Monitoring mechanism, leveling device and leveling method

Abstract

The invention provides a monitoring mechanism, a leveling device and a leveling method, and belongs to the technical field of concrete monitoring and leveling, and the monitoring mechanism comprises a first reflection component and a second reflection component which are symmetrically installed on a moving device; the third reflection component is mounted on the central axis of the mobile device, and forms an isosceles triangle with the first component and the second component; and the automatic tracking total station is used for receiving and processing reflected light rays of the first reflection component, the second reflection component and the third reflection component. The monitoring mechanism provided by the invention can be suitable for long-distance and short-distance monitoring through the cooperation of the three reflection mechanisms, and the monitoring accuracy and sensitivity of the automatic tracking total station are improved. High-precision tracking and control over the automatic driving vehicle can be achieved through the monitoring mechanism, it can be guaranteed that poured concrete is always kept on the uniform horizontal surface through the leveling mechanism, and the concrete pouring quality and efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of concrete monitoring and leveling, and in particular to a monitoring mechanism, a leveling device and a leveling method. Background Art

[0002] In the process of house construction, decoration or road construction, cement floor leveling is an essential and important part of the entire construction. The traditional cement floor leveling method usually adopts manual leveling method. The specific implementation method is to first use concrete to make horizontal points every 1.5 meters on the ground, and then use a two-meter ruler to scrape the concrete according to the horizontal points. Then fill the depressions on the ground with concrete, mortar and other materials. This leveling method has high technical requirements for operators and relies more on experience to complete the leveling. It usually takes multiple leveling to meet the requirements. However, since the leveling and filling of the ground are both observed manually, this will lead to a large error in the flatness of the ground. At the same time, it is easy to cause excessive filling operations during the filling process, and the operation cycle is long. Not only is the efficiency low, but it is also difficult to control the leveling accuracy. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects of the prior art such as poor precision of the leveling precision device, poor direction control precision, low efficiency, etc., and to provide an automatic concrete leveling device and a leveling method.

[0004] In order to achieve the above objectives and other objectives, the present invention is implemented by the following technical solutions:

[0005] First, the present invention provides a monitoring mechanism for monitoring and controlling the travel route of a mobile device, including: a first reflecting member and a second reflecting member, which are symmetrically installed on the mobile device; a third reflecting member, which is installed on the central axis of the mobile device and forms an isosceles triangle with the first member and the second member; and an automatic tracking total station, which receives and processes reflected light from the first reflecting member, the second reflecting member and the third reflecting member.

[0006] In one embodiment, the line between the automatic tracking total station and the first reflecting component is L1, the line between the automatic tracking total station and the third reflecting component is L2, the angle between L1 and L2 is α, the line between the automatic tracking total station and the second reflecting component is L3, the angle between L3 and L2 is β, and the automatic tracking total station monitors and controls the driving direction of the mobile device by comparing the difference between α and β.

[0007] In one embodiment, a line connecting the third reflective component and the midpoints between the first reflective component and the second reflective component is L4, an angle between L4 and L2 is γ, and the driving direction of the mobile device is obtained by monitoring the size of γ.

[0008] When measuring angles α and β, as the distance increases, the rate of change becomes a COS curve, and the detection resolution decreases, so detecting α and β is suitable for short-distance detection. The method of detecting the rotation angle γ does not reduce the detection resolution even if the distance is large, and is suitable for long-distance detection. Therefore, the mobile device can switch between monitoring α and β and monitoring γ, which can improve the accuracy and sensitivity of the automatic tracking total station monitoring.

[0009] Secondly, the present invention also provides an automatic concrete leveling device, including a vehicle body; a leveling mechanism installed on the front end surface of the vehicle body; a monitoring mechanism, including a first reflecting component, a second reflecting component and a third reflecting component, the first reflecting component and the second reflecting component are respectively installed on the upper ends of the leveling mechanism, and the third reflecting component is installed on the central axis of the upper end surface of the vehicle body; an automatic tracking total station receives the reflected light from the monitoring mechanism and controls the driving direction of the vehicle body.

[0010] In one embodiment, the leveling mechanism includes a first fixed plate, a second fixed plate and a leveling plate, the first fixed plate is installed on the front end surface of the vehicle body, the second fixed plate is vertically slidably connected to the first fixed plate through two first vertical guide rails; the leveling plate is installed below the second fixed plate through two second vertical guide rails.

[0011] In one embodiment, the first reflecting member and the second reflecting member are respectively installed on the upper ends of the two second vertical guide rails.

[0012] In one embodiment, a pivot is provided at the center of the screed plate, and the pivot is connected to the center of the second fixing plate.

[0013] In one embodiment, the leveling mechanism further includes a laser receiver, two of the laser receivers are respectively mounted on the upper ends of the two second vertical guide rails, and the first reflecting member and the second reflecting member are mounted on the laser receivers.

[0014] Through the cooperation of the first vertical guide rail and the second vertical guide rail, the leveling mechanism is kept parallel to the horizontal plane, ensuring that the height and angle of the leveling plate are independent of the driving posture of the vehicle body. At the same time, the two laser receivers always maintain a constant height, so that the concrete poured on the ground is leveled on a uniform horizontal surface.

[0015] In one embodiment, it further comprises an inspection mechanism and a scanning mechanism, wherein the inspection mechanism is mounted on one side of the upper end surface of the vehicle body, the scanning mechanism is mounted on the other side of the upper end surface of the vehicle body, and the third reflective member is located between the scanning mechanism and the inspection mechanism. The inspection mechanism is used to check the flatness of the concrete after drying, and the scanning mechanism is used to measure the surface temperature of the concrete after leveling, detect the uniformity of the concrete, and create a thermal map.

[0016] In one embodiment, the inspection mechanism is a laser scanner or a radar, and the scanner is an infrared camera.

[0017] In addition, the present invention also provides another automatic concrete leveling device, including a vehicle body; a leveling mechanism installed on the front end surface of the vehicle body; a monitoring mechanism, including an omnidirectional camera and a radar, the radar is installed at the center position of the upper end surface of the vehicle body, and the omnidirectional camera is installed above the radar; an automatic tracking total station receives point cloud data from the radar and image data from the omnidirectional camera.

[0018] In one embodiment, it also includes an inspection mechanism and a scanning mechanism, wherein the inspection mechanism is installed on one side of the upper end surface of the vehicle body, and the scanning mechanism is installed on the other side of the upper end surface of the vehicle body, and the radar is located between the scanning mechanism and the inspection mechanism.

[0019] Finally, the present invention provides a method for automatic concrete leveling, which uses the above-mentioned automatic concrete leveling device to level concrete, comprising the steps of:

[0020] S11, automatic tracking total station measurement to obtain the concrete buried working area, and calculate the driving route and driving mode of the autonomous driving vehicle;

[0021] S12, the automatic tracking total station tracks the position of the autonomous driving vehicle and controls its driving direction and angle according to the monitoring mechanism;

[0022] S13, the scanning mechanism obtains an infrared image of the leveling area, creates a thermal map of the leveling area, and marks the concrete area where bubbles are generated;

[0023] S14, the inspection agency scans the concrete surface in the leveling area, inspects the flatness of the concrete surface and marks it;

[0024] S15, the automatic tracking total station 12 is positioned according to the areas marked in step S3 and step S4 to guide the subsequent compaction work.

[0025] The present invention has the following beneficial effects:

[0026] The monitoring mechanism provided by the present invention can be applied to long-distance and short-distance monitoring through the cooperation of three reflection mechanisms, thereby improving the accuracy and sensitivity of the automatic tracking total station monitoring. The automatic leveling device provided by the present invention can realize high-precision tracking and control of the autonomous driving vehicle through the monitoring mechanism, and can ensure that the poured concrete is always kept on a uniform horizontal surface through the leveling mechanism, thereby improving the quality and efficiency of concrete pouring. In addition, a thermal map is automatically created through the scanning mechanism, and the next compaction work after the leveling work is effectively allocated according to the unevenness after leveling caused by bubbles in the concrete, thereby effectively improving the efficiency and quality of the entire concrete pouring process. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It shows a schematic diagram of the three-dimensional structure of the automatic concrete leveling device in Example 1 of the present invention.

[0028] Figure 2 Shown is the method of automatically tracking the total station in Example 1 of the present invention to monitor the driving direction and angle of the autonomous driving vehicle.

[0029] Figure 3 Another method of using the automatic tracking total station in Example 1 of the present invention to monitor the driving direction and angle of the autonomous driving vehicle is shown.

[0030] Figure 4 It is a schematic diagram showing the structure of the monitoring device of the present invention used as other mobile devices.

[0031] Figure 5 Shown is a flow chart of the leveling method of the automatic concrete leveling device in Example 1 of the present invention.

[0032] Figure 6 It shows a schematic diagram of the three-dimensional structure of the automatic concrete leveling device in Example 2 of the present invention.

[0033] Figure 7 Shown is a flow chart of the leveling method of the automatic concrete leveling device in Example 2 of the present invention. DETAILED DESCRIPTION

[0034] See also Figures 1 to 7 . The following describes the implementation methods of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. It should be noted that many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below. In addition, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance.

[0035] like Figure 1 As shown, embodiment 1 of the present invention provides an automatic concrete leveling device 1, including an autonomous driving vehicle 11 and an automatic tracking total station 12, wherein the automatic tracking total station 12 tracks the autonomous driving vehicle 11 through reflected light to calculate and control the driving route of the autonomous driving vehicle 11.

[0036] The autonomous driving vehicle 11 includes a vehicle body 111, a leveling mechanism 112, an inspection mechanism 113, a scanning mechanism 114 and a monitoring mechanism 115. The leveling mechanism 112 is installed at the front end of the vehicle body 111 and is used to level the concrete surface. The inspection mechanism 113 is installed at the rear side of the upper end of the vehicle body 111 and is used to check the flatness of the concrete after drying. The inspection mechanism 113 can be a laser scanner or a radar or other device. The scanning mechanism 114 is installed at the front side of the upper end and is used to measure the surface temperature of the concrete after leveling, detect the uniformity of the concrete, and create a thermal map. The monitoring mechanism 115 is installed on the vehicle body 111 and the leveling mechanism 112 and is used to cooperate with the automatic tracking total station 12 to monitor and control the driving path of the autonomous driving vehicle 11.

[0037] The leveling mechanism 112 includes a first fixed plate 1121, a second fixed plate 1122, a screed plate 1123, a first vertical guide rail 1124 and a second vertical guide rail 1125. The first fixed plate 1121 is fixedly mounted on the front end surface of the vehicle body 111. The second fixed plate 1122 is vertically slidably connected to the first fixed plate 1121 through two first vertical guide rails 1124, so that the second fixed plate 1122 can be driven up and down along the first vertical guide rails 1124 to adjust the pitch angle of the vehicle body 111. The screed plate 1123 is mounted below the second fixed plate 1122. The center of the screed plate 1123 includes a pivot (not shown in the figure), and the screed plate 1123 is connected to the center of the second fixed plate 1122 through the pivot. The two second vertical guide rails 1125 are arranged at both ends of the second fixed plate 1122, and the lower ends of the two second vertical guide rails 1125 are fixedly connected to both ends of the screed plate 1123 respectively. The heights of both ends of the screed plate 1123 can be adjusted by the two second vertical guide rails 1125. In this embodiment, the first vertical guide rail 1124 and the second vertical guide rail 1125 can be hydraulic, motor, gear transmission or pneumatic piston. In addition, in this embodiment, the length of the screed plate 1123 is the same as the length of the second fixed plate 1122, and is greater than the length of the first fixed plate 1121.

[0038] The leveling mechanism 112 also includes two laser receivers 1126, which are respectively installed at the upper end of the second vertical guide rail 1125, and are used to receive the laser emitted from the laser reference plane. Through the cooperation of the first vertical guide rail 1124 and the second vertical guide rail 1125, the leveling mechanism 112 is kept parallel to the horizontal plane, ensuring that the height and angle of the leveling plate 1123 are independent of the driving posture of the vehicle body 111, so that the two laser receivers 1126 always maintain a constant height, so that the concrete poured on the ground is leveled on a uniform horizontal surface. Among them, the first vertical guide rail 1124 adjusts the pitch on the horizontal plane perpendicular to the axial direction of the vehicle body 111, and the second guide rail 1125 adjusts the roll on the plane perpendicular to the driving direction of the vehicle body 111.

[0039] In this embodiment, the scanning mechanism 114 may be an infrared camera. During the concrete mixing process before leveling and during the leveling process, a large number of bubbles will be generated in the concrete, and due to the high viscosity of the concrete, the generated bubbles will not overflow and disappear by themselves. When bubbles are generated, the surface temperature between the concrete material without bubbles and the concrete area with bubbles is different. The infrared image obtained by the scanning mechanism 114 and the thermal map created to mark the area containing bubbles can effectively allocate the working time and the number of workers in the next step (such as the compaction step) after the leveling work is completed, which can not only improve the efficiency of the leveling work, but also improve the efficiency of the entire concrete embedding workflow.

[0040] The monitoring mechanism 115 includes a first reflecting member 1151, a second reflecting member 1152 and a third reflecting member 1153. The first reflecting member 1151 and the second reflecting member 1152 are respectively mounted on the upper ends of the two laser receivers 1126. The third reflecting member 1153 is mounted on the central axis of the upper end surface of the vehicle body 111, and forms an isosceles triangle with the first reflecting member 1151 and the second reflecting member 1152. The automatic tracking total station 12 tracks the automatic driving vehicle 11 through reflections of the first reflecting member 1151, the second reflecting member 1152 and the third reflecting member 1153.

[0041] Please combine Figure 1 and Figure 2, the line between the automatic tracking total station 12 and the first reflective component 1151 is L1, the line between the automatic tracking total station 12 and the third reflective component 1152 is L2, the angle between L1 and L2 is α, the line between the automatic tracking total station 12 and the third reflective component 1153 is L3, the angle between L3 and L2 is β, if the automatic driving vehicle 11 needs to travel along a straight path, the automatic tracking total station 12 monitors and compares whether there is a difference between α and β to obtain whether the automatic driving vehicle 11 deviates from the straight path and its driving direction. For example, if it is monitored that there is a difference between α and β, it means that the automatic driving vehicle 11 does not remain on the straight path, and its driving direction can be controlled to correct its driving path in time. At the same time, if the automatic driving vehicle 11 needs a certain turning angle, it can compare the angle difference between α and β to know whether the direction angle of the automatic driving vehicle 11 reaches the preset angle.

[0042] Please combine Figures 1 to 3 In another case, the first reflecting component 1151, the second reflecting component 1152 and the third reflecting component 1153 form an isosceles triangle, the line connecting the third reflecting component 1153 and the midpoints of the first reflecting component 1151 and the second reflecting component 1152 is L4, the angle between L4 and L2 is γ, and the driving direction angle of the automatic driving vehicle 11 is obtained by monitoring the size of γ.

[0043] Normally, when measuring angles α and β, as the distance increases, the rate of change becomes a COS curve, and the detection resolution decreases, so detecting α and β is suitable for short-distance detection. The method of detecting the rotation angle γ does not reduce the detection resolution even if the distance is large, and is suitable for long-distance detection. Therefore, the automatic leveling device 1 can switch between monitoring α and β and monitoring γ, which can improve the accuracy and sensitivity of the automatic tracking total station 12 monitoring, and further improve the leveling accuracy of the automatic leveling device 1.

[0044] Of course, if Figure 4As shown, the monitoring mechanism 115 can also be used as any other mobile device a, and the mobile device a can be a leveler, a mobile car, etc. The monitoring mechanism 115 includes a first reflecting member 1151, a second reflecting member 1152, and a third reflecting member 1153. The first reflecting member 1151 and the second reflecting member 1152 are respectively mounted on the upper end of the mobile device, and the third reflecting member 1153 is mounted on the central axis of the upper end surface of the mobile device a, forming an isosceles triangle with the first reflecting member 1151 and the second reflecting member 1152. The automatic tracking total station 12 tracks the mobile device a through the reflection of the first reflecting member 1151, the second reflecting member 1152, and the third reflecting member 1153.

[0045] like Figure 5 As shown, the leveling method of the automatic concrete leveling device 1 includes the following steps:

[0046] Step S11, the automatic tracking total station 12 measures and obtains the working area where the concrete is buried, and calculates the driving route and driving mode of the automatic driving vehicle 11 according to the size of the working area and the screed plate 1123;

[0047] In step S12, the autonomous driving vehicle 11 starts leveling work according to a preset driving route and driving mode. During this process, the automatic tracking total station 12 tracks the position of the autonomous driving vehicle 11 and controls its driving direction and angle according to the first reflecting component 1151, the second reflecting component 1152 and the third reflecting component 1153 in the monitoring mechanism 115.

[0048] Step S13, the scanning mechanism 114 obtains an infrared image of the leveled area, creates a thermal map of the leveled area, and marks the concrete area where bubbles are generated;

[0049] Step S14, the inspection mechanism 113 scans the concrete surface in the leveling area, inspects the flatness of the concrete surface and marks it;

[0050] Step S15, the automatic tracking total station 12 is positioned according to the areas marked in steps S13 and S14 to guide subsequent compaction work.

[0051] Among them, in step S12, the automatic tracking total station 12 tracks the position of the autonomous driving vehicle 11 and controls its driving direction and angle as follows: when the distance between the autonomous driving vehicle 11 and the automatic tracking total station 12 is short, monitor and compare whether there is a difference between α and β, and obtain whether the autonomous driving vehicle 11 deviates from the straight path and its driving direction angle. When the distance between the autonomous driving vehicle 11 and the automatic tracking total station 12 is long, monitor the size of γ and obtain the driving direction angle of the autonomous driving vehicle 11.

[0052] like Figure 6 As shown, Embodiment 2 of the present invention provides an automatic concrete leveling device 2, comprising an autonomous driving vehicle 21 and an automatic tracking total station 22, wherein the automatic tracking total station 22 tracks the autonomous driving vehicle 21 through reflected light, and uses a high-precision simultaneous positioning and mapping algorithm (SLAM algorithm) to calculate and control the driving route of the autonomous driving vehicle 21.

[0053] The autonomous driving vehicle 21 includes a vehicle body 211, a leveling mechanism 212, an inspection mechanism 213, a scanning mechanism 214 and a monitoring mechanism 215. The leveling mechanism 212 is installed at the front end of the vehicle body 211 and is used to level the concrete plane. The inspection mechanism 213 is installed at the rear side of the upper end of the vehicle body 211 and is used to check the flatness of the concrete after drying. The inspection mechanism 213 can be a laser scanner or a radar or other device. The scanning mechanism 214 is installed at the front side of the upper end and is used to measure the surface temperature of the concrete after leveling, detect the uniformity of the concrete, and create a thermal map. In this embodiment, the scanning mechanism 214 can be an infrared camera. The monitoring mechanism 215 is installed on the vehicle body 211 and the leveling mechanism 212, and is used to cooperate with the automatic tracking total station 22 to monitor and control the driving path of the autonomous driving vehicle 21.

[0054] The leveling mechanism 212 includes a first fixed plate 2121, a second fixed plate 2122, a screed plate 2123, a first vertical guide rail 2124 and a second vertical guide rail 2125. The first fixed plate 2121 is fixedly mounted on the front end surface of the vehicle body 211. The second fixed plate 2122 is vertically slidably connected to the first fixed plate 2121 through two first vertical guide rails 2124, so that the second fixed plate 2122 can be driven up and down along the first vertical guide rails 2124 to adjust the pitch angle of the vehicle body 211. The screed plate 2123 is mounted below the second fixed plate 2122. The center of the screed plate 2123 includes a pivot (not shown in the figure), and the screed plate 2123 is connected to the center of the second fixed plate 2122 through the pivot. The two second vertical guide rails 2125 are arranged at both ends of the second fixed plate 2122, and the lower ends of the two second vertical guide rails 2125 are fixedly connected to both ends of the screed plate 2123 respectively. The heights of both ends of the screed plate 2123 can be adjusted by the two second vertical guide rails 2125. In this embodiment, the first vertical guide rail 2124 and the second vertical guide rail 2125 can be hydraulic, motor, gear transmission or pneumatic piston. In addition, in this embodiment, the length of the screed plate 2123 is the same as the length of the second fixed plate 2122, and is greater than the length of the first fixed plate 2121.

[0055] The leveling mechanism 212 also includes two laser receivers 2126, which are respectively installed at the upper end of the second vertical guide rail 2125, and are used to receive the laser emitted from the laser reference plane. Through the cooperation of the first vertical guide rail 2124 and the second vertical guide rail 2125, the leveling mechanism 212 is kept parallel to the horizontal plane, ensuring that the height and angle of the leveling plate 2123 are independent of the driving posture of the vehicle body 211, so that the two laser receivers 2126 always maintain a constant height, so that the concrete poured on the ground is leveled on a uniform horizontal surface. Among them, the first vertical guide rail 2124 adjusts the pitch on the horizontal plane perpendicular to the axial direction of the vehicle body 211, and the second guide rail 2125 adjusts the roll on the plane perpendicular to the driving direction of the vehicle body 211.

[0056] In this embodiment, the monitoring mechanism 215 includes an omnidirectional camera 2151, a radar 2152 and a third reflecting component 2153. The radar 2152 is installed at the center of the upper end surface of the vehicle body 211, and the omnidirectional camera 2151 is installed above the radar 2152. Through the image data obtained by the omnidirectional camera 2151 and the point cloud data obtained by the radar 2152, the automatic tracking total station 22 can obtain the absolute position of the autonomous driving vehicle 21 and realize direction control of the autonomous driving vehicle 21. At the same time, the autonomous driving vehicle 21 travels according to the driving route obtained by the simultaneous positioning and mapping algorithm (SLAM algorithm), and landmark setting and closed-loop calculation are no longer required.

[0057] When the automatic concrete leveling device 2 is in use, the automatic tracking total station 22 first measures and obtains the working area where the concrete is buried, and calculates the driving route and driving mode of the automatic driving vehicle 21 according to the size of the working area and the leveling plate 2123. According to the calculated driving route and driving mode, the automatic driving vehicle 21 starts the leveling work. During the working process, through the cooperation of the inspection mechanism 213 and the monitoring mechanism 215, the driving direction and turning angle of the automatic driving vehicle 21 can be accurately controlled, so that the automatic driving vehicle 21 can work stably. In this embodiment, the automatic tracking total station 22 is used to perform high-precision correction on the SLAM of the image data acquired by the omnidirectional camera 2151 and the point cloud data acquired by the radar 2152, thereby significantly improving the accuracy of position extraction using the SLAM algorithm. This makes it possible to control the turning angle of the UGV in its driving direction with high precision.

[0058] like Figure 7 As shown, the leveling method of the automatic concrete leveling device 2 includes the following steps:

[0059] Step S21, the automatic tracking total station 22 measures and obtains the working area where the concrete is buried, and calculates the driving route and driving mode of the automatic driving vehicle 21 according to the size of the working area and the screed plate 2123;

[0060] In step S22, the autonomous driving vehicle 21 starts leveling work according to the preset driving route and driving mode. During this process, the automatic tracking total station 22 tracks the position of the autonomous driving vehicle 21 and controls its driving direction and angle based on the omnidirectional camera 2151, radar 2152 and third reflective component 2153 in the monitoring mechanism 115.

[0061] Step S23, the scanning mechanism 214 obtains an infrared image of the leveled area, creates a thermal map of the leveled area, and marks the concrete area where bubbles are generated;

[0062] Step S24, the inspection mechanism 213 scans the concrete surface in the leveling area, inspects the flatness of the concrete surface and marks it;

[0063] Step S25, the automatic tracking total station 22 is positioned according to the areas marked in steps S23 and S24 to guide subsequent compaction work.

[0064] In summary, the automatic leveling device provided by the present invention can achieve high-precision tracking and control of the autonomous driving vehicle through the monitoring mechanism, and can ensure that the poured concrete is always kept on a uniform horizontal surface through the leveling mechanism, thereby improving the quality and efficiency of concrete pouring. In addition, a thermal map is automatically created through the scanning mechanism, and the next step of compaction after the leveling work is effectively allocated according to the unevenness after leveling caused by bubbles in the concrete, thereby effectively improving the efficiency and quality of the entire concrete pouring process.

Claims

1. A monitoring mechanism, used for monitoring and controlling the travel route of a mobile device, characterized in that: include: A first reflecting member and a second reflecting member are symmetrically mounted on the moving device; A third reflecting member, mounted on the central axis of the moving device, forming an isosceles triangle with the first reflecting member and the second reflecting member; An automatic tracking total station receives and processes reflected light from the first reflecting member, the second reflecting member and the third reflecting member.

2. The monitoring mechanism according to claim 1, characterized in that: The line between the automatic tracking total station and the first reflecting component is L1, the line between the automatic tracking total station and the third reflecting component is L2, the angle between L1 and L2 is α, the line between the automatic tracking total station and the second reflecting component is L3, the angle between L3 and L2 is β, and the automatic tracking total station monitors and controls the driving direction of the mobile device by comparing the difference between α and β.

3. The monitoring mechanism according to claim 2, characterized in that: The line connecting the third reflective component and the midpoint between the first reflective component and the second reflective component is L4, and the angle between L4 and L2 is γ. By monitoring the value of γ, the driving direction of the mobile device is obtained.

4. Leveling device, characterized in that: include Vehicle body; A leveling mechanism, mounted on the front end surface of the vehicle body; A monitoring mechanism, comprising a first reflecting member, a second reflecting member and a third reflecting member, wherein the first reflecting member and the second reflecting member are respectively mounted on the upper end of the leveling mechanism, and the third reflecting member is mounted on the central axis of the upper end surface of the vehicle body; An automatic tracking total station receives the reflected light from the monitoring mechanism and controls the driving direction of the vehicle body.

5. The leveling device according to claim 4, characterized in that: The leveling mechanism includes a first fixed plate, a second fixed plate and a leveling plate. The first fixed plate is installed on the front end surface of the vehicle body, and the second fixed plate is vertically slidably connected to the first fixed plate through two first vertical guide rails; the leveling plate is installed below the second fixed plate through two second vertical guide rails.

6. The leveling device according to claim 5, characterized in that: The first reflecting member and the second reflecting member are respectively installed on the upper ends of the two second vertical guide rails.

7. The leveling device according to claim 6, characterized in that: A pivot is arranged at the center of the screed plate, and the pivot is connected to the center of the second fixing plate.

8. The leveling device according to claim 7, characterized in that: The leveling mechanism further includes a laser receiver. Two of the laser receivers are respectively mounted on the upper ends of the two second vertical guide rails. The first reflecting component and the second reflecting component are mounted on the laser receivers.

9. The leveling device according to claim 5, characterized in that: It also includes an inspection mechanism and a scanning mechanism, wherein the inspection mechanism is installed on one side of the upper end surface of the vehicle body, and the scanning mechanism is installed on the other side of the upper end surface of the vehicle body, and the third reflection component is located between the scanning mechanism and the inspection mechanism.

10. The leveling device according to claim 9, characterized in that: The inspection mechanism is a laser scanner or a radar, and the scanning is an infrared camera.

11. A leveling device, characterized in that: include Vehicle body; A leveling mechanism, mounted on the front end surface of the vehicle body; A monitoring mechanism, comprising an omnidirectional camera and a radar, wherein the radar is installed at the center of the upper end surface of the vehicle body, and the omnidirectional camera is installed above the radar; The total station is automatically tracked to receive the point cloud data of the radar and the image data of the omnidirectional camera.

12. The leveling device according to claim 11, characterized in that: It also includes an inspection mechanism and a scanning mechanism. The inspection mechanism is installed on one side of the upper end surface of the vehicle body, and the scanning mechanism is installed on the other side of the upper end surface of the vehicle body. The radar is located between the scanning mechanism and the inspection mechanism.

13. A leveling method, characterized in that: The method of leveling concrete using the leveling device according to any one of claims 5 to 12 comprises the following steps: S1, automatic tracking total station measurement to obtain the concrete buried working area, and calculate the driving route and driving mode of the autonomous driving vehicle; S2, the automatic tracking total station tracks the position of the autonomous driving vehicle and controls its driving direction and angle according to the monitoring mechanism; S3, the scanning mechanism obtains an infrared image of the leveling area, creates a thermal map of the leveling area, and marks the concrete area where bubbles are generated; S4, the inspection agency scans the concrete surface in the leveling area, inspects the flatness of the concrete surface and marks it; S5, the automatic tracking total station is positioned according to the areas marked in step S3 and step S4 to guide subsequent compaction work.

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