CN116591008B - Edge lofting method, system, equipment and storage medium - Google Patents

Edge lofting method, system, equipment and storage medium Download PDF

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Publication number
CN116591008B
CN116591008B CN202310872329.6A CN202310872329A CN116591008B CN 116591008 B CN116591008 B CN 116591008B CN 202310872329 A CN202310872329 A CN 202310872329A CN 116591008 B CN116591008 B CN 116591008B
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Prior art keywords
lofting
pile point
line
edge
coordinates
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CN116591008A (en
Inventor
王猛
彭海东
祝浪
刘圣
彭思
张俊
刘冰
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Wuhan Guangyu Mingsheng Intelligent Technology Co ltd
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Wuhan Guangyu Mingsheng Intelligent Technology Co ltd
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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/16—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings
    • E01C23/163—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for marking-out the location of the markings; Guiding or steering devices for marking apparatus, e.g. sights
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a method, a system, equipment and a storage medium for lofting a boundary, wherein the method comprises the following steps: when the sideline lofting robot runs from the current position to the projection position of the designed sideline pile point, rotating to the direction of the target projection line based on the projection position of the designed sideline pile point; determining a completion surface based on the travel of the target projection line direction along the corresponding target projection linenThe side pile points are arranged at the positions,n1 or more; according to the finish planenSide pile point determination completion facenHorizontal coordinates of +1 side pile point; spraying finishing surface of edge line lofting robot through spraying mechanism based on horizontal coordinatesnEdge and finish surfacen+1 side pile point; determining the 1 st pile point of the finished surface and the 1 st pile point of the finished surfacenNumber of marks between +1 side stake points; and finishing the edge lofting when the number of marks is equal to the number of the designed edge piles. According to the automatic side line lofting device, the automatic lofting of the roadbed excavation and filling side line is realized through the side line lofting robot and the side line automatic lofting strategy, so that the side line lofting efficiency is improved.

Description

Edge lofting method, system, equipment and storage medium
Technical Field
The invention relates to the technical field of road construction, in particular to a boundary lofting method, a system, equipment and a storage medium.
Background
In road construction, the border is often required to be lofted, and the border mainly comprises the procedures of drawing the border and marking the pile number points. In the prior art, known design parameters are obtained through a design drawing, actual data are measured by using a measuring instrument, the known design parameters and the actual data are used as a basis for combining engineering construction professional measuring technology and a formula, and side piles are laid out according to the middle piles, so that the side piles form construction side lines of a road. At present, the conventional lofting method is to manually calculate the cross section elevation and the middle pile offset of each pile number by using measuring tools such as a total station, a carrier phase difference technology (Real-time kinematic RTK) and the like, then to discharge side piles, and finally to manually draw mark lines by workers, but the lofting method has the problems of low speed and large engineering quantity due to the mode, and directly influences the construction progress.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a sideline lofting method, a system, equipment and a storage medium, which aim to solve the technical problem of how to improve the sideline lofting efficiency.
In order to achieve the above object, the present invention provides a border lofting method, which includes:
When the sideline lofting robot runs from the current position to a projection position of a design sideline pile point, rotating to a target projection line direction based on the projection position of the design sideline pile point;
determining an nth side pile point of the finished surface based on the running of the target projection line direction along the corresponding target projection line, wherein n is more than or equal to 1;
determining the horizontal coordinates of the (n+1) th side pile point of the finishing surface according to the n th side pile point of the finishing surface;
based on the horizontal coordinates of the n+1th side pile point of the finished surface, enabling the sideline lofting robot to spray the n sideline of the finished surface and the n+1th side pile point of the finished surface through a spraying mechanism;
determining the number of marks between the 1 st side pile point of the finished surface and the n+1 st side pile point of the finished surface;
and finishing the edge lofting when the number of the marks is equal to the number of the designed edge piles.
Optionally, the step of determining the nth pile point of the finish surface based on the target projection line direction running along the corresponding target projection line includes:
driving the sideline lofting robot along a corresponding target projection line based on the target projection line direction so as to obtain plane coordinates and elevations measured in real time;
determining a theoretical elevation through a target slope line equation according to the plane coordinates measured in real time;
Determining an absolute value difference between the theoretical elevation and the elevation;
judging whether the absolute value difference is smaller than or equal to a preset threshold value;
when the absolute value difference is smaller than or equal to the preset threshold value, controlling the robot to stop running, and acquiring the plane coordinates of the nth side pile point of the finished surface and the elevation coordinates of the nth side pile point of the finished surface;
and determining the finishing surface nth side pile point according to the plane coordinates of the finishing surface nth side pile point and the elevation coordinates of the finishing surface nth side pile point, and marking the finishing surface nth side pile point by a spraying mechanism of the sideline lofting robot.
Optionally, after the step of determining whether the absolute value difference is less than or equal to a preset threshold, the method further includes:
and when the absolute value difference is larger than the preset threshold value, returning to the step of determining the nth side pile point of the finished surface based on the running of the target projection line direction along the corresponding target projection line.
Optionally, before the step of determining the theoretical elevation according to the real-time measured plane coordinates through the target slope line equation, the method further includes:
determining a lofting distance according to expected quality of the boundary lofting;
calculating the coordinates of the designed side piles and the direction of the designed side piles according to the coordinates of the designed middle piles, curve elements and the lofting distance;
Determining a slope line equation according to the designed side pile coordinates and the designed side pile direction;
and determining a target slope line equation according to the slope line equation.
Optionally, the step of determining the horizontal coordinates of the n+1th side pile point of the finishing surface according to the n side pile point of the finishing surface includes:
determining the Z coordinate information of the nth elevation according to the nth side pile point of the finishing surface;
determining the horizontal coordinates of the (n+1) th side pile point of the finished surface through a horizontal coordinate formula according to the (n) th elevation Z coordinate information;
the horizontal coordinate formula is as follows:
in (XT) n+1 , YT n+1 ) To complete the horizontal coordinate of the n+1th side pile point of the surface, Z n For the nth elevation Z coordinate information, (x) n , y n , z n ) And designing a pile point coordinate for the nth side, wherein k is the slope ratio of the side slope.
Optionally, after the step of determining the number of marks between the 1 st side pile point of the finish surface and the n+1 st side pile point of the finish surface, the method further includes:
and returning to the step of determining the horizontal coordinates of the (n+1) th side pile point of the finished surface according to the n th side pile point of the finished surface when the number of marks is smaller than the number of design side piles.
In addition, in order to achieve the above object, the present invention also proposes an edge lofting system, including:
the adjusting module is used for rotating to the direction of a target projection line based on the projection position of the designed edge pile point when the edge line lofting robot runs from the current position to the projection position of the designed edge pile point;
The driving module is used for driving along the corresponding target projection line based on the target projection line direction, and determining an nth side pile point of the finished surface, wherein n is more than or equal to 1;
the determining module is used for determining the horizontal coordinates of the (n+1) th side pile point of the finishing surface according to the (n) th side pile point of the finishing surface;
the determining module is further used for enabling the sideline lofting robot to spray finishing surface nth sideline and finishing surface nth+1th side pile point through a spraying mechanism based on horizontal coordinates of finishing surface nth+1th side pile point;
the determining module is further used for determining the number of marks between the 1 st side pile point of the finished surface and the n+1 st side pile point of the finished surface;
and the determining module is also used for finishing the edge lofting when the number of the marks is equal to the number of the designed edge piles.
In addition, in order to achieve the above object, the present invention also proposes a side line lofting apparatus, the apparatus comprising: a memory, a processor, and an edge loft program stored on the memory and executable on the processor, the edge loft program configured to implement the steps of the edge loft method as described above.
In addition, in order to achieve the above object, the present invention also proposes a storage medium having stored thereon an edge lofting program which, when executed by a processor, implements the steps of the edge lofting method as described above.
According to the invention, firstly, when the sideline lofting robot runs from a current position to a projection position of a designed sideline pile point, the projection position of the designed sideline pile point is rotated to a target projection line direction, then the projection robot runs along a corresponding target projection line based on the target projection line direction, the n-th sideline pile point of the finished surface is determined, n is more than or equal to 1, the horizontal coordinates of the n+1th sideline pile point of the finished surface are determined according to the n-th sideline pile point of the finished surface, the sideline lofting robot sprays the n-th sideline of the finished surface and the n+1th sideline pile point of the finished surface through a spraying mechanism based on the horizontal coordinates, then the number of marks between the 1 st sideline pile point of the finished surface and the n+1th sideline pile point of the finished surface is determined, and when the number of marks is equal to the number of the designed sidelines, the sideline lofting is completed. Compared with the prior art that the cross section elevation and the middle pile offset of each pile number are manually calculated by using measuring tools such as a total station, an RTK and the like, then the side piles are discharged, and finally mark lines are manually drawn by workers, so that the side line lofting efficiency is slower.
Drawings
FIG. 1 is a schematic diagram of a configuration of a boundary lofting device of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flow chart of a first embodiment of the edge lofting method of the present invention;
FIG. 3 is a schematic diagram of a right-to-travel robot in accordance with a first embodiment of the sideline loft method of the present invention;
FIG. 4 is a schematic view showing projection of a road design side pile, a side slope line and a side slope line according to a first embodiment of the side slope lofting method of the present invention;
FIG. 5 is a schematic diagram of a finishing surface edge and finishing surface edge stake points according to a first embodiment of the edge lofting method of the present invention;
FIG. 6 is a schematic diagram of a design surface and a finish surface of a first embodiment of a boundary line lofting method of the present invention;
FIG. 7 is a flow chart of automated robotic edge lofting in accordance with a first embodiment of the edge lofting method of the present invention;
FIG. 8 is a block diagram of a first embodiment of a sideline loft system of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic diagram of a boundary line lofting device of a hardware running environment according to an embodiment of the present invention.
As shown in fig. 1, the edge lofting device may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage system separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the configuration shown in fig. 1 is not limiting of the line loft device and may include more or fewer components than shown, or certain components in combination, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a border layout program may be included in the memory 1005 as one type of storage medium.
In the edge lofting device shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the edge lofting device of the present invention may be disposed in the edge lofting device, where the edge lofting device invokes an edge lofting program stored in the memory 1005 through the processor 1001, and executes the edge lofting method provided by the embodiment of the present invention.
An embodiment of the present invention provides a method for edge line lofting, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the edge line lofting method of the present invention.
In this embodiment, the edge line lofting method includes the following steps:
step S10: and when the sideline lofting robot runs from the current position to the projection position of the design sideline pile point, rotating to the direction of the target projection line based on the projection position of the design sideline pile point.
It is to be understood that the execution body of the present embodiment may be a device with functions of data processing, network communication, program running, etc., or may be other computer devices with similar functions, etc., and the present embodiment is not limited thereto.
It should be noted that the border loft includes a left border loft and a right border loft. But to the sideline lofting robot, not only left sideline lofting but also right sideline lofting can be completed. The sideline lofting robot can travel left by left or right by right according to preset travel rules. If the robot is right to travel, then at the lofting in-process of robot, left side line lofting and right side line lofting are right side line lofting to the robot. If the robot runs left by left, in the process of lofting the robot, lofting the left side line and lofting the right side line are both lofting the left side line for the robot.
Referring to fig. 3, fig. 3 is a schematic diagram of a robot right-keeping running of a first embodiment of a sideline lofting method according to the present invention, in this embodiment, the robot right-keeping running of a robot, that is, a sideline lofting robot is taken as an example, and in the process of lofting the robot, both left sideline lofting and right sideline lofting are right sideline lofting for the robot.
The current position is understood to be the current position of the sideline lofting robot, and can be an initial position or a position corresponding to the nth side pile point of the finished surface, wherein n is more than or equal to 1. The projection position of the design side pile point can be the projection point corresponding to the 1 st design side pile point, the projection point corresponding to the nth design side pile point, and the like. The target projection line direction is the projection line direction corresponding to the projection position of the designed side pile point. For example, the direction of the target projection line corresponding to the 1 st design side stake point projection position is the 1 st projection line direction, the direction of the target projection line corresponding to the 2 nd design side stake point projection position is the 2 nd projection line direction, and the like, and the embodiment is not limited.
It should also be appreciated that the sideline lofting robot includes a differential chassis, a spray mechanism, a controller, and a positioning device. The positioning device is used for obtaining positioning data of the robot; the controller is used for calculating a control command of the differential chassis running and an execution command of the spraying mechanism; the differential chassis receives and executes a control instruction of the controller to enable the differential chassis to run according to an expected path; the spraying mechanism receives an execution instruction of the controller and executes the lofting work of drawing lines and marks.
In specific implementation, referring to fig. 4, fig. 4 is a schematic view of a road design side pile, a side slope line, and a side slope line projection according to a first embodiment of the side line lofting method of the present invention, where a coordinate system involved in the drawing is a northeast coordinate system, the northeast coordinate system and a reference coordinate system in the construction field may be mutually converted, and the side line lofting robot uses (x 1 , y 1 ) The projection position of the target point, namely the design limit stake point, is the projection point corresponding to the 1 st design limit stake point, from the presentThe front position automatically runs to a target point; edge lofting robot at target point (x) 1 , y 1 ) The position is rotated in situ to orient the direction of the slope (1 st projection line direction), namely theta 1 -90 ° direction.
The direction of the side slope is identical to the direction of the projection line.
Step S20: and (3) determining an nth side pile point of the finished surface based on the running of the target projection line direction along the corresponding target projection line, wherein n is more than or equal to 1.
It should be understood that the target projection line may be a 1 st projection line, a 2 nd projection line, an n th projection line, or the like, and the edge line lofting robot travels along the 1 st projection line based on the 1 st projection line direction, and the edge line lofting robot travels along the n th projection line based on the n th projection line direction, or the like, and the embodiment is not limited.
The lofting distance is determined according to the expected quality of the lofting of the side line, the coordinates of the designed side piles and the direction of the designed side piles are calculated according to the coordinates of the middle piles, the curve elements and the lofting distance, the side slope line equation is determined according to the coordinates of the designed side piles and the direction of the designed side piles, and the target side slope line equation is determined according to the side slope line equation, wherein the target side slope line equation can be the 1 st side slope line equation, the n th side slope line equation and the like.
In a specific implementation, the expected quality parameters and loft distance ranges are obtained. The expected quality parameter includes a construction period loose degree k 1 Quality requirement class k 2 . Wherein k is 1 ∈[0, 1]，k 1 When=0, the construction period is short, k 1 When=1, the term is relaxed; k (k) 2 ∈[0, 1]，k 2 When=0, the quality requirement level is low, k 2 When=1, the quality requirement level is high. The default expected quality parameter is set to: k (k) 1 =0.5、k 2 =0.5. The range of the preset lofting distance is [ D ] min , D max ]Wherein D is min Represents the minimum loft distance, D max Representing the maximum loft distance. The default spacing parameter is set to: d (D) min =10 meters, D max =20 meters.
The lofting distance D is calculated, and the calculation formula is as follows:
D=min{D max -k 1 (D max -D min ), D max -k 2 (D max -D min )}
it will also be appreciated that by designing the stake coordinates, curve elements, loft spacing, the design stake K can be calculated 1 、K 2 、K 3 、…、K n 、…、K N Is (x) 1 , y 1 , z 1 )、(x 2 , y 2 , z 2 )、(x 3 , y 3 , z 3 )、…、(x n , y n , z n )、…、(x N , y N , z N ) In the direction of theta 1 、θ 2 、θ 3 、…、θ n 、…、θ N . N is the number of design side piles.
On the theoretical side slope, a straight line passing through the designed side pile point and vertical to the direction of the designed side pile point. According to this definition, the equation of each side slope line and the projection line equation of the side slope line on the horizontal plane are respectively:
nth slope line equation:
n-th slope line projection line equation:
where k is the slope ratio of the slope.
The boundary line lofting robot is driven along the corresponding target projection line based on the target projection line direction so as to obtain real-time measured plane coordinates and elevations, and the theoretical elevations are determined according to the real-time measured plane coordinates through a target slope line equation.
The plane coordinates measured in real time are ground coordinates measured when the robot travels forward with the target projection line as a target route.
In this embodiment, the sideline lofting robot travels forward with the 1 st projection line as a target route, and simultaneously measures the ground coordinates and the elevation (X, Y, Z), brings (X, Y) into the 1 st slope line equation, and approximately calculates the theoretical elevation H:
wherein H is the theoretical elevation, X is the ground coordinate X coordinate information, Y is the ground coordinate Y coordinate information, (X) 1, y 1, z 1 ) And designing x coordinate information, y coordinate information and z coordinate information of the side pile point for the 1 st step.
Further, determining an absolute value difference between the theoretical elevation and the elevation Z coordinate information; judging whether the absolute value difference is smaller than or equal to a preset threshold value; when the absolute value difference is smaller than or equal to a preset threshold value, controlling the robot to stop running, and obtaining the plane coordinates and the 1 st elevation of the 1 st pile point of the finishing surface corresponding to the sideline lofting robot; determining a 1 st side pile point of the finished surface based on the plane coordinates and the 1 st elevation of the 1 st side pile point of the finished surface, marking the 1 st side pile point of the finished surface by a spraying mechanism of a side line lofting robot, returning to a step of rotating to a target projection line direction based on a projection position of a design side pile point when the side line lofting robot runs from the current position to the projection position of the design side pile point at the 1 st side pile point of the finished surface, determining an n-th side pile point of the finished surface, and marking the n-th side pile point by the spraying mechanism of the side line lofting robot; and returning to an operation of driving the sideline lofting robot along the 1 st projection line based on the 1 st projection line direction when the absolute value difference is larger than a preset threshold.
In a specific implementation, judging that the I H-Z I is less than or equal to delta, wherein delta is a preset threshold value, and preferably taking delta=3 cm. If not, the vehicle returns to continue traveling forward along the target projection line (1 st projection line). If so, the robot stops traveling and measures the coordinates of the current position (plane coordinates of the 1 st pile point of the finished surface) and the 1 st elevation (X 1 , Y 1 , Z 1 ) As the finish 1 st side stake point, the robot spraying mechanism marks the finish 1 st side stake point, let n=1.
Further, the boundary line lofting robot is from the coordinate position of the 1 st side pile point of the finished surfaceThe robot is driven to a projection point corresponding to the 2 nd design edge pile point, and the edge line lofting robot is driven to a projection point (x 2 ,y 2 ) The position is rotated in situ to orient the direction of the slope (the 2 nd projection line direction), namely theta 2 -90 ° direction. The sideline lofting robot then travels forward with the 2 nd projection line as the target route while measuring the ground coordinates and elevation (X, Y, Z), and (X, Y) is carried into a 2 nd slope line equation, the theoretical elevation H is approximately calculated, and the absolute value of H-Z is judged to be less than or equal to delta, wherein delta is a preset threshold value, and delta=3 cm is preferably taken. If not, the vehicle returns to continue to travel forward along the 2 nd projection line. If so, the robot stops traveling and measures the coordinates of the current position (2 nd side pile point coordinates) and the 2 nd elevation (X) 2 , Y 2 , Z 2 ) And the robot spraying mechanism marks the 2 nd side pile point of the finished surface as the 2 nd side pile point of the finished surface, and sequentially determines the n th side pile point of the finished surface and the like according to the mode.
In a specific implementation, the 2 nd side pile point of the finishing surface can be determined according to the 1 st side pile point of the finishing surface, the 3 rd side pile point of the finishing surface can be determined according to the 2 nd side pile point of the finishing surface, and the like. The processing mode of determining the finishing surface 3 side pile point according to the finishing surface 2 side pile point can refer to the concrete operation of determining the finishing surface 2 side pile point according to the finishing surface 1 side pile point until the finishing surface n side pile point is determined, and the spraying mechanism of the sideline lofting robot marks the finishing surface 1 side pile point to the finishing surface n side pile point.
Step S30: and determining the horizontal coordinates of the (n+1) th side pile point of the finishing surface according to the (n) th side pile point of the finishing surface.
Further, the elevation Z is measured according to the nth side pile point of the finished surface n Calculate the horizontal coordinate (XT) of the n+1th side pile point of the finished surface n+1 , YT n+1 ) The horizontal coordinate formula is as follows:
in (XT) n+1 , YT n+1 ) To complete the horizontal coordinate of the n+1th side pile point of the surface, Z n For the nth elevation Z coordinate information, (x) n , y n , z n ) And designing the coordinates of the side pile points for the nth.
The edge laying robot was rotated in place to orient the direction (XT n+1 , YT n+1 ) Then along a straight line to a coordinate point (XT n+1 , YT n+1 ) And (3) running, and drawing an nth boundary line on the finished surface by the robot spraying mechanism. When the robot travels to (XT) n+1 , YT n+1 ) After that, the travel is stopped, and the coordinates and elevation (X n+1 , Y n+1 , Z n+1 ) As the n+1th side pile point of the finished surface, the robot spraying mechanism marks the n+1th side pile point of the finished surface.
Step S40: and spraying the n-th side line of the finished surface and the n+1-th side pile point of the finished surface by the side line lofting robot through a spraying mechanism based on the horizontal coordinates of the n+1-th side pile point of the finished surface.
The edge line lofting robot sprays the n-th edge line of the finished surface through the spraying mechanism in the process of driving to the n+1-th edge pile point of the finished surface.
Step S50: and determining the number of marks between the 1 st side pile point of the finished surface and the n+1 st side pile point of the finished surface.
Step S60: and finishing the edge lofting when the number of the marks is equal to the number of the designed edge piles.
In this embodiment, referring to fig. 5, fig. 5 is a schematic diagram of a finishing surface edge and a finishing surface edge pile point according to a first embodiment of the edge line lofting method of the present invention, and it is determined whether all edge pile points of the finishing surface are marked, that is, it is determined that n+1 (number of marks) =n; if not, n=n+1 is returned to the operation of determining the horizontal coordinate of the n+1 side pile point of the finished surface according to the 1 side pile point of the finished surface; if so, finishing the lofting operation of drawing the border on the surface and marking the pile number. Referring to fig. 6, fig. 6 is a schematic diagram of a design surface and a finish surface of a first embodiment of the edge laying-out method of the present invention.
It should be further noted that, in this embodiment, referring to fig. 7, fig. 7 is a flow chart of automatic edge lofting of the robot according to the first embodiment of the edge lofting method of the present invention, in the figure, (1) the lofting distance is calculated according to the expected quality of edge lofting, and the expected quality of edge lofting depends on the construction period and the quality requirement level; (2) Calculating coordinates and directions of the designed side piles according to coordinates, curve elements and lofting distances of the designed side piles, calculating a slope line equation and a projection line equation of the slope line on a horizontal plane; (3) Starting from the current position, the robot runs to the horizontal projection position of the 1 st design side pile and rotates to the 1 st projection line direction in situ; (4) The robot runs along the 1 st projection line, finds the nth side pile point of the finished surface, marks the nth side pile point of the finished surface, and enables n=1; (5) Calculating an n+1th side pile point of the finished surface, driving the robot towards the n+1th side pile point of the finished surface, drawing an n-th side line on the finished surface, and marking the n+1th side pile point; (6) And (3) judging whether n+1 is equal to the number N of the designed side piles, if not, making n=n+1, and repeating the step (5), if so, finishing the lofting operation of the surface drawing side lines and the marked pile numbers. Thereby providing an automatic operation mode for the side line lofting in the roadbed filling, and improving the operation efficiency and the intelligent degree of road construction.
In this embodiment, firstly, when the sideline lofting robot runs from the current position to the projection position of the designed sideline pile point, the projection position is rotated to the direction of the target projection line based on the projection position of the designed sideline pile point, then the projection position is run along the corresponding target projection line based on the direction of the target projection line, the n-th sideline pile point of the finished surface is determined, n is greater than or equal to 1, the horizontal coordinates of the n+1th sideline pile point of the finished surface are determined according to the n-th sideline pile point of the finished surface, the sideline lofting robot sprays the n-th sideline of the finished surface and the n+1th sideline pile point of the finished surface through a spraying mechanism based on the horizontal coordinates, then the number of marks between the n-th sideline pile point of the finished surface and the n+1th sideline pile point of the finished surface is determined, and when the number of marks is equal to the number of the designed sidelines, the sideline lofting is completed. Compared with the prior art that measuring tools such as total station, RTK are utilized, cross section elevation and center stake offset of every stake number are calculated manually, and then the side stake is put out, finally the mark line is drawn manually by the workman, and the result in the side line lofting efficiency slower, and through the side line lofting robot and the automatic lofting strategy of side line that are used for the road bed to dig out and fill, the automatic lofting of road bed to dig out and fill the side line has been realized in this embodiment, and then the side line lofting efficiency has been improved.
Referring to fig. 8, fig. 8 is a block diagram illustrating a first embodiment of a sideline loft system of the present invention.
As shown in fig. 8, the edge lofting system according to the embodiment of the present invention includes:
the adjusting module 8001 is configured to rotate to a target projection line direction based on a design side stake point projection position when the side line lofting robot runs from a current position to the design side stake point projection position.
It should be noted that the border loft includes a left border loft and a right border loft. But to the sideline lofting robot, not only left sideline lofting but also right sideline lofting can be completed. The sideline lofting robot can travel left by left or right by right according to preset travel rules. If the robot is right to travel, then at the lofting in-process of robot, left side line lofting and right side line lofting are right side line lofting to the robot. If the robot runs left by left, in the process of lofting the robot, lofting the left side line and lofting the right side line are both lofting the left side line for the robot.
Referring to fig. 3, fig. 3 is a schematic diagram of a robot right-keeping running of a first embodiment of a sideline lofting method according to the present invention, in this embodiment, the robot right-keeping running of a robot, that is, a sideline lofting robot is taken as an example, and in the process of lofting the robot, both left sideline lofting and right sideline lofting are right sideline lofting for the robot.
The current position is understood to be the current position of the sideline lofting robot, and can be an initial position or a position corresponding to the nth side pile point of the finished surface, wherein n is more than or equal to 1. The projection position of the design side pile point can be the projection point corresponding to the 1 st design side pile point, the projection point corresponding to the nth design side pile point, and the like. The target projection line direction is the projection line direction corresponding to the projection position of the designed side pile point. For example, the direction of the target projection line corresponding to the 1 st design side stake point projection position is the 1 st projection line direction, the direction of the target projection line corresponding to the 2 nd design side stake point projection position is the 2 nd projection line direction, and the like, and the embodiment is not limited.
It should also be appreciated that the sideline lofting robot includes a differential chassis, a spray mechanism, a controller, and a positioning device. The positioning device is used for obtaining positioning data of the robot; the controller is used for calculating a control command of the differential chassis running and an execution command of the spraying mechanism; the differential chassis receives and executes a control instruction of the controller to enable the differential chassis to run according to an expected path; the spraying mechanism receives an execution instruction of the controller and executes the lofting work of drawing lines and marks.
In specific implementation, referring to fig. 4, fig. 4 is a schematic view of a road design side pile, a side slope line, and a side slope line projection according to a first embodiment of the side line lofting method of the present invention, where a coordinate system involved in the drawing is a northeast coordinate system, the northeast coordinate system and a reference coordinate system in the construction field may be mutually converted, and the side line lofting robot uses (x 1 , y 1 ) Designing a projection position of a pile point as a target point, wherein the target point is a projection point corresponding to the 1 st design pile point, and automatically driving from the current position to the target point; edge lofting robot at target point (x) 1 , y 1 ) The position is rotated in situ to orient the direction of the slope (1 st projection line direction), namely theta 1 -90 ° direction.
The direction of the side slope is identical to the direction of the projection line.
And the traveling module 8002 is used for traveling along the corresponding target projection line based on the target projection line direction, and determining the nth side pile point of the finished surface, wherein n is more than or equal to 1.
It should be understood that the target projection line may be a 1 st projection line, a 2 nd projection line, an n th projection line, or the like, and the edge line lofting robot travels along the 1 st projection line based on the 1 st projection line direction, and the edge line lofting robot travels along the n th projection line based on the n th projection line direction, or the like, and the embodiment is not limited.
The lofting distance is determined according to the expected quality of the lofting of the side line, the coordinates of the designed side piles and the direction of the designed side piles are calculated according to the coordinates of the middle piles, the curve elements and the lofting distance, the side slope line equation is determined according to the coordinates of the designed side piles and the direction of the designed side piles, and the target side slope line equation is determined according to the side slope line equation, wherein the target side slope line equation can be the 1 st side slope line equation, the n th side slope line equation and the like.
In a specific implementation, the expected quality parameters and loft distance ranges are obtained. The expected quality parameter includes a construction periodDegree of looseness k 1 Quality requirement class k 2 . Wherein k is 1 ∈[0, 1]，k 1 When=0, the construction period is short, k 1 When=1, the term is relaxed; k (k) 2 ∈[0, 1]，k 2 When=0, the quality requirement level is low, k 2 When=1, the quality requirement level is high. The default expected quality parameter is set to: k (k) 1 =0.5、k 2 =0.5. The range of the preset lofting distance is [ D ] min , D max ]Wherein D is min Represents the minimum loft distance, D max Representing the maximum loft distance. The default spacing parameter is set to: d (D) min =10 meters, D max =20 meters.
The lofting distance D is calculated, and the calculation formula is as follows:
D=min{D max -k 1 (D max -D min ), D max -k 2 (D max -D min )}
it will also be appreciated that by designing the stake coordinates, curve elements, loft spacing, the design stake K can be calculated 1 、K 2 、K 3 、…、K n 、…、K N Is (x) 1 , y 1 , z 1 )、(x 2 , y 2 , z 2 )、(x 3 , y 3 , z 3 )、…、(x n , y n , z n )、…、(x N , y N , z N ) In the direction of theta 1 、θ 2 、θ 3 、…、θ n 、…、θ N . N is the number of design side piles.
On the theoretical side slope, a straight line passing through the designed side pile point and vertical to the direction of the designed side pile point. According to this definition, the equation of each side slope line and the projection line equation of the side slope line on the horizontal plane are respectively:
nth slope line equation:
n-th slope line projection line equation:
where k is the slope ratio of the slope.
The boundary line lofting robot is driven along the corresponding target projection line based on the target projection line direction so as to obtain real-time measured plane coordinates and elevations, and the theoretical elevations are determined according to the real-time measured plane coordinates through a target slope line equation.
The plane coordinates measured in real time are ground coordinates measured when the robot travels forward with the target projection line as a target route.
In this embodiment, the sideline lofting robot travels forward with the 1 st projection line as a target route, and simultaneously measures the ground coordinates and the elevation (X, Y, Z), brings (X, Y) into the 1 st slope line equation, and approximately calculates the theoretical elevation H:
wherein H is the theoretical elevation, X is the ground coordinate X coordinate information, Y is the ground coordinate Y coordinate information, (X) 1, y 1, z 1 ) And designing x coordinate information, y coordinate information and z coordinate information of the side pile point for the 1 st step.
Further, determining an absolute value difference between the theoretical elevation and the elevation Z coordinate information; judging whether the absolute value difference is smaller than or equal to a preset threshold value; when the absolute value difference is smaller than or equal to a preset threshold value, controlling the robot to stop running, and obtaining the plane coordinates and the 1 st elevation of the 1 st pile point of the finishing surface corresponding to the sideline lofting robot; determining a 1 st side pile point of the finished surface based on the plane coordinates and the 1 st elevation of the 1 st side pile point of the finished surface, marking the 1 st side pile point of the finished surface by a spraying mechanism of a side line lofting robot, returning to a step of rotating to a target projection line direction based on a projection position of a design side pile point when the side line lofting robot runs from the current position to the projection position of the design side pile point at the 1 st side pile point of the finished surface, determining an n-th side pile point of the finished surface, and marking the n-th side pile point by the spraying mechanism of the side line lofting robot; and returning to an operation of driving the sideline lofting robot along the 1 st projection line based on the 1 st projection line direction when the absolute value difference is larger than a preset threshold.
In a specific implementation, judging that the I H-Z I is less than or equal to delta, wherein delta is a preset threshold value, and preferably taking delta=3 cm. If not, the vehicle returns to continue traveling forward along the target projection line (1 st projection line). If so, the robot stops traveling and measures the coordinates of the current position (plane coordinates of the 1 st pile point of the finished surface) and the 1 st elevation (X 1 , Y 1 , Z 1 ) As the finish 1 st side stake point, the robot spraying mechanism marks the finish 1 st side stake point, let n=1.
Further, the boundary line lofting robot travels from the coordinate position of the 1 st side pile point of the finish surface to the projection point corresponding to the 2 nd design side pile point, and the boundary line lofting robot performs a process of moving from the coordinate position of the 1 st side pile point of the finish surface to the projection point (x 2 , y 2 ) The position is rotated in situ to orient the direction of the slope (the 2 nd projection line direction), namely theta 2 -90 ° direction. The sideline lofting robot then travels forward with the 2 nd projection line as the target route while measuring the ground coordinates and elevation (X, Y, Z), and (X, Y) is carried into a 2 nd slope line equation, the theoretical elevation H is approximately calculated, and the absolute value of H-Z is judged to be less than or equal to delta, wherein delta is a preset threshold value, and delta=3 cm is preferably taken. If not, the vehicle returns to continue to travel forward along the 2 nd projection line. If so, the robot stops traveling and measures the coordinates of the current position (2 nd side pile point coordinates) and the 2 nd elevation (X) 2 , Y 2 , Z 2 ) And the robot spraying mechanism marks the 2 nd side pile point of the finished surface as the 2 nd side pile point of the finished surface, and sequentially determines the n th side pile point of the finished surface and the like according to the mode.
In a specific implementation, the 2 nd side pile point of the finishing surface can be determined according to the 1 st side pile point of the finishing surface, the 3 rd side pile point of the finishing surface can be determined according to the 2 nd side pile point of the finishing surface, and the like. The processing mode of determining the finishing surface 3 side pile point according to the finishing surface 2 side pile point can refer to the concrete operation of determining the finishing surface 2 side pile point according to the finishing surface 1 side pile point until the finishing surface n side pile point is determined, and the spraying mechanism of the sideline lofting robot marks the finishing surface 1 side pile point to the finishing surface n side pile point.
And the determining module 8003 is used for determining the horizontal coordinates of the (n+1) th side pile point of the finishing surface according to the n th side pile point of the finishing surface.
It is also understood that n is an integer not less than 1, i.e., an integer greater than or equal to 1.
Further, the elevation Z is measured according to the nth side pile point of the finished surface n Calculate the horizontal coordinate (XT) of the n+1th side pile point of the finished surface n+1 , YT n+1 ) The horizontal coordinate formula is as follows:
in (XT) n+1 , YT n+1 ) To complete the horizontal coordinate of the n+1th side pile point of the surface, Z n For the nth elevation Z coordinate information, (x) n , y n , z n ) And designing the coordinates of the side pile points for the nth.
The edge laying robot was rotated in place to orient the direction (XT n+1 , YT n+1 ) Then along a straight line to a coordinate point (XT n+1 , YT n+1 ) And (3) running, and drawing an nth boundary line on the finished surface by the robot spraying mechanism. When the robot travels to (XT) n+1 , YT n+1 ) After that, the travel is stopped, and the coordinates and elevation (X n+1 , Y n+1 , Z n+1 ) As the n+1th side pile point of the finished surface, the robot spraying mechanism marks the n+1th side pile point of the finished surface.
The determining module 8003 is further configured to enable the sideline lofting robot to spray the nth sideline of the finished surface and the n+1th side pile point of the finished surface through a spraying mechanism based on the horizontal coordinates of the n+1th side pile point of the finished surface.
The edge line lofting robot sprays the n-th edge line of the finished surface through the spraying mechanism in the process of driving to the n+1-th edge pile point of the finished surface.
The determining module 8003 is further configured to determine the number of marks between the 1 st side pile point of the finished surface and the n+1 st side pile point of the finished surface.
The determining module 8003 is further configured to complete the edge line lofting when the number of marks is equal to the number of design edge piles.
In this embodiment, referring to fig. 5, fig. 5 is a schematic diagram of a finishing surface edge and a finishing surface edge pile point according to a first embodiment of the edge line lofting method of the present invention, and whether all edge pile points of the finishing surface are marked is determined, that is, n+1=n is determined; if not, n=n+1 is returned to the operation of determining the horizontal coordinate of the n+1 side pile point of the finished surface according to the 1 side pile point of the finished surface; if so, finishing the lofting operation of drawing the border on the surface and marking the pile number. Referring to fig. 6, fig. 6 is a schematic diagram of a design surface and a finish surface of a first embodiment of the edge laying-out method of the present invention.
It should be further noted that, in this embodiment, referring to fig. 7, fig. 7 is a flow chart of automatic edge lofting of the robot according to the first embodiment of the edge lofting method of the present invention, in the figure, (1) the lofting distance is calculated according to the expected quality of edge lofting, and the expected quality of edge lofting depends on the construction period and the quality requirement level; (2) Calculating coordinates and directions of the designed side piles according to coordinates, curve elements and lofting distances of the designed side piles, calculating a slope line equation and a projection line equation of the slope line on a horizontal plane; (3) Starting from the current position, the robot runs to the horizontal projection position of the 1 st design side pile and rotates to the 1 st projection line direction in situ; (4) The robot runs along the 1 st projection line, finds the 1 st side pile point of the finished surface, marks the 1 st side pile point of the finished surface, and makes n=1; (5) Calculating an n+1th side pile point of the finished surface, driving the robot towards the n+1th side pile point of the finished surface, drawing an n-th side line on the finished surface, and marking the n+1th side pile point; (6) And (3) judging whether n+1 is equal to the number N of the designed side piles, if not, making n=n+1, and repeating the step (5), if so, finishing the lofting operation of the surface drawing side lines and the marked pile numbers. Thereby providing an automatic operation mode for the side line lofting in the roadbed filling, and improving the operation efficiency and the intelligent degree of road construction.
In this embodiment, firstly, when the sideline lofting robot runs from the current position to the projection position of the designed sideline pile point, the projection position is rotated to the direction of the target projection line based on the projection position of the designed sideline pile point, then the projection position is run along the corresponding target projection line based on the direction of the target projection line, the n-th sideline pile point of the finished surface is determined, n is greater than or equal to 1, the horizontal coordinates of the n+1th sideline pile point of the finished surface are determined according to the n-th sideline pile point of the finished surface, the sideline lofting robot sprays the n-th sideline of the finished surface and the n+1th sideline pile point of the finished surface through a spraying mechanism based on the horizontal coordinates, then the number of marks between the n-th sideline pile point of the finished surface and the n+1th sideline pile point of the finished surface is determined, and when the number of marks is equal to the number of the designed sidelines, the sideline lofting is completed. Compared with the prior art that measuring tools such as total station, RTK are utilized, cross section elevation and center stake offset of every stake number are calculated manually, and then the side stake is put out, finally the mark line is drawn manually by the workman, and the result in the side line lofting efficiency slower, and through the side line lofting robot and the automatic lofting strategy of side line that are used for the road bed to dig out and fill, the automatic lofting of road bed to dig out and fill the side line has been realized in this embodiment, and then the side line lofting efficiency has been improved.
Other embodiments or specific implementations of the edge lofting system of the present invention may refer to the above method embodiments, and will not be described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. read-only memory/random-access memory, magnetic disk, optical disk), comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.

Claims (8)

1. The edge lofting method is characterized by comprising the following steps of:
when the sideline lofting robot runs from the current position to a projection position of a design sideline pile point, rotating to a target projection line direction based on the projection position of the design sideline pile point;
determining a completion surface based on the travel of the target projection line direction along the corresponding target projection linenThe side pile points are arranged at the positions,n≥1；
according to the finish surfacenSide pile point determination completion facenHorizontal coordinates of +1 side pile point;
based on the finish surfacenThe horizontal coordinates of the +1 side pile point enable the side line lofting robot to spray the finishing surface through a spraying mechanismnEdge and finish surfacen+1 side pile point;
determining the 1 st pile point of the finished surface and the 1 st pile point of the finished surfacenNumber of marks between +1 side stake points;
finishing the edge lofting when the number of the marks is equal to the number of the designed edge piles;
The first finishing surface is determined based on the running of the target projection line direction along the corresponding target projection linenThe step of the side pile point comprises the following steps:
driving the sideline lofting robot along a corresponding target projection line based on the target projection line direction so as to obtain plane coordinates and elevations measured in real time;
determining a theoretical elevation through a target slope line equation according to the plane coordinates measured in real time;
determining an absolute value difference between the theoretical elevation and the elevation;
judging whether the absolute value difference is smaller than or equal to a preset threshold value;
when the absolute value difference is smaller than or equal to the preset threshold value, controlling the robot to stop running, and acquiring the finish surface firstnPlane coordinates of side pile point and finish facenElevation coordinates of the side pile points;
according to the finish surfacenPlane coordinates of the side pile point and the finishing surfacenDetermination of elevation coordinates of side pile pointsnThe side pile point is arranged, and the spraying mechanism of the side line lofting robot is used for carrying out the first step on the finished surfacenAnd marking the side pile points.
2. The method of claim 1, wherein after the step of determining whether the absolute value difference is less than or equal to a preset threshold, further comprising:
Returning to the running along the corresponding target projection line based on the target projection line direction when the absolute value difference is larger than the preset threshold value, and determining the finishing surfacenAnd (3) a step of edge pile point.
3. The method of claim 1, further comprising, prior to the step of determining a theoretical elevation from the real-time measured planar coordinates via a target slope line equation:
determining a lofting distance according to expected quality of the boundary lofting;
calculating the coordinates of the designed side piles and the direction of the designed side piles according to the coordinates of the designed middle piles, curve elements and the lofting distance;
determining a slope line equation according to the designed side pile coordinates and the designed side pile direction;
and determining a target slope line equation according to the slope line equation.
4. A method according to any one of claims 1 to 3, wherein said step of forming a surface according to said finishnSide pile point determination completion facenA step of +1 side stake point horizontal coordinates, comprising:
according to the finish surfacenEdge pile point determinationnElevationZCoordinate information;
according to the firstnElevationZThe coordinate information is used for determining the finishing surface by a horizontal coordinate formulanHorizontal coordinates of +1 side pile point;
the horizontal coordinate formula is as follows:
；
in the middle of (a)XT n+1 , YT n+1 ) To finish the face nThe horizontal coordinates of the +1 side pile point,Z n is the firstnElevationZCoordinate information [ ]x n , y n , z n ) Is the firstnThe coordinates of the side pile points are designed,kis the slope ratio of the slope.
5. The method of claim 4, wherein the determining the completion face 1 st edge stake point and the completion face 1 stnAfter the step of +1 number of marks between the side stake points, further comprising:
returning to the first step according to the finishing surface when the number of marks is smaller than the number of design side pilesnSide pile point determination completion facenAnd (3) a step of horizontal coordinates of +1 side pile points.
6. An edge lofting system, the edge lofting system comprising:
the adjusting module is used for rotating to the direction of a target projection line based on the projection position of the designed edge pile point when the edge line lofting robot runs from the current position to the projection position of the designed edge pile point;
a driving module for driving the corresponding object along the direction of the object projection lineProjection line running, determining finish surfacenThe side pile points are arranged at the positions,n≥1；
a determining module for determining the first surface according to the completion surfacenSide pile point determination completion facenHorizontal coordinates of +1 side pile point;
the determining module is further configured to, based on the completion planenThe horizontal coordinates of the +1 side pile point enable the side line lofting robot to spray the finishing surface through a spraying mechanism nEdge and finish surfacen+1 side pile point;
the determining module is further configured to determine a 1 st pile point of the completion surface and a 1 st pile point of the completion surfacenNumber of marks between +1 side stake points;
the determining module is further used for finishing the edge lofting when the number of the marks is equal to the number of the designed edge piles;
the driving module is further used for driving the sideline lofting robot along the corresponding target projection line based on the target projection line direction so as to obtain plane coordinates and elevations measured in real time; determining a theoretical elevation through a target slope line equation according to the plane coordinates measured in real time; determining an absolute value difference between the theoretical elevation and the elevation; judging whether the absolute value difference is smaller than or equal to a preset threshold value; when the absolute value difference is smaller than or equal to the preset threshold value, controlling the robot to stop running, and acquiring the finish surface firstnPlane coordinates of side pile point and finish facenElevation coordinates of the side pile points; according to the finish surfacenPlane coordinates of the side pile point and the finishing surfacenDetermination of elevation coordinates of side pile pointsnThe side pile point is arranged, and the spraying mechanism of the side line lofting robot is used for carrying out the first step on the finished surfacenAnd marking the side pile points.
7. An edge lofting apparatus, the apparatus comprising: a memory, a processor, and an edge loft program stored on the memory and executable on the processor, the edge loft program configured to implement the steps of the edge loft method of any one of claims 1 to 5.
8. A storage medium having stored thereon a margin line loft program which when executed by a processor performs the steps of the margin line loft method of any one of claims 1 to 5.
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