A construction device with a seismic source and its positioning method

Abstract

The present invention provides a construction device with a vibration source and a positioning method thereof. Among them, a construction device with a vibration source includes a fixed platform; a moving component installed on the fixed platform; a vibration source execution part arranged at the execution end of the moving component; and a radar module installed on the fixed platform and separated from the moving component. By separating the radar module and the moving component, that is, the vibration source execution part, the present invention extends the energy transfer path between the vibration source execution part and the radar module, effectively weakens the influence of the vibration energy of the vibration source execution part on the radar module, thereby effectively avoiding damage to the radar module due to the vibration energy of the vibration source execution part during the operation of the vibration source execution part, effectively extending the service life of the radar module, and ensuring the working efficiency of the construction device.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery, and particularly relates to a construction device with a vibration source and a positioning method thereof. Background Art

[0002] During operation, a construction device needs to be accurately measured and positioned through devices such as radar to achieve precise control of the construction device and meet the construction quality requirements. However, the radar is easily damaged, especially for a construction device with a vibration source. Since the radar is sensitive to the vibration source, how to install a radar on a construction device with a vibration source and effectively avoid damage to the radar is an urgent problem to be solved. Summary of the Invention

[0003] Aiming at the deficiencies of the prior art, the first object of the present invention is to provide a construction device with a vibration source, which can effectively reduce the influence of vibration on the radar module, and while realizing the positioning of the vibration source execution part by the radar module, effectively extends the service life of the radar module.

[0004] The second object of the present invention is to provide a positioning method for a construction device with a vibration source, which can achieve precise positioning of the vibration source execution part through the radar module.

[0005] The embodiments of the present invention are realized through the following technical solutions:

[0006] A construction device with a vibration source includes: a fixed platform; a moving component installed on the fixed platform; a vibration source execution part arranged at the execution end of the moving component; and a radar module installed on the fixed platform and separated from the moving component.

[0007] According to a preferred embodiment, the construction device further includes an adjustment component arranged on the fixed platform, and the radar module is arranged on the adjustment component; the adjustment component is separated from the moving component; the adjustment component is used to adjust the spatial position of the radar module to avoid spatial interference with the moving component.

[0008] According to a preferred embodiment, the adjustment component includes a first driving part and a radar column hinged on the fixed platform, and the radar module is installed on the radar column; the first driving part is used to drive the radar column to switch between a working posture and a storage posture by rotating relative to the fixed platform.

[0009] According to a preferred embodiment, a limiting component is arranged on the fixed platform; when the radar column is in the working posture, the radar column abuts against the limiting component.

[0010] According to a preferred embodiment, the first driving member is a first telescopic member, the first end of the first telescopic member is hinged to the fixed platform, and the second end of the first telescopic member is hinged to the radar column through an overshoot member.

[0011] According to a preferred embodiment, the overshoot member includes an input flange, an output flange, a guide post, an elastic member and a pressing plate, wherein: one end of the guide post is fixedly connected to the input flange, and the other end is fixedly connected to the pressing plate. The output flange is disposed between the pressing plate and the input flange, and the guide post passes through the output flange and is slidably connected thereto; the second end of the first telescopic member is connected to the input flange; the elastic member is disposed between the output flange and the pressing plate, and when the pressing plate and the output flange approach each other, the elastic member can be compressed by the output flange and the pressing plate.

[0012] According to a preferred embodiment, the radar module includes a lidar and a leveling assembly. The leveling assembly is mounted on the radar column, and the lidar is disposed on the leveling assembly.

[0013] According to a preferred embodiment, the leveling assembly includes a mounting seat and a radar seat, wherein: the mounting seat is disposed on the radar column; the radar seat is located above the mounting seat, and at least two second telescopic members are disposed between the radar seat and the mounting seat. One end of the second telescopic member is hinged to the radar seat, and the other end is hinged to the mounting seat; the lidar is mounted on the radar seat, and an electronic gyroscope is disposed on the radar seat.

[0014] According to a preferred embodiment, two second telescopic members and a fixed-length rod are disposed between the radar seat and the mounting seat. One end of the fixed-length rod is hinged to the mounting seat, and the other end is hinged to the radar seat.

[0015] According to a preferred embodiment, a storage box and a first limiting member are disposed on the fixed platform, and a first limiting groove is configured on the first limiting member; when the radar column is in the storage posture, the radar column is embedded in the first limiting groove, and the radar module is embedded in the storage box.

[0016] According to a preferred embodiment, the limiting assembly includes a limiting plate, a second limiting member is disposed on the limiting plate, and a second limiting groove is configured on the second limiting member; when the radar column is in the working posture, the radar column is embedded in the second limiting groove.

[0017] A positioning method for a construction device with a seismic source, which is applied to the aforementioned construction device with a seismic source, includes: presetting the relative position data between the radar module and the coordinate origin of the moving component; obtaining the first spatial coordinate data of the lidar; and obtaining the second spatial coordinate data of the seismic source execution part through a matrix coordinate transformation algorithm based on the first spatial coordinate data of the lidar and the relative position data.

[0018] According to a preferred embodiment, before the step of obtaining the first spatial coordinate data of the lidar, it further includes: adjusting the lidar so that it is in a horizontal posture.

[0019] According to a preferred embodiment, the step of obtaining the second spatial coordinate data of the seismic source execution part through a matrix coordinate transformation algorithm based on the first spatial coordinate data and the relative position data includes: converting the first spatial coordinate data of the lidar into the third spatial coordinate data of the mounting base; and obtaining the second spatial coordinate data of the seismic source execution part through a matrix coordinate transformation algorithm based on the third spatial coordinate data of the mounting base and the relative position data.

[0020] The technical solution of the embodiment of the present invention has at least the following advantages and beneficial effects:

[0021] In the present invention, by separately arranging the radar module and the moving component, that is, the seismic source execution part, the energy transfer path between the seismic source execution part and the radar module is extended, which can effectively weaken the influence of the vibration energy of the seismic source execution part on the radar module. Thus, it can effectively avoid the damage of the radar module due to the vibration energy of the seismic source execution part during the working process of the seismic source execution part, effectively extend the service life of the radar module, and ensure the working efficiency of the construction device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, so they should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0023] Figure 1 It is a front view structural schematic diagram of the radar column of the construction device provided by the embodiment of the present invention when it is in the working posture;

[0024] Figure 2 It is a three-dimensional structural schematic diagram of the radar column of the construction device provided by the embodiment of the present invention when it is in the storage posture;

[0025] Figure 3 It is an exploded structural schematic diagram of the radar module provided by the embodiment of the present invention;

[0026] Figure 4 Explosion structure schematic diagram of the overshoot part provided by the embodiment of the present invention;

[0027] Figure 5 Flow schematic diagram of the positioning method of the construction device provided by the embodiment of the present invention.

[0028] Icons: 1, fixed platform; 11, first limiting member; 12, first support; 13, second support; 2, storage box; 3, first driving member; 4, overshoot part; 41, input flange; 410, first support plate; 411, limiting sleeve; 412, first hinge hole; 42, output flange; 420, second support plate; 421, extension column; 422, second hinge hole; 423, guiding cylinder; 424, third support plate; 4241, through hole; 43, guide post; 44, elastic member; 45, pressing plate; 5, limiting plate; 51, second limiting member; 52, second buffer member; 6, radar column; 61, first buffer member; 7, radar module; 71, lidar; 72, radar seat; 73, universal coupling; 74, electronic gyro; 75, second telescopic member; 76, mounting seat; 77, fixed-length rod; 78, third support; 8, moving assembly; 9, seismic source execution part. Detailed implementation manners

[0029] For better understanding and implementation, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0030] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0032] Please refer to Figures 1 to 4, a construction device with a seismic source, including a fixed platform 1, a moving component 8, a seismic source execution unit 9, and a radar module 7, where: both the moving component 8 and the radar module 7 are installed on the fixed platform 1, and the moving component 8 and the radar module 7 are separately arranged; the seismic source execution unit 9 is arranged at the execution end of the moving component 8. In this embodiment, the fixed platform 1 can be an aerial work platform or other work platforms capable of installing the moving component 8 and the radar module 7 of this embodiment, and is used to provide support for the moving component 8 and the radar module 7; the radar module 7 is used to detect the spatial coordinates of the moving component 8 or the seismic source execution unit 9 installed on the moving component 8, so as to achieve the purpose of accurately controlling the seismic source execution unit 9; the moving component 8 is used to adjust the spatial position of the seismic source execution unit 9.

[0033] Preferably, the moving component 8 is a robotic arm. Optionally, in other embodiments, the moving component 8 can be a linear module component, or any mechanism that can adjust the spatial position of the seismic source execution unit 9 and the relative coordinates between the installation point (coordinate origin) on the fixed platform 1 and the execution end can be measured.

[0034] In this embodiment, by separately arranging the radar module 7 and the moving component 8, that is, the seismic source execution unit 9, the energy transfer path between the seismic source execution unit 9 and the radar module 7 is extended, and the influence of the vibration energy of the seismic source execution unit 9 on the radar module 7 can be effectively weakened. Thus, it can effectively avoid the damage of the radar module 7 due to the vibration energy of the seismic source execution unit 9 during the operation of the seismic source execution unit 9, effectively extend the service life of the radar module 7, and ensure the working efficiency of the construction device. During use, the positioning and control of the moving component 8, that is, the seismic source execution unit 9, are achieved by converting the spatial coordinates of the radar module 7, that is, the radar module 7, into the spatial coordinates of the moving component 8.

[0035] It should be noted that, in order to facilitate the radar module 7 to detect the spatial coordinates of the seismic source execution unit 9, in this embodiment, there is a predetermined relative position relationship between the radar module 7 installed on the fixed platform 1 and the moving component 8 (seismic source execution unit 9), that is, the relative spatial coordinates between the radar module 7 and the moving component 8, or between a fixed point on the radar module 7 and the coordinate origin of the moving component 8 are known. The relative position relationship between the radar module 7 and the moving component 8 can be artificially determined when the two are installed on the fixed platform 1.

[0036] In this embodiment, both the radar module 7 and the moving component 8 are installed on the upper surface of the fixed platform 1. When the moving component 8 adjusts the spatial position of the seismic source execution unit 9, there may be spatial interference with the radar module 7. To prevent the radar module 7 from causing spatial interference to the operation of the moving component 8, the construction device further includes an adjustment component provided on the fixed platform 1, and the radar module 7 is provided on the adjustment component; the adjustment component is separately arranged from the moving component 8; the adjustment component is used to adjust the spatial position of the radar module 7 to avoid spatial interference with the moving component 8.

[0037] Further, the adjustment component includes a first driving member 3 and a radar column 6 hinged to the fixed platform 1, and the radar module 7 is installed on the radar column 6; the first driving member 3 is used to drive the radar column 6 to switch between a working posture and a storage posture in a manner of rotating relative to the fixed platform 1. Specifically, as Figure 1 and Figure 2 shown, the first driving member 3 is a first telescopic member, the first end of the first telescopic member is hinged to the fixed platform 1, and the second end of the first telescopic member is hinged to the radar column 6 through an overshoot member 4. In this embodiment, a first support 12 and a second support 13 are respectively arranged on the upper surface of the fixed platform 1. The first end of the first driving member 3 is hinged to the first support 12 through a pin shaft, the second end of the first driving member 3 is connected to the overshoot member 4, and the overshoot member 4 is hinged to the lower end of the radar column 6 through a pin shaft; the radar column 6 is hinged to the second support 13 through a pin shaft, and the radar module 7 is arranged at the upper end of the radar column 6. In this embodiment, the hinge point between the overshoot member 4 and the radar column 6 is between the two end points of the radar column 6.

[0038] In this embodiment, the first telescopic member includes but is not limited to a cylinder, a hydraulic cylinder or an electric push rod. Preferably, the first telescopic member is an electric push rod.

[0039] In this embodiment, a limiting component is arranged on the fixed platform 1; when the radar column 6 is in the working posture, the radar column 6 abuts against the limiting component. Further, a storage box 2 and a first limiting member 11 are arranged on the fixed platform 1, and a first limiting groove is configured on the first limiting member 11; when the radar column 6 is in the storage posture, the radar column 6 is embedded in the first limiting groove, and the radar module 7 is embedded in the storage box 2. Further, the limiting component includes a limiting plate 5, and a second limiting member 51 is arranged on the limiting plate 5, and a second limiting groove is configured on the second limiting member 51; when the radar column 6 is in the working posture, the radar column 6 is embedded in the second limiting groove. Both the first limiting groove and the second limiting groove here can limit the radar column 6, stabilize its posture, and assist in the positioning of the radar column 6 in the storage posture (the first limiting groove) and the working posture (the second limiting groove).

[0040] In this embodiment, the limiting plate 5 is a plate-like structure. In other embodiments, the limiting plate 5 can also be a rod-like structure.

[0041] As Figure 1 shown, specifically, the second support 13 is located between the first support 12 and the limiting plate 5. During use, when the first driving member 3 extends, it can drive the radar column 6 to rotate counterclockwise around its hinge axis with the second support 13, and the radar column 6 disengages from the limiting plate 5 and changes from the working posture to the Figure 2 shown storage posture. When the radar column 6 is in the storage posture, both the radar module 7 and the radar column 6 are lower than the moving assembly 8, so as to prevent spatial interference with the action of the moving assembly 8. In this embodiment, the outer shape of the storage cavity of the storage box 2 is adapted to the outer shape of the radar module 7. The radar module 7 is stored in the storage box 2, which can play a safety protection role for it and prevent damage to the radar module 7 caused by spatial obstacles during the operation or transportation of the construction device.

[0042] In other embodiments, a buffer cushion layer can be arranged on the inner wall of the storage cavity of the storage box 2. The buffer cushion layer can further protect the radar module 7 and reduce the influence of the vibration energy generated by the vibration source execution part 9 on the radar module 7. The buffer cushion layer here can be made of sponge or foam material.

[0043] As Figure 1 and Figure 2 shown, during use, when the construction device is transported to the working position, first drive the radar column 6 to rotate clockwise around its hinge axis with the second support 13 through the first driving member 3 until the radar column 6 rotates to the Figure 1 shown working posture. At this time, position the vibration source execution part 9 through the radar module 7; then drive the radar column 6 to rotate counterclockwise around its hinge axis with the second support 13 through the first driving member 3 until the radar column 6 rotates to the Figure 2 shown storage posture; finally, start the construction device to perform construction operations.

[0044] In this embodiment, since the spatial position of the working posture of the radar column 6 is unique, that is, when the radar column 6 is in the working posture, the spatial position between the radar column 6 and the coordinate origin of the moving assembly 8 is relatively fixed. At this time, the spatial coordinates of the radar module 7 can be converted into the spatial coordinates of the radar column 6, and then the spatial coordinates of the radar column 6 can be converted into the spatial coordinates of the moving assembly 8, that is, the vibration source execution part 9, so as to realize the precise positioning of the moving assembly 8, that is, the vibration source execution part 9, through the radar module 7, and reduce the influence of the vibration energy of the vibration source execution part 9 on the radar module 7 to prevent the radar module 7 from being damaged by vibration.

[0045] In this embodiment, in order to buffer the radar column 6 and prevent it from being subjected to a large impact force when contacting the limit plate 5 and the storage box 2, a first buffer member 61 is provided on the radar column 6, and a second buffer member 52 is provided on the limit plate 5. During use, when the radar column 6 is adjusted to the storage posture, the first buffer member 61 on the radar column 6 first abuts against the bottom of the first limit groove. As the radar column 6 continues to rotate, the first buffer member 61 is compressed. During this process, the speed of the radar column 6 is slowed down, and finally the radar column 6 is smoothly embedded in the first limit groove until it reaches the storage posture. Similarly, when the radar column 6 is adjusted to the working posture, after the radar column 6 is embedded in the second limit groove, it first abuts against the second buffer member 52. As the radar column 6 continues to rotate, the second buffer member 52 is compressed. During this process, the speed of the radar column 6 is slowed down, and finally the radar column 6 is smoothly embedded in the second limit groove until it reaches the working posture.

[0046] In this embodiment, both the first buffer member 61 and the second buffer member 52 can be hydraulic buffer members. In other embodiments, the first buffer member 61 and the second buffer member 52 can also be compressible elastic members, such as springs.

[0047] It should be noted that the setting of the first buffer member 61 does not affect the radar column 6 from reaching the fixed storage posture, and the setting of the second buffer member 52 does not affect the radar column 6 from reaching the fixed working posture.

[0048] Such as Figure 1 and Figure 4As shown in the figure, in this embodiment, the overshoot part 4 includes an input flange 41, an output flange 42, a guide post 43, an elastic member 44, and a pressing plate 45, where: one end of the guide post 43 is fixedly connected to the input flange 41, and the other end is fixedly connected to the pressing plate 45. The output flange 42 is disposed between the pressing plate 45 and the input flange 41, and the guide post 43 passes through the output flange 42 and is slidably connected thereto; the second end of the first telescopic member is connected to the input flange 41; the elastic member 44 is disposed between the output flange 42 and the pressing plate 45. When the pressing plate 45 and the output flange 42 approach each other, the elastic member 44 can be compressed by the output flange 42 and the pressing plate 45. Specifically, the input flange 41 includes a first support plate 410. A limit sleeve 411 is provided on the first support plate 410, and a first hinge hole 412 is provided on the limit sleeve 411. During use, the second end of the first telescopic member is embedded in the limit sleeve 411, and a pin shaft passes through the first hinge hole 412 and simultaneously passes through the second end of the first telescopic member to achieve the assembly of the first telescopic member and the input flange 41; the output flange 42 includes a second support plate 420. An extension post 421 is provided on the second support plate 420, and a second hinge hole 422 is provided on the extension post 421. A pin shaft is inserted into the second hinge hole 422, and this pin shaft passes through the lower end of the radar post 6 to achieve the hinged connection between the output flange 42 and the radar post 6; at the same time, a guide cylinder 423 is provided through the second support plate 420. A third support plate 424 is provided at one end of the guide cylinder 423 close to the first support plate 410. In this embodiment, the third support plate 424 and the guide cylinder 423 are integrally formed, and a through hole 4241 coaxial with the guide cylinder 423 is provided on the third support plate 424. The third support plate 424 is fixedly installed on the second support plate 420 by screws, and the third support plate 424 is located between the first support plate 410 and the second support plate 420. During use, the guide post 43 is inserted into the guide cylinder 423 and passes through the through hole 4241 to be fixedly connected to the first support plate 410. Here, the guide post 43 plays a role in limiting and guiding the output flange 42.

[0049] Specifically, as Figure 1As shown, when the radar column 6 rotates clockwise towards the working posture, the radar column 6 first abuts against the second buffer member 52. With the continuous action of the first telescopic member, the input flange 41 drives the elastic member 44 to move towards the output flange 42 through the guide post 43. Under the restrictive action of the radar column 6, the distance between the output flange 42 and the input flange 41 gradually decreases, and the two compress the elastic member 44, thereby reducing the speed at which the radar column 6 presses against the second buffer member 52, avoiding a large impact on the second buffer member 52 when the stroke of the first telescopic member is too large, that is, avoiding a large impact on the radar column 6 and the radar module 7 installed on the radar column 6, with high safety; the compressed elastic member 44 here can absorb the stroke of the first telescopic member exceeding the working posture of the radar column 6 (since it is difficult to ensure that the actual stroke of the first telescopic member exactly meets the requirements for the radar column 6 to reach the working posture, in practice, the working stroke of the first telescopic member needs to be set about 5 mm more than the required stroke); the overshoot member 4 here can effectively prevent the radar module 7 from being impacted when the radar column 6 reaches the working posture, and at the same time ensure that the radar column 6 can accurately reach the working posture, greatly improving the stability and reliability of the adjustment assembly.

[0050] In this embodiment, the elastic member 44 is a spring, and the number is two. At the same time, the number of guide posts 43 is two, and they correspond one-to-one with the number of springs. In use, the two guide posts 43 are symmetrically arranged with respect to the extension column 421, and the spring is sleeved outside the guide post 43.

[0051] In other embodiments, the adjustment assembly can also be a lifting mechanism such as a scissor lift platform, so as to be able to adjust the spatial position of the radar module 7 to avoid spatial interference with the moving assembly 8, and at the same time be able to reset the radar module 7 to the same fixed height position.

[0052] In this embodiment, as Figure 1 and Figure 3 shown, the radar module 7 includes a lidar 71 and a leveling assembly. The leveling assembly is installed on the radar column 6, and the lidar 71 is arranged on the leveling assembly. The leveling assembly here is used to adjust the lidar 71 to a horizontal state, that is, to adjust the lidar 71 to a state parallel to the horizontal plane, so as to obtain a global reference for the coordinates of the lidar 71, and further realize the global precise positioning of the lidar 71. Finally, by converting the spatial coordinates of the lidar 71 into the spatial coordinates of the moving assembly 8, that is, the vibration source execution part 9, the global precise positioning of the vibration source execution part 9 can be indirectly realized.

[0053] Specifically, the leveling assembly includes a mounting base 76 and a radar base 72, where: The mounting base 76 is disposed on the radar column 6; the radar base 72 is located above the mounting base 76, and at least two second telescopic members 75 are provided between the radar base 72 and the mounting base 76. One end of the second telescopic member 75 is hinged to the radar base 72, and the other end is hinged to the mounting base 76; the lidar 71 is installed on the radar base 72, and an electronic gyro 74 is provided on the radar base 72. In this embodiment, two second telescopic members 75 and a fixed-length rod 77 are provided between the radar base 72 and the mounting base 76. One end of the fixed-length rod 77 is hinged to the mounting base 76, and the other end is hinged to the radar base 72. The second telescopic member 75 includes, but is not limited to, a cylinder, a hydraulic cylinder, or an electric push rod. Preferably, the second telescopic member 75 is an electric push rod. In this embodiment, the mounting base 76 is fixedly connected to the radar column 6, and their relative positions remain unchanged all the time. Therefore, when the spatial position between the radar column 6 and the moving assembly 8 is fixed, that is, the spatial position between the mounting base 76 and the moving assembly 8 is fixed; and due to the different construction environments where the fixed platform 1 is located, the reference plane of the mounting base 76 and the lidar 71 provided on the mounting base 76 may be inclined. In this embodiment, with the horizontal plane as the reference benchmark, the inclination angle of the radar base 72, that is, the lidar 71, relative to the horizontal plane is measured by the electronic gyro 74, and then the lidar 71 is leveled by adjusting the two second telescopic members 75 in cooperation with the fixed-length rod 77, so that the reference plane of the lidar 71 is parallel to the horizontal plane, in order to obtain a global reference for the spatial coordinates of the lidar 71, which is convenient for realizing the global precise positioning of the vibration source execution unit 9. Here, the fixed-length rod 77 only needs to have a fixed length during use, that is, the distance between its two end points is certain, and during use, the distance between the two end points remains unchanged, without specific limitations.

[0054] In this embodiment, the upper end of the fixed-length rod 77 and the telescopic end of the second telescopic member 75 are both hinged to the radar base 72 through a universal coupling 73. Three third supports 78 are provided on the mounting base 76 for hinging the lower end of the fixed-length rod 77 and the fixed end of the second telescopic member 75 through a pin shaft.

[0055] In other embodiments, three second telescopic members 75 are provided between the radar base 72 and the mounting base 76, and one of the second telescopic members 75 is fixedly set.

[0056] The combination of two telescopic members and a fixed-length rod 77, as well as the combined structure of three telescopic members, are convenient for realizing the rapid leveling of the radar base 72, that is, the lidar 71, based on the principle that three points determine a plane.

[0057] As Figure 5 shown, this embodiment also provides a positioning method for a construction device with a vibration source, which is applied to the above-mentioned construction device with a vibration source, and includes the following steps:

[0058] Step S100: Preset the relative position data between the origin of the coordinate system of the radar module 7 and the moving component 8.

[0059] Step S101: Obtain the first spatial coordinate data of the lidar 71.

[0060] Step S102: Based on the first spatial coordinate data of the lidar 71 and the relative position data, obtain the second spatial coordinate data of the vibration source execution unit 9 through the matrix coordinate transformation algorithm.

[0061] In this embodiment, by fixedly installing the radar column 6 and the moving component 8 on the fixed platform 1, the relative positions of the two are fixed after installation. Thus, the relative position data between the origin of the coordinate system of the radar module 7 (radar column 6) and the moving component 8 can be obtained through the assembly of the two. Subsequently, based on the first spatial coordinate data of the lidar 71 and the relative position data, the second spatial coordinate data of the vibration source execution unit 9 can be realized through the matrix coordinate transformation algorithm. That is, by setting the structure of separating the vibration source execution unit 9 and the lidar 71, while avoiding the direct influence of the vibration energy of the vibration source execution unit 9 on the lidar 71, the precise positioning of the vibration source execution unit 9 by the lidar 71 can be effectively achieved, ensuring the construction quality and extending the service life of the construction device at the same time.

[0062] It should be noted that in step S102, when obtaining the second spatial coordinate data of the vibration source execution unit 9 through the matrix coordinate transformation algorithm based on the first spatial coordinate data of the lidar 71 and the relative position data, specifically, first, based on the first spatial coordinate data of the lidar 71 and the relative position data, obtain the coordinate data of the origin of the coordinate system of the moving component 8 through the matrix coordinate transformation algorithm. Then, through the coordinate data of this origin of the coordinate system and the specific structure of the moving component 8, obtain the second spatial coordinate data of the vibration source execution unit 9.

[0063] In this embodiment, in order to achieve the global precise positioning of the vibration source execution unit 9, the following steps are further included between step S100 and step S101: Adjust the lidar 71 so that it is in a horizontal posture. Specifically, level the lidar 71 through the leveling component before obtaining the first spatial coordinate data of the lidar 71. Subsequently, convert the first spatial coordinate data of the lidar 71 into the third spatial coordinate data of the mounting base 76. The relative position relationship between the mounting base 76 and the origin of the coordinate system of the moving component 8 remains unchanged all the time. Therefore, through the relative position relationship between the two, convert the spatial coordinate data of the mounting base 76 into the second spatial coordinate data of the vibration source execution unit 9 through the matrix coordinate transformation method, and the global precise positioning of the vibration source execution unit 9 by the lidar 71 can be achieved. That is, the aforementioned step S102 specifically includes the following steps:

[0064] Step S1021: Convert the first spatial coordinate data of the lidar 71 into the third spatial coordinate data of the mounting base 76;

[0065] Step S1022: Based on the third spatial coordinate data of the mounting base 76 and the relative position data, obtain the second spatial coordinate data of the seismic source execution unit 9 through the matrix coordinate conversion algorithm.

[0066] The construction device with a seismic source provided by the embodiment of the present invention may be a drilling robot, and the seismic source execution unit 9 is an impact drill. When in use, after the drilling robot reaches the predetermined position, the radar module 7 is used to position the seismic source execution unit 9, and then the seismic source execution unit 9, that is, the impact drill, performs the specific drilling operation. Due to the separate arrangement of the seismic source execution unit 9 and the radar module 7, the radar module 7 can be effectively protected from the impact of the vibration energy of the seismic source execution unit 9.

[0067] The technical means disclosed in the solution of the present invention are not limited to the technical means disclosed in the above embodiments, but also include technical solutions formed by any combination of the above technical features. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present invention.

Claims

1. A construction device with a seismic source, Characterized in that, Comprising: A fixed platform (1); A moving component (8), installed on the fixed platform (1); A seismic source execution part (9), arranged at the execution end of the moving component (8); And A radar module (7), installed on the fixed platform (1) and separated from the moving component (8); The construction device further comprises an adjusting component arranged on the fixed platform (1), and the radar module (7) is arranged on the adjusting component; the adjusting component is separated from the moving component (8); the adjusting component is used to adjust the spatial position of the radar module (7) to avoid spatial interference with the moving component (8); The adjusting component includes a first driving part (3) and a radar column (6) hinged to the fixed platform (1), and the radar module (7) is installed on the radar column (6); the first driving part (3) is used to drive the radar column (6) to switch between a working posture and a storage posture in a way of rotating relative to the fixed platform (1); The first driving part (3) is a first telescopic part, the first end of the first telescopic part is hinged to the fixed platform (1), and the second end of the first telescopic part is hinged to the radar column (6) through an overshoot part (4); the overshoot part (4) includes an input flange (41), an output flange (42), a guide post (43), an elastic part (44) and a pressing plate (45), wherein: One end of the guide post (43) is fixedly connected to the input flange (41), the other end is fixedly connected to the pressing plate (45), the output flange (42) is arranged between the pressing plate (45) and the input flange (41), and the guide post (43) passes through the output flange (42) and is slidably connected thereto; The second end of the first telescopic part is connected to the input flange (41); The elastic part (44) is arranged between the output flange (42) and the pressing plate (45), and when the pressing plate (45) and the output flange (42) approach each other, the elastic part (44) can be compressed by the output flange (42) and the pressing plate (45).

2. The construction device with a seismic source according to claim 1, Characterized in that, A limiting component is arranged on the fixed platform (1); When the radar column (6) is in the working posture, the radar column (6) abuts against the limiting component.

3. The construction device with a seismic source according to claim 1, Characterized in that, The radar module (7) includes a lidar (71) and a leveling component, the leveling component is installed on the radar column (6), and the lidar (71) is arranged on the leveling component.

4. The construction device with a seismic source according to claim 3, Characterized in that, The leveling component includes a mounting seat (76) and a radar seat (72), wherein: The mounting seat (76) is arranged on the radar column (6); The radar base (72) is located above the mounting base (76), and at least two second telescopic members (75) are provided between the radar base (72) and the mounting base (76). One end of the second telescopic member (75) is hinged to the radar base (72), and the other end is hinged to the mounting base (76). The lidar (71) is mounted on the radar base (72), and an electronic gyroscope (74) is provided on the radar base (72).

5. The construction device with a vibration source according to claim 4, characterized in that Two of the second telescopic members (75) and a fixed-length rod (77) are provided between the radar base (72) and the mounting base (76). One end of the fixed-length rod (77) is hinged to the mounting base (76), and the other end is hinged to the radar base (72).

6. The construction device with a vibration source according to claim 1, characterized in that A storage box (2) and a first limiting member (11) are provided on the fixed platform (1), and a first limiting groove is configured on the first limiting member (11); When the radar column (6) is in the storage posture, the radar column (6) is embedded in the first limiting groove, and the radar module (7) is embedded in the storage box (2).

7. The construction device with a vibration source according to claim 2, characterized in that The limiting assembly includes a limiting plate (5), and a second limiting member (51) is provided on the limiting plate (5), and a second limiting groove is configured on the second limiting member (51); When the radar column (6) is in the working posture, the radar column (6) is embedded in the second limiting groove.

8. A positioning method for a construction device with a vibration source, applied to the construction device with a vibration source according to any one of claims 1-7, characterized in that including: Presetting the relative position data between the radar module (7) and the coordinate origin of the moving assembly (8); Obtaining the first spatial coordinate data of the lidar (71); Based on the first spatial coordinate data of the lidar (71) and the relative position data, obtaining the second spatial coordinate data of the vibration source execution unit (9) through a matrix coordinate conversion algorithm.

9. The positioning method for a construction device with a vibration source according to claim 8, characterized in that Before the step of obtaining the first spatial coordinate data of the lidar (71), it further includes: Adjusting the lidar (71) so that it is in a horizontal posture.

10. The positioning method for a construction device with a vibration source according to claim 9, characterized in that The step of obtaining the second spatial coordinate data of the vibration source execution unit (9) through a matrix coordinate conversion algorithm based on the first spatial coordinate data and the relative position data includes: Converting the first spatial coordinate data of the lidar (71) into the third spatial coordinate data of the mounting base (76); Based on the third spatial coordinate data of the mounting base (76) and the relative position data, obtaining the second spatial coordinate data of the vibration source execution unit (9) through a matrix coordinate conversion algorithm.

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