An automatic setting-out system and method for engineering surveying

Abstract

The application discloses an automatic lofting system and method for engineering surveying, which is composed of a computer unit, a UAV unit and a piling robot unit; the computer unit selects lofting point coordinate data through installed software, and transmits a derived.csv data file to the UAV unit and the piling robot unit through a network; the UAV unit comprises a fuselage, a lifting support, a communication device, a UAV control terminal, a GPS receiver and a laser indicating device; the piling robot unit comprises a vehicle body, a jack, a wooden pile storage box, a spraying device, a GPS receiver and a signal receiver; in the lofting process, three modes of rapid lofting mode, accurate lofting mode and auxiliary lofting mode are classified, and a user can select and switch according to actual engineering needs; the application improves the selection speed of the lofting point, can realize indoor control lofting, replaces a traditional surveying and lofting method, realizes lofting and piling integration, and greatly improves work efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of engineering surveying, in particular to an automatic lofting system and method for engineering surveying. BACKGROUND

[0002] At present, intelligent devices are widely used in construction, which greatly improves work efficiency and reduces labor intensity. The measurement and lofting work is a relatively routine and tedious work in the construction engineering. The conventional mechanical lofting work is time-consuming and laborious, and at least two people work simultaneously. Before the lofting work is completed, a more accurate estimation and arrangement of the site cannot be made. At the same time, the preparation work before lofting is large, and the lofting points need to be exported and manually transmitted to the GPS notebook. When the lofting points need to be adjusted, the point coordinates need to be selected again through the computer, so that the work is extremely inconvenient. SUMMARY

[0003] The purpose of the present application is to provide an automatic lofting system and method for engineering surveying, which replaces the traditional measurement and lofting mode, and improves work efficiency to solve the problems of the prior art.

[0004] To achieve the above purpose, the present application provides the following technical scheme:

[0005] An automatic lofting system for engineering surveying is composed of a computer unit, a UAV unit and a piling robot unit;

[0006] The computer unit is installed with CAD software and South Cass software, and the selection of lofting points on the electronic topographic map is realized based on the South Cass software. The lofting point coordinate data is exported through the coordinate extraction function of the South Cass software, and the data format is.csv. The.csv data file is transmitted to the UAV unit and the piling robot unit through the network;

[0007] The UAV unit includes a fuselage, four groups of lifting supports and propeller blades. The fuselage is provided with a battery, a communication device and a UAV control terminal. A GPS receiver is arranged on the upper part of the fuselage and located at the center of the fuselage. A laser indicating device is arranged on the lower part of the fuselage. The laser indicating device is in a ring structure. A laser indicating device moving track is arranged below the ring structure. Four auxiliary laser indicating lamps are arranged on the moving track. The auxiliary laser indicating lamps rotate in all directions while moving on the track. Four lifting supports are arranged inside the ring structure below the fuselage. A main laser indicating lamp is arranged below the GPS receiver. The main laser indicating lamp is in a plumb downward state.

[0008] The pile driving robot unit is a vehicle structure, including a vehicle body, a jack, a pile storage box, a spraying device, and a GPS receiver and signal receiver, the vehicle body includes a power supply and a controller, and is provided with four large rubber tires for adapting to various complex survey terrains, a jack is arranged above the vehicle body, a GPS receiver and signal receiver are arranged above the jack, and are used for receiving laser of a main laser indicator light of a drone, so that accurate centering and high-precision positioning are realized; a pile storage box is arranged on the side of the jack, and the pile storage box is used for storing piles used for lofting; a pile pushing channel is arranged in the pile storage box and is separated by a partition plate, and a pushing spring continuously pushes the piles forward to a position below the jack, and a spraying device is arranged at a pile outlet on the lower side of the vehicle body.

[0009] Further, in the sampling at the lofting point, for line lofting, a line object needing lofting is selected, and end point and inflection point coordinates of the line are automatically acquired by the South cass software; for a smooth spline curve, a point interval is set, and points are taken from both ends to the middle of the spline curve according to the set interval, and the taking of points is stopped when the distance between the selected lofting points is less than the point interval value.

[0010] Further, the piles are discharged from the pile storage box by rotating around the rotating shaft through the pile discharging blades.

[0011] Further, the spraying device is a hollow groove structure in the vehicle body, is divided into two layers, an upper layer is a spray gun connected with a self-painting coating device through a pipeline, and a lower layer is a spraying die, the spraying die is a circular structure and can rotate on a rotating shaft, and various spray holes of different shapes are engraved on the spraying die; the spray gun and the spraying die are controlled to enter and exit by respective telescopic rods.

[0012] Further, a pile clamping opening is arranged at the lower edge of the jack, and a pile insertion slot is arranged at the center of the lower edge.

[0013] The application provides another technical scheme: an automatic lofting method for engineering surveying, including three surveying modes, namely, a rapid lofting mode, an accurate lofting mode and an auxiliary lofting mode, and the implementation method of the rapid lofting mode is as follows:

[0014] S1: the CAD software in the computer unit picks up coordinates on the electronic map, and according to actual lofting needs, the selected graphic line segment is encrypted and selected, and a.csv file format is exported;

[0015] S2: when the user selects the rapid lofting mode, if piles need to be arranged, the GPS positioning function and the pile driving function of the pile driving robot unit are directly started, and the lofting work can be started; if piles do not need to be arranged, the.csv file exported by the computer unit is transmitted to the drone unit through a network for lofting 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 encrypt the selected graphic line segment according to the actual lofting needs, and export the.csv file format;

[0018] S2': when the user selects the precise lofting mode, if no pile is needed, the lofting work is the same as that in S2 without pile; if pile is needed, the.csv file is sent to the unmanned aerial vehicle unit and the pile robot unit at the same time, first the unmanned aerial vehicle flies to the position above the lofting point to find the precise position of the lofting point, and at the same time the pile robot reaches the target lofting position according to the GPS receiver and signal receiver, the GPS receiver and signal receiver on the upper end of the jack of the pile robot search for the signal of the unmanned aerial vehicle, gradually move to the position directly below the main laser indicator light, and after the signal receivers of the unmanned aerial vehicle and the pile robot are connected, the pile robot determines the precise position of the lofting point and starts to pile, the unmanned aerial vehicle flies to the next lofting point to search for the coordinate position, and the pile robot completes the piling work and then goes to the next lofting point to search for the signal of the unmanned aerial vehicle, and so on until all the lofting 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 unmanned aerial vehicle point to the ground to mark the four corner points of the building to actually show the actual land occupation size of the target building, or the road centerline to demonstrate the actual direction and width of the road, so that the construction personnel can clearly mark according to the lofting needs.

[0021] Further, the lofting method of the pile robot unit in S2 is as follows:

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

[0023] S202: The rotation shaft of the wood pile warehouse box drives the pile leaf blade to rotate, and moves the wood pile to the lower side of the jack, and when the jack works, the wood pile clamping port is first expanded outward, and when the wood pile touches the bottom end of the wood pile insertion slot, the wood pile clamping port locks the wood pile inward, and the jack is retracted.

[0024] S203: If the jacking distance is less than 5cm, hardening road surface cannot be implemented, the jack is pulled out and reset, the spray gun and the spray mold in the spraying device are stretched out from the groove, and the spray mold sprays according to the layer information of the.csv file to select the corresponding spray hole shape;

[0025] S204: After one hole is punched, the advancing spring advances one wood pile position, the pile arranging blade rotates 90 degrees to move one wood pile to the position below the jack, and the pile arranging work is circularly and reciprocally arranged.

[0026] Further, the lofting method of the unmanned aerial vehicle unit in S2 is as follows: the unmanned aerial vehicle flies to the actual position of the lofting point according to the positioning signal of the GPS receiver, the GPS receiver collects smooth data to determine the position of the lofting point, then the unmanned aerial vehicle descends by a certain distance, the main laser indicator is turned on, the direction of the main laser indicator is always kept downward, and the ground laser irradiation point is the final confirmation point of the coordinate lofting, and the construction personnel can perform subsequent identification work according to the needs.

[0027] Compared with the prior art, the beneficial effects of the present application are:

[0028] 1. The automatic lofting system and method for engineering measurement can provide convenience for subsequent unmanned aerial vehicle and pile driving robot control by encrypting the lofting graph, selecting the lofting point, and optimizing the layer attribute and inflection point attribute, improve the lofting point selection speed, realize indoor control lofting, and realize lofting and pile driving integration.

[0029] 2. The automatic lofting system and method for engineering measurement provide various lofting modes and lofting scenarios, are suitable for exploration point lofting, building corner line lofting and the like, select a suitable lofting mode according to different lofting accuracy requirements, and greatly improve the lofting quality.

[0030] 3. The automatic lofting system and method for engineering measurement realize wood pile and paint spraying integrated operation of the pile driving robot, expand the spray hole of the paint spraying mold, can select according to the attribute of the layer where the lofting point is located, and facilitate on-site identification.

[0031] 4. The automatic lofting system and method for engineering measurement develop an auxiliary lofting mode, realize visual operation of multiple lofting points on site, have more spatiality and timeliness compared with the present aerial photograph and electronic design drawing comparison method, can timely find various adverse factors within the red line range on site, do not need to repeatedly export the lofting point for on-site verification, and have high precision. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a schematic diagram of the unmanned aerial vehicle structure of the present application;

[0033] Figure 2 It is a schematic diagram of the top structure of the unmanned aerial vehicle of the present application;

[0034] Figure 3 It is a schematic diagram of the bottom structure of the unmanned aerial vehicle of the present application;

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

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

[0037] Figure 6 It is a schematic diagram of the structure of the wooden pile storage box of the present application;

[0038] Figure 7 It is a flowchart of the setting-out positioning method of the present application;

[0039] Figure 8 It is a schematic diagram of the bottom structure of the unmanned aerial vehicle of the present application;

[0040] Figure 9 It is a schematic diagram of the building corner setting-out of the auxiliary setting-out mode of the present application;

[0041] Figure 10 It is a schematic diagram of the road setting-out of the auxiliary setting-out mode of the present application.

[0042] In the figure: 1, auxiliary laser indicator; 2, lifting support; 3, GPS receiver; 4, propeller blade; 5, moving track; 6, main laser indicator; 7, GPS receiver and signal receiver; 8, jack; 9, pile arranging blade; 10, rubber tire; 11, spraying device; 12, rotating shaft; 13, wooden pile storage box; 14, propelling spring; 15, wooden pile; 16, vehicle body main body; 17, spray gun; 18, spraying die; 19, retractable rod; 20, rotating shaft; 21, spray hole; 22, partition; 23, wooden pile clamping opening; 24, wooden pile insertion slot. DETAILED DESCRIPTION

[0043] 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.

[0044] The automatic setting-out system for engineering surveying provided in the embodiments of the present application is composed of a computer unit, an unmanned aerial vehicle unit and a pile driving robot unit.

[0045] The computer unit is installed with CAD software and South cass software, and the selection function of lofting points on the electronic topographic map is upgraded based on the secondary development of the South cass software. The selection of the single lofting point adopts single selection or frame selection, and the lofting point coordinate data can be exported through the coordinate extraction function of the South cass software, and the data format is.csv. For line lofting, select the line object to be lofted, and automatically obtain the endpoint and inflection point coordinates of the line through the secondary development software. For smooth spline curves, set the point interval, and take points from the middle of the spline curve to the two endpoints according to the set interval. When the distance between the selected lofting points is less than the point interval value, stop taking points. When selecting the closed figure surrounded by the line segment of the building, lake and the like, the method is similar to the line object. The coordinates of the inflection points of the regular figure containing the inflection points are directly grabbed. The smooth figure without inflection points first selects the starting point position with the mouse, and then selects the lofting points along the line segment track according to the set interval, until it returns to the starting point and is less than the point interval value, and then stops taking points. Regular line segments and closed curve shapes can also use secondary development software to add secret points to the lofting figure. The selected lofting point data is exported in.csv format, and the layer name, inflection point value and note are added according to the layer where the figure is located. For example, if the house point is selected in the JMD layer, the output lofting coordinate.csv file format is: "point number, X coordinate, Y coordinate, JMD, 1, residential building corner point". The.csv file is transmitted to the unmanned aerial vehicle unit and the piling robot unit through the network.

[0046] As shown in Figures 1-3 The unmanned aerial vehicle unit includes a fuselage, four sets of lifting supports 2 and propeller blades 4. The fuselage is provided with a battery, a communication device and an unmanned aerial vehicle control terminal. A GPS receiver 3 (centimeter level) is arranged on the upper part of the fuselage and located at the center of the fuselage. A laser indicating device is arranged on the lower part of the fuselage. The laser indicating device has a ring structure. A moving track 5 of the laser indicating device is arranged below the ring structure. Four auxiliary laser indicating lamps 1 are arranged on the moving track 5. The auxiliary laser indicating lamps 1 rotate in all directions while moving on the track. Four lifting supports 2 are arranged inside the ring structure below the GPS receiver 3. A main laser indicating lamp 6 is arranged below the GPS receiver 3. The main laser indicating lamp 6 permanently maintains a plumb downward state.

[0047] As shown in Figures 4-6As shown, the pile driving robot unit is a vehicle structure, including a vehicle body 16, a jack 8, a pile storage box 13, a spraying device 11 and a GPS receiver and signal receiver 7, the vehicle body 16 includes a power supply, a controller, and is equipped with four large rubber tires 10 for adapting to various complex survey terrains, a jack 8 is mounted on the vehicle body 16, the height of the jack 8 is higher than the height of the pile storage box 13, a GPS receiver and signal receiver 7 are mounted above the jack 8, wherein the GPS receiver can achieve rough positioning of the target, and the signal receiver can receive the laser of the main laser indicator light 6 of the unmanned aerial vehicle to achieve accurate centering and high-precision positioning; the side of the jack 8 is the pile storage box 13, the pile storage box 13 stores the piles 15 used for setting out and pushes the piles 15 to the position directly below the jack 8; the pile storage box 13 is internally provided with a pile pushing channel separated by a partition 22, and the piles 15 are continuously pushed forward by the pushing spring 14 to the position below the jack 8, the pile ejection blade 9 rotates around the rotating shaft 12 to control the piles 15 to be ejected from the pile storage box 13, and the spraying device 11 is mounted at the pile outlet on the lower side of the vehicle body 16; the spraying device 11 is a hollow groove structure in the vehicle body 16, and is divided into two layers, the upper layer is a spray gun 17 connected to a self-painting coating device through a conduit, and the lower layer is a spraying die 18, which is a circular structure and can rotate on a rotating shaft 20, and various types of spray holes 21 are engraved on the spraying die 18; the spray gun 17 and the spraying die 18 are controlled by respective telescopic rods 19 to enter and exit use.

[0048] As shown in Figure 7 The lower edge of the jack 8 is provided with a pile clamping opening 23, and the center of the lower edge is provided with a pile insertion slot 24, when the jack 8 works, the pile clamping opening 23 is first expanded outward, after the pile 15 touches the bottom end of the pile insertion slot 24, the pile clamping opening 23 locks the pile 15 inward, the jack 8 is pushed down, when the pushing distance reaches the lower end of the vehicle body 16, the pile clamping opening 23 is loosened, and the jack 8 is retracted.

[0049] As shown in Figures 8-10 Based on the above embodiment, in order to further better explain and illustrate the present application, the present application further provides an automatic setting-out method for engineering survey, which includes three measurement modes, namely a rapid setting-out mode, a precise setting-out mode and an auxiliary setting-out mode.

[0050] The implementation method of the rapid setting-out mode is as follows:

[0051] S1: pick up the coordinates on the electronic map through the CAD software in the computer unit, and encrypt the selected graphic line segment according to the actual setting-out needs to select the setting-out points, and export the.csv file format;

[0052] S2: When the user selects the rapid setting-out mode, if stakes need to be arranged, the GPS positioning function and the pile driving function of the pile driving robot unit are directly started, and the setting-out work can be started; in particular:

[0053] S201: The.csv file derived by the computer unit is transmitted to the pile driving robot unit through the network, and the pile driving robot is equipped with a decimeter-level GPS receiver and a signal receiver 7 to perform setting-out according to the coordinate data and reach the setting-out positioning position;

[0054] S202: The rotation shaft 12 of the pile storage box 13 drives the pile arranging blade 9 to rotate, and the wood pile 15 is shifted to below the jack 8. When the jack 8 works, the wood pile clamping opening 23 is first expanded outward to ensure that the wood pile 15 can smoothly enter the wood pile insertion slot 24. After the wood pile 15 touches the bottom end of the wood pile insertion slot 24, the wood pile clamping opening 23 is locked inward to the wood pile 15. When the jack 8 is pushed down to the lower end of the vehicle body main body 16, the wood pile clamping opening 23 is loosened, and the jack 8 is retracted;

[0055] S203: If the pushing distance is less than 5 cm, the pile driving work cannot be performed due to hardened road surface. The jack 8 is pulled out with the wood pile 15. The spray gun 17 and the spray mold 18 in the spraying device 11 are extended from the slot. The spray mold 18 selects the corresponding spray hole 21 shape according to the layer information of the.csv file to perform spraying.

[0056] S204: After one hole is driven, the advancing spring 14 advances one wood pile position, the pile arranging blade 9 rotates 90 degrees to shift one wood pile 15 to below the jack 8, and the stake arrangement work is sequentially and repeatedly performed.

[0057] If no stake needs to be arranged, the.csv file derived by the computer unit is transmitted to the unmanned aerial vehicle unit to perform setting-out work. In particular, the unmanned aerial vehicle flies to the actual position above the setting-out point according to the positioning signal of the GPS receiver 3. The GPS receiver 3 performs smooth data collection to determine that the point position is the setting-out point position. After the unmanned aerial vehicle descends by a certain distance (to avoid the influence of strong wind in the air and to shorten the distance between the main laser indicator 6 and the ground, so that the light indication is more obvious in a strong light environment), the main laser indicator 6 is turned on. The direction of the main laser indicator 6 always keeps plumb downward, and the ground laser irradiation point is the final confirmation point of the coordinate setting-out. The construction personnel perform subsequent identification work according to their own needs.

[0058] The implementation method of the precise setting-out mode is as follows:

[0059] S1': The coordinates on the electronic map are picked up by the CAD software in the computer unit, the selected graphic line segment is encrypted and selected as a setting-out point according to the actual setting-out needs, and a.csv file format is derived;

[0060] S2': when the user selects the accurate lofting mode, if no stakes are needed, the lofting work is the same as that in S2 without the need for staking, and only the unmanned aerial vehicle lofting can be used; if stakes are needed, the.csv file is sent to the unmanned aerial vehicle unit and the pile driving robot unit at the same time, the unmanned aerial vehicle first flies to the lofting point according to the lofting point coordinates to find the accurate position of the lofting point, and the pile driving robot reaches the target lofting position according to the GPS receiver and signal receiver 7, because the GPS receiver of the pile driving robot is decimeter level, there is an error in positioning with the unmanned aerial vehicle, at this time the laser signal of the laser indicator of the unmanned aerial vehicle is emitted, the GPS receiver and signal receiver 7 on the upper end of the jack 8 of the pile driving robot searches for the signal of the unmanned aerial vehicle, gradually moves to the accurate lofting position of the unmanned aerial vehicle to the position directly below the main laser indicator 6, after the signal receivers of the unmanned aerial vehicle and the pile driving robot are connected, the pile driving robot determines the accurate position of the lofting point and starts pile driving, the unmanned aerial vehicle flies to the next lofting point to search for the coordinate position, and the pile driving robot completes the pile driving work and goes to the next lofting point to search for the signal of the unmanned aerial vehicle, and the cycle is repeated until all the lofting points are positioned and piled.

[0061] It should be noted that in the above two measurement modes in four different environmental scenarios, the fast lofting mode is not abandoned because of the fast selection of the measurement accuracy, and the fast lofting mode is formulated according to the actual measurement scene, such as large-scale geotechnical investigation to measure the lofting exploration hole, because the accuracy requirement of the exploration hole is not very large, the deviation can be within 2 meters, the decimeter level GPS receiver of the pile driving robot is sufficient to meet the accuracy when staking is needed, when no stakes are needed and personnel are needed to actually investigate the site, the fast lofting mode of the unmanned aerial vehicle can be used, the measurement accuracy of this mode is the same as the conventional lofting accuracy, and personnel only need to follow the line of the unmanned aerial vehicle to identify the surrounding environment of the lofting point. The staking in the accurate lofting mode is the actual high-precision unmanned positioning and identification, which is usually used for high-precision lofting measurement such as building corner point excavation, and can completely liberate personnel from outdoor work, and the integrated operation of lofting and staking can be controlled in the room through the computer.

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

[0063] The auxiliary lofting mode is a new function developed according to the actual situation on site. The unmanned aerial vehicle lofting technology only provides single coordinate point positioning and laser pointing, and people need to pile up piles one by one before they can determine the general direction and land occupation of the building according to the position of the wooden pile. The auxiliary lofting mode is to show the actual land occupation of the target building by pointing to the four corner points of the building on the ground through the four auxiliary laser indicator lights 1 on the unmanned aerial vehicle, or to demonstrate the actual direction and width of the road by pointing to the center line of the road. For example, a building generally has four house corner points. The four auxiliary laser indicator lights 1 point to the four corner points according to the height measured by the unmanned aerial vehicle GPS receiver 3 from the ground, and according to the positioning of the unmanned aerial vehicle, the four auxiliary laser indicator lights 1 move on the moving track 5 and adjust the angle of the auxiliary laser indicator lights 1, so that the auxiliary laser indicator lights 1 point to one of the corner points respectively. Personnel only need to stand on a high place or walk around the corner point position 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 unmanned aerial vehicle. Compared with the electronic topographic map, the aerial photo shows the terrain effect more clearly. Similarly, the unmanned aerial vehicle can move along the road center line coordinates, and the four auxiliary laser indicator lights 1 can indicate the road edge line to simulate the general direction of the road and whether it is affected by the surrounding bad environment (pond, hidden ditch).

[0064] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can make equivalent replacement or change according to the technical solution and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An automatic setting-out system for engineering surveying, characterised in that, It is composed of a computer unit, a UAV unit and a pile robot unit; The computer unit is internally provided with CAD software and South cass software, and the selection of the lofting point on the electronic topographic map is realized based on the South cass software. The lofting point coordinate data is exported through the coordinate extraction function of the South cass software, and the data format is.csv. The.csv data file is transmitted to the UAV unit and the pile robot unit through the network; The UAV unit comprises a fuselage, four groups of lifting supports (2) and propeller blades (4). The fuselage is provided with a battery, a communication device and a UAV control terminal. A GPS receiver (3) is arranged on the upper part of the fuselage and located at the center of the fuselage. A laser indicating device is arranged on the lower part of the fuselage. The laser indicating device is of a ring structure. A laser indicating device moving track (5) is arranged below the ring structure. Four auxiliary laser indicating lamps (1) are arranged on the moving track (5). The auxiliary laser indicating lamps (1) rotate in all directions while moving on the track. Four lifting supports (2) are arranged inside the ring structure below the fuselage. A main laser indicating lamp (6) is arranged below the GPS receiver (3). The main laser indicating lamp (6) is in a plumb downward state. The pile robot unit is of a vehicle structure, comprising a vehicle body (16), a jack (8), a wood pile storage box (13), a spraying device (11) and a GPS receiver and signal receiver (7). The vehicle body (16) comprises a power supply and a controller and is provided with four large rubber tires (10) for adapting to various complex measurement terrains. A jack (8) is arranged on the upper part of the vehicle body (16). A GPS receiver and signal receiver (7) is arranged above the jack (8) for receiving the laser of the main laser indicating lamp (6) of the UAV to realize accurate centering and high-precision positioning. The side of the jack (8) is provided with a wood pile storage box (13). The wood pile storage box (13) stores wood piles (15) used for lofting. A wood pile pushing channel is arranged inside the wood pile storage box (13) and separated by a partition (22). A pushing spring (14) continuously pushes the wood piles (15) forward to the position below the jack (8). A spraying device (11) is arranged at the wood pile outlet on the lower side of the vehicle body (16). The spraying device (11) is of a hollow groove structure in the vehicle body (16) and is divided into two layers. An upper layer is a spray gun (17) connected to a self-painting coating device through a conduit. A lower layer is a spraying die (18) which is of 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 by respective telescopic rods (19) to enter and exit.

2. An automatic setting-out system for engineering surveying according to claim 1, characterized in that: The computer unit in lofting point sampling selects the line object needing lofting, and automatically acquires the end point and inflection point coordinates of the line through the South Cass software for line lofting.

3. An automatic setting-out system for engineering surveying according to claim 1, characterized in that: The wood pile (15) is discharged from the wood pile warehouse box (13) by rotating around the rotating shaft (12) through the pile row blade (9).

4. An automatic setting-out system for engineering surveying according to claim 1, characterized in that: The lower edge opening of the jack (8) is provided with a wood pile clamping opening (23), and the center of the lower edge opening is a wood pile insertion slot (24).

5. An automatic setting-out method for engineering surveying, based on the automatic setting-out system for engineering surveying according to claim 1, comprising three measurement modes, namely a fast setting-out mode, a precise setting-out mode and an auxiliary setting-out mode, characterized in that: The implementation method of the rapid lofting mode is as follows: S1: pick up the coordinates on the electronic map through the CAD software in the computer unit, and encrypt the selected graphic line segment according to the actual lofting needs to select points, and export the.csv file format; S2: when the user selects the rapid lofting mode, if the pile is needed, the GPS positioning function and pile driving function of the pile driving robot unit are directly started, and the lofting work can be started; if the pile is not needed, the.csv file exported by the computer unit is transmitted to the unmanned aerial vehicle unit for lofting 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 encrypt the selected graphic line segment according to the actual lofting needs to select points, and export the.csv file format; S2': when the user selects the precise lofting mode, if the pile is not needed, the lofting work is the same as that in S2 without pile; if the pile is needed, the.csv file is sent to the unmanned aerial vehicle unit and the pile driving robot unit at the same time, the unmanned aerial vehicle first flies to the position above the lofting point to find the precise position of the lofting point, and the pile driving robot reaches the target lofting position according to the GPS receiver and signal receiver (7), the GPS receiver and signal receiver (7) on the upper end of the jack (8) of the pile driving robot searches for the signal of the unmanned aerial vehicle, gradually moves to the position directly below the main laser indicator (6) when the signal receivers of the unmanned aerial vehicle and the pile driving robot are connected, the pile driving robot determines the precise position of the lofting point and starts pile driving, the unmanned aerial vehicle flies to the next lofting point to search for the coordinate position, and the pile driving robot completes the pile driving work and then goes to the next lofting point to search for the signal of the unmanned aerial vehicle, and the cycle is repeated until all the lofting points are positioned and piled. The implementation method of the auxiliary lofting mode is as follows: The four auxiliary laser indicators (1) on the unmanned aerial vehicle point to the ground to mark the four corner points of the building to actually show the actual land occupation size of the target building, or the road center line eye demonstration road actual direction and road width, so that the construction personnel can clearly mark according to the lofting needs.

6. The automatic lofting method for engineering surveying according to claim 5, wherein: The lofting method of the pile driving robot unit in S2 is as follows: S201: The computer unit derived.csv file is transmitted to the piling robot unit through the network, and the GPS receiver and signal receiver (7) of the piling robot reach the lofting positioning position according to the coordinate data; S202: The rotating shaft (12) of the pile warehouse box (13) drives the pile arranging blade (9) to rotate, and moves the wooden pile (15) to the position below the jack (8). When the jack (8) works, it first expands the wooden pile clamping opening (23) outward. After the wooden pile (15) touches the bottom end of the wooden pile insertion slot (24), the wooden pile clamping opening (23) locks the wooden pile (15) inward, and the jack (8) is pushed down. When the top-in distance reaches the lower end of the vehicle body main body (16), the wooden pile clamping opening (23) is loosened, and the jack (8) is retracted; S203: If the top-in distance is less than 5 cm, the piling work cannot be carried out due to hardened road surface, the jack (8) pulls out the wooden pile (15) and resets, the spray gun (17) and the spray mold (18) in the spraying device (11) are extended from the slot, and the spray mold (18) selects the corresponding spray hole (21) shape according to the layer information of the.csv file for spraying; S204: After one hole is punched, the advancing spring (14) advances one wooden pile position, the pile arranging blade (9) rotates 90 degrees to move one wooden pile (15) to the position below the jack (8), and the pile arranging work is carried out in turn.

7. A method for automatic setting-out of engineering measurements according to claim 5, characterized in that: The lofting method of the unmanned aerial vehicle unit in S2 is as follows: the unmanned aerial vehicle flies above the actual position of the lofting point according to the positioning signal of the GPS receiver (3), the GPS receiver (3) performs smooth data collection, and after determining that the actual position of the lofting point is the lofting point position, the unmanned aerial vehicle descends by a certain distance, and the main laser indicator light (6) is turned on. The direction of the main laser indicator light (6) always keeps plumb downward, and the ground laser irradiation point is the final confirmation point of coordinate lofting. The construction personnel can carry out subsequent identification work according to their own needs.

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