An automatic line marking device and method based on radio frequency positioning

Abstract

This application relates to the field of layout technology for the axis lines of construction floor slabs, and provides an automatic marking device and method based on radio frequency positioning. The automatic marking device includes an automatic inkjet printing device, which comprises a main body, a signal receiving component, an inkjet printing component, a moving mechanism, a storage module, and a calculation and control module. The calculation and control module calculates based on the signals received from two radio frequency devices, controls the movement of the automatic inkjet printing device, and controls the automatic inkjet printing device to print ink lines through the inkjet printing component when it moves to the target axis line. The marking method establishes a field coordinate system on site, transforms the axis line into a spatial straight line, and then moves the automatic inkjet printing device along the target straight line and corrects its trajectory. Inkjet printing is triggered only when the automatic inkjet printing device is running on the target straight line, until the current axis line operation is completed. This invention uses an automatic inkjet printing device to replace manual marking, reducing human error and labor intensity.

Description

Technical Field

[0001] This application relates to the field of layout technology for the axis of construction floor slabs, and in particular to an automatic marking device and marking method based on radio frequency positioning. Background Technology

[0002] In building construction, the layout and marking of floor slabs is a crucial process. The markings on floor slabs mainly include building axes, wall, column, and beam structural boundaries, with the most important being the marking of the floor axis. The axis serves as the benchmark for the building's floor plan; marking these lines clearly defines the outlines of load-bearing components such as columns, walls, and beams. It forms the geometric basis of the structural load-bearing system and serves as a unified baseline for multi-disciplinary collaboration. Furthermore, the marking of the axis, in conjunction with elevation control, determines the floor slab pouring height and beam cross-sectional positions. Depending on the complexity of the building layout on each floor slab, multiple transverse and longitudinal axes are typically required. The main tasks of marking floor slabs can be summarized as point positioning and marking lines. Currently, there are four common methods:

[0003] The first method involves using a traditional theodolite in conjunction with a steel ruler to lay out and mark lines.

[0004] Principle: Utilizing the high-precision angle measurement function of the theodolite, the main axis direction of the building is determined by setting up the instrument at a known control point, aiming at the target point, and then measuring the distance along the main axis direction with a steel tape to determine the intersection of each axis. Finally, the axis is marked with an ink line.

[0005] Operating Procedures: First, prepare the floor slab. After the concrete has been poured and reached a certain strength, clean the surface of the slab, removing debris and laitance to ensure a smooth and clean layout. Set up the instrument at the pre-established control points, centering and leveling it to ensure accurate measurement. Using the theodolite's telescope, aim at a distant target point, or determine the direction of the main axis based on the azimuth angle of the main axis on the architectural drawings. Mark the main axis with a chalk line at an appropriate position on the edge of the floor slab. Using a calibrated steel ruler, starting from one end of the main axis, measure the spacing of each axis line along the main axis direction according to the dimensions on the design drawings, marking the intersection points of each axis line on the floor slab. Finally, fix one end of the chalk line to the determined axis line, and use manual or chalk line-setting devices to taut the other end. Gently lift the chalk line to allow it to snap onto the floor slab surface, forming a clear axis line. Repeat the above steps to complete the marking of other axes lines.

[0006] The second method involves using a laser plumb bob in conjunction with a laser receiving target to lay out the line.

[0007] Principle: The laser plumb bob emits a vertically upward laser beam. A laser receiving target is set above the reserved hole in the floor slab to receive the laser beam spot, thereby determining the vertical axis of the building. Then, the horizontal layout and lines are drawn according to the design dimensions.

[0008] Operating Procedures: Install a laser plumb bob at the control points on the ground floor. Simultaneously, pre-drill holes approximately 150-200mm in diameter at corresponding locations on each floor to serve as light-passing holes for the laser beam. After cleaning the floor surface, prepare the laser receiving target. Precisely center and level the laser plumb bob at the ground floor control points, then power it on to emit a vertically upward laser beam. On the floors requiring layout and line marking, place the laser receiving target above the pre-drilled holes. Adjust the target's position so that the laser spot is centered on it, then mark the spot's location on the target. Next, using the marked laser spot position as a reference, use a steel ruler or other measuring tools to measure and mark the horizontal direction on the floor surface according to the dimensions on the design drawings to determine the positions of each axis line. Finally, manually mark the axis lines with an ink line.

[0009] The third method is to use a total station to lay out and mark lines.

[0010] Principle: Utilizing the total station's multiple measurement functions such as angle measurement, distance measurement, and height difference measurement, and connected to a computer or electronic handheld device, the built-in layout program automatically calculates the angle and distance of the layout point based on the input design coordinate data. Through the instrument's display screen or voice prompts, it guides the surveyor to align the instrument with the layout point, thereby achieving accurate layout and line marking.

[0011] Operating Steps: Data Preparation: Input the coordinate data of the intersection points of each axis from the architectural design drawings into the electronic field book of the total station or the computer to create a coordinate file for the layout points. Set up the total station at the known control points. After centering and leveling the instrument, measure the angles and distances between the known control points to orient the instrument and set the coordinate system, ensuring that the instrument can accurately measure and calculate the position of the layout points. Layout Measurement: Start the layout program of the total station. Following the instrument prompts, input the number or coordinates of the points to be laid out in sequence. The instrument will automatically calculate the angle and distance of the point relative to the station. According to the instrument's instructions, the surveyor rotates the instrument's aiming head to make the reading of the horizontal circle consistent with the calculated angle value. Then, use a steel ruler or distance measuring instrument to measure the calculated distance in that direction to determine the position of the layout point and mark it on the floor slab. Finally, manually use a chalk line or other chalk line tools to connect adjacent layout points with chalk lines to form the axis of the building. Repeat the above steps to complete the layout and chalk line work for the entire floor slab.

[0012] The fourth type is digital layout based on BIM technology.

[0013] Principle: Building Information Modeling (BIM) software is used to create a 3D model of a building. Information such as axes in the model is exported as electronic data. Through data interaction with digital surveying equipment such as total stations and laser scanners, automated layout and line marking are achieved.

[0014] Operational Steps: Based on the architectural design drawings, create an accurate 3D model using BIM software, accurately drawing the axes, columns, walls, and other structural components of each floor. Export the axis coordinate data from the model as a file in a specific format for data transmission with the surveying equipment. Import the data into the surveying equipment. On-site Layout Measurement: At the floor slab construction site, place the surveying equipment in a suitable location. Through the equipment's display screen or operating interface, select the number of the axis or point to be laid out. The equipment will automatically calculate the deviation between the current position and the layout point and display it in graphical or numerical form. Following the equipment's prompts, the surveyor moves the measuring prism or other marking tools until the deviation meets the accuracy requirements. At this point, the layout point's location can be marked on the floor slab. Finally, manually connect the marked layout points to form axes using tools such as a chalk line, completing the line marking work. To ensure the accuracy of the layout, a laser scanner can be used to scan the marked axes. Compare and analyze the scanned data with the BIM model for verification, adjusting and correcting any deviations.

[0015] Regardless of the method used, the layout points must first be accurately marked using other positioning equipment before the ink lines can be drawn. Furthermore, the drawing of ink lines relies on manual operation, which carries a high risk of errors or omissions, as well as insufficient accuracy and stability, seriously affecting the level and progress of construction layout.

[0016] Therefore, there is a need to provide an improved technical solution that addresses the shortcomings of the existing technology. Summary of the Invention

[0017] The purpose of this application is to provide an automatic line marking device and method based on radio frequency positioning to solve or alleviate the problems existing in the prior art.

[0018] To achieve the above objectives, this application provides the following technical solution:

[0019] An automatic line marking device based on radio frequency positioning includes a laser plumb line, a laser receiver, an automatic line spraying device, and two radio frequency devices with different transmission frequencies.

[0020] The automatic inkjet printing device includes a main body and a signal receiving component, an inkjet component, a moving mechanism, a storage module, and a computing control module disposed on the main body;

[0021] The signal receiving component is used to receive signals from two radio frequency devices; the storage module stores the spatial straight line equations Γ of each target axis based on the field coordinate system and the corresponding domain; the calculation and control module calculates the position of the automatic inkjet printing device according to the received signals from the two radio frequency devices, controls the moving mechanism to move the automatic inkjet printing device, and controls the automatic inkjet printing device to spray ink and draw lines through the inkjet component when it moves to the target axis.

[0022] Furthermore, the main body includes a housing, and an outwardly extending arm is provided on the side of the housing. The inkjet component and the signal receiving component are both disposed on the outward arm.

[0023] Furthermore, the main body also includes a battery assembly and an ink reservoir; the inkjet component includes a printhead, the center of which is aligned with the center of the signal receiving component on the same vertical line.

[0024] This invention also proposes an automatic line marking method based on radio frequency positioning, using the aforementioned automatic line marking device based on radio frequency positioning, comprising the following steps:

[0025] Step 1: Establish the site coordinate system;

[0026] At the first and second preset reference points, a laser plumb line is used to project a laser upward along the plumb line, and a laser receiving device is placed at the target height to obtain two points, which are denoted as point O and point P, respectively. The first coordinates of point O and point P based on the initial coordinate system are obtained. Coordinate transformation is performed to construct a field coordinate system with point O as the origin O (0,0,0), and its x-axis is parallel to the axis.

[0027] Set up radio frequency devices with different transmission frequencies at points O and P;

[0028] Step 2: Establish the equation of a straight line in space;

[0029] Based on the site coordinate system, the building plane axis to be laid out is transformed into a spatial straight line equation Γ and its corresponding domain, forming a spatial straight line equation sequence {Γ}. n};From the sequence of spatial linear equations {Γ n The calculation yields the vector at any point M on each straight line. The azimuth angles α, β, γ, and modulus R;

[0030] Step 3: Preparation of the automatic spraying device:

[0031] Select the equation of the spatial straight line Γ corresponding to the axis to be lofted. i This is recorded as the target straight line; an automatic spraying device is run on the floor slab to be laid out. The automatic spraying device calculates the deviation from the target straight line in real time and makes adjustments so that the automatic scribing device moves to the starting point of the target straight line.

[0032] Step 4: Automatic inkjet printing device moves to lay out and inkjet line operates;

[0033] The automatic inkjet printing device moves along the target straight line and corrects its trajectory. Inkjet printing is triggered only when the automatic inkjet printing device is running on the target straight line, until it reaches the spatial straight line equation Γ. i The domain ends, the current axis layout and inkjet operation are completed.

[0034] Furthermore, the first and second preset reference points are parallel to the axis.

[0035] Furthermore, in step three, the coordinates of the starting point of the target line are substituted into the spatial line equation Γ corresponding to the axis to be lofted. i Obtain the modulus R corresponding to the starting point s And the angle θ between the starting point and points O and P s The automatic spraying device is placed near the starting point of the target axis. The device responds and moves towards the starting point, correcting its trajectory until it reaches the corresponding die length R. x =R s The angle θ between the automatic spraying device and points O and P x =θ s .

[0036] Furthermore, in step four, when the target line is located in the x-axis direction and y>0 region, let the position of the automatic spraying device in the field coordinate system be W; the steps for the automatic spraying device to move along the target line and correct its trajectory are as follows:

[0037] ① Measure the mold length R at point W where the automatic spraying device is located, and calculate the angle θ between points O and P. w ;

[0038] ② Use the magnitude R of this vector to find point M on the straight line, and obtain the angle θ between point M and points O and P. m ;

[0039] ③ Compare θ w θ m ;

[0040] θ w <θ m This indicates that the automatic spraying device is to the right of the target line, and the moving mechanism responds by moving along the negative y-axis, approaching the target line;

[0041] θ w >θ m This indicates that the automatic spraying device is to the left of the target line, and the moving mechanism responds by moving along the positive y-axis, approaching the target line.

[0042] Repeat steps ①②③ until θ w =θ mThe automatic spraying device returns to the target straight line;

[0043] When the target line is located in the x-axis direction and the y < 0 region, and θ < 180° is limited, let W be the position of the automatic spraying device in the field coordinate system; the steps for the automatic spraying device to move along the target line and correct its trajectory are as follows:

[0044] ① Measure the mold length R at point W where the automatic spraying device is located, and calculate the angle θ between points O and P. w ;

[0045] ② Use the magnitude R of this vector to find point M on the target line, and obtain the angle θ between point M and points O and P. m ;

[0046] ③ Compare θ w θ m ;

[0047] θ w <θ m This indicates that the automatic spraying device is to the left of the target line, and the moving mechanism moves in the positive y direction, moving closer to the target line;

[0048] θ w >θ m This indicates that the automatic spraying device is to the right of the target line, and the moving mechanism responds by moving along the negative y-direction to move closer to the target line;

[0049] Repeat steps ①②③ until θ w =θ m The automatic spraying device returns to the target straight line.

[0050] Furthermore, following step four, a floor elevation check step is included, comprising the following steps:

[0051] The relative height between the floor elevation and point O is obtained. The automatic inkjet printing device can be set to not print ink lines at locations where the error value exceeds the relative height, so as to mark the locations where the floor elevation error value exceeds the standard.

[0052] The positioning principle of the automatic ink line marking device of this invention is to calculate the spatial position through dual-frequency signal collaborative calculation, combined with time difference of positioning (TDOA) technology or phase difference (carrier phase measurement) to eliminate error sources and achieve high-precision positioning. This technology has been widely used in satellite navigation, surveying and mapping, autonomous driving, and industrial Internet of Things, but not in the field of building construction. In the field of building construction, the marking of lines still relies on manual marking, with upgrades made to the ink line itself, such as replacing the traditional wooden one with plastic or aluminum alloy, while always adding a cover or changing the shape while maintaining the core structure.

[0053] The technical solution of this application has the following beneficial effects:

[0054] This invention constructs a field coordinate system using a laser plumb line, and combines it with dual-frequency radio frequency equipment and a signal receiving device. Based on real-time positioning data, it automatically compares the current position angle with the target angle and dynamically adjusts the direction of the moving mechanism, realizing an automated closed loop of "positioning-judgment-movement-line marking". This reduces human error and labor intensity. Furthermore, by setting the automatic line marking device to operate only along the target axis / target equation (spatial straight line equation Γ), it ensures accurate line marking.

[0055] The automatic ink-spraying device is adapted to the working environment of floor slabs. Workers can move it to a different location and it will operate fully automatically, greatly reducing labor costs. This invention breaks with conventional understanding of ink-spraying devices, being developed based on existing radio frequency positioning technology. It offers precise marking, high reliability, and controllable costs.

[0056] This invention automates the layout and marking of building floors, significantly increasing the speed of layout and marking, and completely changing the history of manual ink marking in building construction. It can be used not only for drawing axis lines, but also for drawing other straight lines / curves / figures by changing other straight lines, curves or graphic equations. Attached Figure Description

[0057] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. Wherein:

[0058] Figure 1 This is a schematic diagram of the field coordinate system according to an embodiment of the present invention.

[0059] Figure 2 This is a schematic diagram of the trajectory correction principle of the automatic inkjet device according to an embodiment of the present invention.

[0060] Figure 3 This is a schematic diagram of the structure of an automatic inkjet device according to an embodiment of the present invention.

[0061] Explanation of reference numerals in the attached drawings: 1-outer shell, 2-outer arm, 3-signal receiving component, 4-printhead, 5-battery assembly, 6-storage module, 7-computing control module, 8-ink tank, 9-motor, 10-transmission mechanism, 11-wheels. Detailed Implementation

[0062] The present application will now be described in detail with reference to the accompanying drawings and embodiments. Various examples are provided by way of explanation and not by way of limitation. In fact, those skilled in the art will recognize that modifications and variations can be made to the present application without departing from the scope or spirit thereof. For example, a feature shown or described as part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desirable that the present application encompass such modifications and variations that fall within the scope of the appended claims and their equivalents.

[0063] In the description of this application, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and do not require that this application be constructed and operated in a specific orientation, and therefore should not be construed as limiting this application. The terms "connected," "linked," and "set up" used in this application should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; direct connections or indirect connections through intermediate components; wired connections, radio connections, or wireless communication signal connections. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0064] An automatic line marking device based on radio frequency positioning includes a laser plumb line, a laser receiver, an automatic line spraying device, and two radio frequency devices with different transmission frequencies.

[0065] The automatic inkjet printing device includes a main body and a signal receiving component 3, an inkjet component, a moving mechanism, a storage module 6, and a computing and control module 7 disposed on the main body;

[0066] The signal receiving component 3 is used to receive signals from two radio frequency devices; the storage module 6 stores the spatial straight line equations Γ of each target axis based on the field coordinate system and the corresponding domain; the calculation and control module 7 calculates the position of the automatic inkjet printing device according to the received signals from the two radio frequency devices, controls the moving mechanism to move the automatic inkjet printing device, and controls the automatic inkjet printing device to spray ink and draw lines through the inkjet component when it moves to the target axis.

[0067] Furthermore, such as Figure 3As shown, the main body includes a housing 1, from which an outer arm 2 extends outward. The inkjet component and signal receiving component 3 are both mounted on the outer arm 2. The inkjet component includes a printhead 4, the center of which is aligned with the center of the signal receiving component 3 on the same vertical line, improving line drawing accuracy. Compared to placing the inkjet component (printhead 4) inside the housing 1, the printhead 4 positioned outside the housing 1 allows for greater flexibility, such as being closer to a wall, thus increasing the line drawing range. Furthermore, the exposed signal receiving component 3 optimizes the radio frequency signal reception environment. To enable continuous line drawing, the main body also includes a battery assembly 5 for power supply and an ink reservoir 8 for storing ink. The ink reservoir 8 is connected to the printhead 4 via a flexible hose, on which an inkjet pump is mounted. The inkjet pump is installed on the outer arm 2 or inside the housing 1 near the base of the outer arm 2, minimizing pressure loss to the printhead 4. The inkjet pump can be a micro gear pump, a micro diaphragm pump, or a micro peristaltic pump.

[0068] This invention also proposes an automatic line marking method based on radio frequency positioning, using the aforementioned automatic line marking device based on radio frequency positioning, comprising the following steps:

[0069] Step 1: Establish the site coordinate system;

[0070] At the first and second preset reference points, a laser plumb line is used to project a laser upward along the plumb line. A laser receiving device is placed at the target height to obtain two points, denoted as point O and point P, respectively. The first coordinates of points O and P based on the initial coordinate system are obtained by adding the position of the laser plate received by the laser receiving device to the first and second preset reference points. The positions of the first and second preset reference points need to be determined by other positioning auxiliary equipment, such as a theodolite or total station. The initial coordinate system can be a geodetic coordinate system or a coordinate system known at the construction site.

[0071] Coordinate transformation: Construct a field coordinate system with point O as the origin O(0,0,0), with its x-axis parallel to the axis; the coordinates of point P are transformed into P(x0,y0,z0) according to the field coordinate system.

[0072] Set up radio frequency devices with different transmission frequencies at points O and P.

[0073] Step 2: Establish the equation of a straight line in space;

[0074] Based on the site coordinate system, the building plane axis to be laid out is transformed into a spatial straight line equation Γ and its corresponding domain, forming a spatial straight line equation sequence {Γ}. n};From the sequence of spatial linear equations {Γ n} Calculations can be performed to obtain the vector at any point M on the line of each spatial straight line equation. The azimuth angles α, β, γ, and magnitude R of the vector are given; α is the angle between the projection of the vector onto the xOy plane and the positive x-axis; β is the angle between the projection of the vector onto the xOy plane and the positive y-axis; γ is the angle between the vector and the positive z-axis (vertically upward direction); these azimuth angles satisfy the vector direction cosine relation and are used to uniquely determine the direction parameter of point M in space; the magnitude R is the vector's... The length of is the spatial distance from the origin O to point M. It should be noted that building plan axes are usually straight lines; therefore, this paper constructs a sequence of spatial straight-line equations {Γ}. n If it is an artistic building, its architectural plan axis may be curved, in which case a sequence of spatial curve equations is constructed.

[0075] Step 3: Preparation of the automatic spraying device:

[0076] Select the spatial straight line equation Γ corresponding to the axis to be lofted (target axis). i This is denoted as the target straight line (the target axis and the target straight line are actually the same straight line); an automatic spraying device is run on the floor slab to be laid out. The automatic spraying device calculates the deviation from the target straight line in real time and makes adjustments, so that the automatic spraying device moves to the starting point of the target straight line; for example... Figure 1 As shown, let the equation of the spatial line Γ be... i The starting point is S. Substitute the coordinates of the starting point S of the target straight line into the equation Γ of the spatial straight line corresponding to the axis to be laid out. i Obtain the modulus R corresponding to the starting point s And the angle θ between the starting point S and points O and P s The automatic spraying device is placed near the starting point of the target axis. The device responds and moves towards the starting point, correcting its trajectory until it reaches the corresponding die length R. x =R s The angle θ between the automatic spraying device and points O and P x =θ s .

[0077] Step 4: Automatic inkjet printing device moves to lay out and inkjet line operates;

[0078] The automatic inkjet printer receives micro-segment operation information from the calculation and control module at the starting point. The moving mechanism adjusts its plan and moves the automatic inkjet printer towards the other end of the target axis. The automatic inkjet printer moves along the target straight line and corrects its trajectory. Inkjet printing is triggered only when the automatic inkjet printer is running on the target straight line, until it reaches the spatial straight line equation Γ. i The domain endpoint is defined, and the current axis layout and inkjet printing operation are completed. Note that different trajectory correction methods are required when the target straight line is at different positions in the field coordinate system:

[0079] (1) such as Figure 2As shown, when the target line is located in the x-axis direction and the y>0 region, let the position of the automatic spraying device in the field coordinate system be W; the steps for the automatic spraying device to move along the target line and correct its trajectory are as follows:

[0080] Let the location of the automatic spraying device in the field coordinate system be W;

[0081] ① Measure the mold length R at point W where the automatic spraying device is located, and calculate the angle θ between points O and P. w ;

[0082] ② Use the magnitude R of this vector to find point M on the straight line, and obtain the angle θ between point M and points O and P. m ;

[0083] ③ Compare θ w θ m (θ) w θ m (All less than 180°)

[0084] θ w <θ m This indicates that the automatic spraying device is to the right of the target line, and the moving mechanism responds by moving along the negative y-axis towards the target line; here, "right side" refers to the direction relative to the target line. Figure 1 , Figure 2 The coordinate system in the diagram indicates the direction, which can also be described as the positive direction of the automatic spraying device being closer to the y-axis than the target straight line;

[0085] θ w >θ m This indicates that the automatic spraying device is to the left of the target line, and the moving mechanism responds by moving along the positive y-axis towards the target line; here, "left" refers to the direction relative to the target line. Figure 1 , Figure 2 The coordinate system in the diagram indicates the direction, which can also be described as the negative direction of the y-axis where the automatic spraying device is closer to the target line than the target line.

[0086] Repeat steps ①②③ until θ w =θ m The automatic spraying device returns to the target straight line.

[0087] (2) When the target line is located in the x-axis direction and the y < 0 region, let the position of the automatic spraying device in the field coordinate system be W; the steps for the automatic spraying device to move along the target line and correct its trajectory are as follows:

[0088] ① Measure the mold length R at point W where the automatic spraying device is located, and calculate the angle θ between points O and P. w ;

[0089] ② Use the magnitude R of this vector to find point M on the target line, and obtain the angle θ between point M and points O and P. m ;

[0090] ③ Compare θ w θ m ;

[0091] θ w <θ m This indicates that the automatic spraying device is to the left of the target line, and the moving mechanism responds by moving along the positive y-axis, approaching the target line.

[0092] θ w >θ m This indicates that the automatic spraying device is to the right of the target line, and the moving mechanism responds by moving along the negative y-axis, approaching the target line;

[0093] Repeat steps ①②③ until θ w =θ m The automatic spraying device returns to the target straight line.

[0094] Step 5: Select the spatial linear equation sequence {Γ} n The next spatial line equation Γ in} i+1 They carried out layout and inkjet printing line operations.

[0095] The straight-line distance between points O and P depends on the specific engineering object. Points O and P are two points used to control the verticality during the construction process. Points O and P do not necessarily need to be parallel to the main axis of the building to be laid out, and their heights do not need to be equal, reducing the difficulty of operation and making it easier to determine points O and P on site. The coordinates of other points and the site coordinate system can be calculated from the coordinates of points O and P. Figure 1 In the schematic field coordinate system given, point P and point O are not at the same height, and the line connecting them is not parallel to the x-axis.

[0096] Preferred, such as Figure 2 The coordinate system shown in the diagram has the first and second preset reference points parallel to the axis, thus making points O and P parallel to the axis, facilitating the calculation of the x-axis or y-axis positions. Compared to the previous method requiring multiple reference points (layout points) for each floor slab to draw lines, this invention only requires two reference points to complete the axis drawing work for multiple floor slabs, saving manpower and improving the efficiency of ink line drawing.

[0097] Furthermore, following step four, a floor elevation check step is included, comprising the following steps:

[0098] To obtain the relative height between the floor elevation and point O, the automatic inkjet printing device can be set to not print ink lines where the error value exceeds the relative height. Specifically, after establishing the site coordinate system, the floor elevation to be marked is specified, and lines are only drawn at the specified elevation. If the floor construction is uneven, it will naturally have an error compared to the specified elevation, and no lines will be drawn where the error exceeds the specified elevation.

[0099] It should be noted that for a multi-story building, if it is necessary to lay out and mark the lines of the floor slabs of multiple floors, it is only necessary to establish the on-site coordinate system once, but the axes of each floor need to be converted into spatial straight lines and corresponding domains. Obviously, when constructing a certain floor, it is impossible to go beyond to mark the lines of the adjacent upper or lower floor.

[0100] Based on current technology and existing hardware, the outer casing 1 of the automatic inkjet printer is designed to be the size of a robotic vacuum cleaner (outline width / diameter 25cm-60cm), with no height limit (the greater the height / volume of the battery assembly 5 and ink storage tank 8, the higher the height). The outer arm 2 is horizontally fixed to the outer casing 1. The outer arm 2 is hollow, with internal wiring and flexible tubing (or an inkjet pump) installed. The length of the outer arm 2 is 20-70cm. The moving mechanism is used to move the automatic inkjet printer, including wheels 11 evenly distributed on the bottom, a steering mechanism, a drive wheel mechanism, a motor 9, and a transmission mechanism 10. Two wheels 11 are mainly responsible for movement, while the other two are responsible for steering. The motor 9 drives the two wheels 11 responsible for movement to rotate through the transmission mechanism 10 and the drive wheel mechanism, and the motor 9 drives the two wheels 11 responsible for steering to rotate through the transmission mechanism and the steering mechanism to adjust the direction of movement of the automatic inkjet printer. In addition, an obstacle avoidance function can be designed on the automatic inkjet printer to reduce the possibility of damage. The obstacle avoidance function is a conventional technology.

[0101] Although uneven areas may exist on the floor slab as a working surface in practice, this invention does not affect the normal functioning of the invention because it does not use inkjet marking outside the target axis. It should be noted that, in practice, there may be pre-reinforced steel bars at the location of the floor slab axis. In such cases, a line is marked at a specified distance (e.g., 0.5m, 1m) outside the axis. Based on the drawn axis, construction workers can then carry out precise construction such as formwork and bricklaying.

[0102] This invention relates to an automatic line marking device and method based on radio frequency (RF) positioning. By combining RF positioning with automatic inkjet technology, it achieves high-precision and automated operation of centerline layout in building construction. The device includes a laser plumb line, a laser receiver, an automatic inkjet printer, and two RF devices with different frequencies. It can calculate its own position in real time and automatically correct its trajectory to ensure that the inkjet line accurately runs along the set axis. The device has a compact structure, with the printhead and signal receiving component located on the same vertical line, improving the consistency of positioning and inkjet printing. The built-in battery and ink reservoir design enhances operational continuity, making it suitable for large-area, complex-shaped construction environments.

[0103] This method establishes a field coordinate system and spatial straight line equations, combined with a modulus length and angle comparison algorithm, to achieve automatic path tracking and inkjet control, exhibiting high intelligence and adaptability. Furthermore, the device integrates floor elevation detection, automatically determining inkjet height or marking elevation errors, improving construction quality and safety. The entire system is easy to deploy and highly adaptable, significantly reducing reliance on manual labor, improving construction efficiency and intelligence, and demonstrating significant technological advancement and broad application prospects. It can not only be used to draw ink lines for axes, but also to draw other straight lines / curves / graphics by changing the equations of other straight lines, curves, or graphics.

[0104] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An automatic scribing method based on radio frequency positioning, characterized in that, It comprises the following steps: Step one, establishing a field coordinate system; In the first preset reference point and the second preset reference point respectively use laser plumb instrument along the plumb direction upward projection laser, and place laser receiving device at the target height, obtain two points, respectively recorded as O point and P point, get the first coordinate of O point and P point based on the initial coordinate system; Coordinate conversion, with O point as the origin O (0, 0, 0) to build a field coordinate system, its x axis is parallel to the axis; Set up radio frequency equipment with different transmission frequencies at O point and P point; Step two, establishing a space straight line equation; According to the field coordinate system, the building plane axis to be staked out is converted into a spatial straight line equation Γ and a corresponding domain, forming a spatial straight line equation sequence {Γ n}; from the spatial straight line equation sequence {Γ n}, the azimuth angle α, β, γ and the module length R of the vector at any point M on each straight line are calculated; Step three, automatic line spraying device preparation: The selected spatial straight line equation Γ corresponding to the axis to be lofted i The automatic line spraying device is operated on the lofting floor, and the automatic line spraying device calculates the deviation from the target straight line in real time and adjusts the target straight line, so that the automatic line spraying device moves to the starting point of the target straight line. The automatic line spraying device comprises a main body and signal receiving components, ink spraying components, moving mechanisms, storage modules and computing control modules arranged on the main body; The signal receiving components are used to receive the signals of the two radio frequency equipment; The storage modules store the space straight line equation Γ of each target axis based on the field coordinate system and the corresponding definition domain; The computing control modules calculate the position of the automatic line spraying device according to the signals of the two radio frequency equipment, control the moving mechanisms to move the automatic line spraying device, and control the automatic line spraying device to spray ink and draw lines when moving to the target axis through the ink spraying components; Step four, automatic line spraying device movement lofting and ink line operation; The automatic line spraying device moves along the target straight line and corrects the trajectory, and the ink spraying component sprays ink only when the automatic line spraying device runs on the target straight line until moving to the spatial straight line equation Γ i The domain end point, the current axis lofting, and the ink spraying operation end.

2. The automatic scribing method based on radio frequency positioning according to claim 1, characterized in that: The first preset reference point and the second preset reference point are parallel to the axis.

3. The automatic line drawing method based on radio frequency positioning according to claim 1, wherein: In step three, the coordinates of the starting point of the target straight line are brought into the spatial straight line equation Γ corresponding to the axis to be lofted i to obtain the module length R of the corresponding starting point s and the included angle θ of the starting point to the two points O and P s ; the automatic line spraying device is placed near the starting point of the target axis, the automatic line spraying device responds and moves towards the starting point, and the trajectory is corrected until the module length R of the automatic line spraying device x =R s , and the included angle θ of the automatic line spraying device to the two points O and P x =θ s .

4. The automatic line drawing method based on radio frequency positioning according to claim 1, wherein: In step four, when the target straight line is located in the x axis direction and y>0 area, set the position of the automatic line spraying device in the field coordinate system as W; the steps of moving and correcting the trajectory of the automatic line spraying device along the target straight line are as follows:

1. Measure the length R of the line segment OP at the point W, and calculate the angle θ between the points O and P w ; ii. Find point M on the line with the vector magnitude R, which gives the angle θ between OM and OP m ; iii. Comparing θ w , θ m ; θ w < θ m It is illustrated that the automatic wire spraying device moves to the right of the target straight line, and the moving mechanism moves along the negative direction of the y-axis to approach the target straight line. θ w > θ m It is illustrated that the automatic wire spraying device is on the left side of the target straight line, and the moving mechanism moves along the positive direction of the y-axis in response to the target straight line. Repeat ①②③ until θ w = θ m The automatic wire spraying device returns to the target straight line.

5. The automatic scribing method based on radio frequency positioning according to claim 1, characterized in that: In step four, when the target straight line is located in the x axis direction and y<0 area, set the position of the automatic line spraying device in the field coordinate system as W; the steps of moving and correcting the trajectory of the automatic line spraying device along the target straight line are as follows:

1. Measure the length R of the line segment OP at the point W, and calculate the angle θ between the points O and P w ; ii. Find a point M on the target line using the vector magnitude R to get the angle θ between points M, O, and P m ; iii. comparing θ w , θ m ; θ w < θ m It is illustrated that the automatic wire spraying device is on the left side of the target straight line, and the moving mechanism moves along the positive direction of the y-axis in response to the target straight line. θ w θ m It is illustrated that the automatic wire spraying device is on the right side of the target straight line, and the moving mechanism moves along the negative direction of the y-axis in response to the target straight line. Repeat ①②③ until θ w = θ m The automatic wire spraying device returns to the target straight line.

6. The automatic scribing method based on radio frequency positioning according to claim 1, characterized in that: After step four, a floor elevation checking step is further included, comprising the following steps: Obtain the relative height of the floor elevation and the O point, and the automatic line spraying device can be set to not spray ink lines at the error value exceeding the relative height.

7. The automatic scribing method based on radio frequency positioning according to claim 1, characterized in that: The main body comprises a shell, the side surface of the shell is provided with an outwardly extending outer arm, and the ink spraying components and the signal receiving components are arranged on the outer arm.

8. The automatic scribing method based on radio frequency positioning according to claim 7, characterized in that: A battery assembly and an ink storage bin are further arranged in the main body; the ink spraying components comprise a nozzle, and the center of the nozzle and the center of the signal receiving components are arranged on the same plumb line.

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