Laser projection assisted laying system and projection positioning method

Abstract

The present invention discloses a laser projection assisted paving system and a projection positioning method, comprising a plurality of paving devices, wherein the paving device comprises a plant beam, a fixed shaft, a fixed plate and a laser emitting mechanism, wherein the fixed plate is mounted at the lower end of the plant beam, one end of the fixed shaft is mounted at the lower end of the fixed plate on one side, and the other end of the fixed shaft is mounted at the lower end of the fixed plate on the other side, and the laser emitting mechanism comprises a laser head body and a laser head fixing plate, wherein a laser fixing sleeve is provided at the upper end of the laser head body, and the laser fixing sleeve is mounted on the fixed shaft and fixedly connected to the fixed shaft. The present invention provides a laser projection assisted paving system and a projection positioning method, wherein during the production process of wind blades, the laser head body can be used for marking and guiding in different processes, thereby facilitating paving, improving quality, reducing manual pressure, and being more practical.

Description

Technical Field

[0001] The invention belongs to the technical field of auxiliary ply laying, and in particular relates to a laser projection auxiliary ply laying system and a projection positioning method. Background Art

[0002] During the production process, parts (three-dimensional cavities) are constantly experiencing posture changes and slight deformations due to vibration, thermal deformation, and repeated flipping during mold closing. At the same time, the posture of the laser projection equipment suspended on the roof of the workshop will also change due to factors such as vibration, and further cause the projection plane and imaging plane of the galvanometer to be unable to remain completely parallel, causing the projection pattern to deviate from the target position or the shape to be distorted.

[0003] Analyzing this problem with the projection imaging model, we know that when there is an error in the posture of the projection plane, the imaging error will be magnified with the depth of the imaging plane. For the processing of large wind turbine blades, the projection equipment can be up to 20m away from the parts. The surface curvature of the blade root is significant and the thickness is large, and the thickness difference of the blade belly can reach up to 2m. However, when the relative posture of the projection equipment and the blade changes little, the projection error magnified by the depth of the part can be ignored, and the imaging plane after the relative posture change is regarded as a new imaging plane. Then the problem is attributed to the perspective transformation problem. The coordinates of the feature points on the projection plane can be obtained by scanning the target on the mold, and the perspective transformation matrix can be generated by comparing and calculating with the target coordinates in the projection file, and the projection file can be directly modified to solve it. Summary of the invention

[0004] In order to solve the deficiencies in the prior art, the present invention provides a laser projection assisted laying system and a projection positioning method.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A laser projection assisted laying system and projection positioning method, including a plurality of laying devices, wherein the laying devices include a factory beam, a fixed shaft, a fixed plate and a laser emitting mechanism, wherein the fixed plate is installed at the lower end of the factory beam, one end of the fixed shaft is installed at the lower end of the fixed plate on one side, and the other end of the fixed shaft is installed at the lower end of the fixed plate on the other side, and the laser emitting mechanism includes a laser head body and a laser head fixing plate, and a laser fixing sleeve is provided at the upper end of the laser head body, and the laser fixing sleeve is mounted on the fixed shaft and fixedly connected to the fixed shaft.

[0007] Furthermore, the laser emitting mechanism includes a plurality of fixed L-plates, each of which includes a mounting portion and a supporting portion, wherein the upper end of the mounting portion is fixed to the lower end of the laser head fixing plate, and the supporting portion is integrally formed at the lower end of the mounting portion, and an angle of 90 degrees is formed between the supporting portion and the mounting portion, and the supporting portion is arranged at the lower end of the laser head body.

[0008] Further, the laser fixing sleeve includes an upper sleeve and a lower sleeve, the lower end of the upper sleeve is provided with a first slot, the upper end of the lower sleeve is provided with a second slot, the first slot and the second slot are both arc slots, the lower sleeve is installed on the upper end of the laser head fixing plate, the two ends of the upper sleeve are provided with a first through hole, the two ends of the lower sleeve are provided with a first mounting hole, and the first through hole matches the first mounting hole.

[0009] Furthermore, the laying device includes a mounting block, a mounting plate, a first screw and a first nut, a third slot is provided at the upper end of the mounting block, the third slot matches the fixed shaft, a plurality of second mounting holes are provided on the mounting block, a plurality of second through holes are provided on the fixed plate, a plurality of third mounting holes are provided on the mounting plate, and one end of the first screw passes through the second mounting hole, the second through hole and the third mounting hole in sequence and is fixedly connected to the first nut.

[0010] Furthermore, the laying device includes a fixed pressure plate, a fixed block, a through tube, a second screw and a second nut, the lower end of the fixed pressure plate is stepped, one end of the fixed pressure plate is pressed on the factory building beam, the other end of the fixed pressure plate is provided with a fourth mounting hole, the fixed block is provided with a fifth mounting hole, one end of the second screw passes through the fifth mounting hole and the fourth mounting hole in sequence and is fixedly connected to the second nut, the upper end of the fixed block is provided with a fourth notch, one end of the through tube is arranged at the fourth notch of the fixed block on one side, and the other end of the through tube is arranged at the fourth notch of the fixed block on the other side.

[0011] A projection positioning method comprises the following steps:

[0012] Step S1: placing a target mold in a corresponding designated installation area, wherein at least four positioning targets are provided on the target mold, and importing a 3D mold graphic and a projection file corresponding to the target mold into a control host, wherein the 3D mold graphic is provided with positioning information corresponding to the positioning targets one by one;

[0013] Step S2: According to the positioning information of the positioning target in the 3D mold graphic, the fuzzy coordinates of the positioning target in the target mold are obtained, and the laser emitting device emits a laser signal to scan the positioning target near the fuzzy coordinates of the positioning target. After receiving the laser signal, the positioning target feeds back the positioning signal to the control host to confirm the clear coordinates of the positioning target;

[0014] Step S3: After obtaining the clear coordinates of each positioning target, the clear coordinates of the positioning targets in the target mold are compared with the positioning information of the positioning targets in the 3D mold graphics one by one, and the positioning information of the positioning targets in the 3D mold graphics is calibrated to obtain a precisely positioned target mold;

[0015] Step S4: The control host obtains the clear coordinates of each positioning target, and obtains the original projection coordinates of the positioning target in the projection file according to the projection file, and obtains the perspective transformation matrix of the clear coordinates and the original projection coordinates according to the perspective transformation principle. The control host obtains the original projection contour according to the projection file, and performs perspective transformation on the original projection contour to be projected through the obtained perspective transformation matrix to obtain the corrected ideal projection contour. The ideal projection contour is projected onto the target mold through the laser emitting device to obtain the ideal projection image.

[0016] Furthermore, the laser signal performs a first scan near the fuzzy coordinates of the positioning target in the target mold, and the positioning target receives the laser signal and feeds back a preliminary positioning signal to the control host, stops the first scan, and obtains preliminary clear coordinates;

[0017] The laser emitting device transmits a calibration signal to perform a second scan towards the obtained preliminary clear coordinates. If the positioning target receives the calibration signal and feeds back the positioning signal to the control host, the clear coordinates of the positioning target can be obtained and confirmed. If the control host cannot receive the calibration signal reflected by the positioning target, the first scan is performed again to recalibrate and confirm the preliminary clear coordinates.

[0018] Furthermore, the laser signal performs a first scan near the fuzzy coordinates of the positioning target in the target mold by means of spiral scanning, wherein the spiral scanning starts with the fuzzy coordinates of the positioning target in the target mold as the center, and the spiral pitch of the spiral scanning gradually increases until the positioning target receives the laser signal and feeds back a preliminary positioning signal to the control host to stop the first scan.

[0019] Furthermore, the calibration signal is scanned a second time to the preliminary clear coordinates of the positioning target in the target mold by linear scanning. When the positioning target receives the calibration signal and feeds back the positioning signal to the control host, the clear coordinates of the positioning target can be obtained and confirmed.

[0020] Furthermore, the laser projection assisted paving system also includes a gateway, which is connected to the control host in a two-way communication manner through a serial port, Ethernet or WiFi. The positioning target is a laser recognition device based on the LORAWAN protocol, and the positioning target is connected to the gateway in a two-way communication manner through LORA.

[0021] The invention discloses a laser projection assisted laying system and projection positioning method. Compared with the prior art, the invention has the beneficial effect that, in the production process of wind blades, the laser head body can guide the marking lines for different processes, which is convenient for laying, improves the quality and reduces the pressure of manual labor. At the same time, the laser emission mechanism can be adjusted to meet the requirements of blades of different specifications, which is more practical. In the invention, the target mold is first placed in the designated installation area. Due to the difference in installation, the relative position relationship between the laser emission device and the target mold is easily different from the setting. The laser emission device sends a laser signal to scan and locate the target. The target is located by receiving the laser signal and sending the positioning signal to the control host. The clear coordinates of the positioning target can be confirmed. The perspective transformation matrix of the clear coordinates and the original projection coordinates can be obtained by the perspective transformation principle, so that the original projection contour to be projected is perspectively transformed to obtain the corrected ideal projection contour. The ideal projection contour is projected on the target mold by the laser emission device to obtain an ideal projection diagram, thereby guiding the laying operations of the wind blade such as the laying of glass fiber cloth and the laying of core material. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the laying device provided by the present invention.

[0023] Figure 2 It is a structural schematic diagram of the paving device provided by the present invention from a first perspective.

[0024] Figure 3 It is a structural schematic diagram of the paving device provided by the present invention from a second viewing angle.

[0025] Figure 4 It is a structural schematic diagram of the paving device provided by the present invention from a third perspective.

[0026] Figure 5 It is a schematic diagram of the enlarged structure of the local A provided by the present invention.

[0027] Figure 6 It is a schematic diagram of the enlarged structure of the local B provided by the present invention.

[0028] Figure 7 It is a schematic diagram of the enlarged structure of the local C provided by the present invention.

[0029] Figure 8 It is a flowchart of the projection positioning method provided by the present invention.

[0030] The reference numerals include: 100, wind blade; 200, laying device; 210, factory building beam; 220, laser head body; 221, laser head fixing plate; 222, fixed L plate; 223, lower sleeve; 224, upper sleeve; 230, fixed shaft; 240, fixing plate; 241, third mounting hole; 250, fixed pressure plate; 251, fourth mounting hole; 252, second nut; 260, mounting plate; 261, first nut; 270, mounting block; 271, second mounting hole; 280, through pipe; 290, fixing block; 291, second screw. DETAILED DESCRIPTION

[0031] The present invention discloses a laser projection assisted layering system and a projection positioning method. The specific implementation manner of the present invention is further described below in conjunction with preferred embodiments.

[0032] See attached figure Figure 1-8 , Figure 1 is a schematic diagram of the structure of the laying device provided by the present invention, Figure 2 is a structural schematic diagram of the paving device provided by the present invention from a first perspective, Figure 3 is a structural schematic diagram of the paving device provided by the present invention from a second viewing angle, Figure 4 is a schematic structural diagram of the laying device provided by the present invention from a third perspective, Figure 5 is an enlarged structural schematic diagram of a local area A provided by the present invention, Figure 6 is an enlarged structural schematic diagram of the local B provided by the present invention, Figure 7 is a schematic diagram of the enlarged structure of the local C provided by the present invention, Figure 8 It is a flowchart of the projection positioning method provided by the present invention.

[0033] First embodiment.

[0034] The present embodiment provides a laser projection assisted paving system, comprising a plurality of paving devices 200, wherein the paving devices 200 comprise a plant beam 210, a fixed shaft 230, a fixed plate 240 and a laser emitting mechanism, wherein the fixed plate 240 is mounted on the lower end of the plant beam 210, one end of the fixed shaft 230 is mounted on the lower end of the fixed plate 240 on one side, and the other end of the fixed shaft 230 is mounted on the lower end of the fixed plate 240 on the other side, and the laser emitting mechanism comprises a laser head body 220 and a laser head fixing plate 221, wherein a laser fixing sleeve is provided at the upper end of the laser head body 220, and the laser fixing sleeve is mounted on the fixed shaft 230 and fixedly connected to the fixed shaft 230.

[0035] The wind blade 100 is placed in the factory and correspondingly placed below the laying device 200. After the control host positions the wind blade 100, various marking lines can be projected on the surface of the wind blade 100 through the laser head body 220, wherein the wind blade 100 is divided into multiple projection partitions, corresponding to the laying device 200 one by one, and used for the guidance or review of the laying of glass fiber cloth, core material, main beam, web bonding, auxiliary material laying, nuclear membrane structural adhesive and spare parts installation of the wind blade 100. Among them, the working principle of the laser head body 220 is: the laser emits the outline of the green light source, which is reflected by several galvanometers and projected on the surface of the wind blade 100 to complete the auxiliary work in the production process of the wind blade 100.

[0036] Further, the laser emitting mechanism includes a plurality of fixed L plates 222, and the fixed L plates 222 include a mounting portion and a supporting portion, the upper end of the mounting portion is fixed to the lower end of the laser head fixing plate 221, the supporting portion is integrally formed at the lower end of the mounting portion, and the supporting portion and the mounting portion form an angle of 90 degrees, and the supporting portion is arranged at the lower end of the laser head body 220. The mounting portion is used to fix the fixed L plate 222 to the lower end of the laser head fixing plate 221, and the supporting portion is used to support the laser head body 220 to ensure the stability of the laser head body 220.

[0037] Further, the laser fixing sleeve includes an upper sleeve 224 and a lower sleeve 223, the lower end of the upper sleeve 224 is provided with a first notch, the upper end of the lower sleeve 223 is provided with a second notch, the first notch and the second notch are both arc grooves, the lower sleeve 223 is installed on the upper end of the laser head fixing plate 221, the two ends of the upper sleeve 224 are provided with a first through hole, the two ends of the lower sleeve 223 are provided with a first mounting hole, the first through hole matches the first mounting hole. The laser fixing sleeve includes a third screw, one end of the third screw passes through the first through hole in turn and is connected to the first mounting hole, fixing the laser head fixing plate 221 on the fixing shaft 230, and then fixing and stabilizing the laser head body 220.

[0038] Further, the laying device 200 includes a mounting block 270, a mounting plate 260, a first screw and a first nut 261, the upper end of the mounting block 270 is provided with a third notch, the third notch matches the fixed shaft 230, the mounting block 270 is provided with a plurality of second mounting holes 271, the fixed plate 240 is provided with a plurality of second through holes, the mounting plate 260 is provided with a plurality of third mounting holes 241, one end of the first screw sequentially passes through the second mounting hole 271, the second through hole and the third mounting hole 241 and is fixedly connected to the first nut 261. By fixing the first screw and the first nut 261, the fixed shaft 230 is fixed in cooperation with the mounting block 270 and the mounting plate 260, so as to ensure the stability of the laser head body 220.

[0039] Furthermore, the laying device 200 includes a fixed pressure plate 250, a fixed block 290, a through tube 280, a second screw 291 and a second nut 252, the lower end of the fixed pressure plate 250 is stepped, one end of the fixed pressure plate 250 is pressed on the factory beam 210, the other end of the fixed pressure plate 250 is provided with a fourth mounting hole 251, the fixed block 290 is provided with a fifth mounting hole, one end of the second screw 291 passes through the fifth mounting hole and the fourth mounting hole 251 in sequence and is fixedly connected to the second nut 252, the upper end of the fixed block 290 is provided with a fourth notch, one end of the through tube 280 is arranged at the fourth notch of the fixed block 290 on one side, and the other end of the through tube 280 is arranged at the fourth notch of the fixed block 290 on the other side. The through tube 280 is arranged between the two fixed blocks 290. The through tube 280 is fixed between the fixed blocks 290 and the fixed plate 240 by the second screw 291 and the second nut 252. This can ensure the stability of the through tube 280 and the stability of the fixed pressure plate 250, thereby ensuring the stability of the fixed plate 240 and further ensuring the stability of the laser head body 220.

[0040] Second embodiment.

[0041] This embodiment provides a projection positioning method, comprising the following steps:

[0042] Step S1: placing a target mold in a corresponding designated installation area, wherein at least four positioning targets are provided on the target mold, and importing a 3D mold graphic corresponding to the target mold into a control host, wherein the 3D mold graphic is provided with positioning information corresponding to the positioning targets one by one;

[0043] Step S2: According to the positioning information of the positioning target in the 3D mold graphic, the fuzzy coordinates of the positioning target in the target mold are obtained, and the laser emitting device emits a laser signal to scan the positioning target near the fuzzy coordinates of the positioning target. After receiving the laser signal, the positioning target feeds back the positioning signal to the control host to confirm the clear coordinates of the positioning target;

[0044] Step S3: After obtaining the clear coordinates of each positioning target, the clear coordinates of the positioning targets in the target mold are compared with the positioning information of the positioning targets in the 3D mold graphics one by one, and the positioning information of the positioning targets in the 3D mold graphics is calibrated to obtain a precisely positioned target mold;

[0045] Step S4: The control host obtains the clear coordinates of each positioning target, and obtains the original projection coordinates of the positioning target in the projection file according to the projection file, and obtains the perspective transformation matrix of the clear coordinates and the original projection coordinates according to the perspective transformation principle. The control host obtains the original projection contour according to the projection file, and performs perspective transformation on the original projection contour to be projected through the obtained perspective transformation matrix to obtain the corrected ideal projection contour. The ideal projection contour is projected onto the target mold through the laser emitting device to obtain the ideal projection image.

[0046] Among them, the clear coordinates of the positioning target are P(X,Y,1), and the original projection coordinates of the positioning target are p(x,y,1,). According to the perspective transformation principle, the perspective transformation matrix of the two can be obtained, as shown in the following formula:

[0047]

[0048] Among them, Z is the scale factor, and the perspective transformation matrix A is:

[0049]

[0050] This is a transformation from two-dimensional space to three-dimensional space, where the linear transformation is:

[0051]

[0052] The ones used to represent translation are:

[0053] [a 31 a 32 ]

[0054] The one used to represent the perspective transformation is:

[0055] [a 13 a 23 ] T

[0056] Let a 33=1, and expand the above formula to obtain a coordinate transformation relationship for positioning the target:

[0057] a 11 x+a 12 y+a 13 -a 31 xX-a 32 yX=X

[0058] a 21 x+a 22 y+a 23 -a 31 xY 32 yY=Y

[0059] This equation has 8 unknowns, so 4 points are needed to solve the perspective transformation matrix A, that is, at least four positioning targets are provided on the target mold, so that the perspective transformation matrix A can be calculated and the ideal projection image can be obtained.

[0060] Furthermore, the laser signal performs a first scan near the fuzzy coordinates of the positioning target in the target mold, and the positioning target receives the laser signal and feeds back a preliminary positioning signal to the control host, stops the first scan, and obtains preliminary clear coordinates;

[0061] The laser emitting device transmits a calibration signal to perform a second scan towards the obtained preliminary clear coordinates. If the positioning target receives the calibration signal and feeds back the positioning signal to the control host, the clear coordinates of the positioning target can be obtained and confirmed. If the control host cannot receive the calibration signal reflected by the positioning target, the first scan is performed again to recalibrate and confirm the preliminary clear coordinates.

[0062] The laser emitting device first emits a laser signal to the vicinity of the fuzzy coordinates of the positioning target for the first scan. After scanning the positioning target, the position of the positioning target is preliminarily confirmed. The positioning target receives the laser signal and feeds back the preliminary positioning signal to the control host, and obtains the preliminary clear coordinates of the positioning target; the laser emitting device then emits a calibration signal to the preliminary clear coordinates of the positioning target and performs a second scan. When scanning the positioning target, the position of the positioning target can be directly confirmed. The positioning target receives the laser signal and feeds back the positioning signal to the control host, and obtains the clear coordinates of the positioning target, that is, the control host obtains the accurate position information of the positioning target.

[0063] Furthermore, the laser signal performs a first scan near the fuzzy coordinates of the positioning target in the target mold by means of spiral scanning, wherein the spiral scanning starts with the fuzzy coordinates of the positioning target in the target mold as the center, and the spiral pitch of the spiral scanning gradually increases until the positioning target receives the laser signal and feeds back a preliminary positioning signal to the control host to stop the first scan.

[0064] The laser emitting device emits a laser signal to perform the first scan near the fuzzy coordinates of the positioning target in the target mold. The laser signal gradually expands the scanning area through spiral scanning, which can accurately find the positioning target and confirm the preliminary clear coordinates of the positioning target.

[0065] Furthermore, the calibration signal is scanned a second time to the preliminary clear coordinates of the positioning target in the target mold by linear scanning. When the positioning target receives the calibration signal and feeds back the positioning signal to the control host, the clear coordinates of the positioning target can be obtained and confirmed.

[0066] The laser emitting device transmits a calibration signal to perform a second scan towards the obtained preliminary clear coordinates. When the positioning target can receive the calibration signal and feed back the positioning signal to the control host, the preliminary clear coordinates can be confirmed as clear coordinates, that is, the position of the positioning target is confirmed.

[0067] Furthermore, the laser projection assisted paving system also includes a gateway, which is connected to the control host in a two-way communication manner through a serial port, Ethernet or WiFi. The positioning target is a laser recognition device based on the LORAWAN protocol, and the positioning target is connected to the gateway in a two-way communication manner through LORA.

[0068] The specific product model of the laser recognition device in the positioning target is JD-EI-685050. It is more sensitive to laser sensing and can adapt to laser irradiation recognition at more angles. It can ensure the accuracy of laser signal scanning. At the same time, the wireless transmission architecture design of the LORAWAN protocol facilitates the emission of calibration signals, thereby facilitating the calibration of the control host.

[0069] It is worth mentioning that the technical features such as the laser emitting device, gateway and LORAWAN protocol involved in the patent application of this invention should be regarded as the prior art. The specific structure, working principle and possible control method and spatial layout method of these technical features can be selected according to the conventional methods in the field, and should not be regarded as the inventive point of the patent of this invention. The patent of this invention will not be further elaborated.

[0070] For those skilled in the art, it is still possible to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A projection positioning method, implemented by a laser projection assisted laying system, characterized in that: The following steps are involved: Step S1: placing a target mold in a corresponding designated installation area, wherein at least four positioning targets are provided on the target mold, and importing a 3D mold graphic and a projection file corresponding to the target mold into a control host, wherein the 3D mold graphic is provided with positioning information corresponding to the positioning targets one by one; Step S2: According to the positioning information of the positioning target in the 3D mold graphic, the fuzzy coordinates of the positioning target in the target mold are obtained, and the laser emitting device emits a laser signal to scan the positioning target near the fuzzy coordinates of the positioning target. After receiving the laser signal, the positioning target feeds back the positioning signal to the control host to confirm the clear coordinates of the positioning target; Step S3: After obtaining the clear coordinates of each positioning target, the clear coordinates of the positioning targets in the target mold are compared with the positioning information of the positioning targets in the 3D mold graphics one by one, and the positioning information of the positioning targets in the 3D mold graphics is calibrated to obtain a precisely positioned target mold; Step S4: The control host obtains the clear coordinates of each positioning target, and obtains the original projection coordinates of the positioning target in the projection file according to the projection file, and obtains the perspective transformation matrix of the clear coordinates and the original projection coordinates according to the perspective transformation principle. The control host obtains the original projection contour according to the projection file, and performs perspective transformation on the original projection contour to be projected through the obtained perspective transformation matrix to obtain the corrected ideal projection contour. The ideal projection contour is projected on the target mold through the laser emitting device to obtain the ideal projection diagram; The laser projection assisted laying system includes a plurality of laying devices, which include a factory beam, a fixed shaft, a fixed plate and a laser emitting mechanism. The fixed plate is installed at the lower end of the factory beam, one end of the fixed shaft is installed at the lower end of the fixed plate on one side, and the other end of the fixed shaft is installed at the lower end of the fixed plate on the other side. The laser emitting mechanism includes a laser head body and a laser head fixing plate. The upper end of the laser head body is provided with a laser fixing sleeve, which is mounted on the fixed shaft and fixedly connected to the fixed shaft. The laser transmitter The structure comprises a plurality of fixed L plates, wherein the fixed L plates comprise a mounting portion and a supporting portion, wherein the upper end of the mounting portion is fixed to the lower end of the laser head fixing plate, wherein the supporting portion is integrally formed at the lower end of the mounting portion, wherein a 90-degree angle is formed between the supporting portion and the mounting portion, and wherein the supporting portion is arranged at the lower end of the laser head body; wherein the laser fixing sleeve comprises an upper sleeve and a lower sleeve, wherein the lower end of the upper sleeve is provided with a first notch, and the upper end of the lower sleeve is provided with a second notch, wherein both the first notch and the second notch are arc grooves, wherein the lower sleeve is installed at the upper end of the laser head fixing plate, and both ends of the upper sleeve are provided with The lower sleeve has a first through hole, and both ends of the lower sleeve are provided with first mounting holes, and the first through hole matches the first mounting hole; the laying device includes a mounting block, a mounting plate, a first screw and a first nut, the upper end of the mounting block is provided with a third notch, and the third notch matches the fixed shaft, the mounting block is provided with a plurality of second mounting holes, the fixing plate is provided with a plurality of second through holes, and the mounting plate is provided with a plurality of third mounting holes, one end of the first screw passes through the second mounting hole, the second through hole and the third mounting hole in sequence and is fixedly connected to the first nut; the laying device includes The invention comprises a fixed pressure plate, a fixed block, a through tube, a second screw and a second nut, the lower end of the fixed pressure plate is stepped, one end of the fixed pressure plate is pressed on the cross beam of the factory building, the other end of the fixed pressure plate is provided with a fourth mounting hole, the fixed block is provided with a fifth mounting hole, one end of the second screw passes through the fifth mounting hole and the fourth mounting hole in sequence and is fixedly connected to the second nut, the upper end of the fixed block is provided with a fourth notch, one end of the through tube is arranged at the fourth notch of the fixed block on one side, and the other end of the through tube is arranged at the fourth notch of the fixed block on the other side.

2. The projection positioning method according to claim 1, characterized in that: The laser signal performs a first scan near the fuzzy coordinates of the positioning target in the target mold, and the positioning target receives the laser signal and feeds back a preliminary positioning signal to the control host, stops the first scan, and obtains preliminary clear coordinates; The laser emitting device transmits a calibration signal to perform a second scan towards the obtained preliminary clear coordinates. If the positioning target receives the calibration signal and feeds back the positioning signal to the control host, the clear coordinates of the positioning target can be obtained and confirmed. If the control host cannot receive the calibration signal reflected by the positioning target, the first scan is performed again to recalibrate and confirm the preliminary clear coordinates.

3. The projection positioning method according to claim 2, characterized in that: The laser signal performs a first scan near the fuzzy coordinates of the positioning target in the target mold by means of spiral scanning, wherein the spiral scanning starts with the fuzzy coordinates of the positioning target in the target mold as the center, and the spiral pitch of the spiral scanning gradually increases until the positioning target receives the laser signal and feeds back a preliminary positioning signal to the control host to stop the first scan.

4. The projection positioning method according to claim 3, characterized in that: The calibration signal is scanned a second time to the preliminary clear coordinates of the positioning target in the target mold by linear scanning. When the positioning target receives the calibration signal and feeds back the positioning signal to the control host, the clear coordinates of the positioning target can be obtained and confirmed.

5. The projection positioning method according to claim 1, characterized in that: The laser projection assisted paving system also includes a gateway, which is connected to the control host in a two-way communication manner through a serial port, Ethernet or WiFi. The positioning target is a laser recognition device based on the LORAWAN protocol, and the positioning target is connected to the gateway in a two-way communication manner through LORA.

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