Pole tower foundation automatic pit dividing device and method based on laser point cloud

Abstract

The invention discloses an automatic tower foundation pit dividing device and method based on laser point cloud, relates to the technical field of tower foundation pit dividing of power transmission line mechanical construction, and solves the problems that existing power transmission line tower foundation pit dividing is low in automation degree, low in operation efficiency, low in manual operation precision and prone to generating pit dividing errors. Comprising a tripod and an equipment holder installed at the top of the tripod, a box body is arranged above the equipment holder, the box body is in butt joint with the equipment holder through a holder connecting piece, a laser radar is arranged on the inner side of the box body, and a top cover is installed at the top of the box body; the device further comprises a pit separating mechanism used for enabling the laser radar to automatically and efficiently separate pits, and the pit separating mechanism is installed on the inner side of the box body. Through the pit separation mechanism, automatic pit separation, design guidance, foundation acceptance and foundation bolt verification of the transmission tower foundation can be achieved, and therefore the effect of automatic and efficient pit separation is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of tower foundation pit division for mechanized construction of transmission lines, and specifically provides an automatic tower foundation pit division device and method based on laser point cloud. Background Technique

[0002] At present, the division of transmission line foundation pits mainly uses traditional equipment such as theodolites and total stations. The efficiency is low, and it has high requirements for the technical skills of surveyors. Deviations are likely to occur in control piles, direction piles, high and low leg positioning, and anchor bolt positioning. After the foundation is poured, it is impossible to repair the deviations when tower construction or conductor and ground wire stringing are carried out.

[0003] In order to achieve high-precision operation of transmission line tower foundation pit division, reduce the errors caused by manual foundation pit division, improve the efficiency of foundation pit division, and at the same time promote the mechanized operation ability of power engineering construction, a device capable of automatically dividing transmission line tower foundation pits is needed. However, traditional pit division devices require the cooperation of various instruments, with a large load for manual operation, and have the disadvantages of low automation degree of pit division, low operation efficiency, low precision of manual operation, and easy generation of pit division errors. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic tower foundation pit division device and method based on laser point cloud to solve the problems raised in the above background technique.

[0005] To achieve the above purpose, the present invention provides the following technical solutions: An automatic tower foundation pit division device based on laser point cloud, comprising: a tripod and an equipment pan-tilt fixedly installed on the top of the tripod. A box body is arranged above the equipment pan-tilt. The box body is docked with the equipment pan-tilt through a pan-tilt connecting piece. A lidar is arranged inside the box body, and a top cover is installed on the top of the box body to enclose the space of the box body; It further includes: A pit division mechanism for automatically and efficiently dividing pits by the lidar, and the pit division mechanism is installed inside the box body; A quick installation mechanism for quickly installing the lidar, and the quick installation mechanism is installed at the bottom of the box body; An adjustment mechanism for installing and positioning the lidar of more sizes, and the adjustment mechanism is installed at the bottom of the box body.

[0006] Preferably, the pit-dividing mechanism includes a battery compartment fixedly installed inside the box body. The bottom inner wall of the box body is fixedly installed with a light indicator cloud platform. The top of the light indicator cloud platform is fixedly installed with a laser pen bracket. The top of the laser pen bracket is rotatably installed with a laser pen body. The bottom inner wall of the box body is fixedly installed with a circuit board, which is integrated with a gyroscope chip and a high-precision positioning chip. The bottom inner wall of the box body is provided with line holes. The outside of the box body is fixedly installed with a transparent window, which is on the same horizontal line as the laser pen body. The outside of the box body is fixedly installed with a touch screen. The outside of the box body is provided with an installation hole for installing the lidar.

[0007] Preferably, the quick-installation mechanism includes an installation box installed at the bottom of the box body. The inside of the installation box is provided with a plurality of air cylinders symmetrically distributed around the center. The top of the air cylinder is fixedly installed with a suction cup. The inside of the air cylinder is slidably installed with a piston rod, and the bottom end of the piston rod extends below the air cylinder. The bottom of the installation box is slidably installed with a pull plate, and the surface of the pull plate is provided with a first chute for the piston rod to slide and be limited. The inside of the first chute is fixedly installed with a pull rod that slidably penetrates the piston rod. The inside of the installation box is rotatably installed with four rotating rods distributed in a rectangular array. One end of the rotating rod is fixedly installed with a pressing plate, and the outside of the pressing plate is in contact with the top of the pull plate. The top of the pull plate is fixedly installed with a first spring. The end of the rotating rod away from the pressing plate is fixedly installed with a gear. The outside of the installation box is provided with two symmetrically distributed L-shaped plates, which are slidably installed at the bottom of the box body. The bottom of the L-shaped plate is fixedly installed with a rack plate, which is matched with two adjacent gears. The bottom of the top cover is fixedly installed with two symmetrically distributed elastic telescopic rods.

[0008] Preferably, the adjustment mechanism includes a turntable rotatably installed inside the installation box. The outside of the air cylinder is fixedly installed with a positioning ring. The outside of the turntable is provided with an arc-shaped groove for the positioning ring to slide and be limited. The bottom of the turntable is fixedly installed with an adjusting rod, which slidably penetrates the pull plate. The inside of the installation box is fixedly installed with a fixing plate, and the top of the fixing plate is in contact with the bottom of the turntable. The surface of the fixing plate is provided with a through hole for the adjusting rod to penetrate. The end of the first spring away from the pull plate is fixedly installed at the bottom of the fixing plate. The surface of the fixing plate and the top of the installation box are both provided with a second chute for the air cylinder to slide and be limited. The outside of the air cylinder is fixedly installed with two symmetrically distributed sleeve blocks, and the inside of the sleeve block is slidably installed with a support rod, which is fixedly installed at the top of the installation box.

[0009] Preferably, a plurality of ear plates symmetrically distributed about the center are fixedly installed on the outer side of the installation box, and the ear plates are butted against the bottom of the box body through bolts.

[0010] Preferably, two guiding blocks symmetrically distributed are fixedly installed on the outer side of the installation box. The guiding blocks are of an isosceles trapezoid structure, and guiding grooves for the guiding blocks to be limited and slide are formed on the outer side of the L-shaped plate.

[0011] Preferably, two symmetrically distributed second springs are fixedly installed between the inner side of the L-shaped plate and the outer side of the installation box, and grooves for installing the second springs are formed on the outer side of the installation box.

[0012] Preferably, a contact plate is fixedly installed between the two elastic telescopic rods. The bottom of the contact plate is made of rubber, and the bottom of the contact plate is in contact with the top of the lidar.

[0013] Preferably, an adjusting handle is fixedly installed at one end of the adjusting rod away from the turntable.

[0014] A pit-dividing method for a tower foundation automatic pit-dividing device based on laser point cloud is as follows: S1. Assembly of the support system. After assembly and debugging are qualified, ensure that the battery is installed in the battery compartment, the components of the automatic pit-dividing device are complete, and then place the automatic pit-dividing device inside the site or on the center pile where pit division is required. Support and fix the tripod of the automatic pit-dividing device. S2. Power on. When the automatic pit-dividing device is fixed, first turn on the automatic pit-dividing device to enter the power-on state, ensure that all components are connected, and ensure normal communication between the operator of the automatic pit-dividing device and the control system and touch screen of the automatic pit-dividing device. Automatically adjust according to the direction angle obtained by the gyroscope chip on the circuit board, and adjust the horizontal position of the device pan-tilt head. Locate the geographical position of the device according to the high-precision positioning chip on the circuit board. S21. When it is necessary to place the pit-dividing device on the center pile for foundation pit division, input the center coordinates on the device touch screen, move the device so that the coordinates obtained by the high-precision positioning chip are consistent with the input center pile coordinates, operate the built-in control system of the automatic pit-dividing device through the touch screen, issue a command to start the lidar in the automatic pit-dividing device to scan the terrain and ground features, input the center pile coordinates, line direction pile coordinates, and design parameter values through the touch screen, select the tower type, and the built-in pit-dividing calculation module of the automatic pit-dividing device automatically calculates the pit position piles of the tower foundation. S22. When it is necessary to place the pit division device at any point on the site for foundation pit division, operate the built-in control system of the automatic pit division device through the touch screen, issue a command to start the lidar in the automatic pit division device to scan the terrain and ground features, input the center pile coordinates, line direction pile coordinates, and design parameter values through the touch screen, select the tower type, and the built-in pit division calculation module of the automatic pit division device automatically calculates the pit position piles of the tower foundation. S23. When it is necessary to place the pit division device on the ground with obstacles for foundation pit division, operate the built-in control system of the automatic pit division device through the touch screen, issue a command to start the lidar in the automatic pit division device to scan the terrain and ground features, input the center pile coordinates, line direction pile coordinates, and design parameter values through the touch screen, select the tower type, the built-in pit division calculation module of the automatic pit division device automatically calculates the pit position piles of the tower foundation, and the operator clears the corresponding obstacles. S3. After the automatic pit division device calculates the pit position piles of the tower foundation, the terrain, pit division position, and dimension parameters can be displayed on the touch screen. The operator operates the control device pan-tilt and the light indicator pan-tilt of the automatic pit division device, so that the laser pen body emits laser light, and the laser passes through the transparent window to indicate the pit position, pile position, and foundation shape in the real terrain. The operator makes marks on the indicated pile positions according to the laser indication. S4: After completing the pile position marking, the operator goes to the touch screen of the device to check the elevation difference data of the tower foundation, determine the local foundation lowering height, and the operator performs on-site foundation lowering according to the height. S5: After completing the foundation pit division, the operator shuts down the automatic pit division device, retracts the tripod, and removes the battery from the battery compartment. S6. The automatic pit division device can not only be used during on-site foundation pit division, but also import the measured lidar point cloud data into the automatic pit division device for foundation pit division calculation, guiding design, foundation acceptance, anchor bolt verification, etc.

[0015] Compared with the prior art, the beneficial effects of the present invention are: Through the pit division mechanism, the present invention can be applied to the construction of foundation pit division for transmission line towers, and can realize automatic pit division for transmission tower foundations, guiding design, foundation acceptance, and anchor bolt verification, thus achieving the effect of automatic and efficient pit division.

[0016] Through the quick installation mechanism, the present invention enables multiple suction cups to provide support for the bottom of the lidar. When the elastic telescopic rod at the bottom of the top cover presses the top of the lidar, the piston rod extracts the air between the suction cup and the lidar, and the suction cup can adsorb the bottom of the lidar, so that the lidar can be quickly fixed in the box body. When the top cover is opened, the piston rod resets, facilitating the separation of the suction cup from the lidar, thus achieving the effect of facilitating the installation and disassembly of the lidar.

[0017] Through the adjustment mechanism, the present invention makes the arc groove on the turntable push the air cylinder to move linearly in a rotating manner. Multiple air cylinders can move away from each other in a diffused manner, facilitating the adjustment of the position of the suction cups, enabling the installation of lidar with more sizes, and thus assembling lidar with more sizes, expanding the adaptation range of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the structure of the laser pen body and the light indicator cloud platform in the present invention; Figure 3 is a schematic diagram of the structure of the transparent window and the lidar in the present invention; Figure 4 is a schematic diagram of the structure of the battery compartment and the touch screen in the present invention; Figure 5 is a schematic diagram of the structure of the installation box and the contact plate in the present invention; Figure 6 is a schematic diagram of the structure of the suction cup and the L-shaped plate in the present invention; Figure 7 is a schematic diagram of the structure of the pull plate and the adjusting rod in the present invention; Figure 8 is a schematic diagram of the structure of the turntable and the positioning ring in the present invention; Figure 9 is a schematic diagram of the structure of the air cylinder and the piston rod in the present invention.

[0019] In the figure: 1, tripod; 2, equipment cloud platform; 3, cloud platform connecting piece; 4, box body; 5, lidar; 6, touch screen; 7, transparent window; 8, top cover; 9, circuit board; 10, battery compartment; 11, light indicator cloud platform; 12, laser pen body; 13, laser pen bracket; 14, line hole position; 15, installation box; 16, air cylinder; 17, suction cup; 18, piston rod; 19, pull plate; 20, pull rod; 21, rotating rod; 22, first spring; 23, gear; 24, L-shaped plate; 25, rack plate; 26, elastic telescopic rod; 27, turntable; 28, positioning ring; 29, adjusting rod; 30, fixing plate; 31, sleeve block; 32, support rod; 33, ear plate; 34, guide block; 35, second spring; 36, contact plate; 37, adjusting handle; 38, pressing plate. DETAILED DESCRIPTION OF THE INVENTION

[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0021] Embodiment 1: Please refer to Figures 1 - 4 , a tower foundation automatic pit division device based on laser point cloud in the figure includes a tripod 1 and an equipment cloud platform 2 fixedly installed on the top of the tripod 1. A box body 4 is arranged above the equipment cloud platform 2. The box body 4 is docked with the equipment cloud platform 2 through a cloud platform connecting piece 3. A lidar 5 is arranged inside the box body 4. The lidar 5 scans the terrain and ground features. A top cover 8 is installed on the top of the box body 4 to enclose the space of the box body 4. It further includes: a pit division mechanism for automatically and efficiently dividing pits by the lidar 5. The pit division mechanism is installed inside the box body 4. The pit division mechanism includes a battery compartment 10 fixedly installed inside the box body 4 to supply power to the box body 4. A light indicator cloud platform 11 is fixedly installed on the bottom inner wall of the box body 4. A laser pen bracket 13 is fixedly installed on the top of the light indicator cloud platform 11. A laser pen body 12 is rotatably installed on the top of the laser pen bracket 13. The angle of the laser pen body 12 is adjusted through the light indicator cloud platform 11 and the laser pen bracket 13. A circuit board 9 is fixedly installed on the bottom inner wall of the box body 4. A gyroscope chip and a high-precision positioning chip are integrated on the circuit board 9, and both the gyroscope chip and the high-precision positioning chip are existing products. A line hole position 14 is arranged on the bottom inner wall of the box body 4. A transparent window 7 is fixedly installed on the outside of the box body 4. The transparent window 7 and the laser pen body 12 are on the same horizontal line to facilitate the laser pen body 12 to emit laser. A touch screen 6 is fixedly installed on the outside of the box body 4. The terrain and pit division positions are operated and displayed through the touch screen 6. An installation hole position for installing the lidar 5 is opened on the outside of the box body 4 to facilitate the installation and use of the lidar 5.

[0022] Embodiment 2: Please refer to Figures 5 - 9, this embodiment further elaborates on the first embodiment. The quick-installation mechanism shown in the figure includes an installation box 15 installed at the bottom of the box body 4. A plurality of ear plates 33 distributed centrosymmetrically are fixedly installed on the outer side of the installation box 15. The ear plates 33 are butted against the bottom of the box body 4 through bolts, which facilitates the installation, disassembly, and maintenance of the installation box 15. A plurality of air cylinders 16 distributed centrosymmetrically are arranged inside the installation box 15. A suction cup 17 is fixedly installed at the top of the air cylinder 16. The bottom of the lidar 5 is adsorbed by the suction cup 17 to achieve the fixation of the lidar 5. A piston rod 18 is slidably installed inside the air cylinder 16. The bottom end of the piston rod 18 extends below the air cylinder 16. When the piston rod 18 is pulled, the air between the suction cup 17 and the lidar 5 can be extracted through the air cylinder 16. A pull plate 19 is slidably installed at the bottom of the installation box 15. A first sliding groove for the piston rod 18 to be limited and slide is formed on the surface of the pull plate 19. A pull rod 20 that slidably penetrates the piston rod 18 is fixedly installed inside the first sliding groove. When the pull plate 19 moves, the piston rod 18 can be pulled along the inside of the air cylinder 16 through the pull rod 20. Four rotating rods 21 distributed in a rectangular array are rotatably installed inside the installation box 15. A pressing plate 38 is fixedly installed at one end of the rotating rod 21. The outer side of the pressing plate 38 is in contact with the top of the pull plate 19. The end of the pressing plate 38 can push the pull plate 19 downward. A first spring 22 is fixedly installed at the top of the pull plate 19, which facilitates the reset of the pull plate 19. A gear 23 is fixedly installed at the end of the rotating rod 21 away from the pressing plate 38. Two L-shaped plates 24 distributed symmetrically are arranged on the outer side of the installation box 15. The bottom of the lidar 5 is in contact with the top of the L-shaped plate 24. Pressing the lidar 5 can push the L-shaped plate 24 downward. The L-shaped plate 24 is slidably installed at the bottom of the box body 4. Two guiding blocks 34 distributed symmetrically are fixedly installed on the outer side of the installation box 15. The guiding blocks 34 are of an isosceles trapezoid structure. A guiding groove for the guiding blocks 34 to be limited and slide is formed on the outer side of the L-shaped plate 24. The L-shaped plate 24 can move downward along the outer side of the guiding block 34, providing guidance for the movement of the L-shaped plate 24 and preventing the L-shaped plate 24 from falling off. A rack plate 25 is fixedly installed at the bottom of the L-shaped plate 25. The rack plate 25 cooperates with the two adjacent gears 23. When the L-shaped plate 24 moves, the rack plate 25 can be driven to move synchronously, so that the rack plate 25 drives the gear 23 to rotate. The gear 23 can drive the pressing plate 38 to rotate through the rotating rod 21, realizing the movement of the pull plate 19. Two symmetrically distributed second springs 35 are fixedly installed between the inner side of the L-shaped plate 24 and the outer side of the installation box 15. A groove for installing the second spring 35 is formed on the outer side of the installation box 15. When the lidar 5 moves away from the L-shaped plate 24, the second spring 35 can push the L-shaped plate 24 to reset upward, so that the pressing plate 38 moves away from the pull plate 19. Two symmetrically distributed elastic telescopic rods 26 are fixedly installed at the bottom of the top cover 8. A contact plate 36 is fixedly installed between the two elastic telescopic rods 26. The bottom of the contact plate 36 is made of rubber material. The bottom of the contact plate 36 is in contact with the top of the lidar 5.When the top cover 8 is installed on the top of the box body 4, the elastic telescopic rod 26 can drive the contact plate 36 to press the top of the lidar 5, so as to push the L-shaped plate 24 to move and make the bottom of the lidar 5 fully contact with the suction cup 17.

[0023] Embodiment 3: Please refer to Figures 6 - 9 This embodiment further explains other embodiments. The adjustment mechanism in the figure includes a turntable 27 rotatably installed inside the installation box 15. A positioning ring 28 is fixedly installed on the outer side of the air cylinder 16. An arc-shaped groove for the positioning ring 28 to slide and be limited is formed on the outer side of the turntable 27. A regulating rod 29 is fixedly installed at the bottom of the turntable 27. The regulating rod 29 slidably penetrates through the pull plate 19. A fixed plate 30 is fixedly installed inside the installation box 15. The top of the fixed plate 30 is in contact with the bottom of the turntable 27. A through hole for the regulating rod 29 to penetrate is formed on the surface of the fixed plate 30. A regulating handle 37 is fixedly installed at the end of the regulating rod 29 away from the turntable 27. Rotating the regulating handle 37 can rotate and adjust the turntable 27 through the regulating rod 29. One end of the first spring 22 away from the pull plate 19 is fixedly installed at the bottom of the fixed plate 30. Second sliding grooves for the air cylinder 16 to slide and be limited are formed on the surface of the fixed plate 30 and the top of the installation box 15. When the turntable 27 rotates, the arc-shaped groove on the turntable 27 pushes the positioning ring 28 to move, so that the positioning ring 28 drives the air cylinder 16 to move along the second sliding grooves on the installation box 15 and the fixed plate 30, realizing the position adjustment of the suction cup 17. Multiple suction cups 17 can move away from or close to each other, facilitating the positioning of lidars 5 of more sizes. Two symmetrically distributed sleeve blocks 31 are fixedly installed on the outer side of the air cylinder 16. A support rod 32 is slidably installed inside the sleeve block 31. The support rod 32 is fixedly installed on the top of the installation box 15. When the air cylinder 16 moves, it drives the sleeve block 31 to move along the outer side of the support rod 32, improving the stability of the movement of the air cylinder 16.

[0024] Working principle: First, the operator rotates the adjusting handle 37, which drives the adjusting rod 29 to rotate. The adjusting rod 29 drives the turntable 27 to rotate, causing the arc-shaped groove on the turntable 27 to drive the positioning ring 28 to move. The positioning ring 28 drives the air cylinder 16 to move along the second sliding groove on the mounting box 15 and the fixing plate 30, causing the multiple air cylinders 16 to move away from each other. The air cylinder 16 drives the suction cup 17 to move synchronously, adjusting the position of the suction cup 17 according to the size of the lidar 5. Then, the staff places the lidar 5 above the suction cup 17, making the lidar 5 contact the tops of the two L-shaped plates 24, and covers the top cover 8 on the top of the box body 4. The two elastic telescopic rods 26 at the bottom of the top cover 8 are close to the top of the lidar 5, making the contact plate 36 between the two elastic telescopic rods 26 contact the top of the lidar 5. After the top cover 8 is fixed to the box body 4, using the elasticity of the elastic telescopic rod 26, the contact plate 36 elastically presses the top of the lidar 5. The bottom of the lidar 5 pushes the two L-shaped plates 24 downward to contact the suction cup 17. The L-shaped plate 24 drives the gear 23 to rotate through the rack plate 25, causing the gear 23 to drive the rotating rod 21 to rotate. The rotating rod 21 drives the pressing plate 38 to rotate synchronously, making the end of the pressing plate 38 press the pull disc 19 downward. The pull disc 19 pulls the piston rod 18 to move through the pull rod 20, stretching the first spring 22. The piston rod 18 extracts the air between the suction cup 17 and the lidar 5 through the air cylinder 16, enabling the suction cup 17 to adsorb and position the lidar 5. The lidar 5 can be fixed inside the box body 4. Thus, when the top cover 8 is separated from the box body 4, the resilience of the first spring 22 can be utilized to quickly separate the suction cup 17 from the lidar 5, achieving the quick installation and disassembly of the lidar 5, thereby achieving the effect of quick installation and disassembly. By using the rotation adjustment of the turntable 27, lidars 5 of more sizes can be installed, expanding the adaptability range of the device; After the lidar 5 is installed, the operator can place the tripod 1 inside the site or on the center pile where pit division is required, support and fix the tripod 1, and ensure that the battery is installed in the battery compartment. Power on the device. When the automatic pit division device is fixed, first turn on the automatic pit division device to enter the power-on state, ensure that all components are connected, and ensure normal communication between the operator of the automatic pit division device and the control system and touch screen of the automatic pit division device. Adjust automatically according to the direction angle obtained by the gyroscope chip on the circuit board. The operator adjusts the device pan-tilt 2 to the horizontal position through the circuit board 9 and based on the high-precision positioning geographical location on the circuit board 9. After the automatic pit division device calculates the pit position piles of the tower foundation, the operator starts the lidar 5 inside the automatic pit division device to scan the terrain and features through the touch screen 6, inputs the center pile coordinates, line direction pile coordinates, design parameter values, etc. through the touch screen 6, calculates the pit position piles of the tower foundation, and makes the touch screen 6 display the terrain, pit division position and dimension parameters. Subsequently, the operator operates the device pan-tilt 2 and the light indicator pan-tilt 11, so that the laser pen body 12 emits laser light, and the laser passes through the transparent window 7 to indicate the pit position piles in the real terrain, and make indication pile position marks according to the laser indication. After completing the pile position marking, the operator goes to the touch screen of the device to check the elevation difference data of the tower foundation, determine the local foundation lowering height, and the operator lowers the foundation on-site according to the height. Finally, the operator shuts down the device, retracts the tripod 1, and removes the battery inside the battery compartment 10. Thus, this device can not only be used for on-site foundation pit division, but also import the measured laser point cloud data into the automatic pit division device for foundation pit division calculation, guiding design, foundation acceptance, and anchor bolt verification.

[0025] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, pit division method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, pit division method, article or device.

[0026] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic pit-dividing device for tower foundations based on laser point clouds, characterized in that, Comprising: A tripod (1) and a device pan-tilt (2) installed at the top of the tripod (1). Above the device pan-tilt (2), there is a box body (4). The box body (4) is docked with the device pan-tilt (2) through a pan-tilt connecting piece (3). Inside the box body (4), there is a lidar (5), and at the top of the box body (4), a top cover (8) is installed. Also comprising: A pit-dividing mechanism for automatically and efficiently dividing pits for the lidar (5), and the pit-dividing mechanism is installed inside the box body (4). A quick-installation mechanism for quickly installing the lidar (5), and the quick-installation mechanism is installed at the bottom of the box body (4). An adjustment mechanism for installing and positioning lidars (5) of more sizes, and the adjustment mechanism is installed at the bottom of the box body (4).

2. The automatic pit division device for tower foundation based on laser point cloud according to claim 1, wherein: The pit-dividing mechanism includes a battery compartment (10) fixedly installed inside the box body (4). On the bottom inner wall of the box body (4), a light indicator pan-tilt (11) is fixedly installed. At the top of the light indicator pan-tilt (11), a laser pen bracket (13) is fixedly installed. At the top of the laser pen bracket (13), a laser pen body (12) is rotatably installed. On the bottom inner wall of the box body (4), a circuit board (9) is installed. The circuit board (9) integrates a gyroscope chip and a high-precision positioning chip. On the bottom inner wall of the box body (4), a line hole position (14) is provided. On the outside of the box body (4), a transparent window (7) is installed. On the outside of the box body (4), a touch screen (6) is fixedly installed.

3. The automatic pit division device for tower foundations based on laser point clouds according to claim 2, characterized in that: The quick-installation mechanism includes an installation box (15) installed at the bottom of the box body (4). Inside the installation box (15), there are multiple air cylinders (16). At the top of the air cylinders (16), suction cups (17) are installed. Inside the air cylinders (16), piston rods (18) are installed. At the bottom of the installation box (15), a pull plate (19) is installed. On the surface of the pull plate (19), a first chute is provided. Inside the first chute, a pull rod (20) that slidably penetrates through the piston rod (18) is fixedly installed. Inside the installation box (15), four rotating rods (21) are rotatably installed. At one end of the rotating rod (21), a pressing plate (38) is fixedly installed. At the top of the pull plate (19), a first spring (22) is installed. At one end of the rotating rod (21), a gear (23) is fixedly installed. On the outside of the installation box (15), two L-shaped plates (24) are provided. At the bottom of the L-shaped plates (24), a rack plate (25) is fixedly installed. At the bottom of the top cover (8), two elastic telescopic rods (26) are fixedly installed.

4. The automatic pit-dividing device for tower foundations based on laser point clouds according to claim 3, characterized in that: The adjustment mechanism includes a turntable (27) installed inside the installation box (15). A positioning ring (28) is fixedly installed on the outer side of the air cylinder (16). An arc-shaped groove for the positioning ring (28) to slide in a limited manner is formed on the outer side of the turntable (27). An adjusting rod (29) is fixedly installed at the bottom of the turntable (27). A fixing plate (30) is fixedly installed inside the installation box (15). Second sliding grooves for the air cylinder (16) to slide in a limited manner are formed on the surface of the fixing plate (30) and the top of the installation box (15). Two sleeve blocks (31) are fixedly installed on the outer side of the air cylinder (16). A support rod (32) is slidably installed inside the sleeve block (31). The support rod (32) is fixedly installed at the top of the installation box (15).

5. The automatic pit division device for tower foundations based on laser point clouds according to claim 3, characterized in that: A plurality of ear plates (33) are fixedly installed on the outer side of the installation box (15). The ear plates (33) are butted against the bottom of the box body (4) through bolts.

6. The automatic pit division device for tower foundations based on laser point clouds according to claim 3, characterized in that: Two guiding blocks (34) are fixedly installed on the outer side of the installation box (15). The guiding blocks (34) are of an isosceles trapezoid structure. A guiding groove for the guiding blocks (34) to slide in a limited manner is formed on the outer side of the L-shaped plate (24).

7. The automatic pit-dividing device for tower foundations based on laser point clouds according to claim 3, characterized in that: Two second springs (35) are fixedly installed between the inner side of the L-shaped plate (24) and the outer side of the installation box (15).

8. The automatic pit-dividing device for tower foundations based on laser point clouds according to claim 4, characterized in that: A contact plate (36) is fixedly installed between the two elastic telescopic rods (26).

9. The automatic pit division device for tower foundations based on laser point cloud according to claim 4, characterized in that: An adjusting handle (37) is fixedly installed at the end of the adjusting rod (29) away from the turntable (27).

10. The pit division method of the tower foundation automatic pit division device based on laser point cloud according to any one of claims 1 to 9, characterized in that: The pit-digging method includes the following steps: S1. Assembly of the support system. After the assembly and debugging are qualified, ensure that the battery is installed in the battery compartment and the components of the automatic pit-digging device are complete. Then, place the automatic pit-digging device either inside the site or on the center pile where pit-digging is required, and support and fix the tripod (1) of the automatic pit-digging device. S2. Power on. When the automatic pit-digging device is fixed, first turn on the automatic pit-digging device to enter the power-on state, ensure that all components are connected, and ensure normal communication between the operator of the automatic pit-digging device and the control system and touch screen of the automatic pit-digging device. Automatically adjust according to the direction angle obtained by the gyroscope chip on the circuit board (9), and adjust the horizontal position of the device pan-tilt (2). Locate the geographical position of the device according to the high-precision positioning chip on the circuit board (9). S21. When it is necessary to place the pit-digging device on the center pile for basic pit-digging, input the center coordinates on the device touch screen, move the device so that the coordinates obtained by the high-precision positioning chip are consistent with the input center pile coordinates. Operate the built-in control system of the automatic pit-digging device through the touch screen, issue a command to start the lidar in the automatic pit-digging device to scan the terrain and ground features. Input the center pile coordinates, line direction pile coordinates, and design parameter values through the touch screen, select the tower type, and the built-in pit-digging calculation module of the automatic pit-digging device automatically calculates the pit position piles of the tower foundation. S22. When it is necessary to place the pit-dividing device at any point on the site for foundation pit division, operate the built-in control system of the automatic pit-dividing device through the touch screen, issue a command to start the lidar in the automatic pit-dividing device to scan the terrain and ground features, input the center pile coordinates, line direction pile coordinates, and design parameter values through the touch screen, select the tower type, and the built-in pit-dividing calculation module of the automatic pit-dividing device automatically calculates the pit position piles of the tower foundation; S23. When it is necessary to place the pit-dividing device on the ground with obstacles for foundation pit division, operate the built-in control system of the automatic pit-dividing device through the touch screen, issue a command to start the lidar in the automatic pit-dividing device to scan the terrain and ground features, input the center pile coordinates, line direction pile coordinates, and design parameter values through the touch screen, select the tower type, and the built-in pit-dividing calculation module of the automatic pit-dividing device automatically calculates the pit position piles of the tower foundation, and the operator clears the corresponding obstacles; S3. After the automatic pit-dividing device calculates the pit position piles of the tower foundation, the terrain, pit-dividing position, and dimension parameters can be displayed on the touch screen. The operator operates the control equipment pan-tilt (2) of the automatic pit-dividing device and the light indicator pan-tilt (11) so that the laser pen body (12) emits laser light, and the laser passes through the transparent window (7) to indicate the pit position, pile position, and foundation shape in the real terrain. The operator makes marks on the indicated pile positions according to the laser indication; S4: After completing the pile position marking, the operator goes to the touch screen of the device to view the elevation difference data of the tower foundation, determines the local foundation lowering height, and the operator lowers the foundation on-site according to the height; S5: After completing the foundation pit division, the operator shuts down the automatic pit-dividing device, retracts the tripod, and removes the battery from the battery compartment.

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