CN114714315A - Automatic marking device and marking method for vertical transmission of internal control point - Google Patents
Automatic marking device and marking method for vertical transmission of internal control point Download PDFInfo
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- CN114714315A CN114714315A CN202210466645.9A CN202210466645A CN114714315A CN 114714315 A CN114714315 A CN 114714315A CN 202210466645 A CN202210466645 A CN 202210466645A CN 114714315 A CN114714315 A CN 114714315A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H7/00—Marking-out or setting-out work
- B25H7/04—Devices, e.g. scribers, for marking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H7/00—Marking-out or setting-out work
- B25H7/04—Devices, e.g. scribers, for marking
- B25H7/045—Devices, e.g. scribers, for marking characterised by constructional details of the marking elements
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- Length Measuring Devices By Optical Means (AREA)
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Abstract
The invention belongs to the technical field of construction and measurement of constructional engineering, and particularly relates to an automatic marking device for vertical transmission of an internal control point and a marking method thereof, wherein the device comprises a laser plummet and an automatic marking instrument; the laser plumb line instrument is erected on a first building layer of a multi-layer building, and a laser beam of the laser plumb line instrument sequentially and vertically penetrates through reserved square holes of each building layer from bottom to top; the automatic scribing instrument is arranged on an upper building layer near the reserved square hole and used for spraying a cross coordinate positioning line taking the central point of the laser beam as the center around the reserved square hole. The method promotes intelligent application in the building field. The invention solves the problems of construction measurement error and low efficiency of manually judging the position of the laser beam center point of the laser plummet and marking out the center positioning line around the reserved square hole in the process of a vertical transmission internal control method for multi-story building construction.
Description
Technical Field
The invention belongs to the technical field of construction and measurement of constructional engineering, and particularly relates to an automatic marking device and a marking method for vertical transmission of an internal control point.
Background
The appearance of high-rise buildings is a necessary result of economic development, technological progress and national land resource shortage, and also brings the challenge of whether vertical transmission of a plane control network of the high-rise building is aligned or not.
At present, an internal control method is often adopted for axis positioning in high-rise building construction, and the internal control method usually needs to erect a laser plummet on an internal control point, reserve a hole on an upper layer, enable a laser beam to be vertically projected upwards to an upper layer mark harrow, manually judge a projection point center and draw a center positioning line on the periphery. Because the position of a laser point projected by the laser plummet is uncertain, the traditional method is to manually judge and determine the center of the laser beam, move the position of an axis back and forth and then manually lead wires to two sides, so that inconvenience and construction measurement errors are caused.
Disclosure of Invention
The invention provides an automatic marking device and a marking method for vertical transmission of an internal control point.
The technical scheme adopted by the invention for solving the technical problem is as follows: an automatic marking device for vertical transmission of an internal control point comprises a laser plummet instrument and an automatic marking instrument;
the laser plumb line instrument is erected on a first building layer of a multi-layer building, and a laser beam of the laser plumb line instrument sequentially and vertically penetrates through reserved square holes of each building layer from bottom to top;
the automatic scribing instrument is arranged on an upper building layer near the reserved square hole and comprises a laser receiving mechanism, a spray head and a spray head three-dimensional moving mechanism;
the laser receiving mechanism comprises a laser receiving end, a camera and an intelligent laser receiving and processing system;
the laser receiving end is positioned right above the reserved square hole of the upper building layer and used for receiving laser beams;
the laser receiving end comprises a cross line and a plurality of concentric circles taking the intersection point of the cross line as a circle center O;
the camera is used for collecting images of the laser receiving end and transmitting the collected images to the laser intelligent receiving and processing system;
a coordinate system is arranged in the intelligent laser receiving and processing system, and the coordinate of the central point of the laser beam in the laser receiving end can be automatically determined;
the spray head three-dimensional moving mechanism is connected with the laser intelligent receiving and processing system;
the nozzle can realize three-dimensional movement under the driving of the nozzle three-dimensional movement mechanism, and a cross coordinate positioning line taking the central point of the laser beam as the center is sprayed on the periphery of the reserved square hole.
As a further optimization of the invention, the laser receiving device also comprises a receiving handle, wherein the laser receiving end is arranged at the end head of one end of the receiving handle, and the laser intelligent receiving processing system is arranged in the receiving handle.
As a further preferred aspect of the present invention, the three-dimensional moving mechanism of the head includes a protective housing, a vertical column, a transverse rod, a moving block, and a servo control system, wherein:
the top of the protection shell is connected with the end head at the other end of the receiving handle, and the side wall of the protection shell facing the laser receiving end is formed into an inward concave part;
the vertical upright posts are arranged along the height direction of the protection shell and arranged in the notches;
the transverse rod is arranged along the horizontal plane, one end of the transverse rod is connected with the vertical upright post, and the other end of the transverse rod is a free end and extends out of the notch;
the moving block is arranged on the transverse rod, and the bottom of the moving block is provided with a spray head;
the servo control system is used for controlling the vertical upright post to rotate, controlling the transverse rod to move along the vertical upright post and controlling the moving block to move along the transverse rod.
As a further preferred aspect of the present invention, the camera is mounted on the protective housing, and the shooting range of the camera includes a laser receiving end and a receiving handle.
As a further preferred aspect of the present invention, the shower head further includes a proximity switch, and the proximity switch is attached near the nozzle hole of the shower head.
As a further preferable mode of the invention, the device further comprises a distance measuring sensor, and the distance measuring sensor is installed on the transverse rod or the spray head.
In a further preferred embodiment of the present invention, the maximum limit distance of the sprinkler from the floor of the building is 10mm, and the minimum limit distance of the sprinkler from the floor of the building is 1 mm.
The automatic marking method for the vertical transmission of the internal control point comprises the following steps:
and 4, determining the coordinates of the central point of the laser beam, and specifically comprising the following steps:
step 41, collecting the laser receiving end image: the camera collects images of the laser receiving end and transmits the collected images to the laser intelligent receiving and processing system;
step 42, establishing polar coordinates: the intelligent laser receiving and processing system establishes a polar coordinate for the received laser receiving end image by taking the intersection point O of the cross lines as a polar coordinate origin and taking the horizontal radius direction of the concentric circles as a polar coordinate axis;
step 43, determining the coordinates of the center point of the laser beam: determining a coordinate value of a central point P of the laser beam in a polar coordinate according to the position of the laser beam displayed in the image of the laser receiving end;
and 5, automatically scribing, which specifically comprises the following steps:
step 51, establishing an X axis: the laser receiving end is arranged at the tail end of the receiving handle, and the receiving handle is provided with a gravity center Q; identifying the gravity center Q in the polar coordinates of the step 42 according to the actual distance value and direction between the gravity center Q and the circle center O in the laser receiving end; and the OQ connecting line is taken as an X axis;
step 52, establishing a cross line: establishing a cross-shaped scribing line with the side length of a set value a by taking the point P as a central point, wherein one side length of the cross-shaped scribing line is parallel to the X axis; each side length of the cross-shaped scribing line comprises a plurality of control points which are arranged in parallel along the length direction; the radius of each control point is less than one half of the radius of the laser beam;
step 53, determining the coordinates of the control points: determining a corresponding coordinate value for each control point in step 52 in a polar coordinate system;
step 54, selecting a spray head: the radius of the spray hole of the spray head is equal to the radius of the control point;
step 55, scribing: the sprayer marks out a cross coordinate positioning line corresponding to the cross mark line established in the step 52 under the movement of the sprayer three-dimensional moving mechanism and the periphery of the alpha-angle reserved square hole in the upper building layer according to the control point coordinate determined in the step 53;
As a further preferred aspect of the present invention, when the control points at the outermost side length ends of the cross-shaped scribe line created in step 52 are point a, point B, point C, and point D, respectively, and the scribe line in step 55 is performed;
the spray painting is stopped after the proximity switch senses the reserved square hole during the spray painting from the point A to the point P, and then the spray head moves to the point B;
b, spray-painting the spray head from the point B to the point P, stopping spray-painting after the proximity switch senses the reserved square hole during spray-painting from the point B to the point P, and moving the spray head to the point C;
the spray head sprays from the point C to the point P, the spray head stops spraying after the proximity switch senses the reserved square hole during the spray process from the point C to the point P, and then the spray head moves to the point D;
and (4) spray-painting the spray head from the D point to the P point, and stopping spray-painting after the proximity switch senses the reserved square hole in the period from the D point to the P point.
As a further preferred aspect of the present invention, the size of the pre-cut square hole is 150 × 150 mm; the diameter of the laser beam is less than 8 mm.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. the invention overcomes the problems of construction measurement error and low efficiency of manually judging the position of the laser beam center point of the laser plummet and marking the center positioning line around the reserved square hole in the process of a vertical transmission internal control method in the construction of a multi-story building, adopts an intelligent analysis mode to determine the position of the center point of the emitted laser beam, controls the spray head to automatically spray and draw a cross coordinate positioning line taking the laser beam center point as an original point by the spray head three-dimensional moving mechanism, reduces the construction measurement error, ensures the vertical alignment of the building and promotes the intelligent application in the building field.
2. The automatic line drawing device comprises the proximity switch, and the waste of resources caused by invalid spray painting at the reserved square hole can be avoided when automatic line drawing is realized through the induction of the proximity switch.
3. The invention comprises a distance measuring sensor, a distance measuring sensor and a distance measuring system, wherein the distance measuring sensor is used for measuring the distance L between a spray head and a building layer, the mounting distance L1 between the distance measuring sensor and a spray hole of the spray head in the vertical direction is set, the distance L2 is measured by the distance measuring sensor in real time, L = L2-L1, and the numerical range of L is 1mm-10 mm; when needs are automatic to be rule, move the shower nozzle earlier to apart from building layer aspect 10mm, move to laser beam's central point position again, move the shower nozzle to apart from building layer aspect 1mm department and carry out the air brushing after that, during through range sensor with the distance L of accuse shower nozzle apart from building layer aspect.
4. The invention can set up measuring and setting layers at large intervals and is suitable for the vertical transmission of the axis positioning points of the control network of a high-rise building.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a simple view of the overall structure of the present invention;
FIG. 2 is a schematic view of the connection between the vertical columns and the transverse rods of the present invention;
FIG. 3 is a schematic diagram of a receiving surface structure of a laser receiving end of the present invention;
FIG. 4 is a schematic view of a cross coordinate positioning line of the present invention;
fig. 5 is a schematic view of the vertical transfer process between floors of a multi-storey building according to the present invention.
In the figure: 1. a laser plummet apparatus; 2. a first building layer; 3. reserving a square hole; 4. an upper building layer; 5. a spray head; 6. a notch; 7. a laser receiving end; 8. a laser beam; 9. a cross coordinate positioning line; 10. a receiving handle; 11. a protective housing; 12. a vertical column; 13. a transverse bar; 14. moving the mass.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
In the description of the present invention, it is to be understood that the terms "left side", "right side", "upper part", "lower part", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and that "first", "second", etc., do not represent an important degree of the component parts, and thus are not to be construed as limiting the present invention. The specific dimensions used in the present example are only for illustrating the technical solution and do not limit the scope of protection of the present invention.
Example 1
This example provides a preferred embodiment, an automatic marking device with internal control point vertical transmission, as shown in fig. 1 to 5, this embodiment includes a laser plummet 1 and an automatic marking device, in which:
the laser plummet apparatus 1 is erected on a first building layer 2 of a multi-storey building, and a laser beam 8 of the laser plummet apparatus 1 sequentially and vertically penetrates through a reserved square hole 3 of each building layer from bottom to top.
The automatic scribing instrument is arranged on an upper building layer 4 near the reserved square hole 3 and comprises a laser receiving mechanism, a spray head 5 and a spray head three-dimensional moving mechanism.
Further, the laser receiving mechanism comprises a laser receiving end 7, a camera and a laser intelligent receiving and processing system, and the structure is as follows:
and the laser receiving end 7 is positioned right above the reserved square hole 3 of the upper building layer 4 and is used for receiving a laser beam 8. The laser receiving end 7 comprises a cross line and a plurality of concentric circles taking the intersection point of the cross line as a circle center O. Preferably, there are eight concentric circles with a spacing of 50mm between adjacent concentric circles to assist in determining the coordinates of the center point of the laser beam 8.
The camera is used for collecting the image of the laser receiving end 7 and transmitting the collected image to the laser intelligent receiving and processing system.
A coordinate system is arranged in the intelligent laser receiving and processing system, and the coordinate of the central point of the laser beam 8 in the laser receiving end 7 can be automatically determined.
Further, the present embodiment further includes a receiving handle 10, the laser receiving end 7 is disposed at an end of one end of the receiving handle 10, and the laser intelligent receiving processing system is disposed inside the receiving handle 10. The receiving shank 10 provides a supporting force for the laser receiving end 7, and preferably, the receiving shank 10 has an arc shape.
The three-dimensional moving mechanism of the nozzle is connected with the laser intelligent receiving and processing system (how to specifically realize the movement of the nozzle 5 by the three-dimensional moving mechanism of the nozzle is the prior art, and is not specifically described in this embodiment). The three-dimensional moving mechanism of shower nozzle includes protection casing 11, vertical column 12, transverse bar 13, movable block 14, servo control system, specifically as follows:
the top of the protective shell 11 is connected with the other end of the receiving handle 10, and the side wall of the protective shell 11 towards the laser receiving end 7 is inwards sunken to form a notch 6. In use, the protective casing 11 is placed on the level of the superstructure level 4. Specifically, the camera is mounted on the protective housing 11 (not shown in the figures), and it is sufficient to ensure that the shooting range of the camera includes the laser receiving end 7 and the receiving handle 10 as a whole.
The vertical posts 12 are disposed along the height direction of the protective case 11 and in the notches 6.
The transverse rod 13 is arranged along the horizontal plane, one end of the transverse rod 13 is connected with the vertical upright post 12, and preferably, a sliding block is adopted to realize the connection between the transverse rod 13 and the vertical upright post 12; the other end of the transverse bar 13 is free and extends out of the slot 6.
The moving block 14 is arranged on the transverse rod 13, and the bottom of the moving block 14 is provided with the spray head 5. The movable block 14 and the spray head 5 are detachable, preferably, the spray head 5 is screwed off from the movable block 14 by adopting a threaded connection, and then spray painting materials are added into the spray head 5.
The servo control system is used for controlling the vertical upright post 12 to rotate, controlling the transverse rod 13 to move along the vertical upright post 12 and controlling the moving block 14 to move along the transverse rod 13. Preferably, the servo control system comprises a first drive motor, a second drive motor and a third drive motor.
The first driving motor is used for driving the vertical upright post 12 to rotate, so as to drive the transverse rod 13 to rotate in the horizontal plane by taking the joint of the vertical upright post 12 and the transverse rod 13 as the center of a circle.
The second drive motor is used to drive the transverse bar 13 to move along the vertical upright 12.
A third drive motor is mounted on the moving block 14 for driving the moving block 14 to move along the transverse bar 13.
The nozzle 5 can realize three-dimensional movement under the driving of the nozzle three-dimensional movement mechanism, and a cross coordinate positioning line 9 taking the central point of the laser beam 8 as the center is sprayed around the reserved square hole 3.
Furthermore, the nozzle 5 is funnel-shaped, and the bottom of the nozzle 5 is provided with a spray hole. The movement of the spray head 5 on the horizontal plane is controlled by the linkage of a first driving motor and a second driving motor corresponding to the vertical upright post 12 and the transverse rod 13, a third driving motor is fixed above the moving block 14, and the third driving motor controls the rotation of a spiral blade in the spray head 5 to control the discharge of the spray hole of the spray head 5. Preferably, the maximum limit distance of the spray head 5 from the building layer level is 10mm, and the minimum limit distance of the spray head 5 from the building layer level is 1 mm. The diameter of the spray hole is 0.8-1.2 mm.
Further, the embodiment further comprises a proximity switch, wherein the proximity switch is installed near the spray hole of the spray head 5 and used for stopping spray painting of the spray head 5 when the reserved square hole 3 is sensed.
Further, the present embodiment further includes a distance measuring sensor installed on the transverse bar 13 or the spray head 5. The distance measuring sensor is used for measuring the distance L between the spray head and the building layer, the mounting distance L1 between the distance measuring sensor and the spray hole of the spray head in the vertical direction is set, the distance L2 is measured by the distance measuring sensor in real time, L = L2-L1, and the numerical range of L is 1mm-10 mm; when needs are automatic to be marked a line, earlier remove shower nozzle 5 to apart from building layer aspect 10mm, remove the central point position to laser beam 8 again, remove shower nozzle 5 to apart from building layer aspect 1mm department and carry out the air brushing after that, during through range finding sensor to control the distance L of shower nozzle 5 apart from building layer aspect.
The embodiment also comprises an automatic marking method for vertical transmission of the internal control point, which comprises the following steps:
Preferably, the pre-cut square holes 3 are 150 x 150mm in size.
Preferably, the laser plummet 1 emits a laser beam 8 with a diameter less than 8mm, and the laser beam 8 is visible red light.
It should be noted that the initial position of the transverse bar 13 cannot be parallel to the receiving shank 10 before the laser receiving end 7 receives the laser beam 8, i.e. the transverse bar 13 cannot be located directly above the pre-cut square hole 3.
Preferably, the laser receiving end 7 may be other colors than red, so as to distinguish the laser beam 8 from the laser receiving end 7, and facilitate to identify the position of the laser beam 8 on the laser receiving end 7.
step 41, collecting images of the laser receiving end 7: the camera collects the image of the laser receiving end 7 and transmits the collected image to the laser intelligent receiving and processing system.
Step 42, establishing polar coordinates: the laser intelligent receiving and processing system establishes a polar coordinate for the received laser receiving end 7 image by taking the intersection point O of the cross lines as a polar coordinate origin and taking the horizontal radius direction of the concentric circles as a polar coordinate axis.
Step 43, determining the coordinates of the center point of the laser beam 8: and determining the coordinate value of the central point P of the laser beam 8 in the polar coordinate according to the position of the laser beam 8 displayed in the image of the laser receiving end 7.
And 5, automatically scribing, which specifically comprises the following steps:
step 51, establishing an X axis: the laser receiving end 7 is arranged at the tail end of the receiving handle 10, and the receiving handle 10 is provided with a gravity center Q; identifying the gravity center Q in the polar coordinates of the step 42 according to the actual distance value and direction between the gravity center Q and the circle center O in the laser receiving end 7; and OQ is connected as the X axis.
Further, the gravity center Q of the receiving handle 10 is collected at the same time when the camera collects the image of the laser receiving end 7, and the collected gravity center Q image of the receiving handle 10 is transmitted to the laser intelligent receiving and processing system.
Preferably, point Q is the unique center of gravity position of the receiving shank 10.
Step 52, establishing a cross line: establishing a cross-shaped scribing line with the side length as a set value a by taking the point P as a central point, wherein one side length of the cross-shaped scribing line is parallel to the X axis; each side length of the cross-shaped scribing line comprises a plurality of control points which are arranged in parallel along the length direction; the radius of each control point is smaller than one half of the radius of the laser beam 8, and the radius of each control point is consistent with that of the spray hole; and respectively setting the control points at the outermost end of the side length of the established cross-shaped marking line as a point A, a point B, a point C and a point D.
Preferably, the side length a of the cross is 150mm-250 m.
Step 53, determining the coordinates of the control points: determining a corresponding coordinate value for each control point in step 52 in a polar coordinate system;
step 54, selecting the spray head 5: the radius of the spray hole of the spray head 5 is equal to the radius of the control point.
Step 55, scribing: and the sprayer 5 marks out a cross coordinate positioning line 9 corresponding to the cross mark line established in the step 52 on the periphery of the alpha-angle reserved square hole 3 in the upper building layer 4 under the movement of the sprayer three-dimensional moving mechanism according to the control point coordinate determined in the step 53.
Note that, when scribing in step 55:
the spray head 5 firstly moves along the vertical upright post 12 to the maximum limit distance of the spray head 5 from the layer surface of the building;
then the spray head 5 moves to the position of the central point of the laser beam 8 in the horizontal plane;
then the spray head 5 moves along the vertical upright post 12 to the position of the minimum limit distance between the spray head 5 and the layer surface of the building;
the spray head 5 starts to spray from the point A to the point P in the step 52, the spray is stopped after the proximity switch senses the reserved square hole 3 in the period from the point A to the point P, and then the spray head 5 moves to the point B;
the spray head 5 performs spray painting from the point B to the point P, the spray painting is stopped after the proximity switch senses the reserved square hole 3 during the spray painting from the point B to the point P, and then the spray head 5 moves to the point C;
the spray-painting of the spray head 5 is carried out from the point C to the point P, the spray-painting is stopped after the proximity switch senses the reserved square hole 3 in the spray-painting period from the point C to the point P, and then the spray head 5 moves to the point D;
and (3) spray-painting the spray head 5 from the point D to the point P, and stopping spray-painting after the proximity switch senses the reserved square hole 3 in the period from the point D to the point P.
The drawing sequence of the four points of the point A, the point B, the point C and the point D has no clear requirement, and the cross coordinate positioning line 9 is sprayed and drawn according to the set sequence and the set sequence by an operator.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" as used herein is intended to include both the individual components or both.
The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. The utility model provides an automatic marking device of vertical transmission of interior accuse point which characterized in that: comprises a laser plummet apparatus and an automatic marking apparatus;
the laser plumb line instrument is erected on a first building layer of a multi-layer building, and a laser beam of the laser plumb line instrument sequentially and vertically penetrates through reserved square holes of each building layer from bottom to top;
the automatic scribing instrument is arranged on an upper building layer near the reserved square hole and comprises a laser receiving mechanism, a spray head and a spray head three-dimensional moving mechanism;
the laser receiving mechanism comprises a laser receiving end, a camera and an intelligent laser receiving and processing system;
the laser receiving end is positioned right above the reserved square hole of the upper building layer and used for receiving laser beams;
the laser receiving end comprises a cross line and a plurality of concentric circles taking the intersection point of the cross line as a circle center O;
the camera is used for collecting images of the laser receiving end and transmitting the collected images to the laser intelligent receiving and processing system;
a coordinate system is arranged in the intelligent laser receiving and processing system, and the coordinate of the central point of the laser beam in the laser receiving end can be automatically determined;
the spray head three-dimensional moving mechanism is connected with the laser intelligent receiving and processing system;
the nozzle can realize three-dimensional movement under the driving of the nozzle three-dimensional movement mechanism, and a cross coordinate positioning line taking the central point of the laser beam as the center is sprayed on the periphery of the reserved square hole.
2. The automatic marking device for internal control point vertical transmission according to claim 1, characterized in that: the laser receiving end is arranged at the end head of one end of the receiving handle, and the laser intelligent receiving and processing system is arranged in the receiving handle.
3. The automatic marking device for internal control point vertical transmission according to claim 2, characterized in that: the three-dimensional moving mechanism of shower nozzle includes protecting sheathing, vertical column, transverse bar, movable block, servo control system, wherein:
the top of the protection shell is connected with the end head at the other end of the receiving handle, and the side wall of the protection shell facing the laser receiving end is formed into an inward concave part;
the vertical upright posts are arranged along the height direction of the protection shell and arranged in the notches;
the transverse rod is arranged along the horizontal plane, one end of the transverse rod is connected with the vertical upright post, and the other end of the transverse rod is a free end and extends out of the notch;
the moving block is arranged on the transverse rod, and the bottom of the moving block is provided with a spray head;
the servo control system is used for controlling the vertical upright post to rotate, controlling the transverse rod to move along the vertical upright post and controlling the moving block to move along the transverse rod.
4. The automatic marking device for internal control point vertical transmission according to claim 3, characterized in that: the camera is installed on the protection casing, and the shooting scope of camera includes laser receiving terminal and receipt handle.
5. The automatic marking device for internal control point vertical transmission according to claim 4, characterized in that: the nozzle also comprises a proximity switch which is arranged near the spray hole of the spray head.
6. The automatic marking device for internal control point vertical transmission according to claim 5, characterized in that: the range-finding device also comprises a range-finding sensor which is arranged on the transverse rod or the spray head.
7. The automatic marking device for internal control point vertical transmission according to claim 6, characterized in that: the maximum limit distance of the spray head from the layer surface of the building is 10mm, and the minimum limit distance of the spray head from the layer surface of the building is 1 mm.
8. The automatic marking method of the automatic marking device for the vertical transmission of the internal control point as claimed in claim 7 is characterized by comprising the following steps:
step 1, laying a reserved square hole: respectively arranging reserved square holes at four corners of each building layer of the multi-layer building, wherein all the reserved square holes in the same corner are positioned on the same vertical straight line; setting four corners of a building layer as an alpha angle, a beta angle, a gamma angle and a delta angle respectively;
step 2, erecting a laser plummet instrument: erecting a laser plummet instrument on a reserved square hole at an alpha angle in a first-floor building layer, and enabling laser beams emitted by the laser plummet instrument to sequentially vertically penetrate through the reserved square hole at the alpha angle from bottom to top;
step 3, receiving laser beams: a laser receiving end positioned right above the alpha angle reserved square hole in the upper building layer receives and displays the laser beam in the step (2);
and 4, determining the coordinates of the central point of the laser beam, and specifically comprising the following steps:
step 41, collecting the laser receiving end image: the camera collects images of the laser receiving end and transmits the collected images to the laser intelligent receiving and processing system;
step 42, establishing polar coordinates: the intelligent laser receiving and processing system establishes a polar coordinate for the received laser receiving end image by taking the intersection point O of the cross lines as a polar coordinate origin and taking the horizontal radius direction of the concentric circles as a polar coordinate axis;
step 43, determining the coordinates of the central point of the laser beam: determining a coordinate value of a central point P of the laser beam in a polar coordinate according to the position of the laser beam displayed in the image of the laser receiving end;
and 5, automatically scribing, which specifically comprises the following steps:
step 51, establishing an X axis: the laser receiving end is arranged at the tail end of the receiving handle, and the receiving handle is provided with a gravity center Q; identifying the gravity center Q in the polar coordinates of the step 42 according to the actual distance value and direction between the gravity center Q and the circle center O in the laser receiving end; and the OQ connecting line is taken as an X axis;
step 52, establishing a cross line: establishing a cross-shaped scribing line with the side length as a set value a by taking the point P as a central point, wherein one side length of the cross-shaped scribing line is parallel to the X axis; each side length of the cross-shaped scribing line comprises a plurality of control points which are arranged in parallel along the length direction; the radius of each control point is less than one half of the radius of the laser beam;
step 53, determining the coordinates of the control points: determining a corresponding coordinate value for each control point in step 52 in a polar coordinate system;
step 54, selecting a spray head: the radius of the spray hole of the spray head is equal to the radius of the control point;
step 55, scribing: the sprayer marks out a cross coordinate positioning line corresponding to the cross mark line established in the step 52 under the movement of the sprayer three-dimensional moving mechanism and the periphery of the alpha-angle reserved square hole in the upper building layer according to the control point coordinate determined in the step 53;
step 6, continuous scribing: and (5) marking a cross coordinate positioning line on the periphery of the reserved square hole of the beta angle, the gamma angle and the delta angle in the first-layer building layer by referring to the steps 2 to 5.
9. The automatic marking method for the vertical transmission of the internal control point according to claim 8, characterized in that: setting the control points at the outermost side length end of the cross-shaped scribing line established in the step 52 as a point A, a point B, a point C and a point D respectively, and performing the scribing in the step 55;
the spray painting is stopped after the proximity switch senses the reserved square hole during the spray painting from the point A to the point P, and then the spray head moves to the point B;
b, spray-painting the spray head from the point B to the point P, stopping spray-painting after the proximity switch senses the reserved square hole during spray-painting from the point B to the point P, and moving the spray head to the point C;
the spray head sprays from the point C to the point P, the spray head stops spraying after the proximity switch senses the reserved square hole during the spray process from the point C to the point P, and then the spray head moves to the point D;
and (4) spray-painting the spray head from the D point to the P point, and stopping spray-painting after the proximity switch senses the reserved square hole in the period from the D point to the P point.
10. The automatic marking method for the vertical transmission of the internal control point as claimed in claim 9, characterized in that: the size of the reserved square hole is 150 x 150 mm; the diameter of the laser beam is less than 8 mm.
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