Automatic lofting device and method thereof

Abstract

The invention provides an automatic lofting device and method, and belongs to the technical field of building construction, the automatic lofting device comprises a movable base, the movable base comprises a fixed seat, connecting plates, movable wheels and a crawler belt, the connecting plates comprise a main connecting plate and an auxiliary connecting plate, the main connecting plate is arranged between the fixed seat and the auxiliary connecting plate, and the auxiliary connecting plate is arranged between the main connecting plate and the movable wheels; the crawler belt is arranged on the outer side of the moving wheel, the lofting assembly is embedded in the upper surface of the fixing base and comprises a hopper, a guide pipe, a guide plate, a vibration motor and a guide trough, the image collecting assembly is arranged on the upper surface of the fixing base and comprises a camera and a connecting piece, and the automatic driving system is used for controlling the lofting device to conduct automatic moving lofting work. The problem that a traditional building construction lofting method mainly depends on manual operation and is prone to being affected by factors such as the skill level of an operator, the sight line condition and the tool precision, and lofting errors are large is solved.

Description

Technical Field

[0001] The invention belongs to the technical field of building construction, and in particular relates to an automatic lofting device and a method thereof. Background Art

[0002] In the field of building construction, lofting is a basic and critical work, which involves the process of accurately transferring the lines and points on the design drawings to the actual site. The accuracy of lofting is directly related to the dimensional accuracy of the building structure, the stability of the structure and the overall quality of the building.

[0003] Traditional construction layout methods mainly rely on manual operation. Manual layout is easily affected by factors such as the operator's skill level, line of sight conditions, and tool accuracy, resulting in large layout errors. It also requires point-by-point measurement and marking, which is a cumbersome and time-consuming process. In large-scale projects or construction sites with complex terrain, the inefficiency of manual layout is particularly prominent. To this end, an automatic layout device and method are designed. Summary of the invention

[0004] The embodiment of the present invention provides an automatic layout device and method thereof, which solves the problem that the traditional construction layout method mainly relies on manual operation, is easily affected by factors such as the operator's skill level, line of sight conditions, tool accuracy, etc., resulting in large layout errors, and requires point-by-point measurement and marking, and the process is cumbersome and time-consuming.

[0005] In view of the above problems, the technical solution proposed by the present invention is:

[0006] The present invention provides an automatic lofting device, comprising a mobile base including a fixed seat, a connecting plate, a moving wheel and a crawler, wherein the connecting plate comprises a main connecting plate and a secondary connecting plate, the main connecting plate is arranged between the fixed seat and the secondary connecting plate, the secondary connecting plate is arranged between the main connecting plate and the moving wheel, and the crawler is arranged on the outer side of the moving wheel;

[0007] A lofting assembly, wherein the lofting assembly is embedded in the upper surface of the fixing seat, and the lofting assembly comprises a hopper, a conduit, a guide plate, a vibration motor and a guide trough, wherein the conduit is arranged at the bottom end of the hopper, the guide plate and the vibration motor are both arranged inside the hopper, located at the upper end of the conduit, and placed above the vibration motor, and the guide trough is arranged at the discharge port of the conduit;

[0008] An image acquisition component, which is arranged on the upper surface of the fixing seat and located at the front side of the lofting component, and includes a camera and a connecting member, and the connecting member is arranged between the camera and the fixing seat;

[0009] An automatic driving system is used to control the layout device to perform automatic mobile layout work.

[0010] As a preferred technical solution of the present invention, the moving wheel includes a driving wheel and a passive wheel, a driving motor is arranged on the inner side of the driving wheel, and the driving motor is arranged inside the fixed seat, the driving wheel is arranged at both ends of the inner side of the track and meshes with the track, the passive wheel is screwed to the bottom end of the auxiliary connecting plate and is rollingly connected to the inner side of the track, the auxiliary connecting plate is triangular in design, and one end of the auxiliary connecting plate is screwed to the main connecting plate.

[0011] As a preferred technical solution of the present invention, a hydraulic shock absorber rod is provided at the other end of the auxiliary connecting plate, and connecting heads are provided at both ends of the hydraulic shock absorber rod. The two connecting heads are respectively connected to the main connecting plate and the auxiliary connecting plate by connecting bolts. A spring A is surrounded on the outer side of the hydraulic shock absorber rod, and the two ends of the spring A are fixedly connected to the connecting heads.

[0012] As a preferred technical solution of the present invention, the vibration motor is connected to the hopper screw, there is a gap between the vibration motor and the guide plate and the inner wall of the hopper, the guide plate is arc-shaped, and the upper end is connected to the hopper screw, the conduit and the guide trough are both inclined, and an electric valve is arranged between the conduit and the hopper.

[0013] As a preferred technical solution of the present invention, a plurality of connecting steel pipes are provided at the upper end of the guide trough, and the connecting steel pipes are bolted to each other, wherein the connecting steel pipes at both ends are bolted to the hopper and the guide trough respectively, a spring B is provided between the guide trough and the connecting steel pipe, a movable rod is provided inside the spring B, and the upper end of the spring B is fixedly connected to the movable rod, and a damping washer is fixed to the lower end, the damping washer is slidably connected to the movable rod and fixedly connected to the guide trough, the upper end of the movable rod is bolted to the connecting steel pipe, and the lower end of the movable rod passes through the guide trough and is movably connected to the guide trough.

[0014] As a preferred technical solution of the present invention, the image acquisition component includes at least two cameras, a connecting rod is arranged between the two cameras, a protruding block is arranged between the camera and the connecting rod, the connecting member includes two connecting blocks, a movable arm, a movable column and a mounting seat, one of the connecting blocks is screwed to the connecting rod, and the other connecting block is screwed to the movable arm, a motor is arranged between the movable arm and the movable column, the motor is screwed to the upper end of the movable column, and the output end is screwed to the bottom end of the movable arm, the mounting seat is U-shaped, the mounting seat is screwed to the bottom of the movable column, connecting columns are fixed on both sides of the mounting seat, the connecting columns are made of rubber, and the upper surface of the fixing seat is provided with a mounting groove adapted to the mounting seat.

[0015] As a preferred technical solution of the present invention, the automatic driving system includes an automatic movement module, an environment recognition module, an automatic obstacle avoidance module, a UWB positioning module and a simulation module;

[0016] The automatic moving module is used to control the movement of the mobile base to perform automatic lofting work;

[0017] The environment recognition module uses the camera in combination with image recognition technology to recognize the external environment of the layout device;

[0018] The automatic obstacle avoidance module changes the action path of the layout device based on the obstacle data identified by the environment recognition module to avoid obstacles;

[0019] The UWB positioning module uses UWB technology to locate the mobile position of the layout device in real time, specifically: installing a UWB tag on the mobile base, deploying a UWB base station at the construction site, and using the UWB tag and the UWB base station to monitor the position of the mobile base;

[0020] The simulation module uses a dynamic model and an environmental model to simulate the layout work of the layout device at the construction site, and optimizes the moving path of the layout device according to the simulation situation of the model.

[0021] As a preferred technical solution of the present invention, the automatic movement module includes a path planning unit, a steering angle control unit and a movement speed control unit;

[0022] The path planning unit calculates the shortest path for the layout device to move according to the roads and layout plan of the construction site using the A-Star algorithm;

[0023] The steering angle monitoring unit monitors the steering angle of the moving wheel using a steering angle sensor and transmits the monitoring angle to the automatic driving system in real time;

[0024] The moving speed monitoring unit uses a wheel speed sensor and a vehicle speed sensor in combination to monitor the moving speed of the moving wheel, and synchronously transmits the moving speed to the automatic driving system.

[0025] As a preferred technical solution of the present invention, the automatic obstacle avoidance module includes an obstacle avoidance condition setting unit, an obstacle avoidance direction setting unit and an obstacle avoidance execution unit;

[0026] The obstacle avoidance condition setting unit statically and dynamically classifies obstacles around the construction environment, classifies the danger of the obstacles, and sets obstacle avoidance conditions according to the categories of the obstacles;

[0027] The obstacle avoidance direction setting unit obtains the obstacle avoidance direction of the layout device based on the simulation result of the simulation module and the preset obstacle avoidance path data in combination with the setting data of the obstacle avoidance condition setting unit;

[0028] The obstacle avoidance execution unit controls the layout device to perform obstacle avoidance work based on the obstacle avoidance direction preset by the obstacle avoidance direction setting unit that matches the obstacle when an obstacle that meets the preset obstacle of the obstacle avoidance condition setting unit appears during the layout process of the layout device.

[0029] On the other hand, a method for automatically setting out a device comprises the following steps:

[0030] S1, simulating the layout scheme of the layout device using the simulation module according to the parameters of the layout device and the environment of the construction site, and obtaining an optimization scheme according to the simulation situation;

[0031] S2, presetting environmental parameters of the construction site in the automatic driving system, and obtaining an obstacle avoidance plan for the layout device according to the environmental parameters;

[0032] S3, based on the optimization scheme, the layout device is placed at the starting position, the power is turned on, the automatic driving system is turned on, and the layout device starts the layout work based on the preset path;

[0033] S4, when encountering obstacles, avoid them based on the preset obstacle avoidance plan until the layout work is completed.

[0034] Compared with the prior art, the beneficial effects of the present invention are:

[0035] (1) The present invention divides the conventional layout device structure into three parts, namely, a mobile base for moving positions, a layout assembly for layout, and an image acquisition assembly and an automatic driving system that cooperate with each other. The automatic driving system controls the movement of the mobile base and controls the layout assembly, thereby realizing automated layout work.

[0036] (2) The present invention uses an automatic driving system to perform preliminary movement simulation of the layout work, optimizes the moving path of the layout device, uses images collected by the camera to identify obstacles, and presets an obstacle avoidance path based on the images, so that when obstacles appear in the moving path of the layout device, the obstacles can be avoided in time, without affecting the normal operation of the layout device and maintaining the layout efficiency.

[0037] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the overall structure of an automatic lofting device disclosed in the present invention;

[0039] Figure 2 It is a schematic diagram of the overall structure of a lofting component of an automatic lofting device disclosed in the present invention;

[0040] Figure 3 It is a schematic cross-sectional structure diagram of a lofting assembly of an automatic lofting device disclosed in the present invention;

[0041] Figure 4 It is a partial structural schematic diagram of a mobile base of an automatic lofting device disclosed in the present invention;

[0042] Figure 5 It is a structural schematic diagram of part A of a partial structural schematic diagram of a mobile base of an automatic lofting device disclosed in the present invention;

[0043] Figure 6 It is a schematic diagram of the overall structure of an image acquisition component of an automatic lofting device disclosed in the present invention;

[0044] Figure 7 It is a block diagram of an automatic driving system of an automatic lofting device disclosed in the present invention;

[0045] Figure 8 It is a method flow diagram of an automatic lofting device disclosed in the present invention;

[0046] Description of reference numerals: 100, mobile base; 101, fixed base; 102, main connecting plate; 103, auxiliary connecting plate; 104, driving wheel; 105, passive wheel; 106, crawler; 107, hydraulic shock absorbing rod; 108, connecting head; 109, spring A;

[0047] 200, lofting assembly; 201, hopper; 202, guide tube; 203, guide plate; 204, vibration motor; 205, guide trough; 206, connecting steel pipe; 207, spring B; 208, movable rod; 209, damping washer;

[0048] 300, image acquisition component; 301, camera; 302, connecting rod; 303, connecting block; 304, movable arm; 305, movable column; 306, motor; 307, mounting seat; 308, connecting column; 309, protruding block;

[0049] 400, automatic driving system; 401, automatic movement module; 4011, path planning unit; 4012, steering angle monitoring unit; 4013, moving speed monitoring unit; 402, environment recognition module; 403, automatic obstacle avoidance module; 4031, obstacle avoidance condition setting unit; 4032, obstacle avoidance direction setting unit; 4033, obstacle avoidance execution unit; 404, UWB positioning module; 405, simulation module. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0051] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0052] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0053] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0054] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0055] Embodiment 1

[0056] See attached Figure 1-7 As shown, the present invention provides a technical solution: an automatic lofting device, comprising a mobile base 100 including a fixed seat 101, a connecting plate, a moving wheel and a crawler 106, the connecting plate comprising a main connecting plate 102 and a secondary connecting plate 103, the main connecting plate 102 is arranged between the fixed seat 101 and the secondary connecting plate 103, the secondary connecting plate 103 is arranged between the main connecting plate 102 and the moving wheel, and the crawler 106 is arranged on the outside of the moving wheel;

[0057] The lofting assembly 200 is embedded in the upper surface of the fixing seat 101. The lofting assembly 200 includes a hopper 201, a conduit 202, a guide plate 203, a vibration motor 204 and a guide trough 205. The conduit 202 is arranged at the bottom end of the hopper 201. The guide plate 203 and the vibration motor 204 are both arranged inside the hopper 201, located at the upper end of the conduit 202, and placed above the vibration motor 204. The guide trough 205 is arranged at the discharge port of the conduit 202;

[0058] An image acquisition component 300, which is disposed on the upper surface of the fixing seat 101 and located at the front side of the lofting component 200, and includes a camera 301 and a connecting member, wherein the connecting member is disposed between the camera 301 and the fixing seat 101;

[0059] The automatic driving system 400 is used to control the layout device to perform automatic mobile layout work.

[0060] The embodiment of the present invention is also implemented through the following technical solutions.

[0061] In the embodiment of the present invention, the moving wheel includes a driving wheel 104 and a driven wheel 105. A driving motor is arranged inside the driving wheel 104, and the driving motor is arranged inside the fixed seat 101. The driving wheel 104 is arranged at both ends of the inner side of the crawler 106 and meshes with the crawler 106. The driven wheel 105 is screwed to the bottom end of the auxiliary connecting plate 103 and is rollingly connected to the inner side of the crawler 106. The auxiliary connecting plate 103 is triangular in design, and one end of the auxiliary connecting plate 103 is connected to the main connecting plate 102. The drive wheel 104 is connected by screws, and the drive motor inside the fixed seat 101 transmits the power to the drive wheel 104 to control the rotation of the drive wheel 104. Each drive wheel 104 has an independent drive motor. The rotation of the drive wheel 104 drives the track 106 to move, so that the passive wheel 105 on the inner side of the track 106 is driven and rolls on the inner side of the track 106. The passive wheel 105 is installed on the main connecting plate 102 through the auxiliary connecting plate 103, and the drive wheel 104 is screwed to the fixed seat 101 through the main connecting plate 102.

[0062] In an embodiment of the present invention, a hydraulic shock-absorbing rod 107 is provided at the other end of the auxiliary connecting plate 103, and connecting heads 108 are provided at both ends of the hydraulic shock-absorbing rod 107. The two connecting heads 108 are respectively connected to the main connecting plate 102 and the auxiliary connecting plate 103 by bolts. A spring A109 is surrounded by the outer side of the hydraulic shock-absorbing rod 107, and both ends of the spring A109 are fixedly connected to the connecting head 108. During the movement of the mobile base 100, if the road surface is uneven, the mobile base 100 will jump up and down. The hydraulic shock-absorbing rod 107 is installed on the auxiliary connecting plate 103 and the main connecting plate 102 by bolts, and the hydraulic rod is used to perform piston movement, and cooperate with the spring A109 to mitigate the impact of the ground on the mobile base 100, thereby suppressing the jumping of the passive wheel 105.

[0063] In the embodiment of the present invention, the vibration motor 204 is screwed to the hopper 201, and there is a gap between the vibration motor 204 and the guide plate 203 and the inner wall of the hopper 201. The guide plate 203 is designed in an arc shape, and the upper end is screwed to the hopper 201. The guide tube 202 and the guide trough 205 are both inclined. An electric valve is provided between the guide tube 202 and the hopper 201. When the vibration motor 204 is started, an inertial exciting force is generated to vibrate the material in the hopper 201, destroying the vertical material arch in the hopper 201, prompting the material to move quickly from the center to the surroundings, and then slide down along the inner wall of the hopper 201 to realize the overall flow of the material, and the upper guide plate 203 is used to vibrate the lower part of the material. The material is guided, and the material passes through the gap between the guide plate 203, the vibration motor 204 and the hopper 201, and evenly enters the conduit 202. The material is introduced into the guide trough 205 through the conduit 202 and thrown out from the guide trough 205 for layout work. Generally, lime is used for layout on construction sites, and the material delivery is controlled by the opening and closing size of the electric valve. The electric valve uses an electric butterfly valve, an electric regulating valve and other valves that can adjust the opening and closing size. The delivery amount is preset in the automatic driving system 400 according to the construction plan, and is simulated using the simulation module 405 to obtain a better delivery amount value, and the opening of the electric valve is adjusted according to the delivery amount.

[0064] In an embodiment of the present invention, a plurality of connecting steel pipes 206 are provided at the upper end of the guide trough 205, and the connecting steel pipes 206 are bolted to each other, wherein the connecting steel pipes 206 at both ends are bolted to the hopper 201 and the guide trough 205, respectively, a spring B207 is provided between the guide trough 205 and the connecting steel pipe 206, a movable rod 208 is provided inside the spring B207, and the upper end of the spring B207 is fixedly connected to the movable rod 208, and a damping washer 209 is fixed to the lower end, the damping washer 209 is slidably connected to the movable rod 208, and is fixedly connected to the guide trough 205, the upper end of the movable rod 208 is bolted to the connecting steel pipe 206, the lower end of the movable rod 208 passes through the guide trough 205, and is movably connected to the guide trough 205, according to the installation angle of the guide trough 205 A number of connecting steel pipes 206 are reasonably arranged at the upper end of the guide trough 205, and they are assembled by bolts and welding. The upper end of the guide hopper 201 is connected to the hopper 201 through the connecting steel pipe 206. When the vibration motor 204 starts to generate vibration, the movable rod 208 between the guide hopper 201 and the connecting steel pipe 206 moves up and down in the guide trough 205, and the bottom end is resisted by a nut to prevent the movable rod 208 from falling off. The spring B207 is compressed synchronously, and the spring B207 is used to reduce the vibration force. The spring B207 is stabilized by a damping washer 209 arranged inside or on the surface of the guide trough 205 to prevent the spring B207 from being in a state of continuous jumping. The position of the damping washer 209 is set according to the required elastic force of the spring B207.

[0065] In an embodiment of the present invention, the image acquisition component 300 includes at least two cameras 301, a connecting rod 302 is arranged between the two cameras 301, a protruding block 309 is arranged between the camera 301 and the connecting rod 302, and the connecting piece includes two connecting blocks 303, a movable arm 304, a movable column 305 and a mounting seat 307, wherein one connecting block 303 is screwed to the connecting rod 302, and the other connecting block 303 is screwed to the movable arm 304, a motor 306 is arranged between the movable arm 304 and the movable column 305, the motor 306 is screwed to the upper end of the movable column 305, and the output end is screwed to the bottom end of the movable arm 304, the mounting seat 307 is U-shaped, the mounting seat 307 is screwed to the bottom of the movable column 305, and connecting columns 308 are fixed on both sides of the mounting seat 307, and the connecting columns 308 are made of rubber and fixed. The upper surface of the seat 101 is provided with a mounting groove adapted to the mounting seat 307. The connecting column 308 is inserted into the mounting groove to realize the connection between the mounting seat 307 and the fixed seat 101. A screw is used to pass through the upper end of the mounting seat 307 and the bottom of the movable column 305. A convex plate is set at the upper end of the movable column 305. The motor 306 is installed on the convex plate by screws. The output end of the motor 306 is connected to the movable arm 304 in a transmission connection. The use angle of the movable arm 304 is adjusted by controlling the motor 306 shell, thereby adjusting the shooting angle of the camera 301 at the upper end of the movable arm 304. The camera 301 is connected to the connecting rod 302 through a protruding block 309. The protruding block 309 is fixed to the outside of the connecting rod 302 by screws. The connecting rod 302 is connected to the movable arm 304 by two U-shaped connecting blocks 303 and screws, so that the movable arm 304 can drive the camera 301 to move.

[0066] In an embodiment of the present invention, the automatic driving system 400 includes an automatic movement module 401, an environment recognition module 402, an automatic obstacle avoidance module 403, a UWB positioning module 404 and a simulation module 405;

[0067] The automatic moving module 401 is used to control the movement of the moving base 100 to perform automatic lofting work;

[0068] The environment recognition module 402 uses the camera 301 in combination with image recognition technology to recognize the external environment of the layout device;

[0069] The automatic obstacle avoidance module 403 changes the action path of the layout device based on the obstacle data identified by the environment recognition module 402 to avoid obstacles;

[0070] The UWB positioning module 404 uses the UWB technology to locate the mobile position of the layout device in real time, specifically: install the UWB tag on the mobile base 100, and deploy the UWB base station at the construction site, use the UWB tag and the UWB base station to monitor the position of the mobile base 100, use the UWB tag to send a pulse signal, the UWB base station receives the signal in real time and records it, and uses the TOA of the signal and the known signal propagation speed to calculate the distance between the tag and the base station. The formula is: distance = (TOA*signal propagation speed) / 2, and use the trilateral measurement method or the multilateral measurement method, combined with the coordinates of the base station and the calculated distance, to solve the precise position of the tag and obtain the real-time position of the layout device;

[0071] The simulation module 405 uses the dynamic model and the environmental model to simulate the layout work of the layout device at the construction site, and optimizes the moving path of the layout device according to the simulation of the model, specifically: determine the purpose of the simulation, such as performance testing or safety analysis of the layout device, set the initial parameters of the simulation, including the layout device (mass, size, power system, etc.), environmental conditions (road type, traffic conditions, weather, etc.), establish dynamic equations according to the physical characteristics of the layout device, including longitudinal dynamics (acceleration, braking) and lateral dynamics (steering, stability), determine the initial state of the layout device, such as position, speed, direction, etc., create a road model, a traffic model and a surrounding environment model, and integrate the dynamic model and the environmental model into a unified simulation platform, such as MATLAS software. At the beginning of the simulation, set the initial state of the layout device and the environmental model, continuously change the parameters of the environmental model, observe the state of the layout device, and optimize the layout path of the layout device according to the simulation situation, and preset the corresponding plan in advance according to the changes of the layout device in different environments.

[0072] In an embodiment of the present invention, the automatic movement module 401 includes a path planning unit 4011, a steering angle control unit and a movement speed control unit;

[0073] The path planning unit 4011 uses the A-Star algorithm to calculate the shortest path for the layout device to move according to the roads and layout plan at the construction site, and uses the following formula for calculation:

[0074] f * (s) = g * (s)+h * (s)

[0075] Among them, f * (s) is the minimum state estimate from the initial state through state s to the target state, that is, the shortest path, g * (s) is the minimum cost from the initial state to state s in the state space, h *(s) is the minimum estimated cost of the path from state s to the goal state;

[0076] The steering angle monitoring unit 4012 uses a steering angle sensor to monitor the steering angle of the moving wheel and transmits it to the automatic driving system 400 in real time to monitor the steering of the lofting device in real time;

[0077] The moving speed monitoring unit 4013 uses a wheel speed sensor and a vehicle speed sensor in combination to monitor the moving speed of the moving wheel, and synchronously transmits the moving speed to the automatic driving system 400 to monitor the moving speed of the layout device in real time.

[0078] In the embodiment of the present invention, the automatic obstacle avoidance module 403 includes an obstacle avoidance condition setting unit 4031, an obstacle avoidance direction setting unit 4032 and an obstacle avoidance execution unit 4033;

[0079] The obstacle avoidance condition setting unit 4031 classifies the obstacles around the construction environment into static and dynamic categories, such as buildings, signs, etc., and classifies the danger of the obstacles, such as speed, size and distance from the layout device, etc., and sets obstacle avoidance conditions according to the category of the obstacles, such as turning, speed reduction, etc. For example, the camera 301 and the ultrasonic sensor work at the same time, and detect that a pedestrian suddenly appears on the driving path of the layout device in front. The camera 301 and the ultrasonic sensor classify the detected pedestrian as a dynamic obstacle, because the pedestrian is moving, the distance between the pedestrian and the vehicle is close, and the pedestrian's speed is fast. According to the preset obstacle avoidance scheme obtained after the simulation of the simulation module 405, the moving trajectory of the layout device is planned. When this operation is performed, the layout work of the layout device is synchronously slowed down to provide the automatic driving system 400 with time for data processing and matching schemes;

[0080] The obstacle avoidance direction setting unit 4032 obtains the obstacle avoidance direction of the layout device based on the simulation result of the simulation module 405 and the preset obstacle avoidance path data, combined with the setting data of the obstacle avoidance condition setting unit 4031, specifically: according to the current position of the vehicle and the obstacle distribution, the obstacle avoidance path is determined using the A-Star algorithm, and the direction that the vehicle needs to adjust is determined according to the obstacle avoidance path. During the obstacle avoidance process, the obstacle avoidance path is adjusted according to the real-time sensor data to ensure safe passage through the obstacle;

[0081] When an obstacle that meets the preset obstacle avoidance condition setting unit 4031 appears during the layout process of the layout device, the obstacle avoidance execution unit 4033 controls the driving motor to operate the mobile base 100 to perform steering obstacle avoidance work based on the obstacle avoidance direction preset by the obstacle avoidance direction setting unit 4032 that matches the obstacle.

[0082] In addition, the control instructions for each module and drive component are set through a remote control device, such as a computer, a main control console, etc.

[0083] Embodiment 2

[0084] See attached Figure 8 As shown, an embodiment of the present invention further provides a method for an automatic placement device, comprising the following steps:

[0085] S1, simulating the layout scheme of the layout device using the simulation module 405 according to the parameters of the layout device and the environment of the construction site, and obtaining an optimization scheme according to the simulation situation;

[0086] S2, presetting environmental parameters of the construction site in the automatic driving system 400, and obtaining different obstacle avoidance schemes for the layout device according to different environmental parameters, so that when the layout device encounters an obstacle, the obstacle avoidance scheme can be quickly obtained to reduce the impact on the layout work;

[0087] S3, based on the optimization scheme, the layout device is placed at the starting position, the power is turned on, the automatic driving system 400 is turned on, the layout device starts the layout work based on the path preset by the path planning unit 4011, and the steering and moving speed of the layout device are monitored by the sensor, and the real-time positioning is performed through the UWB positioning module 404 to ensure that the layout device can work according to the preset path. If displacement occurs, timely steering adjustment is performed according to the preset path and real-time position;

[0088] S4, the image acquisition component 300 is used to collect graphics of the external environment of the layout device when performing layout, and the image recognition technology and the obstacle avoidance condition setting unit 4031 are used to identify obstacles. When encountering obstacles, the obstacles are avoided based on the preset obstacle avoidance plan. When turning is required, the inner track 106 is braked, that is, the speed of the driving wheel 104 on this side is slowed down or stopped, while the outer track 106 continues to move forward, thereby achieving turning and complete obstacle avoidance;

[0089] S5, until all the stakeout points are completed, turn off the automatic stakeout device.

[0090] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0091] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of protection of the present disclosure. The attached method claims present the elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy described.

[0092] In the above detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are clearly stated in each claim. On the contrary, as reflected in the appended claims, the invention is in a state of having less than all the features of the disclosed individual embodiments. Therefore, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0093] Those skilled in the art will also appreciate that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in conjunction with the embodiments herein can all be implemented as electronic hardware, computer software, or a combination thereof. In order to clearly illustrate the interchangeability between hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above around their functions. Whether such functions are implemented as hardware or software depends on specific applications and the design constraints imposed on the entire system. A skilled person can implement the described functions in an alternative manner for each specific application, but such implementation decisions should not be interpreted as departing from the scope of protection of the present disclosure.

[0094] For software implementation, the techniques described in this application can be implemented with modules (e.g., procedures, functions, etc.) that perform the functions described in this application. These software codes can be stored in a memory unit and executed by a processor. The memory unit can be implemented within the processor or outside the processor. In the latter case, it is coupled to the processor in a communication manner via various means, which are well known in the art.

Claims

1. An automatic lofting device, characterized in that: The mobile base (100) comprises a fixed base (101), a connecting plate, a moving wheel and a crawler track (106), the connecting plate comprises a main connecting plate (102) and a secondary connecting plate (103), the main connecting plate (102) is arranged between the fixed base (101) and the secondary connecting plate (103), the secondary connecting plate (103) is arranged between the main connecting plate (102) and the moving wheel, and the crawler track (106) is arranged on the outside of the moving wheel; A lofting component (200), the lofting component (200) being embedded in the upper surface of the fixing seat (101), the lofting component (200) comprising a hopper (201), a conduit (202), a guide plate (203), a vibration motor (204) and a guide trough (205), the conduit (202) being arranged at the bottom end of the hopper (201), the guide plate (203) and the vibration motor (204) being arranged inside the hopper (201), being located at the upper end of the conduit (202) and being placed above the vibration motor (204), and the guide trough (205) being arranged at the discharge port of the conduit (202); An image acquisition component (300), the image acquisition component (300) being arranged on the upper surface of the fixing seat (101), located at the front side of the lofting component (200), comprising a camera (301) and a connecting member, the connecting member being arranged between the camera (301) and the fixing seat (101); An automatic driving system (400) is used to control a layout device to perform automatic mobile layout work.

2. An automatic lofting device according to claim 1, characterized in that: The moving wheel comprises a driving wheel (104) and a driven wheel (105); a driving motor is arranged on the inner side of the driving wheel (104); the driving motor is arranged inside the fixing seat (101); the driving wheel (104) is arranged at both ends of the inner side of the crawler (106) and meshes with the crawler (106); the driven wheel (105) is screw-connected to the bottom end of the auxiliary connecting plate (103) and rollingly connected to the inner side of the crawler (106); the auxiliary connecting plate (103) is triangular in design; one end of the auxiliary connecting plate (103) is screw-connected to the main connecting plate (102).

3. An automatic lofting device according to claim 2, characterized in that: A hydraulic shock absorbing rod (107) is arranged at the other end of the auxiliary connecting plate (103), and connecting heads (108) are arranged at both ends of the hydraulic shock absorbing rod (107). The two connecting heads (108) are respectively connected to the main connecting plate (102) and the auxiliary connecting plate (103) by connecting bolts. A spring A (109) is surrounded on the outer side of the hydraulic shock absorbing rod (107), and both ends of the spring A (109) are fixedly connected to the connecting heads (108).

4. An automatic lofting device according to claim 3, characterized in that: The vibration motor (204) is screw-connected to the hopper (201); there is a gap between the vibration motor (204) and the guide plate (203) and the inner wall of the hopper (201); the guide plate (203) is arc-shaped, and the upper end is screw-connected to the hopper (201); the guide tube (202) and the guide trough (205) are both inclined; and an electric valve is provided between the guide tube (202) and the hopper (201).

5. The automatic lofting device according to claim 4, characterized in that: A plurality of connecting steel pipes (206) are provided at the upper end of the guide trough (205), and the connecting steel pipes (206) are connected by bolts, wherein the connecting steel pipes (206) at both ends are respectively connected by bolts to the hopper (201) and the guide trough (205), and a spring B (207) is provided between the guide trough (205) and the connecting steel pipe (206), and a movable rod (208) is provided inside the spring B (207), and the spring B (207) is provided with a movable rod (208). The upper end of the spring B (207) is fixedly connected to the movable rod (208), and a damping washer (209) is fixed to the lower end. The damping washer (209) is slidably connected to the movable rod (208) and fixedly connected to the guide trough (205). The upper end of the movable rod (208) is bolted to the connecting steel pipe (206), and the lower end of the movable rod (208) passes through the guide trough (205) and is movably connected to the guide trough (205).

6. An automatic lofting device according to claim 5, characterized in that: The image acquisition assembly (300) comprises at least two cameras (301), a connecting rod (302) is arranged between the two cameras (301), a protruding block (309) is arranged between the camera (301) and the connecting rod (302), the connecting member comprises two connecting blocks (303), a movable arm (304), a movable column (305) and a mounting seat (307), one of the connecting blocks (303) is screwed to the connecting rod (302), the other connecting block (303) is screwed to the movable arm (304), and the movable arm (304) is screwed to the movable arm (304). A motor (306) is arranged between (304) and the movable column (305), the motor (306) is screwed to the upper end of the movable column (305), and the output end is screwed to the bottom end of the movable arm (304), the mounting seat (307) is U-shaped, the mounting seat (307) is screwed to the bottom of the movable column (305), connecting columns (308) are fixed on both sides of the mounting seat (307), the connecting columns (308) are made of rubber, and the upper surface of the fixing seat (101) is provided with a mounting groove adapted to the mounting seat (307).

7. An automatic lofting device according to claim 6, characterized in that: The automatic driving system (400) comprises an automatic movement module (401), an environment recognition module (402), an automatic obstacle avoidance module (403), a UWB positioning module (404) and a simulation module (405); The automatic moving module (401) is used to control the movement of the moving base (100) to perform automatic lofting work; The environment recognition module (402) uses the camera (301) in combination with image recognition technology to recognize the external environment of the layout device; The automatic obstacle avoidance module (403) changes the action path of the layout device based on the obstacle data identified by the environment recognition module (402) to avoid obstacles; The UWB positioning module (404) uses UWB technology to locate the mobile position of the layout device in real time, specifically: installing a UWB tag on the mobile base (100), deploying a UWB base station at the construction site, and using the UWB tag and the UWB base station to cooperate to monitor the position of the mobile base (100); The simulation module (405) uses a dynamic model and an environmental model to simulate the layout work of the layout device at the construction site, and optimizes the moving path of the layout device according to the simulation conditions of the model.

8. An automatic lofting device according to claim 7, characterized in that: The automatic movement module (401) comprises a path planning unit (4011), a steering angle control unit and a movement speed control unit; The path planning unit (4011) calculates the shortest path for the layout device to move according to the roads and layout plan at the construction site using the A-Star algorithm; The steering angle monitoring unit (4012) monitors the steering angle of the moving wheel using a steering angle sensor, and transmits the information to the automatic driving system (400) in real time; The moving speed monitoring unit (4013) uses a wheel speed sensor and a vehicle speed sensor in combination to monitor the moving speed of the moving wheel, and synchronously transmits the moving speed to the automatic driving system (400).

9. An automatic lofting device according to claim 8, characterized in that: The automatic obstacle avoidance module (403) comprises an obstacle avoidance condition setting unit (4031), an obstacle avoidance direction setting unit (4032) and an obstacle avoidance execution unit (4033); The obstacle avoidance condition setting unit (4031) classifies obstacles around the construction environment statically and dynamically, classifies the danger of the obstacles, and sets obstacle avoidance conditions according to the categories of the obstacles; The obstacle avoidance direction setting unit (4032) obtains the obstacle avoidance direction of the layout device based on the simulation result of the simulation module (405) and the preset obstacle avoidance path data, combined with the setting data of the obstacle avoidance condition setting unit (4031); The obstacle avoidance execution unit (4033) controls the layout device to perform obstacle avoidance work based on the obstacle avoidance direction preset by the obstacle avoidance direction setting unit (4032) matching the obstacle when an obstacle that meets the preset obstacle by the obstacle avoidance condition setting unit (4031) appears during the layout process of the layout device.

10. A method for an automatic lofting device, applied to an automatic lofting device according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, simulating the layout scheme of the layout device using the simulation module (405) according to the parameters of the layout device and the environment of the construction site, and obtaining an optimization scheme according to the simulation situation; S2, presetting environmental parameters of the construction site in the automatic driving system (400), and obtaining an obstacle avoidance plan for the layout device based on the environmental parameters; S3, based on the optimization scheme, placing the layout device at the starting position, starting the power supply, turning on the automatic driving system (400), and the layout device starts layout work based on the preset path; S4, when encountering obstacles, avoid them based on the preset obstacle avoidance plan until the layout work is completed.

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