Spray construction method and apparatus

Abstract

The application provides a spraying construction method and device, comprising the following steps: obtaining point cloud information of a structure to be sprayed; based on the point cloud information, applying a Poisson surface reconstruction algorithm to perform three-dimensional modeling to determine curved surface structure data of the structure to be sprayed; based on the curved surface structure data and first spraying parameters, spraying the first X layer of the surface layer of the structure to be sprayed, and determining the structure to be sprayed after the first X layer of the surface layer is sprayed; wherein the first spraying parameters are determined based on the structure to be sprayed, a preset design model, a preset total thickness of the surface layer, and preset spraying parameters by applying a preset path planning algorithm. The spraying construction method and device of the application perform layered spraying on the sprayed structure, and on the basis of the previous layer of spraying, the preset path planning algorithm is applied to timely adjust the spraying operation of the next layer, so that the traversal requirement of the sprayed construction is met, and the structural safety and the aesthetic delicate degree of the sprayed product are improved.

Description

Technical Field

[0001] This invention relates to the field of path control, and in particular to a spraying construction method and apparatus. Background Technology

[0002] Currently, more and more fields are applying spraying technology to improve the appearance and structural safety of sprayed objects. Among these, controlling the spraying path is a crucial aspect.

[0003] The existing spraying path control process does not meet the traversability requirements of spraying construction; and it cannot automatically optimize the path according to the spraying environment, which reduces the aesthetics and structural safety of the finished sprayed product.

[0004] Therefore, how to perform spraying construction more accurately is an urgent problem to be solved. Summary of the Invention

[0005] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a spraying construction method and apparatus to solve the problem of the inaccurate spraying construction in the prior art.

[0006] To achieve the above and other related objectives, the present invention provides a spraying construction method and apparatus, comprising the following steps: acquiring point cloud information of the structure to be sprayed; performing three-dimensional modeling based on the point cloud information using a Poisson surface reconstruction algorithm to determine the curved surface structure data of the structure to be sprayed; spraying the Xth layer of the surface of the structure to be sprayed based on the curved surface structure data and a first spraying parameter to determine the structure to be sprayed after the Xth layer of the surface is sprayed; wherein, the first spraying parameter is determined by applying a preset path planning algorithm based on the structure to be sprayed, a preset design model, a preset total surface thickness, and the preset spraying parameter; the surface layer includes a polyurethane layer and a concrete layer, the Xth layer is any layer in the surface layer other than the first layer, and X is an integer greater than 1; the preset design model is a model obtained by applying a structural optimization algorithm to optimize the thickness of the sprayed surface layer after initial design of the structure to be sprayed.

[0007] In one embodiment of the present invention, the point cloud information includes: three-dimensional coordinate information of the structure to be sprayed and laser reflection intensity information at the corresponding position; the point cloud information is obtained by three-dimensional laser scanning.

[0008] In one embodiment of the present invention, the curved surface structure data includes: spray coating thickness, spray coating surface smoothness, and concrete run-off area; the step of determining the curved surface structure data of the structure to be sprayed by applying the Poisson surface reconstruction algorithm to perform three-dimensional modeling based on the point cloud information includes: performing three-dimensional modeling based on the three-dimensional coordinate information by applying the Poisson surface reconstruction algorithm to determine the coordinate information of the inner and outer surfaces of the structure to be sprayed, and the area of ​​the convex region of the inner surface; determining the spray coating thickness based on the coordinate information of the inner and outer surfaces; determining the concrete run-off area based on the area of ​​the convex region; and determining the surface smoothness of the spray coating by applying the Poisson surface reconstruction algorithm to perform three-dimensional modeling based on the three-dimensional coordinate information and the laser reflection intensity information.

[0009] In one embodiment of the present invention, the first spraying parameters are determined by applying a preset path planning algorithm based on the structure to be sprayed, a preset design model, a preset total surface thickness, and preset spraying parameters. The process includes: spraying the structure to be sprayed based on the preset spraying parameters; determining the thickness of the first layer of the surface layer of the structure to be sprayed and the first sprayed structure after spraying the (X-1)th layer; determining the number of sprayed layers and the thickness of each layer based on the first layer thickness and the total surface thickness; determining the three-dimensional coordinate model of the first sprayed structure using three-dimensional scanning technology; comparing the three-dimensional coordinate model and the design model using point cloud analysis technology to determine the comparison result; and determining the first spraying parameters based on the comparison result and the thickness of each layer using a preset path planning algorithm.

[0010] In one embodiment of the present invention, the first spraying parameters include the moving speed, moving path and nozzle angle of the spraying device. When the comparison result exceeds a preset threshold range, based on the comparison result, the three-dimensional coordinate model and the thickness of each layer, a preset structural verification rule is applied to determine the structure of the Xth layer to be sprayed; based on the structure of the Xth layer to be sprayed, the path planning algorithm is applied to determine the first spraying parameters.

[0011] In one embodiment of the present invention, the spraying of the Xth layer on the surface of the structure to be sprayed includes: first spraying the polyurethane layer onto the structure to be sprayed; and then spraying the concrete layer onto the structure to be sprayed.

[0012] Correspondingly, the present invention provides a spraying construction device, comprising: an acquisition module for acquiring point cloud information of a structure to be sprayed; a determination module for performing three-dimensional modeling based on the point cloud information using a Poisson surface reconstruction algorithm to determine the surface structure data of the structure to be sprayed; and a processing module for spraying the Xth layer of the surface of the structure to be sprayed based on the surface structure data and first spraying parameters to determine the structure to be sprayed after the Xth layer of the surface is sprayed; wherein, the first spraying parameters are determined by applying a preset path planning algorithm based on the structure to be sprayed, a preset design model, a preset total surface thickness, and preset spraying parameters; the surface layer includes a polyurethane layer and a concrete layer, the Xth layer is any layer in the surface layer other than the first layer, and X is an integer greater than 1; the preset design model is a model obtained by applying a structural optimization algorithm to optimize the surface thickness after initial design of the structure to be sprayed.

[0013] In one embodiment of the present invention, the point cloud information includes: three-dimensional coordinate information of the structure to be sprayed and laser reflection intensity information at the corresponding position; the point cloud information is obtained by three-dimensional laser scanning.

[0014] The present invention provides a storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described spraying construction method.

[0015] The present invention provides a spraying construction device, including a memory for storing a computer program and a processor for running the computer program to implement the above-described spraying construction method.

[0016] As described above, the spraying construction method and apparatus of the present invention have the following beneficial effects:

[0017] (1) The sprayed material is sprayed in layers, and the spraying operation of the next layer is adjusted in a timely manner by applying a preset path planning algorithm based on the previous layer, so as to achieve a perfect combination of meticulousness and rationality in the spraying operation.

[0018] (2) It can meet the traversal requirements of spraying construction.

[0019] (3) By optimizing the structure of the initial design model and verifying the structure of the actual sprayed layer during the spraying process, the construction quality of the spraying operation is guaranteed, and the structural safety and aesthetic refinement of the finished sprayed product are improved. Attached Figure Description

[0020] Figure 1 The flowchart shown is an embodiment of the spraying construction method of the present invention.

[0021] Figure 2 The diagram shown is a comparison of the structure before and after optimization in one embodiment of the spraying construction method of the present invention.

[0022] Figure 3 The image shown is a model comparison diagram of one embodiment of the spraying construction method of the present invention.

[0023] Figure 4 The diagram shown is a structural schematic of the spraying construction apparatus of the present invention in one embodiment.

[0024] Figure 5 Shown is a spraying construction device in one embodiment of the spraying construction apparatus of the present invention.

[0025] Component designation explanation

[0026] 41 Acquisition Module

[0027] 42. Determine the module

[0028] 43 Processing Module

[0029] 51 processor

[0030] 52 Memory Detailed Implementation

[0031] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0032] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0033] The spraying construction method and apparatus of this invention perform layered spraying of the sprayed material, and based on the previous layer, apply a preset path planning algorithm to adjust the spraying operation of the next layer in a timely manner, achieving a perfect combination of meticulousness and rationality in the spraying operation; it can meet the traversal requirements of spraying construction; and through structural optimization of the initial design model and structural verification of the actual sprayed layer during the spraying process, it ensures the construction quality of the spraying operation and improves the structural safety and aesthetic refinement of the finished sprayed product. Figure 1 As shown, in one embodiment, the spraying construction method of the present invention includes the following steps:

[0034] Step S1: Obtain the point cloud information of the structure to be sprayed.

[0035] Specifically, three-dimensional laser scanning technology is applied to scan the structure to be sprayed, obtaining point cloud information of the structure. This point cloud information includes the three-dimensional coordinates of the structure and the laser reflection intensity information at the corresponding locations. The laser reflection intensity information is related to the surface material and roughness of the structure, the incident angle direction during laser scanning, the laser energy, and the laser wavelength.

[0036] More specifically, after acquiring point cloud information, the point cloud information is preprocessed, including point cloud stitching, noise reduction, and merging, to prepare the basic data for subsequent applications of point cloud information.

[0037] Step S2: Based on the point cloud information, apply the Poisson surface reconstruction algorithm to perform three-dimensional modeling and determine the surface structure data of the structure to be sprayed.

[0038] Specifically, the curved surface structure data includes: coating thickness, coating surface smoothness, and concrete run-off area. Based on the three-dimensional coordinate information, the Poisson surface reconstruction algorithm is applied for three-dimensional modeling to determine the coordinate information of the inner and outer surfaces of the structure to be sprayed, and the area of ​​the convex region of the inner surface; based on the coordinate information of the inner and outer surfaces, the coating thickness is determined; based on the area of ​​the convex region, the concrete run-off area is determined; based on the three-dimensional coordinate information and the laser reflection intensity information, the Poisson surface reconstruction algorithm is applied for three-dimensional modeling to determine the coating surface smoothness.

[0039] Step S3: Based on the surface structure data and the first spraying parameters, spray the Xth layer of the surface layer of the structure to be sprayed, and determine the structure to be sprayed after the Xth layer of the surface layer is sprayed; wherein, the first spraying parameters are determined by applying a preset path planning algorithm based on the structure to be sprayed, the preset design model, the preset total thickness of the surface layer, and the preset spraying parameters; the surface layer includes: a polyurethane layer and a concrete layer, the Xth layer is any layer in the surface layer except the first layer, and X is an integer greater than 1; the preset design model is a model obtained by applying a structural optimization algorithm to optimize the thickness of the sprayed surface layer after the initial design of the structure to be sprayed.

[0040] Specifically, the steps for determining the first spraying parameters are as follows: Based on the preset spraying parameters, the structure to be sprayed is sprayed to determine the thickness of the first layer of the surface layer of the structure to be sprayed and the first sprayed structure after spraying the (X-1)th layer; based on the thickness of the first layer and the total thickness of the surface layer, the number of sprayed layers and the thickness of each layer are determined; based on the first sprayed structure, a three-dimensional coordinate model of the first sprayed structure is determined using three-dimensional scanning technology; based on the three-dimensional coordinate model and the design model, point cloud analysis technology is used for comparison to determine the comparison result; based on the comparison result and the thickness of each layer, a preset path planning algorithm is applied to determine the first spraying parameters. The pre-set design model specifically refers to the model obtained by optimizing the coating thickness using a structural optimization algorithm after completing the initial design of the structure to be sprayed. The structural optimization algorithm is based on the initial design of the structure, establishing an objective function for the structural materials and strain energy, calculating the three-dimensional morphology of the structure under extreme conditions, and then further calculating the spraying thickness based on the three-dimensional morphology as a reference value for actual spraying. The extreme condition here refers to the state where both the structural material usage and the structural strain energy are simultaneously minimized; for example... Figure 2 As shown in the comparison diagram before and after structural optimization in this embodiment, the left image is before structural optimization, and the right image is after structural optimization. In the right image, the thickness is divided into three layers after structural optimization.

[0041] More specifically, the first spraying parameters include the moving speed, moving path, and nozzle angle of the spraying device; similarly, the preset spraying parameters also include the moving speed, moving path, and nozzle angle of the spraying device, and there are multiple sets of preset spraying parameters. When spraying the structure to be sprayed begins, a set of spraying parameters with better spraying effect is selected from the multiple preset sets of spraying parameters, and the structure to be sprayed is sprayed to determine the thickness of the first layer of the surface layer of the structure to be sprayed; based on the first layer thickness and the total thickness of the surface layer, the number of spraying layers and the thickness of each layer are determined; wherein, the total thickness of the surface layer includes: the total thickness of the polyurethane layer and the total thickness of the concrete layer. The total thickness of the polyurethane layer is calculated based on the construction load and the building insulation requirements; the total thickness of the concrete layer is obtained through structural stress analysis; here, the classification of the surface layer is mainly from the perspective of materials. The function of the polyurethane layer is to act as a template during concrete spraying and as the building insulation layer after the building is formed; the function of the concrete layer is to bear the main structural load, therefore, the design of the total thickness of the concrete layer must ensure the safety of the structural strength. The structural strength here is controlled by the variable cross-sectional thickness at different three-dimensional coordinates in the design model. The variable cross-sectional thickness is controlled by parameters such as the moving trajectory density and moving speed of the spraying device. These parameters can be set and adjusted in the design model.

[0042] More specifically, when the comparison result exceeds a preset threshold range, based on the comparison result, the three-dimensional coordinate model, and the thickness of each layer, a preset structural verification rule is applied to determine the structure of the Xth layer to be sprayed; based on the structure of the Xth layer to be sprayed, the path planning algorithm is applied to determine the first spraying parameters; wherein, the structural verification rule refers to, in order to ensure the safety of the structure to be sprayed, performing finite element analysis on the three-dimensional coordinate model based on the comparison result and the thickness of each layer, calculating the stress response of the structure during construction and use. Here, the stress response during the structural construction process includes the self-weight of the polyurethane layer as a template during the spraying process, and the self-weight of the concrete before it has formed structural strength; the stress response during use includes the self-weight of the structure to be sprayed, wind load, snow load, and live load on the accessible roof; the stress response includes stress, strain, and displacement. When the stress is less than the material strength design value, and the structural deformation caused by strain or displacement is less than the usage requirements, the safety of the structure to be sprayed meets the standards. For example, when X=2, based on preset spraying parameters, the structure to be sprayed is sprayed to determine the first sprayed structure after the first layer is applied; based on the first sprayed structure, 3D scanning technology is used to determine the 3D coordinate model of the first sprayed structure; then, the 3D coordinate model and the design model are compared using point cloud analysis technology to determine the comparison result. The design model is an electronic model built by the designer according to the design requirements when designing the structure to be sprayed. This model represents the completion target of the spraying construction. The design model has already set the first sprayed structure after each layer of polyurethane and concrete is applied to the surface of the structure to be sprayed; that is, when comparing the 3D coordinate model and the design model, the model of the same layer is compared. Figure 3As shown in the model comparison diagram in this embodiment, this is the result obtained by overlaying the three-dimensional coordinate model and the design model. The deviation values ​​of the icons on the right gradually increase from bottom to top. The positional differences of corresponding points in the three-dimensional coordinate model and the design model are compared. If the positional differences of each point in the model are within a preset threshold range, such as within 1 mm, then no structural verification is required. Based on the surface structure data and the first spraying parameters, the second layer of spraying is applied to the surface of the structure to be sprayed. If the positional difference of any point in the model is greater than the preset range, then based on the comparison results and the thickness of each layer, the three-dimensional coordinate model is structurally verified. The three-dimensional coordinate model is imported into finite element calculation software for finite element calculation to obtain the comparison results of stress and deformation distribution to determine the structure to be sprayed in the second layer. Based on the structure to be sprayed in the second layer, a preset path planning algorithm is applied to determine the first spraying parameters in preparation for the second layer of spraying on the surface of the structure to be sprayed. More specifically, the spraying of the Xth layer on the surface of the structure to be sprayed includes: first spraying the polyurethane layer onto the structure to be sprayed; then spraying the concrete layer onto the structure to be sprayed. For example, after the polyurethane layer on the structure to be sprayed is completely sprayed, the concrete layer is sprayed; the total thickness of the concrete layer is 10mm, and the thickness of each layer of concrete determined by the above method is 5mm, with 2 layers sprayed. First, the first layer of the concrete layer on the structure to be sprayed is sprayed. After the first layer is sprayed, 3D scanning technology is used to determine the 3D coordinate model of the first structure after the first layer is sprayed. The 3D coordinate model is compared with the design model to determine that the actual spraying thickness at a certain point in the 3D coordinate model is 4mm. Since 4mm and the thickness of each layer is 5mm... The difference is 1mm, which is within the preset threshold range. No structural verification is required. Based on the comparison results and the thickness of each layer, the preset path planning algorithm is applied to determine the moving speed, moving path, and nozzle angle of the spraying device in the first spraying parameters. Based on the determined first spraying parameters, the actual moving speed, actual moving path, and actual nozzle angle of the spraying device are adjusted to ensure that the second layer spraying operation can make up for the difference between the first layer spraying and the design model. For example, the actual spraying thickness of the second layer at a certain point should be 6mm, thereby achieving the spraying completion effect required by the design model.

[0043] The principle for adjusting the first spraying parameter is that during the spraying process of the structure to be sprayed, when the number of spraying times is greater than or equal to 2, the spraying trajectory will form a structure with a certain width. The slower the moving speed of the spraying device, the longer the dwell time at a single coordinate point, and the greater the density of the sprayed material at that position, the greater the thickness of the structure formed by the spraying trajectory. At the same time, the moving speed of the nozzle of the spraying device and the distance between the nozzle and the curved surface of the pre-sprayed structure will affect the thickness of the spraying trajectory formed during spraying. Because the traversability requirement of spraying construction dictates that the distance between each spray trajectory should not exceed the width of the structure formed by the spraying perpendicular to the trajectory, in practical applications, considering the stability of the structure, the distance between trajectories needs to be less than the critical parameter to ensure a relatively stable connection between different layers. Therefore, taking into account the above factors, the first spraying parameters are determined, including the moving speed, moving path, and nozzle angle of the spraying device. Based on the relationship between the first spraying parameters and the thickness of the spray trajectory, as well as the traversability requirement of spraying construction, the spraying operation of the next layer is appropriately adjusted according to the actual spraying state of each layer during the spraying process, thereby more flexibly and perfectly ensuring the aesthetics and refinement of the finished sprayed product.

[0044] like Figure 4 As shown, in one embodiment, the spraying construction apparatus of the present invention includes:

[0045] Module 41 is used to acquire point cloud information of the structure to be sprayed;

[0046] The determination module 42 is used to perform three-dimensional modeling based on the point cloud information and apply the Poisson surface reconstruction algorithm to determine the surface structure data of the structure to be sprayed.

[0047] Processing module 43 is used to spray the Xth layer of the surface layer of the structure to be sprayed based on the curved surface structure data and the first spraying parameters, and to determine the structure to be sprayed after the Xth layer of the surface layer is sprayed; wherein, the first spraying parameters are determined by applying a preset path planning algorithm based on the structure to be sprayed, a preset design model, a preset total surface layer thickness, and preset spraying parameters; the surface layer includes: a polyurethane layer and a concrete layer, the Xth layer is any layer in the surface layer other than the first layer, and X is an integer greater than 1; the preset design model is a model obtained by applying a structural optimization algorithm to optimize the thickness of the sprayed surface layer after the initial design of the structure to be sprayed.

[0048] The point cloud information includes: the three-dimensional coordinate information of the structure to be sprayed and the laser reflection intensity information at the corresponding position; the point cloud information is obtained through three-dimensional laser scanning.

[0049] The technical features of the spraying construction device in this embodiment are basically the same as the principles of each step in the spraying construction method in Embodiment 1. The technical contents that are common between the method and the device will not be repeated.

[0050] The storage medium of the present invention stores a computer program, which, when executed by a processor, implements the above-described spraying construction apparatus method.

[0051] like Figure 5 As shown, in one embodiment, the spraying construction device of the present invention includes a processor 51 and a memory 52.

[0052] The memory 52 is used to store computer programs.

[0053] The memory 52 includes various media capable of storing program code, such as ROM, RAM, magnetic disk, USB flash drive, memory card, or optical disk.

[0054] The processor 51 is connected to the memory 52 and is used to execute the computer program stored in the memory 52 so that the spraying construction equipment performs the above-described spraying construction method.

[0055] Preferably, the processor 51 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0056] In summary, the spraying construction method and apparatus of the present invention perform layered spraying of the sprayed material, and based on the previous layer, apply a preset path planning algorithm to adjust the spraying operation of the next layer in a timely manner, achieving a perfect combination of meticulousness and rationality in the spraying operation; it can meet the traversal requirements of spraying construction; and through structural optimization of the initial design model and structural verification of the actual sprayed layer during the spraying process, it ensures the construction quality of the spraying operation and improves the structural safety and aesthetic refinement of the finished sprayed product. Therefore, the present invention effectively overcomes the various shortcomings of the prior art and has high industrial application value. The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A spray-casting construction method, characterized in that, The spraying construction method includes the following steps: Obtain point cloud information of the structure to be sprayed; the point cloud information includes: three-dimensional coordinate information of the structure to be sprayed and laser reflection intensity information at the corresponding position; Based on the point cloud information, a Poisson surface reconstruction algorithm is applied to perform 3D modeling to determine the surface structure data of the structure to be sprayed. This includes: based on the 3D coordinate information, applying the Poisson surface reconstruction algorithm to perform 3D modeling to determine the coordinate information of the inner and outer surfaces of the structure to be sprayed, and the area of ​​the convex region of the inner surface; based on the coordinate information of the inner and outer surfaces, determining the thickness of the sprayed coating layer; based on the area of ​​the convex region, determining the concrete flow area; and based on the 3D coordinate information and the laser reflection intensity information, applying the Poisson surface reconstruction algorithm to perform 3D modeling to determine the surface smoothness of the sprayed coating layer. The surface structure data includes: the thickness of the sprayed coating layer, the surface smoothness of the sprayed coating layer, and the concrete flow area. The surface layer of the structure to be sprayed includes: a polyurethane layer and a concrete layer; The surface spraying sequence is as follows: first, the polyurethane layer is sprayed onto the structure to be sprayed; then, the concrete layer is sprayed onto the structure to be sprayed. Based on the surface structure data and the first spraying parameters, the Xth layer of the surface layer of the structure to be sprayed is applied to determine the structure to be sprayed after the Xth layer of the surface layer is applied. The first spraying parameters are determined by applying a preset path planning algorithm based on the structure to be sprayed, a preset design model, a preset total surface layer thickness, and the preset spraying parameters. The Xth layer is any layer in the surface layer except the first layer, and X is an integer greater than 1. The preset design model is a model obtained by optimizing the surface layer thickness using a structural optimization algorithm after initial design of the structure to be sprayed. Furthermore, the first spraying parameters are determined based on the structure of the object to be sprayed, a preset design model, a preset total surface thickness, and preset spraying parameters, using a preset path planning algorithm; including: Based on the preset spraying parameters, the structure to be sprayed is sequentially sprayed up to the (X-1)th layer, determining the thickness of the first layer of the surface of the structure to be sprayed and the first sprayed structure after the (X-1)th layer is sprayed; based on the thickness of the first layer and the total thickness of the surface layer, the number of sprayed layers and the thickness of each layer are determined; based on the first sprayed structure, a three-dimensional coordinate model of the first sprayed structure is determined using three-dimensional scanning technology; based on the three-dimensional coordinate model and the design model, point cloud analysis technology is used for comparison to determine the comparison result; when the comparison result exceeds a preset threshold range, based on the comparison result, the three-dimensional coordinate model, and the thickness of each layer, a preset structural verification rule is applied to determine the structure to be sprayed at the Xth layer; based on the structure to be sprayed at the Xth layer, the path planning algorithm is applied to determine the first spraying parameters; wherein, the first spraying parameters include the moving speed, moving path, and nozzle angle of the spraying device.

2. The method according to claim 1, characterized in that, The point cloud information was obtained through three-dimensional laser scanning.

3. A sprayed construction device, characterized in that, include: The acquisition module is used to acquire point cloud information of the structure to be sprayed; The point cloud information includes: the three-dimensional coordinate information of the structure to be sprayed and the laser reflection intensity information at the corresponding position; The determination module is used to perform 3D modeling based on the point cloud information using the Poisson surface reconstruction algorithm, and to determine the surface structure data of the structure to be sprayed. This includes: performing 3D modeling based on the 3D coordinate information using the Poisson surface reconstruction algorithm to determine the coordinate information of the inner and outer surfaces of the structure to be sprayed, and the area of ​​the convex region of the inner surface; determining the coating thickness based on the coordinate information of the inner and outer surfaces; determining the concrete flow area based on the area of ​​the convex region; and determining the surface smoothness of the coating based on the 3D coordinate information and the laser reflection intensity information using the Poisson surface reconstruction algorithm. The surface structure data includes: coating thickness, coating surface smoothness, and concrete flow area. The surface layer of the structure to be sprayed includes: a polyurethane layer and a concrete layer. The spraying sequence is: first, the polyurethane layer is sprayed onto the structure to be sprayed; then, the concrete layer is sprayed onto the structure to be sprayed. The processing module is used to apply the Xth layer of the surface layer to the structure to be sprayed based on the surface structure data and the first spraying parameters, and to determine the structure to be sprayed after the Xth layer of the surface layer is applied; wherein, the first spraying parameters are determined by applying a preset path planning algorithm based on the structure to be sprayed, a preset design model, a preset total surface layer thickness, and preset spraying parameters; the Xth layer is any layer in the surface layer other than the first layer, and X is an integer greater than 1; the preset design model is a model obtained by applying a structural optimization algorithm to optimize the surface layer thickness after initial design of the structure to be sprayed. Furthermore, the first spraying parameters are determined based on the structure of the object to be sprayed, a preset design model, a preset total surface thickness, and preset spraying parameters, using a preset path planning algorithm; including: Based on the preset spraying parameters, the structure to be sprayed is sequentially sprayed up to the (X-1)th layer, determining the thickness of the first layer of the surface of the structure to be sprayed and the first sprayed structure after the (X-1)th layer is sprayed; based on the thickness of the first layer and the total thickness of the surface layer, the number of sprayed layers and the thickness of each layer are determined; based on the first sprayed structure, a three-dimensional coordinate model of the first sprayed structure is determined using three-dimensional scanning technology; based on the three-dimensional coordinate model and the design model, point cloud analysis technology is used for comparison to determine the comparison result; when the comparison result exceeds a preset threshold range, based on the comparison result, the three-dimensional coordinate model, and the thickness of each layer, a preset structural verification rule is applied to determine the structure to be sprayed at the Xth layer; based on the structure to be sprayed at the Xth layer, the path planning algorithm is applied to determine the first spraying parameters; wherein, the first spraying parameters include the moving speed, moving path, and nozzle angle of the spraying device.

4. The apparatus according to claim 3, characterized in that, The point cloud information was obtained through three-dimensional laser scanning.

5. A storage medium storing program instructions, wherein, When the program instructions are executed by the processor, they implement the steps of the spraying construction method as described in any one of claims 1 to 2.

6. A sprayed construction device, characterized in that: It includes a memory for storing a computer program; and a processor for running the computer program to implement the steps of the spraying construction method as described in any one of claims 1 to 2.

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