A construction point automatic positioning device and method

Abstract

A construction point automatic positioning device and method, comprising a mobile base, a first lateral ranging module, a second lateral ranging module, a multi-axis adjustment module, a laser module and a control system; the first lateral ranging module, the second lateral ranging module and the laser module are mounted on the multi-axis adjustment module, and the multi-axis adjustment module is mounted on the mobile base. The device and method provided by the present invention can automatically adjust its own position in space, use a laser-projected cursor to indicate a target construction point, and do not require human participation, thereby avoiding human measurement and positioning errors and the risk of high-altitude operations; without repeatedly changing the position of the device, calibration of multiple target points within a large range can be achieved, the operation is simple, the indication range is wide, and point marking can be completed efficiently, thereby ensuring construction efficiency.

Description

Technical Field

[0001] The present invention relates to the field of building construction, and in particular to an automatic positioning device and method for a construction point. Background Art

[0002] In construction, marking points in advance can help improve safety and efficiency during the construction process. Existing construction sites usually use two methods of marking: hand-painted marking or stamped marking. For example, patent document CN220390687 U discloses a construction point marking device, which can be used to print a marking pattern on the surface of a designated construction location. However, this method requires manual operation and is inefficient. In some special scenarios, such as high-altitude drilling operations, construction workers need to climb to mark points, which may cause the risk of falling from heights and endanger personal safety. Patent document CN 116448083 A discloses a rapid positioning and measuring device for partition wall column connectors in a tunnel. A total station is set up at a control point in the tunnel to complete reference orientation. A high-precision laser plumb line is projected upward by a vertical laser projector to directly project the coordinate point of the plane position upward to the height space position of the plumb line position, thereby avoiding the need for surveyors to climb high to measure the target layout points. At the same time, with the help of a multi-hole bolt hole positioning plate placed at the tunnel layout point position, batch point positioning within a small range can be achieved. Although this method reduces the burden on surveyors to a certain extent, it still requires manual adjustment of the device. The measurement operation is complicated and depends on the quality of the operators. After the device is set up, only target stakeout points within a small range can be measured. For farther stakeout points, the device needs to be set up at a new location and re-debugged and measured. The operation is cumbersome and inefficient, especially for scenes with large spacing between stakeout points. Only one stakeout point can be measured and located at a time, which is inefficient. In addition, although the multi-hole bolt hole positioning plate is used to achieve a small-range multi-point positioning function, it is necessary to manually climb up to draw positioning marks, which may cause unexpected risks such as falling from height. Summary of the invention

[0003] In view of the above-mentioned shortcomings, the technical problem solved by the present invention is to provide an automatic positioning device and method for construction points. The device can automatically adjust its own position in space, and use a laser-projected cursor to indicate the target construction point without manual participation, thereby avoiding human measurement and positioning errors and the risks of high-altitude operations. There is no need to repeatedly change the position of the device to achieve calibration of multiple target points within a large range. It is easy to operate, has a wide indication range, and can efficiently complete point marking, thereby ensuring construction efficiency.

[0004] The present invention solves the above-mentioned problem by adopting the following technical solution:

[0005] A construction point automatic positioning device comprises a mobile base, a first lateral ranging module, a second lateral ranging module, a multi-axis adjustment module, a laser module and a control system; the first lateral ranging module, the second lateral ranging module and the laser module are mounted on the multi-axis adjustment module, and the multi-axis adjustment module is mounted on the mobile base.

[0006] The laser module emits a cross laser line, and two straight laser lines in the cross laser line form a first virtual light plane and a second virtual light plane in the air respectively; the first virtual light plane and the second virtual light plane form a visible cross cursor with the construction surface; the first virtual light plane emitted by the laser module is perpendicular to the horizontal plane.

[0007] The multi-axis adjustment module includes a mobile rotation mechanism, which is driven by the control system to translate in a horizontal plane or rotate around a normal vector of the horizontal plane; a reference plane of the first lateral ranging module is parallel to the first virtual light plane, and the number of the first lateral ranging modules is M, where M≥2; the reference planes of the M first lateral ranging modules are located on the same plane, and a line connecting the center points of the reference planes of at least two of the first lateral ranging modules is not perpendicular to the horizontal plane; and the reference plane of the second lateral ranging module and the reference plane of the first lateral ranging module are oriented perpendicular to each other.

[0008] The mobile base moves under the control of the control system.

[0009] The moving and rotating mechanism includes a moving mechanism and a horizontal rotating mechanism; the laser module is installed on the moving mechanism, and the moving mechanism is installed on the horizontal rotating mechanism; the laser module translates in a horizontal plane driven by the moving mechanism; the laser module and the moving mechanism rotate around the normal vector of the horizontal plane driven by the horizontal rotating mechanism.

[0010] The moving mechanism consists of a transverse displacement mechanism and a longitudinal displacement mechanism; the laser module is installed on the transverse displacement mechanism and is laterally translated under the drive of the transverse displacement mechanism; the transverse displacement mechanism is installed on the longitudinal displacement mechanism, and the laser module and the transverse displacement mechanism are longitudinally translated under the drive of the longitudinal displacement mechanism.

[0011] The multi-axis adjustment module also includes a laser rotation mechanism, the laser module is installed on the laser rotation mechanism, and the rotation center axis of the laser rotation mechanism is perpendicular to the first virtual light plane of the laser module; the laser module rotates around the rotation center axis of the laser rotation mechanism under the drive of the laser rotation mechanism; the laser rotation mechanism is installed on the mobile rotation mechanism, and the mobile rotation mechanism drives the laser module and the laser rotation mechanism to translate in a horizontal plane or rotate around the normal vector of the horizontal plane.

[0012] It also includes: a height ranging module, which is installed on the multi-axis adjustment module.

[0013] A method for automatically positioning a construction point, using the automatic positioning device for a construction point, comprises the following steps:

[0014] S1. Placing the automatic positioning device for construction points in a construction space, wherein the construction space comprises a horizontally arranged construction surface, and a first lateral reference surface and a second lateral reference surface that are perpendicular to the horizontal plane and perpendicular to each other;

[0015] S2, inputting the position information of the target point P on the construction surface into the control system;

[0016] S3, using M first lateral ranging modules to respectively measure the distance to the first lateral reference plane; if the distances measured by the M first lateral ranging modules are the same, directly proceed to S4; if the distances measured by the M first lateral ranging modules are different, the control system controls the mobile rotating mechanism to rotate around the normal vector of the horizontal plane until the distance values ​​measured by the M first lateral ranging modules are the same, and then proceed to S4;

[0017] S4: The first lateral distance measurement module measures the distance to the first lateral reference plane at this time. The second lateral distance measurement module measures the distance to the second lateral reference plane at this time. , and sent to the control system;

[0018] S5, the control system determines whether the distance between the intersection of the cross cursor projected by the laser module and the target point P exceeds a first threshold value, if not, proceeding to step S6, if exceeding the threshold value, proceeding to step S7;

[0019] S6, the control system controls the moving and rotating mechanism to move a certain distance in the horizontal direction according to the distance information obtained in step S5, so that the intersection of the cross cursor projected by the laser module coincides with the target point P;

[0020] S7. According to the distance information obtained in step S5, move the mobile base to the vicinity of the position point of the vertical projection of the target point P on the ground, and repeat steps S3 to S5 until the intersection of the cross cursor projected by the laser module coincides with the target point P.

[0021] The straight line formed by the first virtual light plane and the construction surface is adjusted to coincide with the preset reference line of the construction surface. The rotation angle of the laser module is calculated by inputting the point information of the point to be marked and the distance between the rotation center axis and the construction surface, and the laser rotation mechanism is controlled to drive the laser module to rotate into place.

[0022] The specific steps include:

[0023] S1. Placing the automatic positioning device for construction points in a construction space, wherein the construction space comprises a horizontally arranged construction surface, and a first lateral reference surface and a second lateral reference surface that are perpendicular to the horizontal plane and perpendicular to each other;

[0024] S2. Input N points to be marked in the control system location information, where ; N of the points Located on the same preset reference line parallel to the first lateral reference plane;

[0025] S3, the automatic positioning device for the construction point is operated so that the laser emission origin of the laser module is vertically projected on the preset reference line and is aligned with at least Q of the points. The distance between them does not exceed a second threshold, and Q is a positive integer less than or equal to N; so that the first virtual light plane projected by the laser module and the straight line formed by the construction surface coincide with the preset reference line; enter S4;

[0026] S4, obtaining the distance between the rotation center axis and the construction surface, and sending it to the control system; the second lateral distance measurement module measures the distance to the second lateral reference plane, and sends it to the control system;

[0027] S5, the control system calculates the intersection of the cross cursor of the laser module and projects it to the The points , the rotation angle of the laser module around the rotation center axis;

[0028] S6. The control system controls the laser rotating mechanism to drive the laser module to rotate around the rotation center axis.

[0029] Step S3 includes the following specific steps:

[0030] S3.1 Adjust the laser emission origin of the laser module to be vertically projected on the preset reference line and at least Q points The distance between them does not exceed a second threshold, comprising the following steps:

[0031] S3.1.1 adjusting the first virtual light plane projected by the laser module to be parallel to the first lateral reference plane;

[0032] S3.1.2 the second lateral distance measurement module measures the distance to the second lateral reference plane and sends it to the control system; the distance between the rotation center axis and the construction surface is obtained and sent to the control system;

[0033] The control system determines whether the laser emission origin of the laser module is vertically projected on the preset reference line and is aligned with the N points. whether the distance between them exceeds a second threshold;

[0034] If the point does not exceed the second threshold If the quantity is ≥ Q, then go to S3.2;

[0035] If the point does not exceed the second threshold If the number is less than Q, the mobile base is controlled to move in a direction close to or away from the second lateral reference plane until the point position does not exceed the second threshold value. If the quantity is ≥ Q, then go to S3.2;

[0036] S3.2 adjusting the first virtual light plane projected by the laser module and the line formed by the construction surface to coincide with the preset reference line, comprising the following steps:

[0037] S3.2.1 adjusting the first virtual light plane projected by the laser module to be parallel to the first lateral reference plane;

[0038] S3.2.2 the first lateral distance measurement module measures the distance to the first lateral reference plane at this time, and sends it to the control system;

[0039] S3.2.3 The control system determines whether the distance between the line formed by the first virtual light plane projected by the laser module and the construction surface and the preset reference line exceeds a third threshold value, if not, proceeding to step S3.2.4, if exceeding the threshold value, proceeding to step S3.2.5;

[0040] S3.2.4 The control system controls the moving rotating mechanism to move in a direction close to or away from the first lateral reference plane according to the distance information obtained in step S3.2.3, so that the line formed by the first virtual light plane projected by the laser module and the construction surface coincides with the preset reference line;

[0041] S3.2.5 Based on the distance information obtained in step S3.2.3, control the mobile base to move towards or away from the first lateral reference plane to the vicinity of the position of the vertical projection of the preset reference line on the ground, and repeat steps S3.2.1 to S3.3.3 until the first virtual light plane projected by the laser module and the straight line formed by the construction surface coincide with the preset reference line.

[0042] The beneficial effects of the present invention are as follows: the device can automatically adjust its position in space, and use a laser-projected cursor to indicate the target construction point without manual intervention, thus avoiding human measurement and positioning errors and the risk of high-altitude operations; there is no need to repeatedly change the position of the device to achieve calibration of multiple target points within a large range, with simple operation, a wide indication range, and the ability to efficiently complete point marking, thereby ensuring construction efficiency.

[0043] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0045] Figure 1 It is a structural schematic diagram of the automatic positioning device for construction points of the present invention;

[0046] Figure 2 It is a rear view of the automatic positioning device for construction points of the present invention;

[0047] Figure 3 Schematic diagram of the laser module 5 projecting a cross laser line in the present invention;

[0048] Figure 4 is a schematic diagram of the first lateral ranging module 2;

[0049] Figure 5 It is a structural schematic diagram of the mobile rotating mechanism 41 in the present invention;

[0050] Figure 6 It is a structural schematic diagram of the multi-axis adjustment module 4 in the present invention;

[0051] Figure 7 It is a schematic diagram of the laser rotating mechanism 42 in the present invention. DETAILED DESCRIPTION

[0052] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Example 1

[0053] An automatic positioning device for construction points, such as Figure 1 and Figure 2 As shown, it includes a mobile base 1, a first lateral ranging module 2, a second lateral ranging module 3, a multi-axis adjustment module 4, a laser module 5 and a control system; the first lateral ranging module 2, the second lateral ranging module 3, and the laser module 5 are installed on the multi-axis adjustment module 4, and the multi-axis adjustment module 4 is installed on the mobile base 1.

[0054] The mobile base 1 can be moved or transported, and can be remotely controlled by a control system to move a small vehicle or an AGV with a self-propelled function.

[0055] The laser module 5 emits a cross laser line, such as Figure 3 As shown, two straight laser lines in the cross laser line form a first virtual light plane 51 and a second virtual light plane 52 in the air respectively; the first virtual light plane 51 and the second virtual light plane 52 form a visible cross cursor with the construction surface; the first virtual light plane 51 emitted by the laser module 5 is perpendicular to the horizontal plane.

[0056] The multi-axis adjustment module 4 includes a moving and rotating mechanism 41 . Driven by the control system, the moving and rotating mechanism 41 translates in a horizontal plane or rotates around a normal vector of the horizontal plane.

[0057] The reference plane of the first lateral ranging module 2 is parallel to the first virtual light plane 51, and the number of the first lateral ranging modules 2 is M, where M≥2; the reference planes of the M first lateral ranging modules 2 are located on the same plane, and a line connecting the center points of the reference planes of at least two first lateral ranging modules 2 is not perpendicular to the horizontal plane.

[0058] The reference plane of the second lateral distance measuring module 3 and the reference plane of the first lateral distance measuring module 2 are perpendicular to each other.

[0059] Figure 4 Taking the first lateral distance measurement module 2 as an example, its reference surface 21 is illustrated.

[0060] The automatic positioning device for construction points also includes a horizontal adjustment module 6. When the ground of the construction space is not level, the horizontal adjustment module 6 can be used to adjust the level of the entire device. It consists of a spirit level and adjustment feet. The spirit level can be set on the multi-axis adjustment module 4, and the adjustment feet are set under the mobile base 1 or the multi-axis adjustment module 4.

[0061] The level can also be replaced by an inclination sensor.

[0062] The level of the adjustment device is used to ensure that the first virtual light plane 51 emitted by the laser module 5 is perpendicular to the horizontal plane.

[0063] The automatic positioning device for construction sites also includes a height distance measuring module 7, which can be installed on the mobile base 1 or the multi-axis adjustment module 4 to measure the distance to the construction surface.

[0064] If the floor of the construction space cannot be guaranteed to be level, the height measurement module 7 needs to be installed on the multi-axis adjustment module 4 .

[0065] The mobile rotating mechanism 41 is as follows Figure 5 As shown, it includes a moving mechanism 411 and a horizontal rotating mechanism 412; the laser module 5 is installed on the moving mechanism 411, and the moving mechanism 411 is installed on the horizontal rotating mechanism 412; the laser module 5 translates in the horizontal plane driven by the moving mechanism 411; the laser module 5 and the moving mechanism 411 rotate around the normal vector of the horizontal plane driven by the horizontal rotating mechanism 412.

[0066] The moving mechanism 411 is composed of a transverse displacement mechanism 4111 and a longitudinal displacement mechanism 4112; the laser module 5 is installed on the transverse displacement mechanism 4111, and is laterally translated under the drive of the transverse displacement mechanism 4111; the transverse displacement mechanism 4111 is installed on the longitudinal displacement mechanism 4112, and the laser module 5 and the transverse displacement mechanism 4111 are longitudinally translated under the drive of the longitudinal displacement mechanism 4112.

[0067] A construction point automatic positioning method comprises the following steps:

[0068] S1. Place the automatic positioning device for construction points in a construction space, where the construction space includes a horizontally arranged construction surface, and a first lateral reference surface and a second lateral reference surface that are perpendicular to the horizontal plane and perpendicular to each other; when placing the device, try to make the reference surface of the first lateral ranging module 2 face the first lateral reference surface, and the reference surface of the second lateral ranging module 3 face the second lateral reference surface;

[0069] S2. Inputting the position information of the target point P on the construction surface into the control system; the position information may be the coordinate information of the target point P or the distance between the target point P and the first lateral reference plane and the second lateral reference plane, which may be manually input into the interactive interface 8;

[0070] S3, using M first lateral distance measurement modules 2 to respectively measure the distance to the first lateral reference plane;

[0071] If the distances measured by the M first lateral ranging modules 2 are the same, directly proceed to S4;

[0072] If the distances measured by the M first lateral distance measuring modules 2 are different, the control system controls the mobile rotation mechanism 41 to rotate around the normal vector of the horizontal plane until the distance values ​​measured by the M first lateral distance measuring modules 2 are the same, and enters S4;

[0073] S4: The first lateral distance measurement module 2 measures the distance to the first lateral reference plane at this time. The second lateral distance measuring module 3 measures the distance to the second lateral reference plane at this time. , and sent to the control system;

[0074] S5, the control system determines whether the distance between the intersection of the cross cursor projected by the laser module 5 and the target point P exceeds a first threshold value,

[0075] If it does not exceed the threshold, then go to step S6.

[0076] If it exceeds the threshold, go to step S7;

[0077] The first threshold value can be set to the maximum movement stroke of the mobile rotating mechanism 41 on the horizontal plane; the relative position information of the laser module 5 and the reference plane of the first lateral ranging module 2, and the relative position information of the laser module 5 and the reference plane of the second lateral ranging module 3 are known parameters. If the projection direction of the laser module 5 is vertically upward, according to the known parameters, the position information of the target point P and the measured , The distance between the intersection of the cross cursor projected by the laser module 5 and the target point P can be obtained by using the value; if the projection direction of the laser module 5 is not vertically upward, but deviates from a certain angle, the distance between the intersection of the cross cursor projected by the laser module 5 and the target point P can also be obtained by further combining the height of the laser emission origin of the laser module 5 and the construction surface and the deviation angle data;

[0078] The height of the laser emission origin and the construction surface can be manually input into the control system, or can be obtained by the following method: since the relative position information of the laser emission origin and the height ranging module 7 is a known parameter, the height of the laser emission origin and the construction surface can be obtained according to the distance between the laser emission origin and the construction surface measured by the height ranging module 7 and the known parameters;

[0079] S6, the control system controls the moving rotating mechanism 41 to move a certain distance in the horizontal direction according to the distance information obtained in step S5, so that the intersection of the cross cursor projected by the laser module 5 coincides with the target point P;

[0080] S7. According to the distance information obtained in step S5, move the mobile base 1 to the vicinity of the position point of the vertical projection of the target point P on the ground, and repeat steps S3 to S5 until the intersection of the cross cursor projected by the laser module 5 coincides with the target point P.

[0081] In step S7, the mobile base 1 can be moved manually according to the distance information. When the mobile base 1 uses a trolley controlled by a control system or an AGV with a self-propelled function, the mobile base 1 can also be controlled to move to the target position according to the distance information.

[0082] For situations other than the horizontal setting of the construction surface in the construction space, the first lateral reference plane and the second lateral reference plane being perpendicular to the horizontal plane and perpendicular to each other, as long as the BIM model of the construction space is obtained in advance, the device can also be used to automatically align and mark the target points. Example 2

[0083] On the basis of Example 1, the multi-axis adjustment module 4 is as follows Figure 6 As shown, it also includes a laser rotation mechanism 42, the laser module 5 is installed on the laser rotation mechanism 42, and the rotation center axis of the laser rotation mechanism 42 is perpendicular to the first virtual light plane 51 of the laser module 5; the laser module 5 rotates around the rotation center axis of the laser rotation mechanism 42 under the drive of the laser rotation mechanism 42; the laser rotation mechanism 42 is installed on the mobile rotation mechanism 41, and the mobile rotation mechanism 41 drives the laser module 5 and the laser rotation mechanism 42 to translate in the horizontal plane or rotate around the normal vector of the horizontal plane.

[0084] Figure 7 The laser rotating mechanism 42 and its main axis and rotation center axis are shown schematically.

[0085] When installing the laser module 5 and the laser rotating mechanism 42 , it should be ensured as much as possible that the rotation center axis of the laser rotating mechanism 42 is located on the second virtual light plane 52 emitted by the laser module 5 .

[0086] A method for automatically positioning construction points: adjust the straight line 511 formed by the first virtual light plane 51 and the construction surface to coincide with the preset reference line of the construction surface, calculate the rotation angle of the laser module 5 through the input point information of the point to be marked and the distance between the rotation center axis and the construction surface, and control the laser rotation mechanism 42 to drive the laser module 5 to rotate into place.

[0087] The distance between the rotation center axis and the construction surface can be manually input into the control system, or calculated using the distance to the construction surface obtained by the height ranging module 7 and the known parameters of the control system.

[0088] More specifically, a method for automatically locating a construction point includes the following steps:

[0089] S1. Placing the automatic positioning device for construction points in a construction space, wherein the construction space comprises a horizontally arranged construction surface, and a first lateral reference surface and a second lateral reference surface that are perpendicular to the horizontal plane and perpendicular to each other;

[0090] S2. Input the N points to be marked in the control system location information, where ; N points Located on the same preset reference line parallel to the first lateral reference plane; the coordinate information of the point or the distance between the point and the first lateral reference plane and the second lateral reference plane can be input manually through the interactive interface 8;

[0091] S3, the automatic positioning device for the construction point is activated so that the vertical projection of the laser emission origin of the laser module 5 is aligned with at least Q points on the preset reference line. The distance between them does not exceed the second threshold value, Q is a positive integer less than or equal to N; so that the first virtual light plane 51 projected by the laser module 5 and the straight line 511 formed by the construction surface coincide with the preset reference line; enter S4;

[0092] S4, obtaining the distance between the rotation center axis and the construction surface, and sending it to the control system; the second lateral distance measurement module 3 measures the distance to the second lateral reference plane, and sends it to the control system;

[0093] S5, the control system calculates the intersection of the cross cursor of the laser module 5 and projects it to the Points When , the rotation angle of the laser module 5 around the rotation center axis;

[0094] The rotation angle can be obtained by the distance data between the rotation center axis and the construction surface, the data measured by the second lateral distance measurement module 3, the point position The position information and the known parameters of the system are calculated;

[0095] S6. The control system controls the laser rotating mechanism 42 to drive the laser module 5 to rotate around the central axis of rotation, so that the intersection of the cross cursor moves to the point to be marked. superior.

[0096] The above step S3 includes the following specific steps:

[0097] S3.1 Adjust the vertical projection of the laser emission origin of the laser module 5 to be at least Q points on the preset reference line. The distance between them does not exceed a second threshold, comprising the following steps:

[0098] S3.1.1 Adjust the first virtual light plane 51 projected by the laser module 5 to be parallel to the first lateral reference plane;

[0099] S3.1.2 The second lateral distance measuring module 3 measures the distance to the second lateral reference plane and sends it to the control system; the distance between the rotation center axis and the construction surface is obtained and sent to the control system; the control system determines whether the vertical projection of the laser emission origin of the laser module 5 is at the same level as the N points on the preset reference line. whether the distance between them exceeds a second threshold;

[0100] If the point does not exceed the second threshold If the quantity is ≥ Q, then go to S3.2;

[0101] If the point does not exceed the second threshold If the quantity is less than Q, the mobile base 1 is controlled to move in a direction close to or away from the second lateral reference plane until the point position does not exceed the second threshold value. If the quantity is ≥ Q, then go to S3.2;

[0102] The second threshold value can be set as the maximum travel that the laser module 5 can move when the laser module 5 is driven by the laser rotating mechanism 42 and the intersection of the cross cursor projected on the construction surface. At this time, the second threshold value is related to the rotation angle range of the laser rotating mechanism 42, the deviation angle between the projection direction of the laser module 5 and the main axis of the laser rotating mechanism 42 during installation, and the distance between the rotation center axis and the construction surface.

[0103] S3.2 adjusts the first virtual light plane 51 projected by the laser module 5 and the straight line 511 formed on the construction surface to coincide with the preset reference line, including the following steps:

[0104] S3.2.1 adjusting the first virtual light plane 51 projected by the laser module 5 to be parallel to the first lateral reference plane;

[0105] S3.2.2 The first lateral distance measuring module 2 measures the distance to the first lateral reference plane at this time, and sends it to the control system;

[0106] S3.2.3 The control system determines whether the distance between the first virtual light plane 51 projected by the laser module 5 and the straight line 511 formed by the construction surface and the preset reference line exceeds a third threshold value.

[0107] If the threshold is not exceeded, proceed to step S3.2.4.

[0108] If it exceeds the threshold, go to step S3.2.5;

[0109] The third threshold can be set to the maximum stroke of the mobile rotating mechanism 41 in the direction of approaching or moving away from the first lateral reference plane; since the first virtual light plane 51 is perpendicular to the horizontal plane and parallel to the preset reference line, the control system can calculate the distance between the line 511 and the preset reference line based on the distance data measured in step S3.2.2 and the relative position information between the reference plane of the first lateral ranging module 2 and the laser module 5.

[0110] S3.2.4 The control system controls the moving rotating mechanism 41 to move a certain distance in a direction close to or away from the first lateral reference plane according to the distance information obtained in step S3.2.3, so that the first virtual light plane 51 projected by the laser module 5 and the straight line 511 formed by the construction surface coincide with the preset reference line;

[0111] S3.2.5 Based on the distance information obtained in step S3.2.3, control the mobile base 1 to move a certain distance towards or away from the first lateral reference plane to near the position of the vertical projection of the preset reference line on the ground, and repeat steps S3.2.1 to S3.3.3 until the first virtual light plane 51 projected by the laser module 5 and the straight line 511 formed by the construction surface coincide with the preset reference line.

[0112] In step S3.1.1 and step S3.2.1, adjusting the first virtual light plane 51 projected by the laser module 5 to be parallel to the first lateral reference plane comprises the following steps:

[0113] M first lateral ranging modules 2 are used to measure the distance to the first lateral reference plane respectively; if the distances measured by the M first lateral ranging modules 2 are the same, it means that the first virtual light plane 51 is parallel to the first lateral reference plane; if the distances measured by the M first lateral ranging modules 2 are different, the control system controls the mobile rotating mechanism 41 to rotate around the normal vector of the horizontal plane until the distance values ​​measured by the M first lateral ranging modules 2 are the same.

[0114] Compared with the prior art, the device provided by the present invention can automatically adjust its position in space, and use a laser-projected cursor to indicate the target construction point without human intervention, thus avoiding human measurement and positioning errors and the risks of high-altitude operations; there is no need to repeatedly change the position of the device to achieve calibration of multiple target points within a large range. It is easy to operate, has a wide indication range, and can efficiently complete point marking, thereby ensuring construction efficiency.

[0115] In addition, it should be understood that the above embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A construction point automatic positioning device, characterized in that: The invention comprises a mobile base (1), a first lateral distance measuring module (2), a second lateral distance measuring module (3), a multi-axis adjustment module (4), a laser module (5) and a control system; the first lateral distance measuring module (2), the second lateral distance measuring module (3) and the laser module (5) are mounted on the multi-axis adjustment module (4), and the multi-axis adjustment module (4) is mounted on the mobile base (1); The laser module (5) emits a cross laser line, and two straight laser lines in the cross laser line respectively form a first virtual light plane (51) and a second virtual light plane (52) in the air; the first virtual light plane (51) and the second virtual light plane (52) form a visible cross cursor with the construction surface; the first virtual light plane (51) emitted by the laser module (5) is perpendicular to a horizontal plane; The multi-axis adjustment module (4) comprises a moving and rotating mechanism (41), and the moving and rotating mechanism (41) is driven by the control system to translate in a horizontal plane or rotate around a normal vector of the horizontal plane; The reference plane of the first lateral ranging module (2) is parallel to the first virtual light plane (51); the number of the first lateral ranging modules (2) is M, and M is ≥ 2; the reference planes of the M first lateral ranging modules (2) are located on the same plane, and a line connecting the center points of the reference planes of at least two of the first lateral ranging modules (2) is not perpendicular to a horizontal plane; The reference plane of the second lateral distance measuring module (3) and the reference plane of the first lateral distance measuring module (2) are oriented perpendicular to each other.

2. The automatic positioning device for construction points according to claim 1, characterized in that: The mobile base (1) moves under the control of the control system.

3. The automatic positioning device for construction points according to claim 1, characterized in that: The moving and rotating mechanism (41) comprises a moving mechanism (411) and a horizontal rotating mechanism (412); the laser module (5) is mounted on the moving mechanism (411), and the moving mechanism (411) is mounted on the horizontal rotating mechanism (412); the laser module (5) is translated in a horizontal plane under the drive of the moving mechanism (411); and the laser module (5) and the moving mechanism (411) are rotated around a normal vector of the horizontal plane under the drive of the horizontal rotating mechanism (412).

4. The automatic positioning device for construction points according to claim 3, characterized in that: The moving mechanism (411) is composed of a transverse displacement mechanism (4111) and a longitudinal displacement mechanism (4112); the laser module (5) is mounted on the transverse displacement mechanism (4111) and moves transversely under the drive of the transverse displacement mechanism (4111); the transverse displacement mechanism (4111) is mounted on the longitudinal displacement mechanism (4112), and the laser module (5) and the transverse displacement mechanism (4111) move longitudinally under the drive of the longitudinal displacement mechanism (4112).

5. The automatic positioning device for construction points according to claim 1, characterized in that: The multi-axis adjustment module (4) further comprises a laser rotation mechanism (42), the laser module (5) being mounted on the laser rotation mechanism (42), the rotation center axis of the laser rotation mechanism (42) being perpendicular to the first virtual light plane (51) of the laser module (5); the laser module (5) being driven by the laser rotation mechanism (42) to rotate around the rotation center axis of the laser rotation mechanism (42); the laser rotation mechanism (42) being mounted on the mobile rotation mechanism (41), the mobile rotation mechanism (41) driving the laser module (5) and the laser rotation mechanism (42) to translate in a horizontal plane or to rotate around a normal vector of the horizontal plane.

6. The automatic positioning device for construction points according to claim 5, characterized in that: Also includes: A height ranging module (7), wherein the height ranging module (7) is mounted on the multi-axis adjustment module (4).

7. A method for automatic positioning of a construction point, using an automatic positioning device for a construction point as claimed in any one of claims 1 to 6, characterized in that: The following steps are involved: S1. Placing the automatic positioning device for construction points in a construction space, wherein the construction space comprises a horizontally arranged construction surface, and a first lateral reference surface and a second lateral reference surface that are perpendicular to the horizontal plane and perpendicular to each other; S2, inputting the position information of the target point P on the construction surface into the control system; S3, using M of the first lateral distance measurement modules (2) to respectively measure the distance to the first lateral reference plane; If the distances measured by the M first lateral distance measurement modules (2) are the same, directly proceed to S4; If the distances measured by the M first lateral distance measurement modules (2) are different, the control system controls the mobile rotation mechanism (41) to rotate around the normal vector of the horizontal plane until the distance values ​​measured by the M first lateral distance measurement modules (2) are the same, and enters S4; S4, the first lateral distance measurement module (2) measures the distance to the first lateral reference plane at this time The second lateral distance measurement module (3) measures the distance to the second lateral reference plane at this time. , and sent to the control system; S5, the control system determines whether the distance between the intersection of the cross cursor projected by the laser module (5) and the target point P exceeds a first threshold value, If it does not exceed the threshold, then go to step S6. If it exceeds the threshold, go to step S7; S6, the control system controls the moving and rotating mechanism (41) to move a certain distance in the horizontal direction according to the distance information obtained in step S5, so that the intersection of the cross cursor projected by the laser module (5) coincides with the target point P; S7. According to the distance information obtained in step S5, the mobile base (1) is moved to the vicinity of the position of the vertical projection of the target point P on the ground, and steps S3 to S5 are repeated until the intersection of the cross cursor projected by the laser module (5) coincides with the target point P.

8. A method for automatic positioning of construction sites, using the automatic positioning device for construction sites as claimed in claim 5 or 6, characterized in that: The straight line (511) formed by the first virtual light plane (51) and the construction surface is adjusted to coincide with a preset reference line of the construction surface, the rotation angle of the laser module (5) is calculated by inputting the position information of the point to be marked and the distance between the rotation center axis and the construction surface, and the laser rotation mechanism (42) is controlled to drive the laser module (5) to rotate into place.

9. A construction point automatic positioning method as claimed in claim 8, characterized in that: The specific steps include: S1. Placing the automatic positioning device for construction points in a construction space, wherein the construction space comprises a horizontally arranged construction surface, and a first lateral reference surface and a second lateral reference surface that are perpendicular to the horizontal plane and perpendicular to each other; S2. Input N points to be marked in the control system location information, where ; N of the points Located on the same preset reference line parallel to the first lateral reference plane; S3, the automatic positioning device for the construction point is actuated so that the laser emission origin of the laser module (5) is vertically projected onto the preset reference line and coincides with at least Q of the points. The distance between them does not exceed a second threshold value, and Q is a positive integer less than or equal to N; so that the first virtual light plane (51) projected by the laser module (5) and the straight line (511) formed by the construction surface coincide with the preset reference line; Enter S4; S4, obtaining the distance between the rotation center axis and the construction surface, and sending it to the control system; the second lateral distance measurement module (3) measures the distance to the second lateral reference plane, and sends it to the control system; S5, the control system calculates the intersection of the cross cursor of the laser module (5) and projects it to the The points , the rotation angle of the laser module (5) around the rotation center axis; S6, the control system controls the laser rotation mechanism (42) to operate, thereby driving the laser module (5) to rotate around the rotation center axis.

10. The method for automatic positioning of construction points according to claim 9, characterized in that: Step S3 includes the following specific steps: S3.1 Adjust the laser emission origin of the laser module (5) to be vertically projected on the preset reference line so that it is aligned with at least Q of the points. The distance between them does not exceed a second threshold, comprising the following steps: S3.1.1 adjusting the first virtual light plane (51) projected by the laser module (5) to be parallel to the first lateral reference plane; S3.1.2 the second lateral distance measuring module (3) measures the distance to the second lateral reference plane and sends it to the control system; obtains the distance between the rotation center axis and the construction surface and sends it to the control system; The control system determines whether the laser emission origin of the laser module (5) is vertically projected onto the preset reference line and coincides with the N points. whether the distance between them exceeds a second threshold; If the point does not exceed the second threshold If the quantity is ≥ Q, then go to S3.2; If the point does not exceed the second threshold If the number is less than Q, the mobile base (1) is controlled to move in a direction close to or away from the second lateral reference plane until the point position does not exceed the second threshold value. If the quantity is ≥ Q, then go to S3.2; S3.2 adjusting the first virtual light plane (51) projected by the laser module (5) and the straight line (511) formed on the construction surface to coincide with the preset reference line, comprising the following steps: S3.2.1 adjusting the first virtual light plane (51) projected by the laser module (5) to be parallel to the first lateral reference plane; S3.2.2 the first lateral distance measurement module (2) measures the distance to the first lateral reference plane at this time, and sends it to the control system; S3.2.3 the control system determines whether the distance between the first virtual light plane (51) projected by the laser module (5) and the straight line (511) formed by the construction surface and the preset reference line exceeds a third threshold value, If the threshold is not exceeded, proceed to step S3.2.

4. If it exceeds the threshold, go to step S3.2.5; S3.2.4 the control system controls the moving rotating mechanism (41) to move in a direction close to or away from the first lateral reference plane according to the distance information obtained in step S3.2.3, so that the straight line (511) formed by the first virtual light plane (51) projected by the laser module (5) and the construction surface coincides with the preset reference line; S3.2.5 Based on the distance information obtained in step S3.2.3, control the mobile base (1) to move toward or away from the first lateral reference plane to the vicinity of the position of the vertical projection of the preset reference line on the ground, and repeat steps S3.2.1 to S3.3.3 until the first virtual light plane (51) projected by the laser module (5) and the straight line (511) formed by the construction surface coincide with the preset reference line.

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