CN110411421A - A kind of engineering construction automatic lofting system and automatic lofting method - Google Patents
A kind of engineering construction automatic lofting system and automatic lofting method Download PDFInfo
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- CN110411421A CN110411421A CN201910608952.4A CN201910608952A CN110411421A CN 110411421 A CN110411421 A CN 110411421A CN 201910608952 A CN201910608952 A CN 201910608952A CN 110411421 A CN110411421 A CN 110411421A
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- robot
- automatic
- point
- automatic lofting
- mechanical arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/02—Means for marking measuring points
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/02—Means for marking measuring points
- G01C15/06—Surveyors' staffs; Movable markers
- G01C15/08—Plumbing or registering staffs or markers over ground marks
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
Abstract
The invention discloses a kind of engineering construction automatic lofting system and automatic lofting method, automatic lofting system is by automatic lofting robot and automatically tracks total station and forms；Automatic lofting robot includes mechanical arm, automatic leveling device, blue-tooth device, GNSS device, single line laser radar, power module, 360 ° of prisms, air brushing device, control mainboard, robot body, prism bar, rangefinder；GNSS device is mounted on device people rear and front end for orienting；The prism bar of 360 ° of prisms and mechanical arm tail end connection, for positioning；Laser radar is mounted in front of robot, is used for Dynamic Programming and avoidance；Spraying-drawing apparatus is mounted on prism bar end for layout point air brushing；It automatically tracks total station and sets station at control point, for the prism coordinate on tracking measurement automatic lofting robot micro-lens bar.The present invention uses robot automatic lofting, reduces cost of labor, intelligent operation, positional accuracy height.
Description
Technical field
The invention belongs to engineering constructions to build mapping applied technical field, and in particular to a kind of engineering construction automatic lofting system
System and automatic lofting method.
Background technique
There are strict demand and control to construction precision and boundary of works area in construction process, application and construction is needed to measure
Setting-out technique provides manufacture bases and reference.Construction lofting is to be wanted when the construction of engineering construction starts according to design drawing
It asks, by a measurement work of the plan-position and elevation calibration of the building to be built or structures to actual place position
Make.
The instruments such as steel ruler, level, total station and GNSS are mainly taken in engineering construction setting-out, rely on artificial means to realize
Plane point and elevation setting-out, belong to labor intensive, low efficiency and time-consuming, while oxygen evolution rate is by setting-out personnel
Level of skill and operation are affected.With social senilization aggravation and the price of labour power rise steadily, construction lofting at
, also constantly soaring, engineering construction field needs to be added automatic job robot to promote automatization level for this, control setting-out at
This simultaneously improves construction lofting quality.
All there is limitation and deficiency in the design scheme of the automatic lofting robot delivered at present.Number of patent application
In 201810089572.X " a kind of automatic point location setting-out robot and method ", the posture orientation of robot is to utilize walking process
In former and later two moment position do direction vector resolve to realize, this calculated result when robot ambulation is steady is also possible that
But when rough place is walked, when pitching slightly violent, the posture result of calculating will be distorted, and influence robot
Navigation, while this robot is not due to having Anticollision Measures, when encountering barrier in construction can not autonomous avoiding obstacles, need
Want manual intervention.In number of patent application 201810500230.2 " a kind of surveying and locating system and method ", it is only the reduction of part
Manual working participates in, and there is no realize the automation of setting-out operating process and unmanned.
Summary of the invention
In order to solve the above-mentioned technical problem, the present invention proposes a kind of automatic lofting method based on wheeled robot, can
In the same precision for reaching artificial setting-out, the cost of labor of construction is reduced, working efficiency is improved, simultaneously because robot
It is small, transport, deployment, operation, in terms of have great advantage, be suitble to the substantive application of construction.
Technical solution used by automatic lofting system of the invention is: a kind of engineering construction automatic lofting system, special
Sign is: by automatic lofting robot and automatically tracking total station and forms；
The total station that automatically tracks is arranged at the control point near construction area；
The automatic lofting robot includes mechanical arm, automatic leveling device, blue-tooth device, GNSS device, single line laser
Radar, power module, 360 ° of prisms, air brushing device, control mainboard, robot body, prism bar, rangefinder；
The automatic leveling device is mounted on the robot body, and the mechanical arm is mounted on the automatic leveling dress
It sets；The blue-tooth device, GNSS device, single line laser radar, power module, control mainboard are installed in the robot sheet
On body；
The prism bar is vertically mounted on the mechanical arm end, and 360 ° of prisms are mounted at the top of the prism bar,
The air brushing device is mounted on the prism bar bottom；
The power module respectively with the mechanical arm, automatic leveling device, blue-tooth device, GNSS device, single line laser
Radar, air brushing device, control mainboard, robot body, rangefinder connection, for being the mechanical arm, automatic leveling device, bluetooth
Device, GNSS device, single line laser radar, 360 ° of prisms, air brushing device, control mainboard, robot body, rangefinder provide electricity
Power；
The control mainboard respectively with the mechanical arm, automatic leveling device, blue-tooth device, GNSS device, single line laser
Radar, air brushing device, robot body, rangefinder connection, for control the mechanical arm, automatic leveling device, blue-tooth device,
GNSS device, single line laser radar, 360 ° of prisms, air brushing device, robot body, rangefinder work.
Technical solution used by automatic lofting method of the invention is: a kind of engineering construction automatic lofting method, special
Sign is, comprising the following steps:
Step 1: setting automatically tracks total station；
The specific implementation of step 1 includes following sub-step:
Step 1.1: being set up on control point near the construction area and automatically track total station, another control is utilized to click through
Row orientation；
Step 1.2: it automatically tracks total station and is matched with the blue-tooth device in automatic lofting robot, it is matched to incite somebody to action
Automatic matching；
Step 1.3: automatically tracking total station and sight 360 ° of prisms in automatic lofting robot, and start start-up trace survey
Amount；
Step 2: starting automatic lofting robot；
The specific implementation of step 2 includes following sub-step:
Step 2.1: starting automatic lofting robot waits double antenna GNSS device to search star positioning and directing；
Step 2.2: layout point point range is imported by operator；
Step 2.3: operator is selected to layout point；
Step 3: the robot autonomous navigation of automatic lofting is run to layout point；
Step 4: mechanical arm is accurately positioned；
Step 5: air brushing.
Compared with prior art, advantage and good effect are mainly reflected in the following aspects to the present invention:
(1) present invention completes most work by robot, and robot has the function of independent navigation, without human intervention
Robot realizes automation, the intelligence of setting-out operation；
(2) present invention can be oriented quickly to robot using double GNSS antennas and 360 ° of prisms, double GNSS antennas, 360 ° of ribs
Mirror, which combines, automatically tracks total station to robot localization, more excellent using the method for the poor orientation of surrounding time than single prism, of the invention
It is middle to use the mobile prism setting-out of mechanical arm, precision is controlled in 0.002mm, and mechanical arm can stretch out outside robot, Er Feiji
In device people's center range, setting-out is realized in the region that it is unable to reach in robot corner etc..
(3) often environment is complicated for construction site, and the present invention is mounted with single line laser radar, independently keeps away so that robot has
Hinder function, intelligence degree is high.
Detailed description of the invention
Fig. 1 is automatic lofting robot architecture's schematic diagram of the embodiment of the present invention；
Fig. 2 is the automatic lofting robot prism bar initial position schematic diagram of the embodiment of the present invention；
Fig. 3 is automatic lofting robot arm w axis, the h axle construction schematic diagram of the embodiment of the present invention；
Fig. 4 is the method flow diagram of the embodiment of the present invention；
Fig. 5 is that the robot arm base center coordinate of the embodiment of the present invention calculates schematic diagram；
Fig. 6 is that the robot prism bar control of the embodiment of the present invention calculates schematic diagram.
Specific embodiment
Understand for the ease of those of ordinary skill in the art and implement the present invention, with reference to the accompanying drawings and embodiments to this hair
It is bright to be described in further detail, it should be understood that implementation example described herein is merely to illustrate and explain the present invention, not
For limiting the present invention.
Referring to Fig.1, a kind of engineering construction automatic lofting system provided by the invention, by automatic lofting robot and automatically with
Track total station composition；
Total station is automatically tracked to be arranged at the control point near construction area；
Automatic lofting robot includes mechanical arm 1, automatic leveling device 2, blue-tooth device 3, GNSS device 4, single line laser
Radar 5, power module 6,360 ° of prisms 7, air brushing device 8, control mainboard 9, robot body 10, prism bar 11, rangefinders 12；
Automatic leveling device 2 is mounted on robot body 10, and mechanical arm 1 is mounted on automatic leveling device 2；Bluetooth
Device 3, GNSS device 4, single line laser radar 5, power module 6, control mainboard 9 are installed on robot body 10；
Prism bar 11 is vertically mounted on 1 end of mechanical arm, and 360 ° of prisms 7 are mounted on 11 top of prism bar, and air brushing device 8 is installed
In 11 bottom of prism bar；
Power module 6 respectively with mechanical arm 1, automatic leveling device 2, blue-tooth device 3, GNSS device 4, single line laser radar
5, air brushing device 8, control mainboard 9, robot body 10, rangefinder 12 connect, for being mechanical arm 1, automatic leveling device 2, indigo plant
Tooth device 3, GNSS device 4, single line laser radar 5,360 ° of prisms 7, air brushing device 8, control mainboard 9, robot bodies 10, ranging
Instrument 12 provides electric power；
Control mainboard 9 respectively with mechanical arm 1, automatic leveling device 2, blue-tooth device 3, GNSS device 4, single line laser radar
5, air brushing device 8, robot body 10, rangefinder 12 connect, for control mechanical arm 1, automatic leveling device 2, blue-tooth device 3,
GNSS device 4, single line laser radar 5, air brushing device 8, robot body 10, rangefinder 12 work.
See Fig. 3, the mechanical arm 1 of the present embodiment is made of h axis and w axis；H axis only moves in direction perpendicular to the ground, is used for
Control elevation；W axis carries out rotation and extensional motion in horizontal plane direction, for controlling plane coordinates.
The GNSS device 4 of the present embodiment is two, is separately mounted to the rear and front end of robot body 10.
The air brushing device 8 of the present embodiment includes paint nozzle, spray painting head circuit box；Paint nozzle is connected with spray head circuit box；
Spray head circuit box is located in the middle part of paint nozzle, for storing electrostatic generator and driving the circuit of spray head spray painting, paint nozzle
For carrying out point position mark to ground.
The GNSS device 4 of the present embodiment resolves current location and the posture of robot for receiving GNSS satellite signal；
Automatic leveling device 2, the leveling work for 360 ° of prisms 7；360 ° of prisms 7, automatically track to obtain prism for total station
Point plane coordinates and elevation；Rangefinder 12, for judging that 360 ° of prisms, 7 bar bottom end spray head at a distance from ground, prevents spray head
The too low problem contacted to earth or excessively high air brushing is invalid.
See Fig. 4, a kind of engineering construction automatic lofting method provided by the invention, comprising the following steps:
Step 1: setting automatically tracks total station；
The specific implementation of step 1 includes following sub-step:
Step 1.1: being set up on control point near the construction area and automatically track total station, another control is utilized to click through
Row orientation；
Step 1.2: it automatically tracks total station and is matched with the blue-tooth device 3 in automatic lofting robot, it is matched
By automatic matching；
Step 1.3: automatically tracking total station and sight 360 ° of prisms 7 in automatic lofting robot, and start start-up trace
Measurement；
The present embodiment is using the 360 ° of prisms 7 automatically tracked in total station tracking automatic lofting robot and measures coordinate
P(XP, YP, ZP), while automatic lofting robot receives the azimuth angle theta that double antenna GNSS device 4 exportsP, to layout point A coordinate
For (XA, YA, ZA), the grid azimuth θ of P-A is calculated according to formula 1PA, automatic lofting robot needs are calculated according to formula 2
The angle, θ of adjustment1, the distance between P point and A point D are calculated according to formula 3PA；
θ1=180 ° of+θP-θPA 2
Step 2: starting automatic lofting robot；
The specific implementation of step 2 includes following sub-step:
Step 2.1: starting automatic lofting robot waits double antenna GNSS device 4 to search star positioning and directing；
Step 2.2: layout point point range is imported by operator；
Step 2.3: operator is selected to layout point；
In the present embodiment, automatic lofting robot carries out angle adjustment and according to distance DPAIt walks, it is during which constantly heavy
It is re-reading to take 360 ° of 7 coordinates of prism and read the azimuth that double antenna GNSS device 4 exports, the angle, θ for needing to adjust is resolved again
With travel distance D；Automatic lofting robot is collected simultaneously 5 data of single line laser radar, and projects to horizontal plane acquisition and put automatically
Barrier grid information in front of sample robot, automatic lofting robot are calculated using current P point as starting point by random spanning tree
Method rapid discovery one optimal travelable route in planar grid space, and issue control instruction and give automatic lofting robot
A point is gone to, if front has barrier to block automatic lofting robot driving path completely, automatic lofting robot will stop transporting
It is dynamic, and issue phonic warning and operating personnel is reminded to clear up obstacle.
Step 3: the robot autonomous navigation of automatic lofting is run to layout point；
The specific implementation of the present embodiment includes following sub-step:
Step 3.1: automatic lofting robot is received by blue-tooth device 3 automatically tracks real-time 360 ° that total station transmits
7 coordinate P X of prismP, YP, ZPAnd the real-time azimuthal angle θ that GNSS device 4 exportsP, pass through automatic lofting robot geometric position
Relationship calculates 1 base center coordinate of robot arm, obtains real time position and car body direction；
Step 3.2: automatic lofting robot calculates robot current location and target point with shortest path first
Planning path point range；
Step 3.3: automatic lofting robot is needed according to planning path point range and current location and direction, calculating robot
Distance, the speed, steering angle to be travelled；
Step 3.4: automatic lofting robot issues control instruction control automatic lofting robot and turns to and walk, until to
Near layout point.
Step 4: mechanical arm is accurately positioned；
The specific implementation of the present embodiment includes following sub-step:
Step 4.1: when the position of the position of automatic lofting robot and target point reaches preset threshold, automatic lofting machine
Device people will stop walking, and complete the automatic leveling of automatic leveling device 2, and 1 base center point of mechanical arm is OX at this timeO, YO, ZO,
The robot azimuth that double antenna GNSS device 4 exports is θOP, 360 ° of 7 home positions of prism and O point distance are L0, elemental height
For H0, 360 ° of 7 coordinate points of prism are PXP, YP, ZP, O point coordinate (specifically see Fig. 5) is calculated by formula 4,5,6；
XO=XP+L0cos(180°-θOP)
YO=YP+L0sin(180°-θOP)
Z=ZP-H0；
Step 4.2: using O point as origin, OP is that prime direction establishes polar coordinate system, calculates the instruction for mechanical arm control
Amount；O point is polar coordinates distance, polar angle θ to being ρ to layout point A point distance；OP initial length is L0, then basis
Formula 7,8 calculates ρ and θ；The angle that arm needs to rotate is θ, then the length δ of horizontal stretching is calculated (specific according to formula 9
See Fig. 6)；
δ=ρ-L0；
Step 4.3: automatic lofting robot issues driving mechanical arm 1 rotation of mechanical arm control instruction and stretches, in the process
Corrective instruction constantly is recalculated, when target point is specified in 360 ° of 7 positions of prism, mechanical arm stops movement；
In the present embodiment, the distance, delta z that mechanical arm h axis needs to move up and down is calculated by formula 10, wherein L is prism
Central point is at a distance from prism bottom end；The distance that mechanical arm w axis horizontal stretching is calculated by formula 11 is Δ w, passes through formula
12 calculate the angle delta θ that mechanical arm w axis needs to rotate in horizontal plane direction；Automatic lofting robot issues Δ z, Δ w, Δ θ
To mechanical arm, during mechanical arm constantly adjusts, rangefinder will measure distance of the spray head apart from ground on prism bar 11,
The Δ z=0 when being less than certain threshold value, is constantly adjusted by the real time position feedback of 360 ° of prisms 7, is finally accurately located at target
Point；
Δ z=ZA-ZP-L
Step 5: air brushing；
Step 5.1: automatic lofting robot sends air brushing instruction, and the air brushing controller for being fixed on micro-lens bar bottom end will
Air brushing is on target point；
Step 5.2: automatic lofting robot sends photographing instruction, and being fixed on the camera in the middle part of micro-lens bar will take pictures simultaneously
It is archived in robot host；
Step 5.3: prism bar is reset to initial position by the mechanical arm of automatic lofting robot, as shown in Fig. 2；
Step 5.4: when there is next target point, the step of automatic lofting robot goes to automatically, repeats 3-5,
When no next target point, automatic lofting robot will wait for parking operating personnel and carry out next step operation.
The present invention carries out automatic lofting using automatic lofting robot, there is the spies such as at low cost, flexible operation, job area be wide
Point；The scheme that the positioning of 360 ° of prisms is combined using double GNSS orientation, than being had preferably using the scheme of the poor orientation of surrounding time
Precision and stability, double antenna GNSS orientation accuracy can reach 0.1 °/R, and (R is double antenna parallax range, can reach 0.1 ° under 1m
Precision), setting-out is controlled using mechanical arm, reaches 0.02mm in control precision, 2mm is reached on oxygen evolution rate；Use laser
Radar data carries out active path planning, high degree of automation.
Although this specification has more used mechanical arm 1, automatic leveling device 2, blue-tooth device 3, GNSS device 4, list
Line laser radar 5, power module 6,360 ° of prisms 7, air brushing device 8, control mainboard 9, robot body 10, prism bars 11, ranging
The terms such as instrument 12, but a possibility that be not precluded using other terms.The use of these items is only for more easily describe
Essence of the invention, being construed as any additional limitation is disagreed with spirit of that invention.
It should be understood that unless otherwise clearly defined and limited, the term " installation ", " phase used in this specification
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements." first " " second " " third " " the 4th " does not represent any sequence relation, merely for convenience
The differentiation carried out is described.For the ordinary skill in the art, above-mentioned term can be understood in the present invention with concrete condition
In concrete meaning.
It should be understood that the part that this specification does not elaborate belongs to the prior art.
It should be understood that the above-mentioned description for preferred embodiment is more detailed, can not therefore be considered to this
The limitation of invention patent protection range, those skilled in the art under the inspiration of the present invention, are not departing from power of the present invention
Benefit requires to make replacement or deformation under protected ambit, fall within the scope of protection of the present invention, this hair
It is bright range is claimed to be determined by the appended claims.
Claims (10)
1. a kind of engineering construction automatic lofting system, it is characterised in that: by automatic lofting robot and automatically track total station group
At；
The total station that automatically tracks is arranged at the control point near construction area；
The automatic lofting robot include mechanical arm (1), automatic leveling device (2), blue-tooth device (3), GNSS device (4),
Single line laser radar (5), power module (6), 360 ° of prisms (7), air brushing device (8), control mainboard (9), robot body (10),
Prism bar (11), rangefinder (12)；
The automatic leveling device (2) is mounted on the robot body (10), and the mechanical arm (1) is mounted on described automatic
On apparatus for leveling (2)；The blue-tooth device (3), GNSS device (4), single line laser radar (5), power module (6), control master
Plate (9) is installed on the robot body (10)；
The prism bar (11) is vertically mounted on the mechanical arm (1) end, and 360 ° of prisms (7) are mounted on the prism bar
(11) top, the air brushing device (8) are mounted on the prism bar (11) bottom；
The power module (6) respectively with the mechanical arm (1), automatic leveling device (2), blue-tooth device (3), GNSS device
(4), single line laser radar (5), air brushing device (8), control mainboard (9), robot body (10), rangefinder (12) connection, are used for
For the mechanical arm (1), automatic leveling device (2), blue-tooth device (3), GNSS device (4), single line laser radar (5), air brushing
Device (8), control mainboard (9), robot body (10), rangefinder (12) provide electric power；
The control mainboard (9) respectively with the mechanical arm (1), automatic leveling device (2), blue-tooth device (3), GNSS device
(4), single line laser radar (5), air brushing device (8), robot body (10), rangefinder (12) connection, for controlling the machinery
Arm (1), automatic leveling device (2), blue-tooth device (3), GNSS device (4), single line laser radar (5), air brushing device (8), machine
Human body (10), rangefinder (12) work.
2. engineering construction automatic lofting system according to claim 1, it is characterised in that: the mechanical arm (1) by h axis and
W axis composition；The h axis only moves in direction perpendicular to the ground, for controlling elevation；The w axis is rotated in horizontal plane direction
And extensional motion, for controlling plane coordinates.
3. engineering construction automatic lofting system according to claim 1, it is characterised in that: the GNSS device (4) receives
Antenna is two, is separately mounted to the rear and front end of the robot body (10).
4. engineering construction automatic lofting system according to claim 1 to 3, it is characterised in that: the air brushing device
It (8) include paint nozzle, spray painting head circuit box；The paint nozzle is connected with spray head circuit box；The spray head circuit box is located at
In the middle part of paint nozzle, for storing electrostatic generator and driving the circuit of spray head spray painting, the paint nozzle is used for ground
Carry out point position mark.
5. a kind of engineering construction automatic lofting method, which comprises the following steps:
Step 1: setting automatically tracks total station；
The specific implementation of step 1 includes following sub-step:
Step 1.1: being set up on control point near the construction area and automatically track total station, determined using another control point
To；
Step 1.2: it automatically tracks total station and is matched with the blue-tooth device (3) in automatic lofting robot, it is matched to incite somebody to action
Automatic matching；
Step 1.3: automatically tracking total station and sight 360 ° of prisms (7) in automatic lofting robot, and start start-up trace survey
Amount；
Step 2: starting automatic lofting robot；
The specific implementation of step 2 includes following sub-step:
Step 2.1: starting automatic lofting robot waits double antenna GNSS device (4) to search star positioning and directing；
Step 2.2: layout point point range is imported by operator；
Step 2.3: operator is selected to layout point；
Step 3: the robot autonomous navigation of automatic lofting is run to layout point；
Step 4: mechanical arm is accurately positioned；
Step 5: air brushing.
6. engineering construction automatic lofting method according to claim 5, it is characterised in that: in step 1.3, using automatically with
Track total station tracks 360 ° of prisms (7) in automatic lofting robot and measures coordinate P (XP, YP, ZP), while automatic lofting
Robot receives the azimuth angle theta of double antenna GNSS device (4) outputP, it is (X to layout point A coordinateA, YA, ZA), according to formula
(1) the grid azimuth θ of P-A is calculatedPA, the angle, θ that automatic lofting robot needs to adjust is calculated according to formula (2)1, according to
Formula (3) calculates the distance between P point and A point DPA；
θ1=180 ° of+θP-θPA (2)
7. engineering construction automatic lofting method according to claim 5, it is characterised in that: in step 2, automatic lofting machine
People carries out angle adjustment and according to distance DPAIt walks, during which constantly repeat 360 ° of prism (7) coordinates and reads double antenna
The azimuth of GNSS device (4) output, resolves the angle, θ and travel distance D for needing to adjust again；Automatic lofting robot is simultaneously
Single line laser radar (5) data are collected, and projects to horizontal plane and obtains barrier grid information in front of automatic opaque camera device people,
Automatic lofting robot using current P point as starting point, by random spanning tree algorithm in planar grid space rapid discovery one
The optimal travelable route of item, and issue control instruction and go to A point to automatic lofting robot, if front has barrier complete
Automatic lofting robot driving path is blocked, stop motion is issued phonic warning and remind operation people by automatic lofting robot
Member's cleaning obstacle.
8. engineering construction automatic lofting method according to claim 5, which is characterized in that the specific implementation of step 3 includes
Following sub-step:
Step 3.1: automatic lofting robot receives the real-time 360 ° of prisms for automatically tracking total station transmission by blue-tooth device (3)
(7) coordinate P (XP, YP, ZP) and GNSS device (4) output real-time azimuthal angle θP, pass through automatic lofting robot geometry position
The relationship of setting calculates robot arm (1) base center coordinate, obtains real time position and car body direction；
Step 3.2: automatic lofting robot calculates the planning of robot current location and target point with shortest path first
Path point range；
Step 3.3: automatic lofting robot needs to go according to planning path point range and current location and direction, calculating robot
Distance, the speed, steering angle sailed；
Step 3.4: automatic lofting robot issues control instruction control automatic lofting robot and turns to and walk, until to setting-out
Near point.
9. engineering construction automatic lofting method according to claim 5, which is characterized in that the specific implementation of step 4 includes
Following sub-step:
Step 4.1: when the position of the position of automatic lofting robot and target point reaches preset threshold, automatic lofting robot
It will stop walking, and complete the automatic leveling of automatic leveling device (2), mechanical arm (1) base center point is O (X at this timeO, YO,
ZO), the robot azimuth of double antenna GNSS device (4) output is θOP, 360 ° of prism (7) home positions and O point distance are L0,
Elemental height is H0, 360 ° of prism (7) coordinate points are P (XP, YP, ZP), O point coordinate is calculated by formula (4) (5) (6)；
XO=XP+L0cos(180°-θOP) (4)
YO=YP+L0sin(180°-θOP) (5)
Z=ZP-H0 (6)
Step 4.2: using O point as origin, OP is that prime direction establishes polar coordinate system, calculates the command quantity for mechanical arm control；O
Point is polar coordinates distance, polar angle θ to being ρ to layout point A point distance；OP initial length is L0, then according to formula
(7) (8) calculate ρ and θ；The angle that arm needs to rotate is θ, then the length δ of horizontal stretching is calculated according to formula (9)；
δ=ρ-L0 (9)
Step 4.3: automatic lofting robot issues mechanical arm control instruction driving mechanical arm (1) rotation and stretches, in the process not
Disconnected to recalculate corrective instruction, when target point is specified in 360 ° of prism (7) positions, mechanical arm stops movement.
10. according to engineering construction automatic lofting method described in claim 5-9 any one, it is characterised in that: step 4.3
In, the distance, delta z that mechanical arm h axis needs to move up and down is calculated by formula 10, wherein L is prism centers point and prism bottom end
Distance；The distance that mechanical arm w axis horizontal stretching is calculated by formula 11 is Δ w, calculates mechanical arm w axis by formula 12 and exists
Horizontal plane direction needs the angle delta θ rotated；Automatic lofting robot issues Δ z, Δ w, Δ θ to mechanical arm, when mechanical arm not
During disconnected adjustment, rangefinder will measure distance of the spray head apart from ground on prism bar (11), the Δ z when being less than certain threshold value
=0, it is constantly adjusted by the real time position feedback of 360 ° of prisms (7), is finally accurately located at target point；
Δ z=ZA-ZP-L
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