Unmanned aerial vehicle pile driving measurement system and pile driving method

Abstract

The application discloses a kind of unmanned vehicle measurement stake placing systems, including top measuring device, stake placing device being arranged below measuring device and earth boring device;The stake placing device includes wood pile storage bin and hydraulic jacking device being arranged in wood pile storage bin;The earth boring device includes earth boring rotator, jacking device being fixedly arranged on the upper end surface of the wood pile storage bin, earth boring shovel being fixedly arranged below the jacking device, sensor and power device;The earth boring shovel is located above the earth boring rotator, when positioning is completed, the top end of the earth boring shovel enters the buckle area inside the earth boring rotator under the push of the jacking device;Corresponding stake placing method is also disclosed;Can solve the problem of large workload, large measurement error in traditional technology, cannot meet the actual demand of construction site and other problems, realize accurate stake placing.

Description

Technical Field

[0001] This invention belongs to the field of construction surveying and staking technology, and more specifically, relates to an unmanned aerial vehicle (UAV) surveying and staking system and staking method. Background Technology

[0002] In road construction, surveying and stake setting is an indispensable task. However, traditional surveying and stake setting techniques require carrying heavy instruments and multiple people working together to complete the task. Furthermore, the varied terrain and complex environment of field operations present significant challenges for surveyors. These problems not only increase the difficulty of the surveying work but may also introduce errors that affect the accuracy of the measurements.

[0003] With the continuous development of drone technology, existing construction solutions generally involve using drones in conjunction with remote sensing technology for surveying. However, this technology is only applied to surveying; tasks such as stake setting still require manual labor. Existing construction solutions can address the problems of large workloads, significant measurement errors, and inability to meet the practical needs of various construction site scenarios for setting out lines, measuring, and inspection, which are inherently flawed. However, they are functionally limited, have high labor costs for stake setting, and are extremely difficult to perform in extreme environments. Summary of the Invention

[0004] In view of the above-mentioned defects or improvement needs of the existing technology, the present invention aims to solve the problems of high measurement difficulty, inaccurate measurement and large human error in pile setting in the existing technology.

[0005] The technical solution of the present invention is as follows:

[0006] A drone-based surveying and stake-laying system includes a surveying device at the top, a stake-laying device located below the surveying device, and a digging device.

[0007] The pile-laying device includes a pile storage bin and a hydraulic jacking device installed inside the pile storage bin; the pile storage bin has a hollow structure with an opening on its lower end face.

[0008] The excavation device includes an excavation rotor, a jacking device fixedly installed on the upper surface of the timber pile storage bin, an excavation shovel fixedly installed below the jacking device, a sensor, and a power unit; the excavation shovel, jacking device, and sensor are located in the hollow area in the middle of the timber pile storage bin, and the excavation shovel can extend from the opening below the timber pile storage bin under the jacking action of the jacking device; the power unit and the excavation rotor are fixed below the timber pile storage bin.

[0009] The digging shovel is positioned above the digging rotator. Once positioned, the tip of the digging shovel, pushed by the jacking device, enters the locking area inside the digging rotator. When the jacking device senses ground resistance, it transmits a signal to the power unit. Upon receiving the signal, the power unit drives the digging rotator to rotate. Under the pressure of the jacking device and the action of the digging rotator, the digging shovel begins to descend and dig. When the digging reaches a specified depth, the sensor triggers a command to stop the rotation of the power unit. Then, the jacking device retracts the digging shovel according to the command, and the wooden stakes in the storage bin fall from the lower opening onto the excavation site under the jacking action of the hydraulic jacking device.

[0010] Furthermore, the power unit includes two gears driven by motors on the left and right, and the digging rotator is a gear with an internal latch. The digging rotator is located between the two gears driven by motors on the left and right and meshes with them.

[0011] Furthermore, the timber pile storage bin is circular or square.

[0012] Furthermore, the sensor is located on the inner wall of the timber pile storage chamber.

[0013] Furthermore, the measuring device includes a drone and an RTK positioning and total station measurement component. The RTK positioning and total station measurement component is located inside the drone and is an instrument component containing satellite positioning measurement method and slope measurement method. The RTK positioning and total station measurement component is used for measurement and positioning. The drone reaches the designated position according to the instructions and analyzes and adjusts the vertical angle of excavation.

[0014] Furthermore, the timber pile storage chamber contains multiple independent pile-laying chambers. The pile-laying platform at the bottom of each pile-laying chamber is a downward-sloping movable platform. An opening is provided at the lowest point of the pile-laying platform, which is also the inner wall of the timber pile storage chamber, and the hydraulic jacking device is placed under the pile-laying platform.

[0015] Furthermore, a method for setting up stakes using an unmanned aerial vehicle (UAV) measurement and stake-setting system includes the following steps:

[0016] S1, the UAV is equipped with the RTK positioning and measurement and total station measurement components. The coordinate points are input through the UAV ground command terminal, and the command is issued to the UAV to fly to the specified coordinates and hover at a set height above the ground or slope to perform slope analysis and automatically adjust the vertical angle of excavation according to the slope analysis.

[0017] S2, after the UAV automatically analyzes and adjusts the vertical angle of the excavation, it lands and controls the jacking device through the ground command terminal to push the excavation shovel into the latching area inside the excavation rotator;

[0018] S3, after sensing the ground resistance, the jacking device transmits a signal to the power device, which drives the digging rotator to rotate. Under the action of the power device and the jacking device, the digging shovel descends to dig.

[0019] S4. When the excavation reaches the specified depth, the sensor is triggered to transmit a signal to the power unit. The power unit stops rotating and transmits a signal to the jacking device. The jacking device, based on the signal transmitted by the power unit, drives the excavating shovel to retract to the high position, and the device enters the pile laying state. At this time, the opening at the bottom of the pile laying platform that was blocked by the excavating shovel is opened.

[0020] S5, after the jacking device retracts, it transmits a signal to the hydraulic jacking device, and the hydraulic jacking device begins to push the pile-laying platform, causing the wooden piles placed on the pile-laying platform to tilt and slide smoothly off the pile-laying platform, and then fall through the opening at the bottom of the pile-laying platform to the excavated area.

[0021] S6, the wooden stakes are placed. The hydraulic jacking device automatically releases pressure and transmits a signal to the jacking device after a wooden stake falls, through weight sensing. The jacking device then lowers the digging shovel, which returns to its normal position and is in standby mode.

[0022] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0023] 1. The UAV surveying and pile setting system of the present invention uses a UAV equipped with surveying equipment and a power unit to excavate and set piles, eliminating the need for manual pile setting, saving manpower and improving the efficiency of surveying work at the construction site.

[0024] 2. The UAV measurement and stake placement system of the present invention, by combining UAV measurement technology with a stake placement system, can mobilize the wooden stakes in the stake storage bin to accurately place them at the hole positions, thereby improving the efficiency and accuracy of measurement and stake placement and avoiding errors caused by human operation.

[0025] 3. The UAV measurement and stake setting system of the present invention, by combining UAV measurement technology with a stake setting system, can solve the problem of the existing method of requiring manual personnel to carry equipment on foot for measurement, which is time-consuming, labor-intensive, and inefficient. Attached Figure Description

[0026] Figure 1 This is an elevation view of a drone-based surveying and pile-laying system according to an embodiment of the present invention (only a portion of the wooden piles are shown in the figure to clearly illustrate the structure).

[0027] Figure 2This is a top view of a drone-based surveying and stake-laying system according to an embodiment of the present invention, with the drone removed.

[0028] Figure 3 This is a top view of the power unit of the excavation device in an unmanned aerial vehicle (UAV) surveying and pile-laying system according to an embodiment of the present invention;

[0029] Figure 4 This is a schematic diagram of the internal hydraulic jacking part of a pile-laying device in an unmanned aerial vehicle (UAV) measurement and pile-laying system according to an embodiment of the present invention.

[0030] In all the accompanying drawings, the same reference numerals indicate the same technical features, specifically: 1-UAV, 2-RTK positioning and total station measurement components, 3-circular wooden pile storage bin, 4-power unit, 5-digging rotary device, 6-digging shovel, 7-jacking device, 8-sensor, 9-hydraulic jacking device, 10-pile laying platform, 11-wooden pile, 12-clamping area. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0032] Please refer to Figure 1 and Figure 2 This invention relates to an unmanned aerial vehicle (UAV) measurement and pile-laying system, comprising a measuring device at the top, a pile-laying device disposed below the measuring device, and a digging device.

[0033] The measuring device includes a drone 1 and an RTK positioning and total station measurement component 2. The RTK positioning and total station measurement component 2 is installed inside the drone 1 and is an instrument component containing satellite positioning measurement method and slope measurement method. The RTK positioning and total station measurement component 2 is used for measurement and positioning. The drone 1 arrives at the designated position according to the instructions and analyzes and adjusts the vertical angle of excavation.

[0034] The pile-laying device includes a pile storage chamber 3 and a hydraulic jacking device 9 installed inside the pile storage chamber 3. The pile storage chamber 3 is a circular, square or other hollow structure, and the interior of the pile storage chamber 3 is a hollow structure with an opening at its lower end. The pile storage chamber 3 contains multiple independent pile-laying chambers. The pile-laying platform 10 at the bottom of the pile-laying chamber is a downwardly sloping movable platform. An opening is provided at the lowest point of the pile-laying platform 10, which is also the inner wall of the pile storage chamber 3, and the hydraulic jacking device 9 is placed under the pile-laying platform 10.

[0035] The excavation device includes an excavation rotor 5, a jacking device 7 fixedly installed on the upper surface of the timber pile storage chamber 3, an excavation shovel 6 fixedly installed below the jacking device 7, a sensor 8, and a power unit 4. The excavation shovel 6, the jacking device 7, and the sensor 8 are located in the hollow area in the middle of the timber pile storage chamber 3. The excavation shovel 6 can extend from the opening below the timber pile storage chamber 3 under the jacking action of the jacking device 7. The power unit 4 and the excavation rotor 5 are fixed below the timber pile storage chamber 3. The sensor 8 is located on the inner wall of the timber pile storage chamber 3.

[0036] The digging shovel 6 is positioned above the digging rotator 5. After positioning, the top of the digging shovel 6 enters the locking area 12 inside the digging rotator 5 under the push of the jacking device 7. When the jacking device 7 senses the resistance of the ground, it transmits a signal to the power device 4. After receiving the signal from the jacking device 7, the power device 4 drives the digging rotator 5 to rotate. Under the pressure of the jacking device 7 and the action of the digging rotator 5, the digging shovel 6 begins to descend and dig. When the digging reaches the specified depth, the sensor 8 will trigger a command to stop the rotation of the power device 4. Then, the jacking device 7 retracts the digging shovel 6 according to the command. The wooden stakes 11 in the wooden stake storage bin 3 then fall from the lower opening at the digging site under the jacking action of the hydraulic jacking device 9.

[0037] Please refer to Figure 3 The power unit of the excavating device includes a power unit 4 and an excavating rotator 5. The power unit 4 includes two gears driven by motors on the left and right. The excavating rotator 5 is a gear with an internal latch. The excavating rotator 5 is located between the two gears driven by motors on the left and right and meshes with them. In some other embodiments, the power unit 4 may also use only one gear driven by a motor or use other methods of driving, such as belt drive.

[0038] Please refer to Figure 4 The internal hydraulic jacking component of the pile-laying device includes a hydraulic jacking device 9 and a pile-laying platform 10. The hydraulic jacking device 9 is equipped with a signal transceiver and a weight sensor, and is connected to the pile-laying platform 10. The pile-laying platform 10 is a movable inclined platform, and the degree of inclination of the pile-laying platform 10 can be adjusted by applying force from the hydraulic jacking device 9.

[0039] As another aspect of the present invention, a staking method using a drone-based staking system is also provided, comprising the following steps:

[0040] S1, the UAV 1 is equipped with the RTK positioning and measurement and total station measurement component 2. The coordinate point is input through the ground command terminal of the UAV 1, and the command is issued to the UAV 1 to fly to the specified coordinate and hover at a set height above the ground or slope, such as 50CM, to perform slope analysis and automatically adjust the vertical angle of digging according to the slope analysis.

[0041] S2, after the UAV automatically analyzes and adjusts the vertical angle of digging, it lands and controls the jacking device 7 through the ground command terminal to push the digging shovel 6 into the latching area 12 inside the digging rotator 5;

[0042] S3, after sensing the ground resistance, the jacking device 7 transmits a signal to the power device 4, which drives the digging rotator 5 to rotate. Under the action of the power device 4 and the jacking device 7, the digging shovel 6 descends to dig.

[0043] S4, when the excavation reaches the specified depth, the sensor 8 is triggered to transmit a signal to the power unit 4, the power unit 4 stops rotating and transmits a signal to the jacking device 7; the jacking device 7 drives the digging shovel 6 to retract to the high position according to the signal transmitted by the power unit 4, and the device enters the pile laying state. At this time, the opening at the bottom of the pile laying platform 10 that was blocked by the digging shovel 6 is opened.

[0044] S5, after the jacking device 7 retracts, it transmits a signal to the hydraulic jacking device 9. The hydraulic jacking device 9 starts to push the pile-laying platform 10, causing the wooden pile 11 placed on the pile-laying platform 10 to tilt and slide smoothly from the pile-laying platform 10, and then fall through the lower opening of the pile-laying platform 10 to the excavated area.

[0045] S6, the wooden stakes are placed. The hydraulic jacking device 9 automatically releases pressure and transmits a signal to the jacking device 7 after a wooden stake falls, through weight sensing. The jacking device 7 then lowers the digging shovel 6, which returns to its normal position and is in standby mode.

[0046] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A drone-based surveying and stake-laying system, characterized in that, It includes a measuring device at the top, a pile-laying device located below the measuring device, and an excavation device; The measuring device includes a drone (1) and an RTK positioning measurement and total station measurement component (2). The RTK positioning measurement and total station measurement component (2) is installed inside the drone (1) and is an instrument component containing satellite positioning measurement method and slope measurement method. The RTK positioning measurement and total station measurement component (2) is used for measurement and positioning. The drone (1) arrives at the designated position according to the instructions and analyzes and adjusts the vertical angle of excavation. The pile-laying device includes a pile storage bin (3) and a hydraulic jacking device (9) installed inside the pile storage bin (3); the pile storage bin (3) has a hollow structure with an opening on its lower end face; the hydraulic jacking device (9) is equipped with a signal transceiver device and a weight sensing device and is connected to the pile-laying platform (10). The excavation device includes an excavation rotor (5), a jacking device (7) fixedly installed on the upper surface of the timber pile storage bin (3), an excavation shovel (6) fixedly installed below the jacking device (7), a sensor (8), and a power device (4); the excavation shovel (6), the jacking device (7), and the sensor (8) are located in the hollow area in the middle of the timber pile storage bin (3), and the excavation shovel (6) can extend from the opening below the timber pile storage bin (3) under the jacking action of the jacking device (7); the power device (4) and the excavation rotor (5) are fixed below the timber pile storage bin (3); The digging shovel (6) is located above the digging rotator (5). After positioning, the top of the digging shovel (6) enters the locking area (12) inside the digging rotator (5) under the push of the jacking device (7). When the jacking device (7) senses the resistance of the ground, it transmits a signal to the power device (4). After receiving the signal from the jacking device (7), the power device (4) drives the digging rotator (5) to rotate. Under the pressure of the jacking device (7) and the action of the digging rotator (5), the digging shovel (6) begins to descend and dig. When the digging reaches the specified depth, the sensor... The device (8) will trigger a command to stop the rotation of the power unit (4), and then the jacking device (7) will retract the digging shovel (6) according to the command. The wooden pile (11) placed in the wooden pile storage bin (3) will fall from the lower opening to the excavation site under the jacking action of the hydraulic jacking device (9). After the wooden pile is placed, the hydraulic jacking device (9) will automatically depressurize and transmit a signal to the jacking device (7) after a wooden pile (11) falls through the weight sensor. The jacking device (7) will lower the digging shovel (6). At this time, the digging shovel (6) will return to the normal position and be in standby mode.

2. The UAV measurement and stake-laying system according to claim 1, characterized in that, The power unit (4) includes two gears driven by motors on the left and right. The digging rotator (5) is a gear with a snap-fit ​​inside. The digging rotator (5) is located between the two gears driven by motors on the left and right and meshes with them.

3. The UAV measurement and stake-laying system according to claim 1, characterized in that, The timber storage bin (3) is round or square.

4. The UAV measurement and stake-laying system according to claim 1, characterized in that, The sensor (8) is located on the inner wall of the log storage bin (3).

5. The UAV measurement and stake-laying system according to claim 1, characterized in that, The timber pile storage chamber (3) contains multiple independent pile-laying chambers. The pile-laying platform (10) at the bottom of the pile-laying chamber is a downward-sloping movable platform. An opening is provided at the lowest point of the pile-laying platform (10), which is also the inner wall of the timber pile storage chamber (3), and the hydraulic jacking device (9) is placed under the pile-laying platform (10).

6. A staking method using a drone-based surveying and staking system, implemented using the drone-based surveying and staking system as described in claims 1-5, comprising the following steps: S1, the UAV (1) is equipped with the RTK positioning measurement and total station measurement component (2). The coordinate point is input through the ground command terminal of the UAV (1), and the command is given to the UAV (1) to fly to the specified coordinate and hover at a height set above the ground or slope to perform slope analysis and automatically adjust the vertical angle of excavation according to the slope analysis. S2, after the UAV automatically analyzes and adjusts the vertical angle of digging, it lands and controls the jacking device (7) through the ground command terminal to push the digging shovel (6) into the latching area (12) inside the digging rotator (5). S3, the jacking device (7) transmits a signal to the power device (4) after sensing the ground resistance, which drives the digging rotator (5) to rotate. The digging shovel (6) descends to dig under the action of the power device (4) and the jacking device (7). S4, when the excavation reaches the specified depth, the sensor (8) is triggered to transmit a signal to the power device (4), the power device (4) stops rotating and transmits a signal to the jacking device (7); the jacking device (7) drives the digging shovel (6) to retract to the high position according to the signal transmitted by the power device (4), and the device enters the pile laying state. At this time, the opening at the bottom of the pile laying platform (10) that was blocked by the digging shovel (6) is opened; S5, after the jacking device (7) retracts, it transmits a signal to the hydraulic jacking device (9), and the hydraulic jacking device (9) begins to push the pile-laying platform (10), causing the wooden pile (11) placed on the pile-laying platform (10) to tilt and slide smoothly from the pile-laying platform (10), and then fall through the lower opening of the pile-laying platform (10) to the excavated area; S6, the hydraulic jacking device (9) automatically releases pressure and transmits a signal to the jacking device (7) after a wooden stake falls by weight sensing. The jacking device (7) lowers the digging shovel (6), at which time the digging shovel (6) returns to its normal position and is in standby mode.

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