An automatic layout device and method

Abstract

This invention provides an automatic layout device and method, belonging to the field of building construction technology. It includes a movable base comprising a fixed seat, a connecting plate, movable wheels, and tracks. The connecting plate includes a main connecting plate and a secondary connecting plate, with the main connecting plate positioned between the fixed seat and the secondary connecting plate, and the secondary connecting plate positioned between the main connecting plate and the movable wheels. The tracks are positioned on the outer side of the movable wheels. A layout component is embedded in the upper surface of the fixed seat, including a hopper, a guide tube, a guide plate, a vibrating motor, and a guide trough. An image acquisition component is located on the upper surface of the fixed seat, including a camera and connecting parts. An automatic driving system controls the layout device to perform automatic moving layout work. This invention solves the problem that traditional building construction layout methods mainly rely on manual operation, which is easily affected by factors such as the operator's skill level, line of sight, and tool accuracy, leading to large layout errors.

Description

Technical Field

[0001] This invention belongs to the field of building construction technology, and more specifically, relates to an automatic layout device and method. Background Technology

[0002] In the field of building construction, layout is a fundamental and crucial task, involving the accurate transfer of lines and points from design drawings to the actual site. The accuracy of layout directly affects the dimensional precision, structural stability, and overall quality of the building.

[0003] Traditional construction layout methods rely primarily on manual operation. Manual layout is susceptible to errors due to factors such as operator skill level, line-of-sight conditions, and tool precision. Furthermore, it requires point-by-point measurement and marking, a tedious and time-consuming process. The inefficiency of manual layout is particularly pronounced in large-scale projects or construction sites with complex terrain. Therefore, this paper proposes an automated layout device and method. Summary of the Invention

[0004] This invention provides an automatic layout device and method, which solves the problems of traditional building construction layout methods that mainly rely on manual operation, are easily affected by factors such as the operator's skill level, line of sight, and tool accuracy, resulting in large layout errors, and require point-by-point measurement and marking, which is cumbersome and time-consuming.

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

[0006] The present invention provides an automatic layout device, including a movable base comprising a fixed seat, a connecting plate, a movable wheel, and a track. The connecting plate comprises a main connecting plate and a secondary connecting plate. The main connecting plate is disposed between the fixed seat and the secondary connecting plate, and the secondary connecting plate is disposed between the main connecting plate and the movable wheel. The track is disposed on the outside of the movable wheel.

[0007] A layout assembly is embedded in the upper surface of the fixed base. The layout assembly includes a hopper, a guide tube, a guide plate, a vibrating motor, and a guide trough. The guide tube is located at the bottom end of the hopper. The guide plate and the vibrating motor are both located inside the hopper, at the upper end of the guide tube, and above the vibrating motor. The guide trough is located at the outlet of the guide tube.

[0008] An image acquisition component is disposed on the upper surface of the fixed base, located in front of the lofting component, and includes a camera and a connector, wherein the connector is disposed between the camera and the fixed base;

[0009] An automatic driving system is used to control the staking device to perform automatic movement and staking work.

[0010] As a preferred embodiment of the present invention, the moving wheel includes a drive wheel and a driven wheel. A drive motor is disposed on the inner side of the drive wheel and is located inside the fixed base. The drive wheel is disposed at both ends of the inner side of the track and meshes with the track. The driven wheel is screwed to the bottom end of the auxiliary connecting plate and is in rolling connection with the inner side of the track. The auxiliary connecting plate has a triangular design, and one end of the auxiliary connecting plate is screwed to the main connecting plate.

[0011] As a preferred embodiment of the present invention, a hydraulic damping rod is provided at the other end of the secondary connecting plate, and connectors are provided at both ends of the hydraulic damping rod. The two connectors are respectively connected to the main connecting plate and the secondary connecting plate by connecting bolts. A spring A is surrounded on the outside of the hydraulic damping rod, and the two ends of the spring A are fixedly connected to the connectors.

[0012] As a preferred embodiment of the present invention, the vibrating motor is screwed to the hopper, and there is a gap between the vibrating motor and the guide plate and the inner wall of the hopper. The guide plate is arc-shaped and its upper end is screwed to the hopper. The guide tube and the guide trough are both inclined. An electric valve is provided between the guide tube and the hopper.

[0013] In a preferred embodiment 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 together. 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 pipes. A movable rod is provided inside the spring B, and the upper end of the spring B is fixedly connected to the movable rod. A damping washer is fixedly fixed at the lower end of the spring B. 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 embodiment of the present invention, the image acquisition component includes at least two cameras, a connecting rod is provided between the two cameras, and a protruding block is provided between the camera and the connecting rod. The connector includes two connecting blocks, a movable arm, a movable column, and a mounting base. 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 provided between the movable arm and the movable column. The motor is screwed to the upper end of the movable column, and its output end is screwed to the bottom end of the movable arm. The mounting base has a U-shaped design and is screwed to the bottom of the movable column. Connecting columns are fixed on both sides of the mounting base. The connecting columns are made of rubber. The upper surface of the mounting base has a mounting groove adapted to the mounting base.

[0015] As a preferred embodiment 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 moving base to perform automatic layout work;

[0017] The environmental recognition module uses the camera combined with image recognition technology to identify the external environment of the stakeout device;

[0018] The automatic obstacle avoidance module changes the movement path of the stakeout 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 moving position of the layout device in real time. Specifically, UWB tags are installed on the mobile base, and UWB base stations are deployed at the construction site. The UWB tags and UWB base stations work together to monitor the position of the mobile base.

[0020] The simulation module uses dynamic and environmental models to simulate the layout work of the layout device on the construction site, and optimizes the movement path of the layout device based on the simulation results.

[0021] As a preferred embodiment of the present invention, the automatic movement module includes a path planning unit, a turning angle monitoring unit 4012, and a movement speed monitoring unit 4013;

[0022] The path planning unit uses the A-Star algorithm to calculate the shortest path for the layout device to move based on the roads and layout plan at the construction site.

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

[0024] The moving speed monitoring unit uses a combination of wheel speed sensors and vehicle speed sensors to monitor the moving speed of the moving wheels and transmit the moving speed synchronously to the automatic driving system.

[0025] As a preferred embodiment 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 classifies obstacles around the construction environment into static and dynamic categories, classifies the hazards of the obstacles, and sets obstacle avoidance conditions according to the category of the obstacles.

[0027] The obstacle avoidance direction setting unit obtains the obstacle avoidance direction of the staking device based on the simulation results of the simulation module and the pre-set obstacle avoidance path data, combined with the setting data of the obstacle avoidance condition setting unit.

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

[0029] On the other hand, a method for an automatic layout device includes the following steps:

[0030] S1, based on the parameters of the layout device and the environment of the construction site, the layout scheme of the layout device is simulated using the simulation module, and an optimized scheme is obtained based on the simulation results;

[0031] S2, the environmental parameters of the construction site are preset in the automatic driving system, and the obstacle avoidance scheme of the layout device is obtained based on the environmental parameters;

[0032] S3, based on the optimized scheme, place the staking device in the starting position, turn on the power, start the automatic driving system, and the staking device starts the staking work based on the preset path;

[0033] S4, when encountering obstacles, avoids obstacles 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 sets the conventional layout device structure into three parts, namely a movable base for moving the position, a layout component for layout, and an image acquisition component and an automatic driving system that cooperate with each other. The automatic driving system controls the movement of the movable base and controls the layout component to realize automated layout work.

[0036] (2) The present invention performs pre-movement simulation of the staking work through an automatic driving system and optimizes the movement path of the staking device. It uses images collected by a camera to identify obstacles and pre-sets obstacle avoidance path schemes based on these images. This allows the staking device to avoid obstacles in a timely manner when they appear in the movement path, without affecting the normal operation of the staking device and maintaining staking efficiency.

[0037] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

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

[0039] Figure 2 This is a schematic diagram of the overall structure of the layout component of an automatic layout device disclosed in this invention.

[0040] Figure 3 This is a cross-sectional structural schematic diagram of the layout component of an automatic layout device disclosed in this invention;

[0041] Figure 4 This is a partial structural schematic diagram of the movable base of an automatic lofting device disclosed in this invention;

[0042] Figure 5 This is a partial structural schematic diagram of part A of the movable base of an automatic lofting device disclosed in this invention.

[0043] Figure 6 This is a schematic diagram of the overall structure of the image acquisition component of an automatic lofting device disclosed in this invention.

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

[0045] Figure 8 This is a schematic diagram of the method flow of an automatic layout device disclosed in this invention;

[0046] Explanation of reference numerals in the attached drawings: 100, movable base; 101, fixed base; 102, main connecting plate; 103, secondary connecting plate; 104, drive wheel; 105, driven wheel; 106, track; 107, hydraulic shock absorber; 108, connector; 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 base; 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. Movement speed monitoring unit; 402. Environmental 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 Implementation

[0050] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0052] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0053] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0054] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0055] Example 1

[0056] See attached document Figure 1-7 As shown, the present invention provides a technical solution: an automatic layout device, including a movable base 100 including a fixed base 101, a connecting plate, a movable wheel and a track 106, the connecting plate including a main connecting plate 102 and a secondary connecting plate 103, the main connecting plate 102 being disposed between the fixed base 101 and the secondary connecting plate 103, the secondary connecting plate 103 being disposed between the main connecting plate 102 and the movable wheel, and the track 106 being disposed on the outside of the movable wheel;

[0057] The layout assembly 200 is embedded in the upper surface of the fixed base 101. The layout assembly 200 includes a hopper 201, a guide tube 202, a guide plate 203, a vibration motor 204, and a guide trough 205. The guide tube 202 is located at the bottom end of the hopper 201. The guide plate 203 and the vibration motor 204 are both located inside the hopper 201, at the upper end of the guide tube 202, and above the vibration motor 204. The guide trough 205 is located at the outlet of the guide tube 202.

[0058] Image acquisition component 300 is disposed on the upper surface of fixed base 101 and located in front of lofting component 200. It includes camera 301 and connector, with connector disposed between camera 301 and fixed base 101.

[0059] Automatic driving system 400 is used to control the staking device to perform automatic moving staking work.

[0060] The embodiments of the present invention are also implemented through the following technical solutions.

[0061] In an embodiment of the present invention, the movable wheel includes a drive wheel 104 and a driven wheel 105. A drive motor is disposed inside the drive wheel 104 and is located inside the fixed base 101. The drive wheel 104 is disposed at both ends of the inner side of the track 106 and meshes with the track 106. The driven wheel 105 is screwed to the bottom end of the auxiliary connecting plate 103 and is in rolling connection with the inner side of the track 106. The auxiliary connecting plate 103 has a triangular 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 driven by a drive motor inside the fixed base 101. The drive wheel 104 is rotated and controlled to rotate. Each drive wheel 104 has an independent drive motor. The rotation of the drive wheel 104 pushes the track 106 to move, so that the driven wheel 105 inside the track 106 is driven and rolls inside the track 106. The driven wheel 105 is mounted on the main connecting plate 102 through the auxiliary connecting plate 103. The drive wheel 104 is connected to the fixed base 101 by screws through the main connecting plate 102.

[0062] In an embodiment of the present invention, a hydraulic shock absorber 107 is provided at the other end of the secondary connecting plate 103. Connectors 108 are provided at both ends of the hydraulic shock absorber 107. The two connectors 108 are respectively connected to the main connecting plate 102 and the secondary connecting plate 103 by connecting bolts. A spring A109 is surrounded on the outside of the hydraulic shock absorber 107. The two ends of the spring A109 are fixedly connected to the connectors 108. When the movable base 100 moves, if it encounters uneven road surface, the movable base 100 will jump up and down. The hydraulic shock absorber 107 is installed on the secondary connecting plate 103 and the main connecting plate 102 by bolts. The hydraulic rod performs piston movement and works with the spring A109 to mitigate the impact of the ground on the movable base 100 and suppress the jumping of the passive wheel 105.

[0063] In an embodiment of the present invention, the vibrating motor 204 is screwed to the hopper 201. Both the vibrating motor 204 and the guide plate 203 have gaps between themselves and the inner wall of the hopper 201. The guide plate 203 has an arc-shaped design, with its upper end screwed to the hopper 201. The guide pipe 202 and the guide trough 205 are both inclined. An electric valve is installed between the guide pipe 202 and the hopper 201. When the vibrating motor 204 is activated, it generates inertial excitation force, causing the material in the hopper 201 to vibrate, disrupting the vertical material arch within the hopper 201, and causing the material to move rapidly from the center outwards, then slide down the inner wall of the hopper 201, achieving overall material flow. Furthermore, the upper guide plate 203 guides the vibrating material downwards... The incoming material is guided through the gap between the guide plate 203, the vibrating motor 204, and the hopper 201, and evenly enters the guide tube 202. The material is then guided through the guide tube 202 into the guide trough 205 and discharged from the guide trough 205 for layout work. Generally, lime is used for layout at construction sites, and the material is fed in by controlling the opening and closing of the electric valve. The electric valve is selected as an electric butterfly valve, electric regulating valve, or other valve that can adjust the opening and closing size. The feeding amount is preset in the automatic driving system 400 according to the construction plan, and the simulation module 405 is used to simulate and obtain a better feeding amount value. The opening of the electric valve is adjusted according to the feeding 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 together. 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 pipes 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. A damping washer 209 is fixedly fixed at the lower end of the spring B207. 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 pipes 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. The installation angle of the guide trough 205 is adjusted accordingly. Several connecting steel pipes 206 are reasonably set at the upper end of the guide trough 205 and assembled by bolts and welding. The upper end of the guide hopper 201 is connected to the hopper 201 by the connecting steel pipes 206. When the vibration motor 204 starts and generates 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. The bottom end is blocked by a nut to prevent the movable rod 208 from falling off. The spring B207 is compressed at the same time to reduce the vibration force. The damping washer 209 set inside or on the surface of the guide trough 205 stabilizes the spring B207 and prevents 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 provided between the two cameras 301, and a protruding block 309 is provided between the camera 301 and the connecting rod 302. The connector includes two connecting blocks 303, a movable arm 304, a movable column 305, and a mounting base 307. 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 provided 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 its output end is screwed to the bottom end of the movable arm 304. The mounting base 307 has a U-shaped design and is screwed to the bottom of the movable column 305. Connecting columns 308 are fixed on both sides of the mounting base 307. The connecting columns 308 are made of rubber and are used for fixing... The upper surface of the base 101 is provided with a mounting groove that is compatible with the mounting base 307. The connecting column 308 is inserted into the mounting groove to connect the mounting base 307 and the fixed base 101. A screw passes through the upper end of the mounting base 307 and the bottom of the movable column 305. A protruding plate is provided at the upper end of the movable column 305. The motor 306 is mounted on the protruding plate with screws. The output end of the motor 306 is connected to the movable arm 304 for transmission. By controlling the motor 306, the operating angle of the movable arm 304 is adjusted, 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 the protruding block 309. The protruding block 309 is fixed to the outside of the connecting rod 302 with screws. The connecting rod 302 and the movable arm 304 are connected 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 layout work;

[0068] The environmental recognition module 402 uses the camera 301 in conjunction with image recognition technology to identify the external environment of the stakeout device;

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

[0070] The UWB positioning module 404 uses UWB technology to locate the moving position of the layout device in real time. Specifically, a UWB tag is installed on the mobile base 100, and a UWB base station is deployed at the construction site. The UWB tag and the UWB base station work together to monitor the position of the mobile base 100. The UWB tag sends a pulse signal, and the UWB base station receives the signal in real time and records the position. Using the TOA of the signal and the known signal propagation speed, the distance between the tag and the base station is calculated. The formula is: distance = (TOA * signal propagation speed) / 2. Using the trilateration method or the polygonal measurement method, combined with the coordinates of the base station and the calculated distance, the precise position of the tag is calculated, and the real-time position of the layout device is obtained.

[0071] The simulation module 405 uses dynamic and environmental models to simulate the layout work of the layout device on the construction site. Based on the simulation results, it optimizes the movement path of the layout device. Specifically, it determines the purpose of the simulation, such as performance testing or safety analysis of the layout device; sets the initial parameters of the simulation, including the layout device (mass, dimensions, power system, etc.) and environmental conditions (road type, traffic conditions, weather, etc.); establishes dynamic equations based on the physical characteristics of the layout device, including longitudinal dynamics (acceleration, braking) and lateral dynamics (steering, stability); determines the initial state of the layout device, such as position, speed, and direction; creates road models, traffic models, and surrounding environment models; and integrates the dynamic and environmental models into a unified simulation platform, such as MATLAS software. At the start of the simulation, it sets the initial state of the layout device and the environmental model, continuously changes the parameters of the environmental model, observes the state of the layout device, optimizes the layout path of the layout device based on the simulation results, and pre-sets corresponding solutions for changes in the layout device under different environments.

[0072] In an embodiment of the present invention, the automatic movement module 401 includes a path planning unit 4011, a steering angle monitoring unit 4012, and a movement speed monitoring unit 4013;

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

[0074]

[0075] in, To go through the state from the initial state The minimum state estimate to the target state is the shortest path. To transition from the initial state to the state in the state space The minimum cost, From state The minimum estimated cost of the path to the target 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 staking device in real time.

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

[0078] In an 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 obstacles around the construction environment into static and dynamic categories. Static obstacles include buildings and signs, and the unit also classifies obstacles by their hazard level, such as speed, size, and distance from the surveying device. Obstacle avoidance conditions are set according to the category of obstacle, such as turning and deceleration. For example, if the camera 301 and the ultrasonic sensor work simultaneously and detect a pedestrian suddenly appearing on the travel path of the surveying device, the camera 301 and the ultrasonic sensor will classify the detected pedestrian as a dynamic obstacle because the pedestrian is moving, the distance between the pedestrian and the vehicle is relatively close, and the pedestrian's speed is relatively fast. The unit will then process the preset obstacle avoidance scheme obtained from the simulation module 405 and plan the movement trajectory of the surveying device. During this operation, the surveying work of the surveying device will be slowed down simultaneously to give the automatic driving system 400 time for data processing and matching schemes.

[0080] The obstacle avoidance direction setting unit 4032 obtains the obstacle avoidance direction of the lofting device based on the simulation results of the simulation module 405 and the pre-set obstacle avoidance path data, combined with the setting data of the obstacle avoidance condition setting unit 4031. Specifically, it determines the obstacle avoidance path using the A-Star algorithm based on the current position of the vehicle and the distribution of obstacles, determines the direction that the vehicle needs to adjust based on the obstacle avoidance path, and adjusts the obstacle avoidance path based on real-time sensor data during the obstacle avoidance process to ensure safe passage through obstacles.

[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 drive motor to operate and controls the moving base 100 to perform the turning obstacle avoidance work based on the obstacle avoidance direction setting unit 4032 that matches the obstacle.

[0082] In addition, control commands for each module and drive component are set in real time through remote control devices, such as computers and central control consoles.

[0083] Example 2

[0084] See attached document Figure 8 As shown in the figure, another embodiment of the present invention provides a method for an automatic layout device, comprising the following steps:

[0085] S1. Based on the parameters of the layout device and the environment of the construction site, the layout scheme of the layout device is simulated using the simulation module 405, and an optimized scheme is obtained based on the simulation results.

[0086] S2, the environmental parameters of the construction site are preset in the automatic driving system 400, and different obstacle avoidance schemes are obtained for the layout device according to different environmental parameters, so that when the layout device encounters obstacles, it can quickly obtain an obstacle avoidance scheme and reduce the impact on the layout work.

[0087] S3, based on the optimized scheme, the staking device is placed at the starting position, the power is turned on, the automatic driving system 400 is activated, the staking device starts staking work based on the path preset by the path planning unit 4011, and the sensors are used to monitor the steering and moving speed of the staking device, and the UWB positioning module 404 performs real-time positioning to ensure that the staking device can work according to the preset path. If displacement occurs, the steering is adjusted in time according to the preset path and real-time position.

[0088] S4, the image acquisition component 300 acquires the graphics of the external environment when the staking device is staking out, and uses image recognition technology and obstacle avoidance condition setting unit 4031 to identify obstacles. When an obstacle is encountered, obstacle avoidance is performed based on a preset obstacle avoidance plan. When turning is required, braking is applied to the inner track 106, that is, the speed of the drive wheel 104 on that 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 layout points are completed, then turn off the automatic layout device.

[0090] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection 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 may be rearranged without departing from the scope of this disclosure. The appended method claims provide elements of various steps in an exemplary order and are not intended to limit the scope to the specific order or hierarchy described.

[0092] In the detailed description above, various features are combined together in a single embodiment to simplify this disclosure. This approach to disclosure should not be construed as reflecting an intention that embodiments of the claimed subject matter require more features than are explicitly stated in each claim. Rather, as reflected in the appended claims, the invention is presented with fewer features than all of the features in a single disclosed embodiment. Therefore, the appended claims are hereby explicitly incorporated into the detailed description, with each claim representing a separate preferred embodiment of the invention.

[0093] Those skilled in the art will also understand that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments herein can be implemented as electronic hardware, computer software, or a combination thereof. To clearly illustrate the interchangeability between hardware and software, the various illustrative components, blocks, modules, circuits, and steps described above are generally described in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. Those skilled in the art can implement the described functionality in alternative ways for each specific application; however, such implementation decisions should not be construed as departing from the scope of this disclosure.

[0094] For software implementation, the techniques described in this application can be implemented using modules (e.g., procedures, functions, etc.) that perform the functions described in this application. This software code can be stored in memory units and executed by a processor. The memory units can be implemented within the processor or outside the processor; in the latter case, they are communicatively coupled to the processor via various means, as is well known in the art.

Claims

1. An automatic layout device, characterized in that, The system includes a mobile base (100), which includes a fixed base (101), a connecting plate, a mobile wheel, and a track (106). The connecting plate includes a main connecting plate (102) and a secondary connecting plate (103). The main connecting plate (102) is disposed between the fixed base (101) and the secondary connecting plate (103), and the secondary connecting plate (103) is disposed between the main connecting plate (102) and the mobile wheel. The track (106) is disposed on the outside of the mobile wheel. A layout assembly (200) is embedded in the upper surface of the fixed base (101). The layout assembly (200) includes a hopper (201), a guide tube (202), a guide plate (203), a vibration motor (204), and a guide trough (205). The guide tube (202) is located at the bottom end of the hopper (201). The guide plate (203) and the vibration motor (204) are both located inside the hopper (201), at the upper end of the guide tube (202), and above the vibration motor (204). The guide trough (205) is located at the outlet of the guide tube (202). The upper end of the guide trough (205) is provided with several connecting steel pipes (206), which are bolted together. The connecting steel pipes (206) at both ends are bolted to the hopper (201) and the guide trough (205) respectively. A spring B (207) is provided between the guide trough (205) and the connecting steel pipes (206). A movable rod (208) is provided inside the spring B (207). The upper end of spring B (207) is fixedly connected to the movable rod (208), and the lower end is fixed with a damping washer (209). The damping washer (209) is slidably connected to the movable rod (208) and fixedly connected to the guide groove (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 groove (205) and is movably connected to the guide groove (205). An image acquisition component (300) is disposed on the upper surface of the fixed base (101) and located in front of the lofting component (200). The image acquisition component (300) includes a camera (301) and a connector, which is disposed between the camera (301) and the fixed base (101). An automatic driving system (400) is used to control the staking device to perform automatic moving staking work.

2. The automatic layout device according to claim 1, characterized in that, The moving wheel includes a drive wheel (104) and a driven wheel (105). A drive motor is provided on the inner side of the drive wheel (104). The drive motor is located inside the fixed base (101). The drive wheel (104) is located at both ends of the inner side of the track (106) and meshes with the track (106). The driven wheel (105) is screwed to the bottom end of the auxiliary connecting plate (103) and is rolled in connection with the inner side of the track (106). The auxiliary connecting plate (103) is triangular in design. One end of the auxiliary connecting plate (103) is screwed to the main connecting plate (102).

3. The automatic layout device according to claim 2, characterized in that, A hydraulic damping rod (107) is provided at the other end of the secondary connecting plate (103). Connectors (108) are provided at both ends of the hydraulic damping rod (107). The two connectors (108) are respectively connected to the main connecting plate (102) and the secondary connecting plate (103) by connecting bolts. A spring A (109) is surrounded on the outside of the hydraulic damping rod (107). The two ends of the spring A (109) are fixedly connected to the connectors (108).

4. The automatic layout device according to claim 3, characterized in that, The vibrating motor (204) is screwed to the hopper (201). There is a gap between the vibrating motor (204) and the guide plate (203) and the inner wall of the hopper (201). The guide plate (203) is arc-shaped and its 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).

5. An automatic layout device according to claim 4, characterized in that, The image acquisition component (300) includes at least two cameras (301), a connecting rod (302) is provided between the two cameras (301), and a protruding block (309) is provided between the camera (301) and the connecting rod (302). The connector includes two connecting blocks (303), a movable arm (304), a movable column (305), and a mounting base (307). One of the connecting blocks (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 provided 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 base (307) is U-shaped. The mounting base (307) is screwed to the bottom of the movable column (305). Connecting columns (308) are fixed on both sides of the mounting base (307). The connecting columns (308) are made of rubber. The upper surface of the fixed base (101) is provided with a mounting groove that is compatible with the mounting base (307).

6. An automatic layout device according to claim 5, characterized in that, 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). The automatic moving module (401) is used to control the movement of the moving base (100) to perform automatic layout work; The environmental recognition module (402) uses the camera (301) in conjunction with image recognition technology to identify the external environment of the stakeout device; The automatic obstacle avoidance module (403) changes the movement path of the staking device to avoid obstacles based on the obstacle data identified by the environment recognition module (402); The UWB positioning module (404) uses UWB technology to locate the moving position of the layout device in real time. Specifically, UWB tags are installed on the mobile base (100), and UWB base stations are deployed at the construction site. The position of the mobile base (100) is monitored by the cooperation of UWB tags and UWB base stations. The simulation module (405) uses a dynamic model and an environmental model to simulate the layout work of the layout device on the construction site, and optimizes the movement path of the layout device based on the simulation results.

7. An automatic layout device according to claim 6, characterized in that, The automatic movement module (401) includes a path planning unit (4011), a turning angle monitoring unit (4012), and a movement speed monitoring unit (4013). The path planning unit (4011) uses the A-Star algorithm to calculate the shortest path for the layout device to move based on the roads and layout plan at the construction site; 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; The moving speed monitoring unit (4013) uses a combination of wheel speed sensor and vehicle speed sensor to monitor the moving speed of the moving wheel and transmit the moving speed synchronously to the automatic driving system (400).

8. An automatic layout device according to claim 7, characterized in that, 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). The obstacle avoidance condition setting unit (4031) classifies obstacles around the construction environment into static and dynamic categories, classifies the hazards of obstacles, and sets obstacle avoidance conditions according to the category of obstacles. The obstacle avoidance direction setting unit (4032) obtains the obstacle avoidance direction of the staking device based on the simulation results 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 staking device to perform obstacle avoidance work when an obstacle that meets the preset obstacle avoidance condition setting unit (4031) appears during the staking process of the staking device. Based on the obstacle avoidance direction preset by the obstacle avoidance direction setting unit (4032) that matches the obstacle, the staking device performs obstacle avoidance work.

9. A method for an automatic layout device, applied to an automatic layout device according to any one of claims 1-8, characterized in that, Includes the following steps: S1, based on the parameters of the layout device and the environment of the construction site, the layout scheme of the layout device is simulated using the simulation module (405), and an optimized scheme is obtained based on the simulation results; S2, the environmental parameters of the construction site are preset in the automatic driving system (400), and the obstacle avoidance scheme of the layout device is obtained based on the environmental parameters; S3, based on the optimized scheme, place the staking device at the starting position, turn on the power, start the automatic driving system (400), and the staking device starts the staking work based on the preset path; S4, when encountering obstacles, avoids obstacles based on the preset obstacle avoidance plan until the layout work is completed.

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