A concrete paving robot and method of use thereof

Abstract

This invention relates to the field of concrete construction engineering, specifically to a concrete paving robot and its usage method. It includes a movable vehicle body; a main scraper horizontally positioned at the front of the vehicle body, the height of which is adjustable; two telescopic scrapers located at opposite ends of the main scraper, each telescopic scraper comprising an insertion end and an extension end, the insertion end being inserted into the main scraper, and the extension end extending beyond the main scraper by a specified length; a drive mechanism mounted on the main scraper; a detection mechanism mounted on the main scraper and the telescopic scrapers, capable of acquiring a depth map of obstacles in front of the vehicle body and measuring the actual distance from the extension ends of the telescopic scrapers to obstacles on both sides; and a control system mounted on the vehicle body, connected to the detection mechanism and the drive mechanism. Beneficial effect: By providing adjustable-length telescopic scrapers at both ends of the main scraper, the robot can avoid obstacles by adjusting the extension length of the telescopic scrapers when encountering them.

Description

Technical Field

[0001] This invention relates to the field of concrete construction engineering, and specifically to a concrete paving robot and its usage method. Background Technology

[0002] In the construction of concrete slabs, factory floors, and structures, the surface of concrete needs to be leveled and its thickness corrected after pouring to ensure consistent thickness throughout, thus facilitating subsequent surface finishing. Mechanized paving has become a key technology for improving construction efficiency and quality stability. However, some concrete slabs and factory floors often have supporting columns, and the spacing between adjacent supporting columns or between supporting columns and shear walls varies. The scraper length of existing equipment cannot be adjusted. Conventionally used larger scrapers cannot pass through areas with small spacing, while using smaller scrapers reduces paving efficiency or requires frequent changes to different scraper sizes to adapt to different working conditions, which also affects construction efficiency. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a concrete paving robot and its usage method, solving the problem that existing paving equipment is mainly designed for open areas, and when constructing in areas with supporting columns and shear walls, it is necessary to change scrapers of different sizes according to actual needs, which affects construction efficiency.

[0004] The technical solution to achieve the above objectives is: This invention provides a concrete paving robot, comprising: A movable vehicle body; A main scraper is horizontally positioned on the front side of the vehicle body, and the height of the main scraper is adjustable. Two telescopic scrapers are located at both ends of the main scraper. Each telescopic scraper includes an insertion end and an extension end. The insertion end is inserted into the main scraper, and the telescopic scraper can move along the length of the main scraper to adjust the length of the extension end extending from the main scraper. A drive mechanism, located on the main scraper, is used to drive the telescopic scraper to move along the length direction of the main scraper. The detection mechanism is located on the main scraper and the telescopic scraper, and is used to obtain the shape of the working surface in front of the vehicle body and the actual distance from the obstacle on the corresponding side of the vehicle body to the telescopic scraper. The control system, mounted on the vehicle body, is connected to the detection mechanism and the drive mechanism. The control system receives the acquired working surface shape and actual distance, obtains the position information of the obstacle ahead based on the working surface shape, and estimates the distance from the obstacle to the extended end of the telescopic scraper when the vehicle body travels to the obstacle. The extension length of the telescopic scraper is adjusted by the drive mechanism to make the estimated distance less than or equal to a set distance. When the vehicle body travels to the obstacle, the extension length of the telescopic scraper is further adjusted by the drive mechanism based on the measured actual distance from the extended end to the obstacle.

[0005] Furthermore, the detection mechanism includes: A depth camera is mounted on the main scraper, with its detection end facing directly in front of the vehicle to obtain a depth map of obstacles in front of the vehicle. Two lidar sensors are respectively mounted on the telescopic scraper, with the laser emitters of the lidar facing the two sides of the vehicle body.

[0006] Furthermore, it also includes drive wheels and steering wheels located at the bottom of the vehicle body, as well as a power mechanism and a steering mechanism located within the vehicle body. The power mechanism is connected to the drive wheels, the steering mechanism is connected to the steering wheels, and the control system is connected to the power mechanism and the steering mechanism.

[0007] Furthermore, the control system can determine whether the obstacle is within the driving trajectory based on the obtained position information of the obstacle ahead. If it is not within the driving trajectory, it continues to move according to the current driving trajectory. If it is within the driving trajectory, it changes the driving trajectory of the vehicle to bypass the obstacle.

[0008] Furthermore, if there are two or more obstacles in front of the vehicle, the control system can determine whether the vehicle can pass through the gap between adjacent obstacles. The specific determination steps are as follows: The control system estimates the distance between adjacent obstacles based on the acquired location information of multiple obstacles, and obtains the minimum passage width of the main scraper and the telescopic scraper. It compares the minimum passage width with the minimum passage width of the main scraper and the telescopic scraper. If the minimum passage width is met, it is determined that the passage is possible. The extension length of the telescopic scraper is adjusted by the drive mechanism so that the total length of the main scraper and the telescopic scraper is less than the minimum length. Then the vehicle continues to move according to the current driving trajectory. Otherwise, the driving trajectory of the vehicle is changed.

[0009] Furthermore, it also includes a height sensor, which is located at the drive end of the lifting mechanism and connected to the control system. The height sensor is used to measure the vertical distance to the concrete surface.

[0010] Furthermore, the drive mechanism has two parts, each connected to a corresponding telescopic scraper drive, to ensure that the two telescopic scrapers can independently adjust their extended length.

[0011] The present invention also provides a method for using a concrete paving robot, which specifically includes the following steps: A concrete paving robot is used to pave concrete in the construction area. The detection mechanism acquires the shape of the working surface in front of the vehicle body; The control system receives the acquired working surface shape and determines whether there is an obstacle. If an obstacle is encountered, the control system obtains the location information of the obstacle based on the shape of the working surface, estimates the distance from the obstacle to the telescopic end of the telescopic scraper when the vehicle body travels to the obstacle, and adjusts the extension length of the telescopic scraper through the drive mechanism according to the estimated distance. When the vehicle body travels to the side of the obstacle, the detection mechanism measures the actual distance from the telescopic end to the obstacle; The control system further adjusts the extension length of the telescopic scraper through the drive mechanism based on the actual distance, so that the telescopic scraper gets closer to the obstacle.

[0012] Compared with the prior art, the present invention has the following beneficial effects: By installing telescopic scrapers with adjustable lengths at both ends of the main scraper, the scraper can avoid obstacles (support columns or shear walls) by adjusting the extension length of the telescopic scrapers.

[0013] By incorporating a detection mechanism, obstacles in front of the vehicle are accurately identified, and the control system obtains the obstacle's position information. This information then allows the drive mechanism to precisely adjust the extension of the telescopic scraper. The detection mechanism can also measure the actual distance between the telescopic scraper and obstacles on either side. Based on this actual distance, the drive mechanism further adjusts the extension length of the telescopic scraper to ensure that the actual distance between the scraper and the obstacle is less than or equal to a set distance. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the concrete paving robot of the present invention.

[0015] Figure 2 This is a schematic diagram of the scraper assembly structure of the concrete paving robot of the present invention.

[0016] Legend: 1. Vehicle body; 2. Lifting mechanism; 201. Adjusting rod; 202. Height detection component; 203. Connecting seat; 204. Screw jack; 3. Transverse main beam; 401. Main scraper; 402. Telescopic scraper; 5. Detection mechanism; 501. Image module; 502. LiDAR. Detailed Implementation

[0017] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0018] See Figure 1 This invention provides a concrete paving robot and its usage method, addressing the problem that existing paving equipment is mainly designed for open areas. When constructing in areas with supporting columns and shear walls, different sized scrapers need to be replaced according to actual needs, affecting construction efficiency. To solve this problem, this invention discloses a main scraper and a telescopic scraper. The extension length of the telescopic scraper is adjusted by a drive mechanism to avoid collisions between the telescopic scraper and obstacles (supporting columns or shear walls) when the vehicle body passes over them. Simultaneously, when the vehicle body passes over an obstacle, a detection mechanism accurately measures the actual distance from the extension end of the telescopic scraper to the obstacle, and the extension length of the telescopic scraper is further adjusted by the drive mechanism, so that the actual distance between the telescopic scraper and the obstacle is less than a set distance, thereby ensuring that the concrete at the edges of supporting columns and shear walls can be paved.

[0019] The following description, in conjunction with the accompanying drawings, illustrates a concrete paving robot and its usage method according to the present invention.

[0020] See Figure 1 This diagram shows the overall structure of the concrete paving robot of the present invention. (See attached image.) Figure 2 The diagram below shows a schematic of the scraper assembly structure of the concrete paving robot of the present invention. (The following is in conjunction with...) Figure 1 and Figure 2 The present invention describes the concrete paving robot and its usage method.

[0021] like Figure 1 and Figure 2 As shown, a concrete paving robot of the present invention includes: Movable vehicle body 1; A main scraper 401 is horizontally disposed on the front side of the vehicle body 1, and the height of the main scraper 401 is adjustable. Two telescopic scrapers 402 are located at the two ends of the main scraper 401 respectively. Each telescopic scraper 402 includes an insertion end and an extension end. The insertion end is inserted into the main scraper 401, and the telescopic scraper 402 can move along the length direction of the main scraper 401 to adjust the length of the extension end extending from the main scraper 401. A drive mechanism is provided on the main scraper 401 and is used to drive the telescopic scraper 402 to move along the length direction of the main scraper 401. The detection mechanism 5 is disposed on the main scraper 401 and the telescopic scraper 402, and is used to obtain the working surface shape in front of the vehicle body 1 and the actual distance from the obstacle on the corresponding side of the vehicle body 1 to the telescopic scraper 402. The control system installed on the vehicle body 1 is connected to the detection mechanism 5 and the drive mechanism. The control system is used to receive the acquired working surface shape and actual distance, obtain the position information of the obstacle in front based on the working surface shape, and estimate the distance from the obstacle to the extended end of the telescopic scraper 402 when the vehicle body 1 travels to the obstacle based on the position information. The extension length of the telescopic scraper 402 is adjusted by the drive mechanism so that the estimated distance is less than or equal to the set distance. When the vehicle body 1 travels to the obstacle, the extension length of the telescopic scraper 402 is further adjusted by the drive mechanism based on the measured actual distance from the extended end to the obstacle.

[0022] In one specific embodiment, the detection mechanism 5 includes: A depth camera 501 is mounted on the main scraper 401, with its detection end facing the front of the vehicle body 1 to obtain a depth map of the obstacles in front of the vehicle body 1. Two lidar sensors 502 are respectively mounted on the telescopic scraper 402, with the laser emitting ends of the lidar sensors 502 facing the two sides of the vehicle body 1 respectively.

[0023] In one specific embodiment, the system further includes a drive wheel and a steering wheel located at the bottom of the vehicle body 1, as well as a power mechanism and a steering mechanism located within the vehicle body 1. The power mechanism is connected to the drive wheel, the steering mechanism is connected to the steering wheel, and the control system is connected to the power mechanism and the steering mechanism.

[0024] In one specific embodiment, the control system can determine whether the obstacle is within the driving trajectory based on the obtained position information of the obstacle ahead. If it is not within the driving trajectory, it continues to move according to the current driving trajectory. If it is within the driving trajectory, it changes the driving trajectory of the vehicle to bypass the obstacle.

[0025] In one specific embodiment, if there are two or more obstacles in front of the vehicle body 1, the control system can determine whether the vehicle body 1 can pass through the gap between adjacent obstacles. The specific determination steps are as follows: The control system estimates the distance between adjacent obstacles based on the acquired position information of multiple obstacles, and obtains the minimum passage width of the main scraper 401 and the telescopic scraper 402. It compares the minimum passage width with the minimum passage width of the main scraper 401 and the telescopic scraper 402. If the minimum passage width is satisfied, it is determined that the passage is possible. The extension length of the telescopic scraper 402 is adjusted by the drive mechanism so that the total length of the main scraper 401 and the telescopic scraper 402 is less than the minimum length of the main scraper 401 and the telescopic scraper 402. Then the vehicle body 1 continues to move according to the current driving trajectory. Otherwise, the driving trajectory of the vehicle body 1 is changed.

[0026] Specifically, the control system can determine the distance from the obstacle to the main scraper 401 based on the shape of the working surface. In the above steps, when it is determined that the vehicle body 1 can pass through the gap between adjacent obstacles, the vehicle body 1 continues to move forward, and after the distance between the main scraper 401 and the obstacle reaches a safe distance, the telescopic scraper 402 begins to retract, thereby avoiding collision between the telescopic scraper 402 and the obstacle.

[0027] In one specific embodiment, it also includes a transverse main beam 3 and a lifting mechanism 2. The transverse main beam 3 is horizontally fixed to the front side of the vehicle body 1, and the lifting mechanism 2 is disposed on the transverse main beam 3. The lifting mechanism 2 includes a driving end, and the main scraper 401 is connected to the driving end of the lifting mechanism 2.

[0028] In one specific embodiment, a height sensor 202 is also included, which is located at the drive end of the lifting mechanism 2 and connected to the control system. The height sensor 202 is used to measure the vertical distance to the concrete surface.

[0029] In a preferred embodiment, the lifting mechanism 2 includes: The screw jack 204 includes a fixed end and a movable end, wherein the fixed end is fixedly mounted on the transverse main beam 3; A vertically arranged adjusting rod 201, the lower end of which passes through the transverse main beam 3 and can slide relative to the transverse main beam 3; The connecting seat 203 is connected at one end to the adjusting rod 201 and at the other end to the movable end of the screw jack 204.

[0030] A limiting cylinder is fixedly sleeved on the transverse main beam 3. The limiting cylinder is vertically set and the adjusting rod 201 is slidably set inside the limiting cylinder.

[0031] In another preferred embodiment, the lifting mechanism 2 is a hydraulic device.

[0032] Specifically, there are two lifting mechanisms 2, located on both sides of the transverse main beam 3, to ensure better stability of the main scraper 401.

[0033] In one specific embodiment, the driving mechanism has two parts, which are respectively driven and connected to the corresponding telescopic scraper 402 to ensure that the two telescopic scrapers 402 can independently adjust their extended length.

[0034] In a preferred embodiment, the drive mechanism is a hydraulic cylinder.

[0035] In another preferred embodiment, the drive mechanism is a lead screw motor.

[0036] By setting two drive mechanisms, the two telescopic scrapers 402 can operate independently, thereby allowing the extension lengths of the two telescopic scrapers 402 to differ according to the actual construction environment.

[0037] This invention employs a combined perception approach of forward-facing depth vision and left / right rearward LiDAR to form a local environmental perception system covering the front, rear, left, and right sides of the scraper. This system is deeply coupled with the scraper extension / retraction strategy, meeting the requirements for high-precision obstacle avoidance and real-time scraper width adjustment in confined spaces. The extension / retraction widths of the two extension scrapers 402 satisfy the following conditions: is the width of the main scraper 401, and and are the extension / retraction amounts of the left and right extension scrapers 402, respectively. These extension / retraction amounts must meet passability constraints and are measured jointly by the depth camera 501 and the two LiDARs 502, and calculated by the control system. The extension / retraction camera 502 is installed at the center of the top of the main scraper 401, with its detection end facing forward. It is used to acquire the working surface shape in front of the vehicle body 1, the distance to obstacles in front, an estimated width of the passable area in front, and the amount of concrete accumulation. To address visual interference issues in complex construction environments, this invention employs multiple visual robustness measures. First, multi-frame depth fusion filtering is used to reduce depth noise fluctuations caused by dust. Simultaneously, a dynamic exposure adjustment algorithm is employed to ensure that the depth camera 501 can still obtain stable depth maps under strong light or reflective conditions. Furthermore, ROI region feature extraction is used, performing depth calculations only on the area within 0.5–1.5m in front of the main scraper 401 to improve the algorithm's real-time performance. Finally, depth outlier removal is implemented, eliminating pixels with depth jumps exceeding a threshold to reduce false obstacles caused by dust.

[0038] Two lidar sensors 502 identify obstacles on both sides and obtain the distances from the two telescopic scrapers 402 to the obstacles on the left and right sides, respectively. These distances, combined with the displacement feedback values ​​of the telescopic scrapers 402, reflect the actual extension and retraction positions of the current scrapers 402. The available working width is determined based on the depth map obtained by the depth camera 501, where the safe clearance between the telescopic scrapers 402 and the obstacles is adjustable.

[0039] Specifically, the workflow of the detection mechanism 5 and the control system is as follows: 1) Perception input layer: Depth camera 501 detects the shape of the environment in front of vehicle body 1 and obtains the distance from the two lidars 502 on the left and right sides to the obstacles respectively; and obtains the displacement feedback values ​​of the two telescopic scrapers 402 on the left and right sides.

[0040] 2) Spatial analysis and environmental understanding: The control system performs noise reduction and reflection / dust removal on the depth map acquired by the depth camera 501; performs laser point cloud clustering and obstacle recognition on both sides; calculates the working width of the current environment and determines whether the vehicle body 1 can pass through.

[0041] 3) Extension / retraction decision of telescopic scraper 402: Determine the target scraper width; combine the distance between the left and right sides and the obstacle to determine whether the telescopic scraper 402 should contract or extend; generate independent extension / retraction amounts for the left and right sides; determine whether the vehicle body 1 should move forward or backward.

[0042] 4) Execution control: The control system uses two servo motors to adjust the extension and retraction of the left and right telescopic scrapers 402 respectively; controls the height of the main scraper 401 through the lifting mechanism 2; and controls the vehicle body 1 to move forward or backward through the drive motor.

[0043] 5) Construction status output: Output the total width of the current main scraper 401 and telescopic scraper 402; output the telescopic scraper 402's telescopic status (in telescopic or retracted); output the vehicle body 1's operating status (forward or backward); output the current environment's passability status (passable or needs adjustment).

[0044] Specifically, both the front and rear sides of the main scraper 401 and the telescopic scraper 402 form concave surfaces. During the forward or backward pushing process, the main scraper 401 and the telescopic scraper 402 can smooth out the protrusions on the concrete surface. At the same time, the excess concrete scraped off accumulates in the concave surface and moves with the main scraper 401. When encountering pits on the concrete surface, the concrete accumulated in the concave surface of the main scraper 401 fills the pits to achieve the purpose of filling the pits, thereby ensuring that both the protrusions and pits on the concrete surface can be smoothed out.

[0045] Specifically, the "set distance" is the minimum distance selected to ensure that the telescopic scraper 402 does not collide with obstacles without affecting the concrete paving effect at the edge of the obstacle (support column or shear wall). This set distance can be adjusted appropriately according to the fluidity of the concrete. For example, if the concrete is too fluid, the set distance can be increased appropriately; if the concrete is too fluid, the set distance can be decreased appropriately (provided that safety and no collision are ensured). For concrete within the "set distance" range, the telescopic scraper 402 does not pave it. However, since the concrete is not solidified and is in a flowing state during paving, the concrete can naturally flow into the area within the set distance due to its own fluidity, thus ensuring paving within this area. Therefore, the paving work can be completed without the telescopic scraper 402 being completely in contact with the support column or shear wall.

[0046] The present invention also provides a method for using a concrete paving robot, which specifically includes the following steps: A concrete paving robot is used to pave concrete in the construction area. The detection mechanism 5 acquires the shape of the working surface in front of the vehicle body 1; The control system receives the acquired working surface shape and determines whether there is an obstacle. If an obstacle is encountered, the control system obtains the location information of the obstacle based on the shape of the working surface, estimates the distance from the obstacle to the telescopic end of the telescopic scraper 402 when the vehicle body 1 travels to the side of the obstacle, and adjusts the extension length of the telescopic scraper 402 through the drive mechanism according to the estimated distance. When the vehicle body 1 travels to the side of the obstacle, the detection mechanism 5 measures the actual distance from the telescopic end to the obstacle; The control system further adjusts the extension length of the telescopic scraper 402 through the drive mechanism according to the actual distance, so that the telescopic scraper 402 moves closer to the obstacle.

[0047] The following is a detailed description of the usage process and working principle of the concrete paving robot of the present invention.

[0048] Place vehicle body 1 in the area to be constructed.

[0049] Adjust the height of the main scraper 401 so that it is at the set height.

[0050] The control system controls the movement of vehicle body 1, and during the movement of vehicle body 1, it scrapes and levels the concrete.

[0051] When an obstacle appears in front of the vehicle body 1, the detection mechanism 5 acquires a depth map of the obstacle in front of the vehicle body 1. The control system receives the acquired depth map and obtains the location information of the obstacle. Then, the extension length of the telescopic scraper 402 is adjusted by the drive mechanism to ensure that the vehicle body 1 can pass by the obstacle.

[0052] When the vehicle body 1 passes by an obstacle, the detection mechanism 5 measures the actual distance from the extended end of the telescopic scraper 402 to the obstacle. The control system further adjusts the extension length of the telescopic scraper 402 through the drive mechanism, so that the distance between the telescopic scraper 402 and the obstacle is less than the set distance.

[0053] Once all the concrete in the area to be constructed has been laid, the vehicle body 1 will be retracted.

[0054] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. Those skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details in the embodiments should not be construed as limiting the present invention, and the scope of protection of the present invention shall be defined by the appended claims.

Claims

1. A concrete paving robot, characterized in that, include: Movable vehicle body (1); A main scraper (401) is horizontally positioned on the front side of the vehicle body (1), and the height of the main scraper (401) is adjustable; Two telescopic scrapers (402) are located at the two ends of the main scraper (401). Each telescopic scraper (402) includes an insertion end and an extension end. The insertion end is inserted into the main scraper (401), and the telescopic scraper (402) can move along the length direction of the main scraper (401) to adjust the length of the extension end extending from the main scraper (401). A driving mechanism is provided on the main scraper (401) for driving the telescopic scraper (402) to move along the length direction of the main scraper (401); The detection mechanism (5) is set on the main scraper (401) and the telescopic scraper (402) to obtain the working surface shape in front of the vehicle body (1) and to obtain the actual distance from the obstacle on the corresponding side of the vehicle body (1) to the telescopic scraper (402); The control system installed on the vehicle body (1) is connected to the detection mechanism (5) and the drive mechanism. The control system is used to receive the obtained working surface shape and actual distance, obtain the position information of the obstacle in front according to the working surface shape, and estimate the distance from the obstacle to the extended end of the telescopic scraper (402) when the vehicle body (1) travels to the obstacle. The extension length of the telescopic scraper (402) is adjusted by the drive mechanism so that the estimated distance is less than or equal to the set distance. When the vehicle body (1) travels to the obstacle, the extension length of the telescopic scraper (402) is further adjusted by the drive mechanism according to the measured actual distance from the extended end to the obstacle.

2. The concrete paving robot according to claim 1, characterized in that, The detection mechanism (5) includes: A depth camera (501) is mounted on the main scraper (401), with its detection end facing the front of the vehicle body (1) to obtain a depth map of the obstacles in front of the vehicle body (1); Two lidars (502) are respectively mounted on the telescopic scraper (402), with the laser emitting ends of the lidars (502) facing the two sides of the vehicle body (1).

3. A concrete paving robot according to claim 1, characterized in that, It also includes a drive wheel and a steering wheel located at the bottom of the vehicle body (1), as well as a power mechanism and a steering mechanism located inside the vehicle body (1). The power mechanism is connected to the drive wheel, the steering mechanism is connected to the steering wheel, and the control system is connected to the power mechanism and the steering mechanism.

4. A concrete paving robot according to claim 1, characterized in that, The control system can determine whether the obstacle is within the driving trajectory based on the obtained position information of the obstacle ahead. If it is not within the driving trajectory, it will continue to move according to the current driving trajectory. If it is within the driving trajectory, it will change the driving trajectory of the vehicle body (1) to bypass the obstacle.

5. A concrete paving robot according to claim 1, characterized in that, If there are two or more obstacles in front of the vehicle body (1), the control system can determine whether the vehicle body (1) can pass through the gap between adjacent obstacles. The specific determination steps are as follows: The control system estimates the distance between adjacent obstacles based on the position information of multiple obstacles and obtains the minimum passage width of the main scraper (401) and the telescopic scraper (402). It compares the width with the minimum passage width. If the width is satisfied, it is determined that the passage is possible. The extension length of the telescopic scraper (402) is adjusted by the drive mechanism so that the total length of the main scraper (401) and the telescopic scraper (402) is less than the minimum length. Then the vehicle body (1) continues to move according to the current driving trajectory. Otherwise, the driving trajectory of the vehicle body (1) is changed.

6. A concrete paving robot according to claim 1, characterized in that, It also includes a transverse main beam (3) and a lifting mechanism (2). The transverse main beam (3) is horizontally fixed to the front side of the vehicle body (1). The lifting mechanism (2) is located on the transverse main beam (3). The lifting mechanism (2) includes a driving end. The main scraper (401) is connected to the driving end of the lifting mechanism (2).

7. A concrete paving robot according to claim 6, characterized in that, It also includes a height sensor (202), which is located at the drive end of the lifting mechanism (2) and connected to the control system. The height sensor (202) is used to measure the vertical distance to the concrete surface.

8. A concrete paving robot according to claim 1, characterized in that, The drive mechanism has two parts, which are respectively driven and connected to the corresponding telescopic scraper (402) to ensure that the two telescopic scrapers (402) can independently adjust the length of their extension.

9. A method of using the concrete paving robot according to claim 1, characterized in that, Specifically, the steps include the following: A concrete paving robot is used to pave concrete in the construction area. The detection mechanism (5) acquires the shape of the working surface in front of the vehicle body (1); The control system receives the acquired working surface shape and determines whether there is an obstacle. If an obstacle appears, the control system obtains the location information of the obstacle based on the shape of the working surface, estimates the distance from the obstacle to the telescopic end of the telescopic scraper (402) when the vehicle body (1) travels to the side of the obstacle, and adjusts the extension length of the telescopic scraper (402) through the drive mechanism according to the estimated distance. When the vehicle body (1) travels to the side of the obstacle, the detection mechanism (5) measures the actual distance from the telescopic end to the obstacle; The control system further adjusts the extension length of the telescopic scraper (402) through the drive mechanism according to the actual distance, so that the telescopic scraper (402) gets closer to the obstacle.

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