Aerial Strapping Robot System

Abstract

The present invention belongs to the technical field of building construction, and discloses an aerial tying robot system. The system includes an unmanned flight device, and the aerial tying robot includes a flight controller. A lower part of the flight controller is provided with an adjustment mechanical component. The adjustment mechanical component includes an output end of a parallel manipulator connected to a steel bar tying device to tie a target steel bar. The system further has an identification control component. The identification control component includes a positioning module, a steel bar detection camera, and an on-board computer arranged on the flight controller. The on-board computer is signal-connected to an external positioning station. The positioning module and the steel bar detection camera are connected to position and detect the target steel bar. Through the above aerial tying robot system, construction can be flexibly arranged within the range of the steel bar tying point, without pre-construction and laying of equipment such as tracks, with flexible configuration and low cost; and it can complete tying work at a relatively high position, improving safety and construction efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and particularly to an aerial tying robot system. Background Art

[0002] The steel bar project is an important part of the building project, which greatly affects the construction and efficiency of the building project. China is in an important development period of urbanization construction, and the task of the steel bar project is heavy. On the one hand, the construction period of the project construction is tight, the construction requirements are high, and the danger is great. On the other hand, the efficiency of manual tying of steel bars is low, which seriously restricts the improvement of construction quality and the progress of the project.

[0003] At present, some steel bar tying systems have emerged. For example, the American construction robot company has launched the steel bar tying robot TyBot, whose structure is mainly a large three-axis gantry frame cooperating with a steel bar tying mechanism to tie steel bars. This equipment is suitable for large-scale construction occasions, but its disadvantage is that the equipment needs to be constructed on-site in advance before operation, laying large tracks, and the working efficiency is low. The small steel bar tying robot developed by a Japanese robot company mainly works by walking and constructing in the steel bars through mechanical legs, and has high requirements for the regularity of the steel bar placement, and cannot construct in the scenario where the steel bars are unevenly placed. Summary of the Invention

[0004] The purpose of the present invention is to provide an aerial tying robot system to realize the individual operation of a single unmanned aerial vehicle and the joint operation in the state of an aerial robot cluster to complete the relatively dangerous steel bar tying task.

[0005] To achieve this purpose, the present invention adopts the following technical solutions:

[0006] The aerial tying robot system includes:

[0007] An aerial tying robot, the aerial tying robot includes a flight controller and a plurality of rotors arranged on the flight controller;

[0008] A steel bar tying device, the steel bar tying device is arranged below the flight controller to tie the target steel bars;

[0009] An adjustment mechanical component, the adjustment mechanical component includes at least three groups of parallel robotic arms, the parallel robotic arms are arranged below the flight controller, and the output ends of the parallel robotic arms are connected to the steel bar tying device to adjust the position of the steel bar tying device;

[0010] The identification control component includes a positioning module, a steel bar detection camera and an onboard computer arranged on the flight controller. The onboard computer is connected to the positioning station signal. The onboard computer is respectively connected to the positioning module and the steel bar detection camera to locate and detect the target steel bar. The onboard computer is connected to the steel bar bundler and the parallel mechanical arm to control the movement of the two.

[0011] Preferably, the adjustment mechanical assembly includes a static platform, which is detachably mounted on the lower part of the flight controller. Three groups of parallel robotic arms are arranged, and one end of the three groups of parallel robotic arms is evenly circumferentially connected to the static platform. The other end of the parallel robotic arm is connected to a dynamic platform, and the rebar binder is rotatably mounted on the dynamic platform.

[0012] Preferably, the parallel robotic arm comprises a rotating power unit, an active arm and a driven arm. The rotating power unit is connected to the static platform for up and down rotation. The output end of the rotating power unit is connected to the first end of the active arm to drive the active arm to rotate up and down relative to the static platform. The second end of the active arm is rotationally connected to the first end of the driven arm, and the second end of the driven arm is connected to the dynamic platform.

[0013] Preferably, a power controller is provided at the bottom end of the static platform, the power controller is connected to the onboard computer, and the power controller controls the rotational power unit to move.

[0014] Preferably, the steel bar binder includes a wire winding wheel, a wire binding head, a steering gear, and a wire winding wheel fixing frame; the steering gear and the wire binding head are respectively connected to the onboard computer, the wire winding wheel fixing frame is sleeved on the outside of the wire binding head, the wire winding wheel is transferred to the wire winding wheel fixing frame, the wire winding wheel fixing frame and the outer sleeve of the wire binding head are provided with a rotating frame, the steering gear is arranged on the rotating frame, the output end of the steering gear is connected to the rotating frame, the moving platform is provided with a mounting hole for mounting the wire binding head, the mounting hole is provided with internal teeth meshing with the gear to enable the rotating frame and the moving platform to rotate relative to each other.

[0015] Preferably, an installation step is provided in the installation hole, the rotating frame is placed on the installation step for rotation, a pressure plate is provided on the movable platform, a step groove cooperating with the rotating frame is provided on the pressure plate, and the pressure plate blocks the top of the installation step to limit the up and down movement of the rotating frame.

[0016] Preferably, an anti-collision beam is provided on the outer side of the rotor, and the anti-collision beam extends in a direction away from the rotor.

[0017] Preferably, an obstacle avoidance camera is provided on the flight controller, and the obstacle avoidance camera is connected to the on-board computer.

[0018] Preferably, a landing gear is further provided at the lower part of the flight controller to support the flight controller on the ground.

[0019] Preferably, the positioning station includes a plurality of ground positioning blocks, the ground positioning blocks can be movably arranged in the construction area to capture the position data of the steel bar arrangement in the construction area, the positioning station further includes a ground controller connected to the plurality of ground positioning blocks to process the position data of the steel bar arrangement, and the ground controller is connected to control the on-board computer.

[0020] Advantages of the present invention:

[0021] By combining the adjustment of the mechanical assembly, the recognition and control assembly, and the steel bar bundling device, it is possible to flexibly arrange the construction within the range of the steel bar bundling points, without the need for pre-construction and equipment such as laying tracks, with flexible configuration and low cost; and it can complete the binding work at a relatively high position. On the one hand, it can reduce the labor intensity of construction workers and improve safety, and on the other hand, it can also improve the construction efficiency through the simultaneous operation of multiple flight controllers. Description of the drawings

[0022] Figure 1 is a schematic diagram of the aerial bundling robot system of the present invention;

[0023] Figure 2 is a schematic diagram of the aerial bundling robot in the aerial bundling robot system of the present invention;

[0024] Figure 3 is a top view of the aerial bundling robot in the aerial bundling robot system of the present invention;

[0025] Figure 4 is a schematic diagram of the adjustment mechanical assembly and the steel bar bundling device in the aerial bundling robot system of the present invention;

[0026] Figure 5 is a schematic diagram of the adjustment of the position of the adjustment mechanical assembly in the aerial bundling robot system of the present invention;

[0027] Figure 6 is a schematic diagram of the steel bar bundling device in the aerial bundling robot system of the present invention;

[0028] Figure 7 is a schematic diagram showing the meshing of the display gear and the moving platform in the aerial bundling robot system of the present invention;

[0029] Figure 8 is an exploded view of the steel bar bundling device in the aerial bundling robot system of the present invention.

[0030] In the figure:

[0031] 10 - Aerial strapping robot; 1 - Flight controller; 2 - Rotor; 3 - Steel bar strapping device; 31 - Wire winding wheel; 32 - Steel wire binding head; 33 - Servo; 34 - Wire winding wheel fixing bracket; 35 - Rotating frame; 36 - Gear; 37 - Pressure plate; 371 - Step groove; 4 - Adjustment mechanical assembly; 41 - Parallel robotic arm; 411 - Rotation power unit; 412 - Active arm; 413 - Rotation shaft; 414 - Driven arm; 42 - Static platform; 43 - Moving platform; 431 - Placement hole; 4311 - Placement step; 432 - Internal teeth; 44 - Power controller; 5 - Identification and control assembly; 51 - Onboard computer; 52 - Positioning module; 53 - Steel bar detection camera; 6 - Anti-collision beam; 7 - Obstacle avoidance camera; 8 - Landing gear; 20 - Positioning station; 201 - Ground positioning block; 202 - Ground controller. Detailed implementation manners

[0032] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the sake of description, only the parts related to the present invention rather than all the structures are shown in the accompanying drawings.

[0033] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over", and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath", and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the horizontal height of the first feature is lower than that of the second feature.

[0035] In the description of this embodiment, the orientation or positional relationships such as "upper", "lower", "left", and "right" are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of description and simplifying operations, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for distinction in description and do not have special meanings.

[0036] As Figure 1-8 shown, this embodiment provides an aerial bundling robot system, which includes an aerial bundling robot 10. The aerial bundling robot 10 includes a flight controller 1 and a plurality of rotors 2 arranged on the flight controller 1. A adjusting mechanical assembly 4 is arranged below the flight controller 1. The adjusting mechanical assembly 4 includes at least three groups of parallel robotic arms 41. The output ends of the parallel robotic arms 41 are connected to a steel bar bundler 3 to bundle target steel bars. The parallel robotic arms 41 are used to adjust the position of the steel bar bundler 3. The system also has an identification and control assembly 5. The identification and control assembly 5 includes a positioning module 52, a steel bar detection camera 53, and an on-board computer 51 arranged on the flight controller 1. The on-board computer 51 is in signal connection with an external positioning station 20. The on-board computer 51 is respectively connected to the positioning module 52 and the steel bar detection camera 53 to position and detect the target steel bars. The on-board computer 51 is connected to the steel bar bundler 3 and the parallel robotic arms 41 to control the movement of the two.

[0037] By combining the adjusting mechanical assembly 4, the identification and control assembly 5, and the steel bar bundler 3, construction can be flexibly arranged within the range of the steel bar bundling point without pre-construction and laying of equipment such as tracks. It has flexible configuration and low cost. And it can complete the binding work at a relatively high position. On the one hand, it can reduce the labor intensity of construction workers and improve safety. On the other hand, it can also improve the construction efficiency through the simultaneous operation of multiple flight controllers 1 for joint operation.

[0038] The following details this embodiment, an aerial bundling robot system, which includes an aerial bundling robot 10. The aerial bundling robot 10 includes a flight controller 1 and a plurality of rotors 2 arranged on the flight controller 1. Specifically, the plurality of rotors 2 are circumferentially arranged on the flight controller 1. An anti-collision beam 6 is arranged outside the rotors 2. The anti-collision beam 6 extends away from the rotors 2 to prevent the flight controller from rubbing against the building during flight, thereby causing damage to the rotors 2 and the flight controller 1. The system has an adjusting mechanical assembly 4. The adjusting mechanical assembly 4 includes at least three groups of parallel robotic arms 41. The parallel robotic arms 41 are arranged below the flight controller 1. The output ends of the parallel robotic arms 41 are connected to a steel bar bundler 3 to adjust the position of the steel bar bundler 3; to adapt to the specific orientation of on-site bundling.

[0039] Specifically, the adjustment mechanical assembly 4 includes a static platform 42, which is detachably mounted on the lower part of the flight controller 1. In this embodiment, the static platform 42 is mounted on the lower part of the flight controller 1 by bolts; wherein, three groups of parallel mechanical arms 41 are provided, and one end of the three groups of parallel mechanical arms 41 is evenly circumferentially connected to the static platform 42. Specifically, the parallel mechanical arm 41 includes a rotating power unit 411, and the output end of the rotating power unit 411 is connected to the static platform 42 for vertical rotation. In this embodiment, the rotating power unit 411 adopts a rotating motor, which can drive the steel bar binder 3 to move up and down compared to the static platform 42. Further, a power controller 44 is provided at the bottom end of the static platform 42, and the power controller 44 is connected to the onboard computer 51. The power controller 44 controls the rotating power unit 411 to perform a rotating motion. Specifically, the output end of the rotary power unit 411 is connected to the first end of the active arm 412 to drive the active arm 412 to rotate up and down relative to the static platform 42. The second end of the active arm 412 is rotatably connected to a rotating shaft 413 perpendicular to the active arm 412. The rotating shaft 413 is also rotatably connected to the first end of the driven arm 414. The second end of the driven arm 414 is connected to the dynamic platform 43. The steel bar tie 3 is rotatably installed on the dynamic platform 43. Figure 5 As shown, the active arm 412, the driven arm 414 and the rotary power unit 411 are combined to enable the steel bar tie 3 on the moving platform 43 to achieve omnidirectional translational movement, and can adjust the position in real time to tie the steel wires. The moving platform 43 is provided with a placement hole 431, and the steel bar tie 3 is connected to the placement hole 431, so that the facing position of the steel bar tie 3 can be adjusted to adapt to various construction scenes.

[0040] like Figure 6As shown in FIG8 , the steel bar bundler 3 includes a wire winding wheel 31, a wire binding head 32, a steering gear 33, and a wire winding wheel fixing frame 34; wherein, the wire binding head 32 in this embodiment is consistent with the steel bar automatic binding equipment in the prior art, and those skilled in the art are familiar with the steps of wire drawing, binding, and cutting of the wire binding head 32, and the specific structure of the wire binding head 32 is not introduced in this embodiment. The difference from the existing steel bar automatic binding equipment is that the wire binding head 32 in this embodiment is connected to the onboard computer 51 signal, and in this embodiment, the connection is made through the central control chip and the CAN signal receiver, the wire winding wheel fixing frame 34 is arranged outside the wire binding head 32, and the wire winding wheel 31 is transferred to the wire winding wheel fixing frame 34; so that the stored wire can be better monitored, and the use of the wire can be observed without opening the housing of the wire binding head 32, and it can be replenished in time. The outer sleeve of the wire winding wheel fixing frame 34 and the wire binding head 32 is provided with a rotating frame 35. In the present embodiment, the rotating frame 35 is connected to the wire winding wheel fixing frame 34 and the wire binding head 32 by bolts so that the three are fixed to each other. The servo 33 is arranged on the rotating frame 35. The output end of the servo 33 is connected to the gear 36. The mounting hole 431 is provided with an internal tooth 432 meshing with the gear 36. Through the meshing of the gear 36 and the moving platform 43, when the servo 33 receives a rotation signal, it drives the gear 36 to rotate, and the gear 36 meshes with the internal tooth 432 of the moving platform 43 to produce relative rotation, thereby driving the rotating frame 35 to rotate. The rotating frame 35 drives the entire wire binding head 32 to rotate so that a suitable binding position can be selected in the construction scene. Figure 5 As shown, after the flight controller 1 selects a suitable fixed position, the position of the flight controller 1 does not need to be adjusted. The position of the active arm 412 and the driven arm 414 can be adjusted in combination with the rotation of the wire binding head 32 to adapt to complex construction scenes.

[0041] like Figure 8 As shown, in order to prevent the wire binding head 32 from being displaced during rotation, a placement step 4311 is provided in the placement hole 431 on the movable platform 43, and the rotating frame 35 is placed on the placement step 4311 for rotation. A pressure plate 37 is provided on the movable platform 43, and a step groove 371 matching the rotating frame 35 is provided on the pressure plate 37. The pressure plate 37 blocks the top of the placement step 4311 to limit the up and down movement of the rotating frame 35. In this embodiment, the pressure plate 37 is connected to the movable platform 43 by bolts.

[0042] In addition, the aerial bundling robot system also has an identification and control component 5, where the identification and control component 5 includes a positioning module 52, a steel bar detection camera 53, and an on-board computer 51 arranged on the flight controller 1. The positioning module 52 can communicate with the positioning station 20. Specifically, the positioning station 20 includes a number of ground positioning blocks 201, which can be movably placed in the construction area to capture the position data of the steel bar arrangement in the construction area. The positioning station 20 also includes a ground controller 202 connected to a number of ground positioning blocks 201 to process the position data of the steel bar arrangement; the ground controller 202 is connected to and controls the on-board computer 51. The on-board computer 51 is respectively connected to the positioning module 52 and the steel bar detection camera 53 to position and detect the target steel bars; in this embodiment, the steel bar detection camera 53 uses a depth camera, which can obtain image information and depth information of the image in real time, and obtain the position information of the steel bar bundling point through detection and calculation by the ground controller 202. The on-board computer 51 controls the servo 33 by signal to adjust the position of the steel wire binding head 32, and controls the steel wire binding head 32 on the steel bar bundler 3 to perform bundling by signal. In addition, an obstacle avoidance camera 7 is arranged on the flight controller 1, and the obstacle avoidance camera 7 is connected to the on-board computer 51 to avoid obstacles during flight control. A landing gear 8 is also arranged at the lower part of the flight controller 1 to support the flight controller 1 on the ground.

[0043] Thus, when performing the bundling work, the ground positioning block 201 is started to set the environmental distance parameter and the operation range. The ground controller 202 controls the flight controller 1 to take off, and the positioning module 52 and the steel bar detection camera 53 equipped on the flight controller 1 detect the ground steel bar bundling point to obtain the position data of the steel bar arrangement. As Figure 1 shown, when the operation range is large, multiple flight controllers 1 can be used to jointly detect the steel bar bundling point, share the positioning data of the steel bar binding point, and then the ground controller 202 confirms the map data. According to the recognition result, the misrecognized bundling points can be removed. Finally, the manually set operation unit points are selected, and the manual mode of controlling the bundling through the ground controller 202 or the automatic mode of bundling the ground steel bars by combining the on-board computer 51, the positioning module 52, and the steel bar detection camera 53 is selected after the ground controller 202 selects the bundling points.

[0044] When bundling, one or more flight controllers 1 fly to a preset location. After the aircraft adjusts to the specific position, the on-board computer 51 will obtain the position information through the steel bar detection camera 53 and combine it with the ground controller 202 to determine whether the steel bar bundler 3 is at the position of the target steel bar bundling point belt. If not, the on-board computer 51 will output a control signal to control the rotation of the rotary power unit 411. The parallel manipulator 41 can ensure that the steel bar bundler 3 always maintains a stable position. Subsequently, when the steering gear 33 receives the rotation adjustment signal, it drives the gear 36 to rotate. The gear 36 meshes with the internal gear 432 of the moving platform 43 to generate relative rotation, thereby driving the rotating frame 35 to rotate. The rotating frame 35 drives the steel bar binding head 32 to rotate for position adjustment. After the adjustment is completed, bundling is performed at this point, and then bundling at one point is carried out.

[0045] When performing the steel bar binding task, the steel bar detection camera 53 will continuously detect whether the position of the target steel bar bundling point is consistent with the position of the steel bar binding head 32. If there are unstable factors such as air flow interfering with the movement of the flight controller 1, the target steel bar bundling point detected by the steel bar detection camera 53 will shift from the previous position. At this time, the new coordinates are input into the ground controller 202. After processing the coordinates, the ground controller 202 sends an adjustment instruction to the on-board computer 51 to control the rotation of the rotary power unit 411 to adjust the position of the steel bar bundler 3, so that the relative position between the steel bar binding head 32 and the target steel bar bundling point always remains consistent.

[0046] Obviously, the above-mentioned embodiments of the present invention are merely examples for clearly explaining the present invention, and are not intended to limit the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments, and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. An aerial strapping robot system, characterized in that include: An aerial strapping robot (10), the aerial strapping robot (10) comprising a flight controller (1) and a plurality of rotors (2) arranged on the flight controller (1); A steel bar bundler (3), the steel bar bundler (3) being arranged at the lower part of the flight controller (1) to bundle target steel bars; An adjustment mechanical assembly (4), the adjustment mechanical assembly (4) comprising at least three sets of parallel mechanical arms (41), the parallel mechanical arms (41) being arranged at the bottom of the flight controller (1), the output ends of the parallel mechanical arms (41) being connected to the steel bar bundler (3) to adjust the position of the steel bar bundler (3); An identification control component (5), the identification control component (5) comprising a positioning module (52), a steel bar detection camera (53) and an onboard computer (51) arranged on the flight controller (1), the onboard computer (51) being connected to a positioning station (20) by signal, the onboard computer (51) being connected to the positioning module (52) and the steel bar detection camera (53) respectively to locate and detect target steel bars, and the onboard computer (51) being connected to the steel bar binder (3) and the parallel mechanical arm (41) to control the movement of the two; The adjustment mechanical assembly (4) comprises a static platform (42), the static platform (42) is detachably mounted on the lower part of the flight controller (1), three groups of parallel mechanical arms (41) are arranged, one end of the three groups of parallel mechanical arms (41) is evenly connected to the static platform (42), the other end of the parallel mechanical arms (41) is connected to a dynamic platform (43), and the steel bar binder (3) is rotatably mounted on the dynamic platform (43); The steel bar binding device (3) comprises a wire winding wheel (31), a steel wire binding head (32), a steering gear (33), and a wire winding wheel fixing frame (34); the steering gear (33) and the steel wire binding head (32) are respectively connected to the onboard computer (51); the wire winding wheel fixing frame (34) is sleeved on the outside of the steel wire binding head (32); the wire winding wheel (31) is transferred to the wire winding wheel fixing frame (34); the wire winding wheel fixing frame (34) is connected to the steel wire binding head (32); The outer sleeve of the tying head (32) is provided with a rotating frame (35), the steering gear (33) is arranged on the rotating frame (35), the output end of the steering gear (33) is connected with a gear (36), and the movable platform (43) is provided with a placement hole (431) for installing the wire tying head (32), and the placement hole (431) is provided with an internal tooth (432) meshing with the gear (36) so that the rotating frame (35) and the movable platform (43) can rotate relative to each other.

2. The aerial strapping robot system according to claim 1, characterized in that The parallel robot arm (41) comprises a rotating power unit (411), an active arm (412) and a driven arm (414); the rotating power unit (411) is connected to the static platform (42) for vertical rotation; the output end of the rotating power unit (411) is connected to the first end of the active arm (412) to drive the active arm (412) to rotate vertically relative to the static platform (42); the second end of the active arm (412) is connected to the first end of the driven arm (414) for vertical rotation; and the second end of the driven arm (414) is connected to the dynamic platform (43).

3. The aerial strapping robot system according to claim 2, characterized in that A power controller (44) is provided at the bottom end of the static platform (42), and the power controller (44) is connected to the onboard computer (51). The power controller (44) controls the rotation power unit (411) to move.

4. The aerial strapping robot system according to claim 1, characterized in that The placement hole (431) is provided with a placement step (4311), and the rotating frame (35) is placed on the placement step (4311) for rotation. The movable platform (43) is provided with a pressure plate (37), and the pressure plate (37) is provided with a step groove (371) that cooperates with the rotating frame (35). The pressure plate (37) blocks the top of the placement step (4311) to limit the up and down movement of the rotating frame (35).

5. The aerial strapping robot system according to claim 1, characterized in that An anti-collision beam (6) is arranged on the outer side of the rotor (2), and the anti-collision beam (6) extends in a direction away from the rotor (2).

6. The aerial strapping robot system according to claim 1, characterized in that The flight controller (1) is provided with an obstacle avoidance camera (7), and the obstacle avoidance camera (7) is connected to the onboard computer (51).

7. The aerial strapping robot system according to claim 1, characterized in that A landing gear (8) is also provided at the lower part of the flight controller (1) to support the flight controller (1) on the ground.

8. The aerial strapping robot system according to claim 1, characterized in that The positioning station (20) comprises a plurality of ground positioning blocks (201), wherein the ground positioning blocks (201) can be movably arranged in a construction area to capture the position data of the steel bar arrangement in the construction area. The positioning station (20) also comprises a ground controller (202) connected to the plurality of ground positioning blocks (201) to process the position data of the steel bar arrangement, and the ground controller (202) is connected to control the onboard computer (51).

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