Automatic lofting system and method for engineering surveying

Abstract

The invention discloses an automatic lofting system and method for engineering surveying. The automatic lofting system is composed of a computer unit, an unmanned aerial vehicle unit and a piling robot unit. The computer unit selects lofting point coordinate data through installed software and exports a. Csv data file to the unmanned aerial vehicle unit and the piling robot unit through a network; the unmanned aerial vehicle unit comprises a vehicle body, a lifting support, a communication device, an unmanned aerial vehicle control terminal, a GPS receiver and a laser indicating device. The piling robot unit comprises a vehicle body, a jack, a timber pile bin box, a spraying device, a GPS receiver and a signal receiver. In the lofting process, the lofting mode is divided into a rapid lofting mode, a precise lofting mode and an auxiliary lofting mode, and a user can select and switch according to actual engineering requirements. According to the method, the selection speed of the lofting point is increased, indoor control lofting can be achieved, a traditional measurement lofting method is replaced, lofting and piling are integrated, and the working efficiency is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of engineering surveying, and in particular to an automatic lofting system and method for engineering surveying. Background Art

[0002] At present, intelligent equipment is widely used in construction, which greatly improves work efficiency and reduces labor intensity. Surveying and setting out work is a relatively tedious daily task in construction projects. Conventional mechanical setting out work is time-consuming and laborious, and at least two people are required to work at the same time. Before the setting out work is completed, it is impossible to make a more accurate estimate and layout of the site. At the same time, the amount of preparation work before setting out is large. The setting out points need to be exported and then manually transferred to the GPS handbook. When the setting out points need to be adjusted, the point coordinates need to be re-selected through the computer, which makes the work extremely inconvenient. Summary of the invention

[0003] The object of the present invention is to provide an automatic layout system and method for engineering surveying, which replaces the traditional surveying and layout mode, is used to improve work efficiency and solve the shortcomings of the prior art.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] An automatic layout system for engineering surveying, comprising a computer unit, a drone unit and a pile driving robot unit;

[0006] The computer unit is installed with CAD software and Southern CASS software, and the selection of the stakeout points on the electronic topographic map is realized based on the Southern CASS software. The coordinate data of the stakeout points are exported through the coordinate extraction function of the Southern CASS software. The data format is .csv, and the .csv data file is transmitted to the drone unit and the pile driving robot unit through the network;

[0007] The drone unit includes a fuselage, four sets of lifting brackets and propeller blades. The fuselage is equipped with a battery, a communication device and a drone control terminal. A GPS receiver is installed on the upper part of the fuselage and is located at the center of the fuselage. A laser indicator device is installed on the lower part of the fuselage. The laser indicator device is a ring structure. A moving track of the laser indicator device is arranged below the ring structure. Four auxiliary laser indicator lights are installed on the moving track. While the auxiliary laser indicator lights move on the track, they rotate in all directions downward. Four lifting brackets are arranged inside the ring structure below the fuselage. A main laser indicator light is arranged directly below the GPS receiver. The main laser indicator light is in a state where the plumb bob is downward.

[0008] The pile-driving robot unit is a vehicle structure, including a body, a jack, a pile box, a spraying device, a GPS receiver and a signal receiver. The body includes a power supply, a controller, and is equipped with four large rubber tires to adapt to a variety of complex measurement terrains. A jack is installed above the body, and a GPS receiver and a signal receiver are installed directly above the jack to receive the laser of the main laser indicator of the drone to achieve precise centering and high-precision positioning; the side of the jack is a pile box, and the piles used for layout are stored in the pile box; the interior of the pile box is provided with a pile propulsion channel separated by a partition, and the propulsion spring continuously pushes the piles forward to the position below the jack, and a spraying device is installed at the pile outlet on the lower side of the body.

[0009] Furthermore, during the sampling of the layout points, the computer unit selects the line object to be laid out for line layout, and automatically obtains the endpoints and inflection point coordinates of the line through the Southern CASS software; sets the point spacing for the smooth spline curve, and takes points one by one from the two endpoints to the middle of the spline curve according to the set spacing, and stops taking points when the distance between the selected layout points is less than the point spacing value.

[0010] Furthermore, the wood piles are discharged from the wood pile bin box by the wood pile discharging blades rotating around the rotating shaft.

[0011] Furthermore, the spraying device is a hollow slot structure in the main body of the vehicle body, which is divided into two layers. The upper layer is a spray gun, which is connected to the self-spraying paint equipment through a conduit, and the lower layer is a spray mold. The spray mold is a circular structure that can rotate on a rotating axis. The spray mold is engraved with spray holes of various shapes; the spray gun and the spray mold are controlled in and out by their own telescopic rods.

[0012] Furthermore, a wood pile clamp is provided at the edge of the lower edge of the jack, and a wood pile slot is located at the center of the lower edge.

[0013] The present invention provides another technical solution: an automatic lofting method for engineering measurement, including three measurement modes, namely, a fast lofting mode, a precise lofting mode and an auxiliary lofting mode. The implementation method of the fast lofting mode is as follows:

[0014] S1: Pick up the coordinates on the electronic map through the CAD software in the computer unit, and select points for the selected graphic line segments according to the actual layout needs, and export them in .csv file format;

[0015] S2: When the user selects the fast staking mode, if pile placement is required, the GPS positioning function and pile driving function of the pile driving robot unit are directly started to start the staking work; if pile placement is not required, the .csv file exported by the computer unit is transmitted to the drone unit through the network for staking work;

[0016] The implementation method of the precise lofting mode is as follows:

[0017] S1': Pick up the coordinates on the electronic map through the CAD software in the computer unit, and select points for staking out the selected graphic line segments according to the actual staking out needs, and export them in .csv file format;

[0018] S2': When the user selects the precise stakeout mode, if pile laying is not required, the stakeout work is the same as that in S2 where pile laying is not required; if pile laying is required, the .csv file is sent to the drone unit and the pile-driving robot unit at the same time. First, the drone flies to the sky above the stakeout point according to the coordinates of the stakeout point to find the precise position of the stakeout point. At the same time, the pile-driving robot reaches the target stakeout position according to the GPS receiver and the signal receiver. The laser indicator of the drone sends out a laser signal. The GPS receiver and the signal receiver set on the upper end of the pile-driving robot's jack search for the drone's signal, and gradually move to the precise stakeout position of the drone until it is directly below the main laser indicator. After the signal receivers of the drone and the pile-driving robot are connected, the pile-driving robot determines the precise position of the stakeout point and starts piling. The drone flies to the next stakeout point to search for the coordinate position. After the pile-driving robot completes the piling work, it goes to the next stakeout point to search for the drone signal. This cycle repeats until all stakeout points are positioned and piled.

[0019] The implementation method of the auxiliary lofting mode is as follows:

[0020] The four auxiliary laser indicator lights on the drone point to the ground to mark the four corners of the building to actually show the actual area of ​​the target building, or the center line of the road can be used to demonstrate the actual direction and width of the road, so that construction personnel can carry out subsequent clear marking work according to the needs of the layout.

[0021] Furthermore, the layout method of the pile driving robot unit in S2 is as follows:

[0022] S201: The .csv file exported by the computer unit is transmitted to the pile driving robot unit through the network, and the GPS receiver and signal receiver of the pile driving robot perform staking out according to the coordinate data and arrive at the staking out positioning position;

[0023] S202: The rotating shaft of the pile box drives the pile row blade to rotate, and the pile is moved to the bottom of the jack. When the jack is working, the pile clamp is first expanded outward. After the pile touches the bottom end of the pile slot, the pile clamp is locked inward, and the jack is pushed downward. When the pushing distance reaches the lower end of the vehicle body, the pile clamp is released and the jack is retracted;

[0024] S203: If the jacking distance is less than 5 cm, the piling work cannot be carried out on the hardened road surface, the jack is pulled out and reset together with the wooden pile, the spray gun and the spraying mold in the spraying device are extended from the slot, and the spraying mold selects the corresponding spray hole shape according to the layer information of the .csv file for spraying;

[0025] S204: After drilling a hole, the propulsion spring pushes a wooden pile forward, and the pile arrangement blade rotates 90 degrees to shift a wooden pile to the bottom of the jack, and the pile arrangement work is repeated in a reciprocating manner.

[0026] Furthermore, the layout method of the UAV unit in S2 is as follows: the UAV flies to the actual position of the layout point according to the positioning signal of the GPS receiver, and the GPS receiver performs smooth data collection. After determining that the position of the point is the layout point, the UAV descends a certain distance and turns on the main laser indicator light. The irradiation direction of the main laser indicator light always keeps the plumb bob downward. The ground laser irradiation point is the final confirmation point of the coordinate layout, and the construction personnel carry out subsequent marking work according to their own needs.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The automatic layout system and method for engineering surveying of the present invention provides convenience for the subsequent control of drones and pile-driving robots by encrypting and selecting layout points of layout graphics and optimizing layer properties and inflection point properties, improves the selection speed of layout points, and can realize indoor control layout and realize the integration of layout and pile driving.

[0029] 2. The automatic layout system and method for engineering surveying of the present invention provide a variety of layout modes and layout scenarios, which are suitable for exploration point layout, building corner line layout, etc. The appropriate layout mode can be selected according to different layout accuracy requirements, which greatly improves the layout quality.

[0030] 3. The automatic layout system and method for engineering measurement of the present invention, the pile driving robot realizes the integrated operation of wooden piles and spray painting, expands the spray holes of the spray paint mold, and can be selected according to the properties of the layer where the layout point is located, which facilitates on-site identification.

[0031] 4. The automatic layout system and method for engineering surveying of the present invention develops an auxiliary layout mode, which realizes the visual operation of multiple layout points on site. Compared with the current method of comparing aerial photos with electronic design drawings, it is more spatial and timely, and can promptly discover various unfavorable factors within the red line range on site. There is no need to repeatedly export the layout points for on-site verification, and the accuracy is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the structure of the UAV of the present invention;

[0033] Figure 2 This is a schematic diagram of the top structure of the UAV of the present invention;

[0034] Figure 3 This is a schematic diagram of the bottom structure of the drone of the present invention;

[0035] Figure 4 It is a schematic diagram of the overall structure of the pile-driving robot of the present invention;

[0036] Figure 5 It is a schematic diagram of the structure of the spraying device of the present invention;

[0037] Figure 6 It is a schematic diagram of the structure of the wood pile bin box of the present invention;

[0038] Figure 7 It is a flow chart of the lofting and positioning method of the present invention;

[0039] Figure 8 This is a schematic diagram of the bottom structure of the drone of the present invention;

[0040] Fig. 9 A schematic diagram of building corner point lofting in the auxiliary lofting mode of the present invention;

[0041] Fig.10 It is a schematic diagram of road stakeout in the auxiliary stakeout mode of the present invention.

[0042] In the figure: 1. Auxiliary laser indicator light; 2. Lifting bracket; 3. GPS receiver; 4. Propeller blades; 5. Moving track; 6. Main laser indicator light; 7. GPS receiver and signal receiver; 8. Jack; 9. Pile-moving blades; 10. Rubber tire; 11. Spraying device; 12. Rotating shaft; 13. Pile box; 14. Propulsion spring; 15. Pile; 16. Vehicle body; 17. Spray gun; 18. Spraying mold; 19. Retracting rod; 20. Rotating shaft; 21. Spray hole; 22. Partition; 23. Pile clamp; 24. Pile slot. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] An embodiment of the present invention provides an automatic layout system for engineering surveying, which is composed of a computer unit, a drone unit and a pile driving robot unit.

[0045] Among them, the computer unit is installed with CAD software and Nanfang cass software. Secondary development is carried out based on Nanfang cass software to upgrade the selection function of the stakeout point on the electronic topographic map; for the selection of individual stakeout points, single selection or box selection is adopted, and the stakeout point coordinate data can be exported through the coordinate extraction function of Nanfang cass software, and the data format is .csv. For line stakeout, select the line object to be staked out, and automatically obtain the endpoint and inflection point coordinates of the line through the secondary development software. For smooth spline curves, the point spacing can be set to pick points one by one from the two endpoints to the middle of the spline curve according to the set spacing. When the distance between the selected stakeout points is less than the point spacing value, the point picking is stopped. When selecting closed figures surrounded by line segments such as buildings and lakes to be staked out, the method is similar to that of line objects. Regular figures with inflection points directly grab the inflection point coordinates; for smooth figures without inflection points, first use the mouse to select the starting point position, and select the stakeout points in turn along the line segment trajectory according to the set spacing until returning to the starting point and stopping when it is less than the point spacing value. Regular line segments and closed curve shapes can also use secondary development software to add secret points to the stakeout graphics. The selected staked point data are exported to .csv format, and the layer name, inflection point value and remarks are added according to the layer where the graphics are located. For example, if the house point is selected in the JMD layer, the output staked coordinate .csv file format is: "point number, X coordinate, Y coordinate, JMD, 1, corner point of residential building". The .csv file is transmitted to the drone unit and the pile driving robot unit through the network.

[0046] like Figure 1-3 As shown, the UAV unit includes a fuselage, four sets of lifting brackets 2 and propeller blades 4. The fuselage is equipped with a battery, a communication device and a UAV control terminal. A GPS receiver 3 (centimeter level) is installed on the upper part of the fuselage and is located at the center of the fuselage. A laser pointing device is installed on the lower part of the fuselage. The laser pointing device is a ring structure. A laser pointing device moving track 5 is arranged along the lower part of the ring structure. Four auxiliary laser indicator lights 1 are installed on the moving track 5. While the auxiliary laser indicator lights 1 move on the track, they rotate in all directions downward. Four lifting brackets 2 are arranged inside the ring structure below the fuselage. A main laser indicator light 6 is arranged directly below the GPS receiver 3. The main laser indicator light 6 permanently keeps the plumb bob downward.

[0047] like Figure 4-6As shown, the pile-driving robot unit is a vehicle structure, including a body 16, a jack 8, a pile box 13, a spraying device 11, and a GPS receiver and a signal receiver 7. The body 16 includes a power supply, a controller, and is equipped with four large rubber tires 10 for adapting to a variety of complex measurement terrains. A jack 8 is installed above the body 16, and the height of the stand of the jack 8 is higher than the height of the pile box 13. A GPS receiver and a signal receiver 7 are installed directly above the jack 8, wherein the GPS receiver is at the decimeter level and can achieve a rough positioning of the target, and the signal receiver can receive the laser of the main laser indicator 6 of the drone to achieve accurate centering and achieve the purpose of high-precision positioning; the side of the jack 8 is the pile box 13, and the pile box 13 stores the wood used for setting out. The wooden pile 15 is pushed to the position directly below the jack 8; a wooden pile pushing channel separated by a partition 22 is provided inside the wooden pile bin box 13, and the pushing spring 14 continuously pushes the wooden pile 15 forward to the position below the jack 8, and the pile row blade 9 rotates around the rotating shaft 12 to control the wooden pile 15 to be discharged from the wooden pile bin box 13, and a spraying device 11 is installed at the wooden pile outlet on the lower side of the vehicle body 16; the spraying device 11 is a hollow slot structure in the vehicle body 16, which is divided into two layers, the upper layer is a spray gun 17, which is connected to the self-spraying paint equipment through a conduit, and the lower layer is a spraying mold 18, which is a circular structure and can be rotated on the rotating shaft 20, and the spraying mold 18 is engraved with various spray holes 21 of different shapes; the spray gun 17 and the spraying mold 18 are controlled to enter and exit by their respective telescopic rods 19.

[0048] like Figure 7 As shown, a stake clamp 23 is provided at the edge of the lower edge of the jack 8, and a stake slot 24 is located at the center of the lower edge. When the jack 8 is working, the stake clamp 23 is first expanded outward, and after the stake 15 touches the bottom end of the stake slot 24, the stake clamp 23 locks the stake 15 inward, and the jack 8 is pushed downward. When the pushing distance reaches the lower end of the vehicle body 16, the stake clamp 23 is released and the jack 8 is retracted.

[0049] like Figure 8-10 As shown, based on the above embodiments, in order to further better explain the present invention, an embodiment of the present invention also provides an automatic layout method for engineering measurement, including three measurement modes, namely, fast layout mode, precise layout mode and auxiliary layout mode.

[0050] Among them, the implementation method of the fast stakeout mode is as follows:

[0051] S1: Pick up the coordinates on the electronic map through the CAD software in the computer unit, and select points for the selected graphic line segments according to the actual layout needs, and export them in .csv file format;

[0052] S2: When the user selects the fast staking mode, if pile laying is required, the GPS positioning function and pile driving function of the pile driving robot unit are directly started to start the staking work; specifically:

[0053] S201: The .csv file exported by the computer unit is transmitted to the pile-driving robot unit through the network, and the decimeter-level GPS receiver and signal receiver 7 of the pile-driving robot perform staking out according to the coordinate data and arrive at the staking out positioning position;

[0054] S202: The rotating shaft 12 of the pile box 13 drives the pile row blade 9 to rotate, and the pile 15 is shifted to the bottom of the jack 8. When the jack 8 is working, the pile clamp 23 is first expanded outward to ensure that the pile 15 can smoothly enter the pile slot 24. After the pile 15 touches the bottom end of the pile slot 24, the pile clamp 23 is locked inwardly, and the jack 8 is pushed downward. When the pushing distance reaches the lower end of the vehicle body 16, the pile clamp 23 is released and the jack 8 is retracted;

[0055] S203: If the jacking distance is less than 5 cm, the piling work cannot be carried out on the hardened road surface, the jack 8 is pulled out and reset together with the wooden pile 15, the spray gun 17 and the spraying die 18 in the spraying device 11 are extended from the groove, and the spraying die 18 selects the corresponding spray hole 21 shape according to the layer information of the .csv file for spraying;

[0056] S204: After drilling a hole, the propulsion spring 14 pushes a wooden pile forward, and the pile arrangement blade 9 rotates 90 degrees to shift a wooden pile 15 to the bottom of the jack 8, and the pile arrangement work is repeated in sequence.

[0057] If pile laying is not required, the .csv file exported by the computer unit is transmitted to the drone unit through the network for stakeout work; specifically, the drone flies to the actual position of the stakeout point according to the positioning signal of the GPS receiver 3, and the GPS receiver 3 performs smooth data collection. After determining that the position of the point is the position of the stakeout point, the drone descends a certain distance (to reduce the impact of high winds in the air and shorten the distance from the main laser indicator light 6 to the ground, so that the light indication is more obvious in a strong light environment), turns on the main laser indicator light 6, and the irradiation direction of the main laser indicator light 6 always keeps the plumb bob downward. The ground laser irradiation point is the final confirmation point of the coordinate stakeout, and the construction personnel perform subsequent marking work according to their own needs.

[0058] Among them, the implementation method of the precise lofting mode is as follows:

[0059] S1': Pick up the coordinates on the electronic map through the CAD software in the computer unit, and select points for staking out the selected graphic line segments according to the actual staking out needs, and export them in .csv file format;

[0060] S2': When the user selects the precise stakeout mode, if pile laying is not required, the stakeout work is the same as the work without pile laying in S2, and only the drone is required to stake out; if pile laying is required, the .csv file is sent to the drone unit and the pile driving robot unit at the same time. First, the drone flies to the sky above the stakeout point according to the coordinates of the stakeout point to find the precise position of the stakeout point. At the same time, the pile driving robot reaches the target stakeout position according to the GPS receiver and the signal receiver 7. Because the GPS receiver of the pile driving robot is at the decimeter level, there is an error with the positioning of the drone. At this time, the laser indicator of the drone sends out a laser signal, and the GPS receiver and signal receiver 7 set on the upper end of the jack 8 of the pile driving robot search for the signal of the drone, and gradually move to the precise stakeout position of the drone to just below the main laser indicator 6. After the signal receivers of the drone and the pile driving robot are connected, the pile driving robot determines the precise position of the stakeout point and starts piling. The drone flies to the next stakeout point to search for the coordinate position. After the pile driving robot completes the piling work, it goes to the next stakeout point to search for the drone signal, and this cycle is repeated until all stakeout points are positioned and piled.

[0061] It should be noted that in the above two measurement modes and four different environmental scenarios, the fast setting out mode does not give up the measurement accuracy because of the fast selection. The fast setting out mode is formulated according to the actual measurement scenario on site. For example, when large-scale geotechnical surveys need to measure and set out exploration holes, the accuracy requirements of the exploration holes are not very large, and the deviation can be within 2 meters. When piles are needed, the decimeter-level GPS receiver of the pile driving robot is sufficient to meet the accuracy. When piles are not needed and personnel are required to actually survey the site, the UAV's fast setting out mode can be used. The measurement accuracy of this mode is the same as the conventional measurement and setting out accuracy. Personnel only need to follow the UAV line to identify the surrounding environment of the setting out point. The pile arrangement in the precise setting out mode is a high-precision unmanned positioning and identification in the actual sense. It is usually used for high-precision setting out measurements such as excavation of building corners, which can completely liberate personnel from outdoor work, and the integrated operation of setting out and pile arrangement can be controlled by a computer indoors.

[0062] In the above method, the implementation method of the auxiliary lofting mode is as follows:

[0063] The auxiliary layout mode is a new function developed based on the actual situation on site. The drone layout technology only provides single coordinate point positioning and laser pointing. People need to lay out the stakes one by one before they can judge the general orientation and area of ​​the building according to the position of the stakes. This auxiliary layout mode is to point the four auxiliary laser indicator lights 1 on the drone to the ground to mark the four corners of the building to actually show the actual area of ​​the target building, or to show the actual direction and width of the road by looking at the center line of the road. For example, a building generally has four corners of a house. The four auxiliary laser indicator lights 1 move on the moving track 5 according to the height from the ground measured by the drone GPS receiver 3 and the positioning of the drone, and adjust the angle of the auxiliary laser indicator lights 1 so that each of the auxiliary laser indicator lights 1 points to one of the corners. The personnel only need to stand at a high place or walk through the corner positions according to the general direction to know the actual situation. The data can also be transmitted to the computer unit by installing a camera on the drone. Compared with the electronic topographic map using aerial photos, the terrain effect is displayed more clearly. Similarly, the UAV can move along the coordinates of the center line of the road, and the four auxiliary laser indicator lights 1 can each indicate the side lines of the road, simulating the general direction of the road and whether it is affected by the surrounding adverse environment (pond, culvert).

[0064] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An automatic lofting system for engineering surveying, characterized in that: It consists of a computer unit, a drone unit, and a pile-driving robot unit; The computer unit is installed with CAD software and Southern CASS software, and the selection of the stakeout points on the electronic topographic map is realized based on the Southern CASS software. The coordinate data of the stakeout points are exported through the coordinate extraction function of the Southern CASS software. The data format is .csv, and the .csv data file is transmitted to the drone unit and the pile driving robot unit through the network; The drone unit comprises a fuselage, four sets of lifting brackets (2) and propeller blades (4), wherein the fuselage is equipped with a battery, a communication device and a drone control terminal, wherein a GPS receiver (3) is installed on the upper part of the fuselage and is located at the center of the fuselage, wherein a laser indicator device is installed on the lower part of the fuselage, wherein the laser indicator device is an annular structure, wherein a laser indicator device moving track (5) is arranged below the annular structure, wherein four auxiliary laser indicator lights (1) are arranged on the moving track (5), wherein the auxiliary laser indicator lights (1) rotate downward in all directions while the track moves, wherein four lifting brackets (2) are arranged inside the annular structure below the fuselage, wherein a main laser indicator light (6) is arranged directly below the GPS receiver (3), wherein the main laser indicator light (6) is in a plumb downward state; The pile driving robot unit is a vehicle structure, comprising a vehicle body (16), a jack (8), a pile box (13), a spraying device (11) and a GPS receiver and a signal receiver (7). The vehicle body (16) comprises a power supply, a controller, and is equipped with four large rubber tires (10) for adapting to various complex measurement terrains. A jack (8) is installed above the vehicle body (16). A GPS receiver and a signal receiver (7) are installed directly above the jack (8) for receiving The laser of the main laser indicator light (6) of the unmanned aerial vehicle is received to realize accurate centering and high-precision positioning; the side of the jack (8) is a wood pile box (13), and the wood pile box (13) stores wood piles (15) used for setting out; the wood pile box (13) is provided with a wood pile propulsion channel separated by a partition (22), and the propulsion spring (14) continuously pushes the wood pile (15) forward to the position below the jack (8), and a spraying device (11) is installed at the wood pile outlet on the lower side of the vehicle body (16).

2. The automatic layout system for engineering surveying according to claim 1, characterized in that: During the sampling of the layout points, the computer unit selects the line object to be layouted for line layout, and automatically obtains the endpoints and inflection point coordinates of the line through the Southern CASS software; sets the point spacing for the smooth spline curve, and selects points one by one from the two endpoints to the middle of the spline curve according to the set spacing, and stops picking points when the distance between the selected layout points is less than the point spacing value.

3. The automatic layout system for engineering surveying as claimed in claim 1, characterized in that: The wood piles (15) are discharged from the wood pile bin box (13) by the wood pile discharging blades (9) rotating around the rotating shaft (12).

4. The automatic layout system for engineering surveying according to claim 1, characterized in that: The spraying device (11) is a hollow slot structure in the vehicle body (16) and is divided into two layers. The upper layer is a spray gun (17) connected to a self-spraying paint device through a conduit, and the lower layer is a spraying die (18). The spraying die (18) is a circular structure and can rotate on a rotating shaft (20). Various spray holes (21) of different shapes are engraved on the spraying die (18). The spray gun (17) and the spraying die (18) are controlled to enter and exit for use by their respective telescopic rods (19).

5. The automatic layout system for engineering surveying according to claim 1, characterized in that: A wood pile clamping opening (23) is provided at the edge of the lower edge of the jack (8), and a wood pile slot (24) is located at the center of the lower edge.

6. An automatic lofting method for engineering surveying, comprising three measurement modes, namely, a fast lofting mode, a precise lofting mode and an auxiliary lofting mode, characterized in that: The implementation method of the fast lofting mode is as follows: S1: Pick up the coordinates on the electronic map through the CAD software in the computer unit, and select points for the selected graphic line segments according to the actual layout needs, and export them in .csv file format; S2: When the user selects the fast staking mode, if pile placement is required, the GPS positioning function and pile driving function of the pile driving robot unit are directly started to start the staking work; if pile placement is not required, the .csv file exported by the computer unit is transmitted to the drone unit through the network for staking work; The implementation method of the precise lofting mode is as follows: S1': Pick up the coordinates on the electronic map through the CAD software in the computer unit, and select points for staking out the selected graphic line segments according to the actual staking out needs, and export them in .csv file format; S2': When the user selects the precise stakeout mode, if pile laying is not required, the stakeout work is the same as the work in S2 where pile laying is not required; if pile laying is required, the .csv file is sent to the drone unit and the pile driving robot unit at the same time. First, the drone flies to the sky above the stakeout point according to the coordinates of the stakeout point to find the precise position of the stakeout point. At the same time, the pile driving robot reaches the target stakeout position according to the GPS receiver and signal receiver (7). The laser indicator of the drone sends a laser signal. The GPS receiver and signal receiver (7) arranged on the upper end of the jack (8) of the pile driving robot search for the drone signal. The drone gradually moves to the precise stakeout position of the drone until it is directly below the main laser indicator (6). After the signal receivers of the drone and the pile driving robot are connected, the pile driving robot determines the precise position of the stakeout point and starts piling. The drone flies to the next stakeout point to search for the coordinate position. After the pile driving robot completes the piling work, it goes to the next stakeout point to search for the drone signal. This cycle repeats until all stakeout points are positioned and piled. The implementation method of the auxiliary lofting mode is as follows: The four auxiliary laser indicator lights (1) on the drone point to the ground to mark the four corners of the building to actually display the actual size of the target building, or the center line of the road can be used to demonstrate the actual direction and width of the road, so that construction personnel can carry out subsequent clear marking work according to the needs of the layout.

7. The automatic lofting method for engineering surveying according to claim 6, characterized in that: The layout method of the pile driving robot unit in S2 is as follows: S201: The .csv file exported by the computer unit is transmitted to the pile driving robot unit through the network, and the GPS receiver and signal receiver (7) of the pile driving robot perform layout according to the coordinate data and arrive at the layout positioning position; S202: The rotating shaft (12) of the pile box (13) drives the pile-displacing blade (9) to rotate, and the pile (15) is shifted to the bottom of the jack (8). When the jack (8) is working, the pile clamp (23) is first expanded outward, and after the pile (15) touches the bottom end of the pile slot (24), the pile clamp (23) is locked inwardly to the pile (15), and the jack (8) is pushed downward. When the pushing distance reaches the lower end of the vehicle body (16), the pile clamp (23) is released, and the jack (8) is retracted; S203: If the jacking distance is less than 5 cm, the piling work cannot be carried out when encountering a hardened road surface, the jack (8) is pulled out and reset together with the wooden pile (15), the spray gun (17) and the spraying die (18) in the spraying device (11) are extended from the groove, and the spraying die (18) selects the corresponding spray hole (21) shape according to the layer information of the .csv file for spraying; S204: After drilling a hole, the advancing spring (14) advances a wooden pile forward, and the pile arranging blade (9) rotates 90 degrees to shift a wooden pile (15) to the bottom of the jack (8), and the pile arranging work is repeated in a cycle.

8. The automatic lofting method for engineering surveying according to claim 6, characterized in that: The layout method of the drone unit in S2 is as follows: the drone flies to the actual position of the layout point according to the positioning signal of the GPS receiver (3), and the GPS receiver (3) performs smooth data collection. After determining that the position of the point is the layout point, the drone descends a certain distance and turns on the main laser indicator light (6). The irradiation direction of the main laser indicator light (6) always keeps the plumb bob downward. The ground laser irradiation point is the final confirmation point of the coordinate layout, and the construction personnel carry out subsequent marking work according to their own needs.

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