Automatic measuring device and method for positioning of open caisson construction

Abstract

The application provides a caisson construction positioning automatic measuring device and method, and relates to the technical field of caisson construction. The caisson construction positioning automatic measuring device comprises a foundation, a foundation pit, a computer, a linear displacement sensor, a caisson body and four groups of unmanned aerial vehicles. The application collects real-time height information by suspending the four groups of unmanned aerial vehicles above the caisson body, calculates the instantaneous position deviation, inclination deviation and settlement of the caisson body in the sinking process by a computer program, adjusts the construction scheme during the sinking of the caisson body according to the results, and ensures that the caisson center and the reserved hole sink to the predetermined position. The application only occupies the range above the caisson in the caisson construction control, greatly reduces the demand for the foundation range, continuously supplies power to the unmanned aerial vehicles through the power supply box and the cable, enables the unmanned aerial vehicles to obtain longer endurance time, and the target disc serving as the measurement reference can be removed after the construction is completed and reused in subsequent new caisson construction sites.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of open caisson construction, in particular to an open caisson construction positioning automatic measurement device and method. BACKGROUND

[0002] In the process of municipal engineering construction, open caisson is widely used in water supply and drainage pump station, water plant pool, bridge pier, shaft, etc. Due to the large scale of open caisson structure, complex soil layer in construction area, and layer-by-layer splicing construction, etc., the open caisson often produces problems such as inclination, torsion, over-sinking, etc. in the process of sinking construction, which seriously affects the engineering quality and the safety of surrounding buildings and structures, therefore, the position and posture of the open caisson must be monitored during the construction process to ensure that the open caisson is safely, accurately and quickly sunk to the designed position. The positioning measurement of open caisson mainly includes the measurement of verticality and sinking elevation of the well body.

[0003] The verticality measurement mainly controls the sinking posture of the well body to prevent inclination and deviation. There are many monitoring methods, and the common ones are as follows:

[0004] (1) Direct observation of central line by theodolite: mark the longitudinal and transverse central line on the well wall, set up the theodolite on the longitudinal and transverse central line control pile, and directly observe the central line. This method is simple, low in cost, and most widely used;

[0005] (2) Using the height of the angle point or the end point of the central line measured by the level to calculate the inclination angle;

[0006] (3) Vertical ball method: mark the center line in the well wall, hang the vertical ball at the center line position, and measure the deviation of the vertical ball with a steel ruler to calculate the inclination.

[0007] The measurement of sinking elevation mainly controls the sinking amount of the well body. Generally, the level is used for measurement, the reference point is often buried outside the range of 3 times the sinking depth of the well body in the stable area not affected by the construction, and the monitoring point is set on the well body.

[0008] The above conventional measurement methods are relatively simple and low in cost, mainly by manual real-time measurement according to the engineering progress, and are generally used for positioning measurement of small and medium-sized open caisson. For special open caisson projects with complex construction environment, high construction precision requirement, and reserved hole positioning, the conventional methods are difficult to meet the modern efficient construction demand, and there are problems of large workload, less information, low automation degree, and difficulty in information sharing among multiple departments, which is difficult to adapt to the construction mechanism of three-party cooperation and mutual supervision of the supervising department, the construction department and the supervision department.

[0009] In order to solve the above-mentioned defects, an improved technology of a caisson positioning automatic measuring device is provided in the market, which relates to the field of municipal caisson construction measurement. The improved technology comprises: two total stations, which are respectively installed on two observation piers with known engineering coordinates; an inclinometer, which is installed on the side wall of the caisson, used for measuring the attitude angle during the sinking process of the caisson; three target prisms, which are distributed on the top of the caisson, and the relative positions thereof in the caisson coordinate system are measured in advance; a portable computer and a wireless communication module for data transmission. The computer serves as the control center, sends instructions to the total station and the inclinometer through the wireless communication module and automatically collects data, then according to the spatial coordinate conversion model, the conversion parameters between the caisson coordinate system and the engineering coordinate system are obtained, so as to calculate the plan position and elevation of the caisson center and the reserved hole center, and through the comparison with the designed sinking position and settlement, the caisson construction sinking is guided in real time.

[0010] However, the above-mentioned improved technology needs to build two groups of observation piers in advance, and the center coordinates of the observation piers need to be measured, and the two observation piers need to be buried in the area outside the three times of the settlement height of the construction site, and the observation piers need to be ensured not to be displaced and settled during the sinking of the caisson. However, many actual construction sites are implemented by caisson construction because of insufficient site, and it is not necessary to make observation piers in the required range, and the observation pier manufacturing period increases the total time of caisson construction. In order to solve the above-mentioned problems, it is necessary to develop a caisson construction positioning automatic measuring device and method. SUMMARY

[0011] (I) Technical problems solved

[0012] In view of the deficiencies of the prior art, the caisson construction positioning automatic measuring device and method are provided, which solves the problems that the conventional means is difficult to meet the requirements of caisson construction, and has the disadvantages of large workload, less information, low automation degree, difficult information sharing among multiple departments, and is difficult to adapt to the construction mechanism of the three-party cooperation and mutual supervision of the competent department, the construction department and the supervision department, and solves the problem of high requirement of construction site in the improved technology.

[0013] (II) Technical solutions

[0014] In order to achieve the above object, the application is realized by the following technical scheme: The sinking well construction positioning automatic measuring device comprises a foundation, a foundation pit, a computer, a linear displacement sensor, a sinking well body and four groups of unmanned aerial vehicles, the foundation pit is arranged in the foundation, four groups of power supply boxes are arranged on the periphery of the foundation pit, one group of cables is electrically connected between the four groups of power supply boxes and the four groups of unmanned aerial vehicles, the lower wall of the unmanned aerial vehicle is sequentially and fixedly connected from top to bottom with a first equipment box and a second equipment box, the first equipment box is provided with a coordinate confirmation structure for confirming the current height and latitude and longitude of the unmanned aerial vehicle, the lower wall of the inner side of the foundation pit is provided with a bearing pad, the sinking well body is arranged on the upper wall of the bearing pad, the sinking well body is made by segmentation and the upper surface of the sinking well body is parallel to the horizontal plane, four groups of fixing seats are arranged on the upper edge of the sinking well body, the four groups of fixing seats are circumferentially and equally distributed with the center of the upper surface of the sinking well body as the center, a battery compartment is fixedly connected to the upper wall of the fixing seat, an outer sleeve is fixedly connected to the upper end of the battery compartment, an inner sleeve is slidably connected to the inner side wall of the end of the outer sleeve away from the battery compartment, the linear displacement sensor is arranged on the outer wall of the outer sleeve and the detection part of the linear displacement sensor is fixedly connected to the outer wall of the inner sleeve, a lifting driving structure for driving the lifting of the inner sleeve is arranged between the inner sleeve and the outer sleeve, a target disc is rotatably connected to the end of the inner sleeve away from the outer sleeve through an adjusting structure, a groove is arranged on the upper surface and at the central position of the target disc, a marking structure for conveniently locking the position of the target disc by the unmanned aerial vehicle is arranged on the upper surface of the target disc and at the periphery of the groove, a laser ranging structure for detecting the height difference between the unmanned aerial vehicle and the target disc is arranged between the inner side lower wall of the groove and the lower wall of the second equipment box, four groups of visual sensors for identifying the marking structure are arranged on the lower wall of the second equipment box and close to the circumferential outer wall position, and the four groups of visual sensors are circumferentially and equally distributed with the center of the lower surface of the second equipment box as the center.

[0015] Preferably, the coordinate confirmation structure is a GNSS module, the GNSS module is arranged inside the first equipment box, and the GNSS module is an RTK high-precision positioning module.

[0016] Preferably, the inner side wall of the battery compartment is fixedly connected with a partition plate, the inside of the battery compartment is divided into two chambers by the partition plate, a first battery pack is fixedly connected in the lower chamber, and a communication module and a control module are fixedly connected in the upper chamber.

[0017] Preferably, the lifting driving structure comprises an electric telescopic rod and a baffle, the baffle is fixedly connected to the inner side wall of the inner sleeve and located at the central position in the up-down direction, the electric telescopic rod is fixedly connected to the inner side lower wall of the outer sleeve, the shaft end of the electric telescopic rod is fixedly connected with the baffle, and the inner sleeve is driven to rise and fall by the extension and retraction of the electric telescopic rod.

[0018] Preferably, the adjusting structure comprises a first joint and a second joint, the first joint and the second joint are respectively arranged between the opposite sides of the inner sleeve and the target disc, the first joint is a bowl joint, the second joint is a ball joint, the end of the first joint away from the inner sleeve is rotationally connected with the end of the second joint away from the target disc, and the connection between the first joint and the second joint is locked by a locking screw.

[0019] Preferably, the marking structure comprises four sets of calibration patterns, the four sets of calibration patterns are respectively arranged on the upper walls of the four target discs and are located at the peripheries of the grooves, and the four sets of calibration patterns are all different in graphic content.

[0020] Preferably, the laser ranging structure comprises a reflecting surface and a laser altimeter, the laser altimeter is fixedly connected to the lower wall of the second equipment box and is located at the central position of the lower surface of the second equipment box, and the reflecting surface is arranged on the inner lower wall of the groove.

[0021] Preferably, a bubble level for detecting the horizontal state of the upper surface of the target disc is arranged on the upper surface of the target disc close to the outer edge.

[0022] Preferably, a second battery pack for supplying power to the unmanned aerial vehicle is arranged in the power supply box.

[0023] According to the measurement method of the open caisson construction positioning automatic measurement device, the measurement method comprises the following steps:

[0024] S1, excavate a foundation pit on a foundation, build a workbench, arrange a general setting cushioning wood on the lower wall of the foundation pit, and make the open caisson body in sections on the cushioning wood, so as to ensure that the upper surface of the open caisson body is perpendicular to the outer wall of the open caisson body and the upper surface of the open caisson body is parallel to the horizontal plane;

[0025] S2, install target discs, install four sets of fixing seats provided with target discs on the upper surface of the open caisson body, and keep the four sets of fixing seats to be circumferentially divided with the center of the upper surface of the open caisson body as the center;

[0026] S3, level the target disc, loosen the locking screw, observe and confirm the horizontal state of the upper surface of the target disc through the bubble level, tighten the locking screw after adjusting to the horizontal position, lock the first joint and the second joint, so that the target disc stays in the horizontal state, and in the initial state, the four sets of electric telescopic rods are all in the retracted state;

[0027] S4, release the unmanned aerial vehicle, connect the computer and the unmanned aerial vehicle through a signal, input the calibration patterns on the four target discs into the four unmanned aerial vehicles respectively, set the completion, release the four unmanned aerial vehicles from the front, back, left and right four sides of the open caisson body respectively, find the corresponding calibration pattern through the visual sensor on the lower wall of each unmanned aerial vehicle after taking off, lock the calibration pattern through the unmanned aerial vehicle after finding, so that the unmanned aerial vehicle hovers directly above the corresponding target disc, and the second battery pack in the power supply box continuously supplies power to the unmanned aerial vehicle through the cable.

[0028] S5. Measurement preparation: After the drone's position is locked, the GNSS module obtains satellite signals and base station differential information to accurately determine the longitude, latitude, and elevation of the drone's location. The computer controls the four groups of drones to maintain consistent hovering heights. After the hovering height is set, the laser altimeter transmitter under each group of drones sends a pulse beam to the corresponding reflecting surface, and the laser altimeter receiver receives the pulse beam returned by the reflecting surface. The height difference between the drone and the target disk is calculated based on the reflection time. The four groups of electric telescopic rods extend their shafts to drive the corresponding target disk to adjust its height. The adjustment range is controlled by the linear displacement sensor to ensure that the height difference between the four groups of target disks and their corresponding drones is completely consistent.

[0029] S6. Start measuring. After the measurement preparation is completed, the caisson body is sunk. During the sinking process, the heights of the four target plates on the caisson body are measured in real time by four sets of laser altimeters, and the measurement data are transmitted to the computer in real time. According to the height information collected by the four sets of laser altimeters, the computer calculates the instantaneous position deviation, tilt deviation and settlement of the caisson body during the sinking process. The calculation results are used to guide the adjustment of the construction plan when the caisson body sinks, ensuring that the caisson center and the reserved opening sink to the predetermined position.

[0030] (3) Beneficial effects

[0031] The present invention provides an automatic measurement device and method for caisson construction positioning, which has the following beneficial effects:

[0032] 1. Compared with existing technologies, this caisson construction positioning automatic measurement device and method uses four groups of drones to hover above the caisson body. The GNSS module obtains satellite positioning information, accurately measures the longitude, latitude, and elevation of the drone's location, and then uses a laser altimeter to measure the horizontal height of the caisson's upper wall. During the sinking process, the four groups of laser altimeters measure the heights of four groups of target plates on the caisson body in real time, and transmit the measurement data to a computer in real time. Based on the height information collected by the four groups of laser altimeters, the computer calculates the instantaneous position deviation, tilt deviation, and settlement of the caisson body during the sinking process. The calculation results guide the adjustment of the construction plan during the sinking of the caisson body to ensure that the center of the caisson and the reserved opening sink to the predetermined position. In addition, the computer can also use the Internet to transmit the caisson settlement change curve and the center displacement change curve in real time to an information sharing platform in the form of charts, allowing all project participants to understand the caisson construction process more intuitively and dynamically. This solves the problem that previous technologies were difficult to adapt to the construction mechanism of joint cooperation and mutual supervision among the competent department, construction department, and supervision department.

[0033] 2、Compared with the prior art, the caisson construction positioning automatic measuring device and method uses the mode that the unmanned aerial vehicle hovers above the caisson body for measurement, only occupies the range above the caisson, greatly reduces the demand for the foundation range, and is more in line with the original intention of caisson construction.

[0034] 3、Compared with the prior art, the caisson construction positioning automatic measuring device and method, through the power supply box and the cable for the unmanned aerial vehicle, can make the unmanned aerial vehicle obtain longer endurance time, and ensure that the caisson construction work is carried out smoothly.

[0035] 4、Compared with the prior art, the caisson construction positioning automatic measuring device and method, the target disc as the measurement reference can be removed after construction is completed, and is reused for subsequent new caisson construction site, greatly reduces the preparation work of tools during automatic measurement, and improves work efficiency. DETAILED DESCRIPTION

[0036] Figure 1 It is a schematic diagram of the whole structure of the present application;

[0037] Figure 2 It is a partial enlarged view of A in the present application Figure 1

[0038] Figure 3 It is a partial enlarged view of B in the present application Figure 1

[0039] Figure 4 It is a partial sectional view of the internal structure of the battery compartment of the present application

[0040] Figure 5 It is a partial sectional view of the connection structure of the outer sleeve and the inner sleeve of the present application

[0041] Figure 6 It is a partial schematic diagram of the connection structure of the inner sleeve and the target disc of the present application

[0042] Figure 7 It is a schematic diagram of the connection structure of the unmanned aerial vehicle, the first equipment box and the second equipment box of the present application

[0043] Figure 8 It is a partial sectional view of the internal structure of the first equipment of the present application

[0044] Figure 9 It is a partial sectional view of the internal structure of the power supply box of the present application

[0045] ​​Wherein, 1, foundation; 2, foundation pit; 3, caisson body; 4, fixed seat; 5, battery compartment; 6, outer sleeve; 7, inner sleeve; 8, target disc; 9, groove; 10, reflecting surface; 11, calibration pattern; 12, bubble level; 13, computer; 14, power supply box; 15, cable; 16, unmanned aerial vehicle; 17, partition; 18, first battery pack; 19, communication module; 20, control module; 21, baffle; 22, electric telescopic rod; 23, first joint; 24, second joint; 25, locking screw; 26, first equipment box; 27, second equipment box; 28, laser altimeter; 29, visual sensor; 30, GNSS module; 31, second battery pack. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0047] Embodiment:

[0048] As shown in the drawings, Figures 1 to 9 The caisson construction positioning automatic measurement device provided by the embodiments of the present application comprises a foundation 1, a foundation pit 2, a computer 13, a linear displacement sensor, a caisson body 3 and four groups of unmanned aerial vehicles 16. The foundation pit 2 is arranged on the surface of the foundation 1, and four groups of power supply boxes 14 are arranged on the surface of the foundation 1 and located at the periphery of the foundation pit 2. Each of the four groups of power supply boxes 14 is electrically connected to one of the four groups of unmanned aerial vehicles 16 through one group of cables 15. The power supply box 14 is internally provided with a second battery pack 31 for supplying power to the unmanned aerial vehicle 16. The second battery pack 31 in the power supply box 14 supplies power to the unmanned aerial vehicle 16 in hovering through the cable 15, which can greatly improve the working endurance time of the unmanned aerial vehicle 16 and ensure the smooth progress of automatic measurement operation.

[0049] As shown in the drawings, Figure 7 , Figure 8 In order to obtain the position of the unmanned aerial vehicle 16 after being released, the lower wall of the unmanned aerial vehicle 16 is sequentially and fixedly connected from top to bottom with a first equipment box 26 and a second equipment box 27. The first equipment box 26 is provided with a coordinate confirmation structure for confirming the current height and latitude and longitude of the unmanned aerial vehicle 16. The coordinate confirmation structure is a GNSS module 30. The GNSS module 30 is arranged inside the first equipment box 26. The GNSS module 30 is an RTK high-precision module. After the unmanned aerial vehicle 16 flies to the specified position, the GNSS module 30 can obtain multiple satellite signals, so as to accurately measure the longitude, latitude and elevation of the position of the unmanned aerial vehicle 16.

[0050] As shown in the drawings, Figure 1、 Figure 2 As shown, in order to facilitate the measurement of the caisson body 3, a supporting wood is provided on the lower inner wall of the foundation pit 2, and the caisson body 3 is arranged on the upper wall of the supporting wood. The caisson body 3 is manufactured by segmentation and the upper surface of the caisson body 3 is parallel to the horizontal plane. Four groups of fixing seats 4 are provided on the upper edge of the caisson body 3. The four groups of fixing seats 4 are equally distributed on the circumference with the center of the upper surface of the caisson body 3 as the center of the circle. The four groups of fixing seats 4 can be removed after the construction is completed for use in the next new construction measurement, thereby achieving the purpose of reuse.

[0051] like Figure 2 、 Figure 4 as well as Figure 5 As shown, in order to drive the target plate 8 to rise and fall, the upper wall of the fixing seat 4 is fixedly connected to the battery compartment 5, the upper end of the battery compartment 5 is fixedly connected to the outer sleeve 6, the inner side wall of the outer sleeve 6 away from the battery compartment 5 is slidably connected to the inner sleeve 7, the linear displacement sensor is arranged on the outer wall of the outer sleeve 6 and the linear displacement sensor detection part is fixedly connected to the outer wall of the inner sleeve 7, and a lifting drive structure for driving the inner sleeve 7 to rise and fall is provided between the inner sleeve 7 and the outer sleeve 6. The inner side wall of the battery compartment 5 is fixedly connected to the partition 17, and the interior of the battery compartment 5 is divided into two upper and lower chambers by the partition 17. The interior of the lower chamber is fixedly connected to the first battery pack 18, and the interior of the upper chamber is fixedly connected to the first battery pack 18. The inner sleeve 7 is fixedly connected to a communication module 19 and a control module 20. The lifting drive structure includes an electric telescopic rod 22 and a baffle 21. The baffle 21 is fixedly connected to the inner side wall of the inner sleeve 7 and is located in the middle position in the up and down direction. The electric telescopic rod 22 is fixedly connected to the inner lower wall of the outer sleeve 6. The end of the extension shaft of the electric telescopic rod 22 is fixedly connected to the baffle 21. The inner sleeve 7 is driven to rise and fall by extending and retracting the extension shaft of the electric telescopic rod 22. The computer 13 can be connected to the control module 20 through the communication module 19, and can then control the extension and retraction of the extension shaft of the electric telescopic rod 22 to achieve adjustment of the horizontal height of the target plate 8.

[0052] like Figure 6 As shown, in order to facilitate adjustment of the level of the target disk 8, the end of the inner sleeve 7 away from the outer sleeve 6 is rotatably connected to the target disk 8 through an adjusting structure. The adjusting structure includes a first joint 23 and a second joint 24. The first joint 23 and the second joint 24 are respectively arranged between the inner sleeve 7 and the opposite side of the target disk 8. The first joint 23 is a bowl joint, and the second joint 24 is a ball joint. The end of the first joint 23 away from the inner sleeve 7 is rotatably connected to the end of the second joint 24 away from the target disk 8. The connection between the first joint 23 and the second joint 24 is locked by a locking screw 25. A bubble level 12 for detecting the horizontal state of the upper surface of the target disk 8 is provided on the upper surface of the target disk 8 and near the outer edge. Loosen the locking screw 25, observe and confirm the horizontal state of the upper surface of the target disk 8 through the bubble level 12, and tighten the locking screw 25 after adjusting to the horizontal position to lock the first joint 23 and the second joint 24 so that the target disk 8 remains in a horizontal state.

[0053] As shown in Figure 2 In order to facilitate the unmanned aerial vehicle 16 to lock the position of the target plate 8, a recess 9 is arranged on the upper surface of the target plate 8 and in the central position. Marking structures for facilitating the unmanned aerial vehicle 16 to lock the position of the target plate 8 are arranged on the upper surface of the target plate 8 and outside the recess 9. The marking structures include four sets of calibration patterns 11, which are arranged on the four sets of upper walls of the target plate 8 and are located outside the recess 9. The four sets of calibration patterns 11 have different graphic contents. After the unmanned aerial vehicle 16 is launched, four sets of visual sensors 29 for identifying the marking structures are arranged on the lower wall of the second equipment box 27 and close to the circumferential outer wall. The four sets of visual sensors 29 are circumferentially divided around the center of the lower surface of the second equipment box 27. The corresponding calibration pattern 11 is found through the visual sensor 29 to determine the hovering position.

[0054] As shown in Figure 2 , Figure 7 In order to measure the height difference between the unmanned aerial vehicle 16 and the target plate 8, a laser ranging structure for detecting the height difference between the unmanned aerial vehicle 16 and the target plate 8 is arranged between the inner lower wall of the recess 9 and the lower wall of the second equipment box 27. The laser ranging structure includes a reflecting surface 10 and a laser altimeter 28. The laser altimeter 28 is fixedly connected to the lower wall of the second equipment box 27 and is located at the central position of the lower surface of the second equipment box 27. The reflecting surface 10 is arranged on the inner lower wall of the recess 9. After the hovering height is set, the emitting end of each laser altimeter 28 under the unmanned aerial vehicle 16 emits a pulse light beam to the corresponding reflecting surface 10, and the receiving end of the laser altimeter 28 receives the pulse light beam returned by the reflecting surface 10. The height difference between the unmanned aerial vehicle 16 and the target plate 8 is measured according to the reflection time.

[0055] According to the above caisson construction positioning automatic measurement device measurement method, the measurement method comprises the following steps:

[0056] S1, excavate the foundation pit 2 on the foundation 1, and build a workbench. The caisson body 3 is made in sections on the bearing cushion wood arranged on the lower wall of the foundation pit 2, so as to ensure that the upper surface of the caisson body 3 is perpendicular to the outer wall of the caisson body 3 and the upper surface of the caisson body 3 is parallel to the horizontal plane.

[0057] S2, install the target plate 8, install four sets of fixing seats 4 provided with the target plate 8 on the upper surface of the caisson body 3, and keep the four sets of fixing seats 4 circumferentially divided around the center of the upper surface of the caisson body 3.

[0058] S3, level the target plate 8, loosen the locking screw 25, observe and confirm the horizontal state of the upper surface of the target plate 8 through the bubble level 12, tighten the locking screw 25 after adjusting to the horizontal position, lock the first joint 23 and the second joint 24, so that the target plate 8 stays in the horizontal state. In the initial state, the four sets of electric telescopic rods 22 are in the retracted state.

[0059] S4, the unmanned aerial vehicle 16 is released, and the calibration patterns 11 on the four groups of target plates 8 are respectively input into the four groups of unmanned aerial vehicles 16 through the signal connection between the computer 13 and the unmanned aerial vehicles 16. After the setting is completed, the four groups of unmanned aerial vehicles 16 are respectively released from the front, back, left and right four sides of the caisson body 3, and after the ascending, the corresponding calibration patterns 11 are searched through the visual sensor 29 on the lower wall of each group of unmanned aerial vehicles 16. After the searching is completed, the unmanned aerial vehicle 16 locks the calibration pattern 11 so that the unmanned aerial vehicle 16 hovers directly above the corresponding target plate 8. The second battery group 31 in the power supply box 14 continuously supplies power to the unmanned aerial vehicle 16 through the cable 15.

[0060] S5, after the position of the unmanned aerial vehicle 16 is locked, a plurality of satellite signals are acquired through the GNSS module 30, and the longitude, latitude and elevation of the position where the unmanned aerial vehicle 16 is located are accurately measured. The hovering height of the four groups of unmanned aerial vehicles 16 is kept consistent through the computer 13. After the hovering height is set, the pulsed light beams are emitted from the emitting end of the laser altimeter 28 below each group of unmanned aerial vehicles 16 to the corresponding reflecting surface 10, and the pulsed light beams returned by the reflecting surface 10 are received by the receiving end of the laser altimeter 28. According to the reflection time, the height difference between the unmanned aerial vehicle 16 and the target plate 8 is measured. Through the extension action of the four groups of electric telescopic rods 22, the corresponding target plate 8 is adjusted in height, and the adjustment range is controlled in cooperation with the linear displacement sensor, so that the height difference between the four groups of target plates 8 and the corresponding unmanned aerial vehicles 16 is completely consistent.

[0061] S6, after the measurement preparation is completed, the sinking operation of the caisson body 3 is implemented. During the sinking process, the heights of the four groups of target plates 8 on the caisson body 3 are measured in real time through the four groups of laser altimeters 28, and the measurement data is transmitted to the computer 13 in real time. According to the height information collected by the four groups of laser altimeters 28, the instantaneous position deviation, inclination deviation and settlement of the caisson body 3 during the sinking process are calculated by the computer 13. According to the calculation result, the adjustment of the construction scheme during the sinking of the caisson body 3 is guided to ensure that the caisson center and the reserved hole are sunk to the predetermined position.

[0062] Working principle: the second battery set 31 in the power supply box 14, through the cable 15, supplies power for the unmanned aerial vehicle 16 in hovering, which can greatly improve the working endurance time of the unmanned aerial vehicle 16, ensures the smooth operation of automatic measurement, the unmanned aerial vehicle 16 finds the corresponding calibration pattern 11 through the visual sensor 29 to determine the hovering position, after the unmanned aerial vehicle 16 flies to the specified position, the GNSS module 30 can obtain multiple satellite signals, so as to accurately measure the longitude, latitude and elevation of the position where the unmanned aerial vehicle 16 is located, after the hovering height is set, the laser altimeter 28 at the bottom of each unmanned aerial vehicle 16 emits a pulse light beam to the corresponding reflecting surface 10, and receives the pulse light beam returned by the reflecting surface 10 through the laser altimeter 28 receiving end, and the height difference between the unmanned aerial vehicle 16 and the target disc 8 is measured according to the reflection time;

[0063] The four sets of fixing seats 4 can be removed after the construction is completed, so as to be used for the next new construction measurement, so as to achieve the purpose of reuse, the computer 13 can be signal connected with the control module 20 through the communication module 19, so as to control the electric telescopic rod 22 to extend and retract, so as to realize the adjustment of the horizontal height of the target disc 8.

[0064] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An automatic measuring device for positioning of a sinking well construction, characterized in that: Including foundation (1), foundation pit (2), computer (13), linear displacement sensor, caisson body (3) and four groups of unmanned aerial vehicle (16), the foundation pit (2) is arranged on the surface of foundation (1), four groups of power supply box (14) are arranged on the surface of foundation (1) and located at the periphery of foundation pit (2), four groups of power supply box (14) are electrically connected with four groups of unmanned aerial vehicle (16) through a group of cable (15) respectively, the lower wall of unmanned aerial vehicle (16) is sequentially fixedly connected with first equipment box (26), second equipment box (27) from top to bottom, the first equipment box (26) is provided with coordinate confirmation structure for confirming the current height and latitude and longitude of unmanned aerial vehicle (16), the lower wall of the inner side of foundation pit (2) is provided with bearing pad, the caisson body (3) is arranged on the upper wall of bearing pad, the caisson body (3) is made by sectioning and the upper surface of caisson body (3) is parallel to the horizontal plane, four groups of fixing bases (4) are arranged on the upper edge of caisson body (3), four groups of fixing bases (4) are circumferentially distributed with the center of the upper surface of caisson body (3) as the center, the upper wall of fixing base (4) is fixedly connected with battery compartment (5), the upper end of battery compartment (5) is fixedly connected with outer sleeve (6), the inner side wall of the end, away from battery compartment (5), of outer sleeve (6) is slidably connected with inner sleeve (7), the linear displacement sensor is arranged on the outer wall of outer sleeve (6) and the detection part of linear displacement sensor is fixedly connected with the outer wall of inner sleeve (7), the lifting driving structure for driving the lifting of inner sleeve (7) is arranged between inner sleeve (7) and outer sleeve (6), the end, away from outer sleeve (6), of inner sleeve (7) is rotatably connected with target disc (8) through adjusting structure, the upper surface of target disc (8) and the central position are provided with recess (9), the upper surface of target disc (8) and the peripheral position of recess (9) are provided with mark structure for facilitating the locking position of target disc (8) of unmanned aerial vehicle (16), the inner side lower wall of recess (9) and the lower wall of second equipment box (27) are provided with laser ranging structure for detecting the height difference between unmanned aerial vehicle (16) and target disc (8), the lower wall of second equipment box (27) and the position close to the circumferential outer wall are provided with four groups of visual sensor (29) for identifying mark structure, four groups of visual sensor (29) are circumferentially distributed with the center of the lower surface of second equipment box (27) as the center.

2. The automatic measuring device for caisson construction positioning according to claim 1, characterized in that: The coordinate confirmation structure is GNSS module (30), the GNSS module (30) is arranged in the first equipment box (26), and the GNSS module (30) is an RTK high-precision module.

3. The automatic measuring device for caisson construction positioning according to claim 1, characterized in that: The inner side wall of battery compartment (5) is fixedly connected with partition (17), the inside of battery compartment (5) is divided into two chambers by partition (17), the inside of lower chamber is fixedly connected with first battery pack (18), and the inside of upper chamber is fixedly connected with communication module (19) and control module (20).

4. The automatic measuring device for caisson construction positioning according to claim 1, characterized in that: The lifting driving structure comprises an electric telescopic rod (22) and a baffle (21), the baffle (21) is fixedly connected to the inner side wall of the inner sleeve (7) and is located at the central position in the up-down direction, the electric telescopic rod (22) is fixedly connected to the inner side lower wall of the outer sleeve (6), the electric telescopic rod (22) is fixedly connected to the baffle (21) at the extended shaft end, and the inner sleeve (7) is driven to extend and retract by the electric telescopic rod (22) to extend the shaft, thereby ascending and descending.

5. The caisson construction positioning automatic measuring device according to claim 1, characterized in that: The adjusting structure comprises a first joint (23) and a second joint (24), the first joint (23) and the second joint (24) are respectively arranged between the opposite sides of the inner sleeve (7) and the target disc (8), the first joint (23) is a bowl joint, the second joint (24) is a ball joint, one end of the first joint (23) away from the inner sleeve (7) is rotationally connected to one end of the second joint (24) away from the target disc (8), and the first joint (23) and the second joint (24) are locked by a locking screw (25) at the connection position.

6. The caisson construction positioning automatic measuring device according to claim 1, characterized in that: The marking structure comprises four sets of calibration patterns (11), and the four sets of calibration patterns (11) are respectively arranged on the upper walls of the four sets of target discs (8) and are located at the peripheries of the grooves (9), and the four sets of calibration patterns (11) are different in pattern content.

7. The caisson construction positioning automatic measuring device according to claim 1, characterized in that: The laser ranging structure comprises a reflecting surface (10) and a laser altimeter (28), the laser altimeter (28) is fixedly connected to the lower wall of the second equipment box (27) and is located at the central position of the lower surface of the second equipment box (27), and the reflecting surface (10) is arranged on the inner lower wall of the groove (9).

8. The automatic measuring device for caisson construction positioning according to claim 1, characterized in that: A bubble level (12) for detecting the horizontal state of the upper surface of the target disc (8) is arranged on the upper surface of the target disc (8) and close to the outer edge.

9. The caisson construction positioning automatic measuring device according to claim 1, characterized in that: A second battery pack (31) for supplying power to the unmanned aerial vehicle (16) is arranged in the power supply box (14).

10. The method of claim 1, wherein the method comprises: The measurement method comprises the following steps: S1, excavating a foundation pit (2) on a foundation (1), erecting a workbench, arranging a general-purpose bearing pad on the lower wall of the foundation pit (2), and making a caisson body (3) in sections on the bearing pad, so as to ensure that the upper surface of the caisson body (3) is perpendicular to the outer wall of the caisson body (3) and the upper surface of the caisson body (3) is parallel to the horizontal plane; S2, installing a target disc (8), installing four sets of fixing seats (4) provided with the target disc (8) on the upper surface of the caisson body (3), and keeping the four sets of fixing seats (4) to be circumferentially divided and distributed with the center of the upper surface of the caisson body (3) as the center; S3, leveling the target disc (8), loosening the locking screw (25), observing and confirming the horizontal state of the upper surface of the target disc (8) through the bubble level (12), tightening the locking screw (25) after adjusting to the horizontal position, locking the first joint (23) and the second joint (24), and making the target disc (8) stay in the horizontal state, and in the initial state, the extended shafts of the four sets of electric telescopic rods (22) are in the retracted state. S4, the unmanned aerial vehicle (16) is released, and the calibration patterns (11) on the four groups of target plates (8) are respectively input into the four groups of unmanned aerial vehicles (16) through the signal connection between the computer (13) and the unmanned aerial vehicles (16). After the setting is completed, the four groups of unmanned aerial vehicles (16) are respectively released from the front, rear, left and right four sides of the caisson body (3) and ascend. After ascending, the corresponding calibration patterns (11) are searched for by the visual sensor (29) on the lower wall of each group of unmanned aerial vehicles (16). After the search is completed, the unmanned aerial vehicle (16) locks the calibration pattern (11) so that the unmanned aerial vehicle (16) hovers directly above the corresponding target plate (8), and the second battery pack (31) in the power supply box (14) continuously supplies power to the unmanned aerial vehicle (16) through the cable (15); S5, after the position of the unmanned aerial vehicle (16) is locked, a plurality of satellite signals are acquired through the GNSS module (30), and the longitude, latitude and elevation information of the position of the unmanned aerial vehicle (16) are accurately measured. The hovering height of the four groups of unmanned aerial vehicles (16) is kept consistent through the computer (13), and after the hovering height setting is completed, the pulsed light beam is emitted from the emitting end of the laser altimeter (28) below each group of unmanned aerial vehicles (16) to the corresponding reflecting surface (10), and the pulsed light beam returned by the reflecting surface (10) is received by the receiving end of the laser altimeter (28). According to the reflection time, the height difference between the unmanned aerial vehicle (16) and the target plate (8) is measured, and the shaft of the four groups of electric telescopic rods (22) is extended to drive the corresponding target plate (8) to adjust the height, and the adjustment range is controlled in cooperation with the linear displacement sensor, so that the height difference between the four groups of target plates (8) and the corresponding unmanned aerial vehicles (16) is completely consistent; S6, start measuring, after the measurement preparation is completed, the caisson body (3) sinking operation is implemented. During the sinking process, the heights of the four groups of target plates (8) on the caisson body (3) are measured in real time by the four groups of laser altimeters (28), and the measurement data is transmitted to the computer (13) in real time. According to the height information collected by the four groups of laser altimeters (28), the instantaneous position deviation, inclination deviation and settlement of the caisson body (3) during sinking are calculated by the computer (13). According to the calculation result, the adjustment of the construction scheme during the sinking of the caisson body (3) is guided to ensure that the caisson center and the reserved hole are sunk to the predetermined position.

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