that are drillable at its current location. The status of a drilling point can be displayed as "Scheduled," "In Progress" while drilling is in progress, and "Completed" after drilling is finished. The status of drilling points can be clearly distinguished by using different text and background colors.

[0119] As mentioned above, in automatic drilling mode, the actual drilling position will have errors due to various factors such as total station errors, robot arm errors, and construction errors. In this embodiment, a manual drilling mode can be provided as a way to eliminate or significantly reduce such errors.

[0120] The aforementioned manual drilling mode is highly effective for precise drilling of vertical walls, particularly columns, where drilling points repeatedly form the same pattern on each vertical wall. For example, in a work site where columns are formed at regular intervals and each column has the same number of drilling points with the same pattern, the user can intuitively and easily issue drilling commands via an external terminal, and highly precise drilling can be performed.

[0121] The manual puncture mode can be started (S10) by the user selecting the manual puncture mode.

[0122] The user can manually set the drilling point coordinates to correspond to specific drilling points on the map. In other words, the user can set the location where the actual drilling must be performed. The setting method may involve displaying intersection marks at the drilling points. In other words, the user can manually set the drilling point coordinates (manual drilling point coordinates) in real space. Because the user directly sets the actual drilling point location at the work site, the manual drilling point coordinates can be set with great accuracy.

[0123] On the other hand, the drill robot will operate to drill holes corresponding to specific drilling points. That is, it will operate to drill holes at the drilling point coordinates (calculated drilling point coordinates) that it has set in real space, corresponding to specific drilling points designated on the drawing. However, the calculated drilling point coordinates will have errors from the actual drilling points that need to be drilled due to the various reasons mentioned above. In other words, drilling using the calculated drilling point coordinates as they are is equivalent to drilling in the automatic drilling mode described above.

[0124] As an example, as shown in Figure 5, the name and xyz coordinates of a specific drilling point may be p100, 19500, 6600, and 2500, respectively. In automatic drilling mode, drilling is performed at the specific drilling point using the calculated drilling point coordinates, but errors may occur. In manual drilling mode, drilling is performed at the specific drilling point using the manual drilling point coordinates set by the user, thus eliminating or significantly reducing errors.

[0125] In manual drilling mode, the error value between the manually calculated drilling point coordinates and the calculated drilling point coordinates is corrected, and the specific drilling point is drilled based on the manually calculated drilling point coordinates. Therefore, drilling can be performed with great precision, eliminating or significantly reducing the occurrence of errors.

[0126] If the coordinates of the drilling point that actually needs to be drilled are (A, B, C), the user can set the coordinates (A, B, C) as the manual drilling point coordinates. As described later, manual drilling point coordinate setting can be performed by directly teaching the coordinates (A, B, C) or by marking them. Even if errors occur with such manual drilling point coordinate setting, they are at a level that can be easily ignored.

[0127] On the other hand, if the coordinates of the drilling point that actually needs to be drilled are (A, B, C), the calculated drilling point coordinates could be (A+a, B+b, C+c). That is, when drilling based on the calculated drilling point coordinates, an error of (a, b, c) may occur. Such an error may be at a level that cannot be ignored. Here, if the robot drills at coordinates (A, B, C) despite the coordinates being (A+a, B+b, C+c), the robot can recognize the error (a, b, c). That is, it can correct the error value, and through such error value correction, it can drill subsequent drilling points.

[0128] Once drilling at a specific point is complete, the corresponding point on the display may be shown as "completed." In other words, the "scheduled" display for the p100 drilling point changes to "completed."

[0129] The manual setting of drilling point coordinates can be performed in various ways. For example, the manual setting of drilling point coordinates can be performed through direct teaching.

[0130] Direct teaching can involve aiming the drill tip at the actual location corresponding to a specific drilling point. That is, the user can manually move the robot so that the drill tip contacts the actual location where drilling must occur. At this time, the drill robot can recognize the point of contact as part of its own coordinate system. Of course, the terminal device can also recognize the coordinates of the point of contact. Setting the drilling point manually through such direct teaching eliminates errors and allows for precise drilling.

[0131] Manually setting the coordinates of drilling points through direct teaching can be used to set a single drilling point or multiple drilling points.

[0132] Preferably, the step of inputting the number of perforations in manual perforation mode (S20) can be performed.

[0133] During the perforation point input stage, for example, the user can choose to perforate one point or four points. Of course, it may also be possible to set different numbers of perforations.

[0134] As mentioned above, drilling patterns for large-scale structures can be repetitive. For example, the positions of columns may be set regularly and repeatedly, and the number and position of drilling points may be identical for each column. Therefore, there is a need to provide a control method for smart drill robots and systems that is easy to use while eliminating errors in such work environments.

[0135] Figure 5 is an enlarged view of the spreadsheet containing the drilling point information shown in Figure 4.

[0136] It can be seen that the perforations p100~p103 are four perforations that form a square in the yz plane with x coordinates of 19500, and the perforations p104~p107 are four perforations that form a square in the yz plane with x coordinates of 19500. In other words, the four perforations form a set, and adjacent sets of four perforations are formed 4.6m apart in the y direction. Assuming that one set of perforations forms a perforation horizontally in one column, the two columns are formed side by side with a distance of 4.6m between them, and the perforations on each column are in the same position.

[0137] Figure 6 shows an example of a guidance screen displayed on the terminal's screen after four-point drilling is selected. Such guidance screens may be displayed as pop-up windows.

[0138] As illustrated, four-point drilling is selected, and the four drilling points can be the vertices of a square or rectangle. Such drilling patterns can be repeated for each column. Therefore, the coordinates of the drilling points relative to the column coordinates can be shown identically for each column.

[0139] As an example, the user can select the leftmost drilling point from the four drilling points as the reference point. Of course, the leftmost drilling point can be pre-set as the reference point. The user can direct the drill tip to aim at the reference point in real space through direct teaching. Once direct teaching is complete, the user can input completion. In this process, the reference point is recognized (S30).

[0140] After direct teaching is complete, the drill robot performs verticality adjustment drives. That is, it performs drives to drill perpendicular to the wall surface to be drilled. Of course, verticality adjustment drives can also be performed by disengaging the drill tip from the actual drilling point.

[0141] On the other hand, by setting a reference point corresponding to a specific drilling point through direct teaching using the drilling point manual coordinates (S30), the error value between the drilling point manual coordinates and the drilling point calculated coordinates can be recognized, and this error value can be corrected. In other words, the current drilling point calculated coordinates can be corrected by correcting the error value. In other words, a correction value can be calculated. Such error value calculation and correction value calculation can be performed by the drill robot, but it would be more preferable to perform them on a terminal device.

[0142] The calculated correction values ​​can be used for drilling other drilling points. Therefore, separate direct teaching may not be necessary for drilling the other three drilling points, excluding the reference point shown in Figure 6.

[0143] As shown in Figure 7, the coordinates of the other drilling points can be easily set by inputting only the y-axis displacement and / or z-axis displacement on the plane, using the reference point as the coordinate reference (S40). In other words, if the four drilling points form a rectangle, by inputting only the width and height using the reference point as the coordinate reference, the drilling coordinates for the remaining three drilling points can be set (S40).

[0144] For example, the p102 drilling point shown in Figure 5 becomes the reference point located at the lower left end of the rectangular drilling points, and the coordinates of the remaining drilling points such as p100, p101, and p103 can be easily set by inputting only the width and height.

[0145] Here, a rectangular perforation point is just one example, and it can be seen that this method can be applied to various shapes and numbers of perforations. For example, in the case of three perforations forming an isosceles triangle, it can be seen that the coordinates of the remaining two points, excluding the reference point, can be easily set by inputting the length of the base and height of the isosceles triangle.

[0146] By directly teaching the reference point in manual drilling mode and setting the coordinates for the remaining drilling points, the drill robot will compensate for the error value and perform drilling (S50), thus enabling highly accurate drilling.

[0147] Once drilling is complete, the drilled points will be displayed on the map (S60).

[0148] In manual drilling mode, setting the manual coordinates of the drilling point can be performed by the user displaying an intersection mark at the actual drilling point location. Such an intersection mark can be recognized through vision (S30).

[0149] Figure 8 provides a detailed explanation of the manual coordinate setting and drilling method for drilling points using vision.

[0150] The drill robot may be equipped with a vision 280, preferably mounted on a bracket. That is, the vision 280 and the drill 230 may be mounted on a bracket 205. The drill direction and the projection direction of the vision may not be aligned, but it is preferable that the drill direction and the projection direction are parallel for more precise error value calculation and correction value calculation.

[0151] The vision device is preferably mounted near the drill and positioned at a distance greater than the length of the drill tip from the wall surface being drilled. It may be a camera that captures video images and may be configured to capture an area wider than the allowable error range of the distance between the vision device and the wall surface during drilling.

[0152] As illustrated in Figure 8, the same number and location of drilling points can be shown in the same pattern on the perforated wall surface, particularly for each column. Therefore, the user can visually indicate the actual drilling points for each column in advance using intersection marks.

[0153] Intersection marks are represented by two intersecting lines and represent points where holes must actually be drilled. For example, a user can display four intersections, or intersection marks, by displaying four lines. Here, the displayed intersections are the drilled points shown on the map. For example, the drilled points shown in Figure 8(a) could be the p100-p103 drilled points shown in Figure 5.

[0154] The drill robot will move to a position corresponding to a specific drilling point in order to drill at that point. At this time, the drill robot will be driven using the drilling point calculation coordinates mentioned above. In other words, the tip of the drill bit will be moved to the position of the drilling point on the drawing. Specifically, rather than the drilling point calculation coordinates, for example, the vision will move the drill bit to a position that is a predetermined distance away in the x-axis direction on the drilling plane (zy).

[0155] Figure 8(a) illustrates the drill robot moving to the drilling point and the drill tip and vision looking at the drilling wall surface. The green line (top line) indicates the direction the vision is pointing, and the red line (bottom line) indicates the direction the drill is pointing.

[0156] The vision system may be equipped to sense the distance to the wall. To correct for errors, it is preferable that the distance between the vision system and the wall is pre-set. For example, when the drill robot has moved to the drilling point, the distance between the wall and the vision system may be pre-set to 30 cm. These coordinates can be called vision coordinates. It is preferable that the drill robot receives feedback of the distance value to the wall sensed by the vision system and is driven to move the drill tip to the drilling point position on the drawing, so that the vision system is at the pre-set distance from the wall.

[0157] After moving the drill tip to the position of the drilling point on the drawing, the drill robot starts driving to calculate the correction value.

[0158] Figure 8(b) shows the drive mechanism for moving the vision to the actual drilling location, i.e., the intersection mark location. Due to the error between the manually calculated drilling point coordinates and the calculated drilling point coordinates, the center of the vision and the center of the crosshairs will no longer coincide. When the vision is moved to the intersection mark location, the difference between the center of the vision and the center of the intersection mark can be calculated. That is, the error value can be determined. Subsequently, the vision's center is moved by the error value to align with the center of the intersection mark. The error between the vision's center and the intersection mark's center is calculated again, and the error value is calculated again. In other words, by iteratively calculating and correcting the error value, the precision can be significantly increased.

[0159] Once the correction value is calculated through the vision system, the drill robot applies the correction value and moves the tip of the drill bit to the drilling position. In other words, the correction value is applied to the drilling point calculation coordinates to generate new drilling point calculation coordinates, and the drill bit moves according to these new drilling point calculation coordinates.

[0160] Figure 8(c) shows the drill after it has moved to the corrected drilling point. You can see that the position the drill is pointing to coincides with the point marked with an intersection.

[0161] Figure 8(d) illustrates how drilling is performed using the correction value.

[0162] On the other hand, drilling at the remaining drilling points can also be carried out through the same process. That is, for the remaining drilling points, the process can be sequentially carried out by moving to the drilling point on the drawing, calculating the vision correction value, moving to the corrected drilling point, and then drilling.

[0163] Figure 9 illustrates an example of a screen that allows the user to intuitively confirm the correction using vision.

[0164] The image captured by the vision can be displayed on the terminal or the control unit 240. Figure 9(a) shows a screen where the intersection and the center of the vision do not coincide, allowing the user to intuitively recognize the error value through the screen. Figure 9(b) shows a screen where the intersection and the center of the vision coincide, allowing the user to intuitively recognize that the error has been corrected through the screen.

[0165] On the other hand, when using vision, the flow shown in Figure 3 can be applied as follows.

[0166] The perforation point input step (S20) can be omitted or applied identically. Then, in the direct teaching perforation reference point recognition step (S30), the perforation reference point can be recognized by the vision recognizing the intersection. In this case, when using vision, all perforations displayed by the user through the intersection can be reference points.

[0167] At the reference point, the other drilling point position input stage (S40) can be replaced by a stage where errors are corrected using vision. Through vision, the error between the actual drilling point coordinates and the calculated drilling point coordinates can be confirmed and corrected. Such a correction process can be performed iteratively to achieve more accurate drilling.

[0168] Once drilling is complete, the completion indicator for that drilling point can be displayed on the map (S60).

[0169] Of course, when using the vision system, the perforation point input stage (S20) is performed, and as an example, the intersection can be displayed at only one of the four perforation points. Subsequently, the stage of inputting the positions of the other perforations at the reference point (S40) is performed first, and then the vision system can perform perforation reference point recognition (S30) and error correction. After that, automatic perforation can be performed sequentially for the four perforations. The reference point perforation may be performed using the correction value from the vision system, and the remaining perforations may be performed using the width and height that have been entered in advance. [Industrial applicability]

[0170] This is described in the detailed description of the invention.

Claims

1. A drill robot equipped with a drill for drilling and performing drilling in real space; and The system includes an external terminal that converts the drilling point coordinates in the design coordinate system to the drilling point coordinates in the drill robot coordinate system and provides them remotely to the drill robot, and corrects the error value between the manually set drilling point manual coordinates and the drilling point calculated coordinates that the drill robot drills in real space corresponding to the reference point, by allowing the user to display an intersection mark in real space corresponding to the reference point. A smart drill robot system characterized in that the drill robot drills the reference point based on the manually controlled drilling point coordinates, and drills the drilling points excluding the reference point from a plurality of drilling points based on the calculated drilling point coordinates and the error value.

2. The smart drill robot system according to claim 1, wherein the terminal device is configured to display a map having the space in which drilling is performed and the location of the drilling point, and the completion of drilling is displayed on the map after the completion of drilling at the drilling point.

3. The smart drill robot system according to claim 1, characterized in that the terminal device provides a manual drilling mode, drills the reference point based on the manual coordinates of the drilling point in the manual drilling mode, and drills the drilling points excluding the reference point from a plurality of drilling points based on the calculated coordinates of the drilling point and the error value.

4. The smart drill robot system according to claim 3, characterized in that the terminal device provides an automatic drilling mode and is configured to drill based on the drilling point calculation coordinates in the automatic drilling mode.

5. The smart drill robot system according to claim 3, characterized in that the number of drilling points, including the reference point, can be selected in the manual drilling mode.

6. The smart drill robot system according to claim 5, characterized in that in the manual drilling mode, the manual coordinates of the drilling point are set by the user manually moving the drill robot to directly teach the drill tip to the actual drilling point corresponding to the reference point.

7. The smart drill robot system according to claim 6, characterized in that, after a number of drilling points is selected in the manual drilling mode, the manual coordinates of the drilling points are set for the reference point among the multiple drilling points by direct teaching.

8. The smart drill robot system according to claim 7, characterized in that, after direct teaching, the drill robot performs verticality adjustment drive and then drills the reference point.

9. The smart drill robot system according to claim 7, characterized in that the coordinates of the drilling points, excluding the reference point, are input as relative coordinates via the terminal device, with the reference point as the zero point.

10. The smart drill robot system according to claim 3, characterized in that the manual coordinates of the drilling point are set by the user displaying an intersection mark at the actual drilling point corresponding to the reference point.

11. The smart drill robot system according to claim 10, characterized in that it is equipped with vision for recognizing the aforementioned intersection marks.

12. The smart drill robot system according to claim 11, characterized in that the drill robot moves to the vision coordinates corresponding to the drilling point calculation coordinates, and then drills the corrected drilling point by reflecting the vision correction value through the vision.

13. The smart drill robot system according to claim 12, characterized in that the vision coordinates are located at a position that is a predetermined distance away from the drilling point calculation coordinates by a straight line.

14. The smart drill robot system according to claim 12, characterized in that the monitor of the terminal or drill robot displays a screen captured through the vision.

15. A control method for a smart drill robot, which includes a drill for drilling, a drill robot that performs drilling in real space, and an external terminal that converts the drilling point coordinates in the design coordinate system to the drill robot coordinate system and provides them remotely to the drill robot, The terminal recognizes the manually set drilling point coordinates by having the user display an intersection mark in real space corresponding to a reference point; The terminal device corrects the error value between the calculated drilling point coordinates and the manually drilling point coordinates, which correspond to the aforementioned reference point and are drilled by the drill robot in real space; and A method for controlling a smart drill robot, comprising the steps of: drilling a reference point based on the manual coordinates of the drilling point; and drilling the drilling points excluding the reference point from a plurality of drilling points using the error value between the manual coordinates of the drilling point and the calculated coordinates of the drilling point.

16. The control method for a smart drill robot according to claim 15, characterized in that the manual coordinates of the drilling point are set by the user manually moving the drill robot and directly teaching the drill tip to the actual drilling point corresponding to the reference point.

17. A control method for a smart drill robot according to claim 16, characterized in that the manual coordinates of the drilling points are set with respect to the reference point among a plurality of drilling points, and the coordinates of the drilling points excluding the reference point are input as relative coordinates via the terminal device with the reference point as the zero point.

18. The control method for a smart drill robot according to claim 15, characterized in that the manual coordinates of the drilling point are set by the user displaying an intersection mark at the actual drilling point corresponding to the reference point, and the intersection mark is recognized through vision.

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