Intelligent building marking system and high-precision lofting method combined with BIM (Building Information Modeling) technology

Abstract

The invention provides an intelligent building marking system and a high-precision lofting method combined with a BIM (Building Information Modeling) technology, and the system comprises a vehicle body, and an omnidirectional wheel system, a navigation and positioning system, a control and task management system, a modular display and user interface, a safety and obstacle avoidance system, a data processing and storage system and a power supply management system which are carried on the vehicle body, the vehicle body further comprises a marking system. The marking system comprises a two-dimensional linear sliding table system and a spraying system, the two-dimensional linear sliding table system is composed of a vertical sliding table and a horizontal sliding table, and the spraying system is installed on the horizontal sliding table and used for conducting accurate positioning and spraying operation on a nozzle; the spraying system automatically performs marking operation according to an instruction of the central control unit, and dynamically adjusts spraying parameters according to the actual environment through a self-adaptive control algorithm so as to improve the marking precision. By integrating the high-precision navigation positioning technology and the BIM technology, the problems of insufficient precision and low efficiency in traditional building lofting are solved.

Description

Technical Field

[0001] The present invention relates to the field of building information technology, and in particular to an intelligent building marking system and a high-precision lofting method combined with BIM technology. Background Art

[0002] In the field of civil engineering, especially in large-scale construction projects, accurate lofting is essential to ensure the stability and safety of the structure. For example, in a 68-meter-diameter cylindrical concrete structure project, a structural column is set every 5° on the inner and outer walls of the cylinder wall, totaling 72. The precise positioning of these structural columns directly affects the accurate connection of the subsequent large-scale steel structure spherical shell grid. Therefore, the millimeter-level accurate lofting of the structural columns becomes particularly critical.

[0003] Traditional building layout methods mainly rely on ground measurement tools, such as total stations and laser measuring instruments. However, in complex construction environments, such as when there are obstacles in the center of the cylinder or when it is not convenient to install a total station, the application of traditional methods is limited. In addition, the complex terrain and building structure make it difficult for the accuracy and efficiency of these traditional methods to meet the needs of high-precision layout. At the same time, the limitations of traditional 2D CAD drawings in expressing complex shapes increase the difficulty and error risk of layout work.

[0004] With the development of building information modeling (BIM) technology, BIM technology is increasingly used in design and construction. BIM technology can intuitively display the three-dimensional model of the structure, help designers understand and design the project more accurately, and generate construction drawings to guide construction. Through professional BIM software (such as Revit), a three-dimensional model of the project is established, including all construction elements, and the model coordinate system is calibrated to be consistent with the site coordinate system to ensure that the model is synchronized with the site, thereby improving the accuracy of the layout. However, relying solely on BIM technology is still not enough to solve the problem of high-precision layout in complex construction environments.

[0005] At present, the existing technology still faces the following major problems in building lofting:

[0006] The limitations of traditional 2D CAD drawings in expressing complex shapes make lofting work more difficult.

[0007] The complex construction site environment and changing terrain make it difficult to ensure the accuracy and efficiency of traditional layout methods.

[0008] Existing lofting methods mainly rely on manual operations, which are prone to human errors and are inefficient.

[0009] In order to overcome these challenges, it is urgent to invent new technologies to carry out high-precision building layout through automation and intelligent equipment combined with BIM technology to meet the needs of high-precision and high-efficiency layout in complex construction environments. Such technological innovation will not only be applicable to specific projects, but can also be widely used in building layout work in various complex environments, providing reliable technical support for the field of civil engineering. Summary of the invention

[0010] In view of the technical problems existing in the prior art, the present invention provides an intelligent building marking system and a high-precision lofting method combined with BIM technology to solve the problems of insufficient precision and low efficiency in traditional building lofting.

[0011] According to a first aspect of the present invention, the present invention provides an intelligent building marking system, comprising: a vehicle body, and an omnidirectional wheel system, a navigation and positioning system, a control and task management system, a modular display and user interface, a safety and obstacle avoidance system, a data processing and storage system, and a power management system mounted on the vehicle body, characterized in that the vehicle body also includes a marking system;

[0012] The marking system includes a two-dimensional linear slide system and a spraying system. The two-dimensional linear slide system is composed of a vertical slide and a horizontal slide. The spraying system is installed on the horizontal slide to perform precise positioning and spraying operations of the nozzle; the spraying system automatically performs marking operations according to the instructions of the central control unit, and dynamically adjusts the spraying parameters according to the actual environment through an adaptive control algorithm to improve the marking accuracy.

[0013] Based on the above technical solution, the present invention can also make the following improvements.

[0014] Optionally, the spraying system consists of a paint can, a pressure pump and a nozzle. The paint can is provided with a discharge end at the bottom, which is connected or removed from the connecting pipe on the pressure pump through a quick connector. The top of the paint can is provided with a cover body, and a motor can be installed on the cover body. The output end of the motor is connected to a stirrer to stir the paint to prevent precipitation.

[0015] Optionally, a locking screw is provided on the horizontal slide of the two-dimensional linear slide system, which can quickly fix and remove the paint can.

[0016] Optionally, the navigation and positioning system consists of an inertial navigation system and a vision system. The inertial navigation system integrates a GPS module and a high-precision gyroscope to provide accurate position and attitude information; the vision system assists in navigation and positioning, and improves environmental perception capabilities and overall accuracy through data fusion of a depth camera and a laser scanner.

[0017] Optionally, the control and task management system coordinates the operation of each subsystem by a real-time operating system and a central control unit. The real-time operating system ensures efficient and real-time response. The task management system handles the reception, parsing and execution of drawing tasks, and supports remote task publishing and monitoring through a wireless communication module.

[0018] Optionally, the modular display and user interface includes a display screen and a user interface module, wherein the display screen displays task status and system information in real time, and the user interface module allows the user to input tasks, monitor system status and perform manual control.

[0019] Optionally, the safety and obstacle avoidance system utilizes a lidar or ultrasonic sensor to achieve automatic obstacle avoidance, thereby ensuring safe operation of the device in complex environments.

[0020] Optionally, the data processing and storage system includes a data processing module and a storage module, which are used to ensure data integrity and traceability of operation records; the data processing module is responsible for processing various types of sensor data and task instructions, and the storage module is used to save task data and operation records.

[0021] Optionally, the power management system includes a battery module and a power management unit, which are used to ensure long-term stable operation of the device; the battery module provides the power required for the operation of the device; the power management unit is responsible for power distribution and charging management to ensure long-term stable operation of the device.

[0022] According to a second aspect of the present invention, a high-precision lofting method combining BIM technology is provided, which is used in the above-mentioned intelligent building marking system, comprising the following steps:

[0023] Use BIM software to build a 3D model containing all construction elements, import it into the intelligent system and calibrate the coordinates to ensure synchronization with the site;

[0024] The system is placed at any selected location within the construction area, and the initial positioning is performed through the navigation and positioning system to ensure the precise movement and posture adjustment of the vehicle in a complex environment;

[0025] Based on the three-dimensional representation of the BIM model, the system uses a two-dimensional linear slide to coordinate the spraying system to accurately draw the outer contour of the arc;

[0026] According to the preset BIM model, the system automatically draws the outer contour of the structural column, and the navigation and positioning system provides precise location information to ensure fast and accurate spraying;

[0027] The user interface displays the task status in real time, compares the BIM model with the actual operation data, monitors the spraying accuracy, and the LiDAR or ultrasonic sensor provides automatic obstacle avoidance to ensure construction safety;

[0028] Sensor data and operation records are recorded to ensure data integrity and traceability, and the power management system ensures stable operation of the equipment.

[0029] Technical effects and advantages of the present invention:

[0030] The present invention provides an intelligent building marking system and a high-precision layout method combined with BIM technology. The system solves the problems of insufficient precision and low efficiency in traditional building layout by integrating high-precision navigation and positioning technology and BIM (Building Information Modeling) technology. The core of the system includes a sturdy and durable vehicle body equipped with an omnidirectional wheel system to achieve multi-directional precise movement; a high-precision inertial navigation system (INS) is combined with a visual system to provide accurate position and posture information. The marking system consists of a two-dimensional linear slide and a spraying system, which can automatically perform precise spraying according to the instructions of a central control unit. The control and task management system uses a real-time operating system (RTOS) and a machine learning algorithm to optimize the task execution process. The user interface module provides an intuitive operation interface to support task input and system monitoring. The safety and obstacle avoidance system uses a laser radar (LiDAR) or an ultrasonic sensor to ensure construction safety. The data processing and storage system ensures the integrity and traceability of the data, while the power management system ensures the stable operation of the equipment.

[0031] At the same time, the present invention combines the lofting method of BIM technology to realize the automated process from data preparation to outline drawing and structural column positioning, improving construction efficiency and safety. Real-time monitoring and safety assurance systems ensure the accuracy of operations. Modular design makes the system easy to maintain and upgrade, adapting to changing construction needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic diagram of an intelligent building marking system provided by an embodiment of the present invention;

[0033] Figure 2 It is a schematic diagram of the layout of the intelligent building marking system provided by an embodiment of the present invention in a cylindrical concrete structure project;

[0034] Figure 3 The embodiment of the present invention provides Figure 2 Schematic diagram of point A;

[0035] Figure 4 It is a schematic diagram of a cylindrical concrete structure provided by an embodiment of the present invention;

[0036] Figure 5 The embodiment of the present invention provides Figure 4 Schematic diagram of the spherical shell grid support at location B. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] It is understandable that based on the defects in the background technology, the embodiment of the present invention proposes an intelligent building marking system, combined with Figure 1 As shown, it includes: a vehicle body, an omnidirectional wheel system mounted on the vehicle body, a navigation and positioning system, a control and task management system, a modular display and user interface, a safety and obstacle avoidance system, a data processing and storage system, and a power management system;

[0039] In addition, a marking system is also provided on the vehicle body; the marking system includes a two-dimensional linear slide system and a spraying system. The two-dimensional linear slide system is composed of a vertical slide and a horizontal slide. The spraying system is installed on the horizontal slide to achieve precise positioning of the nozzle and spraying operation. The spraying system automatically performs marking operations according to the instructions of the central control unit, and dynamically adjusts the spraying parameters according to the actual environment through an adaptive control algorithm to improve the marking accuracy.

[0040] The spraying system consists of a paint can, a pressure pump and a nozzle. The bottom of the paint can is provided with a discharge end, which is connected or removed with the connecting pipe on the pressure pump through a quick connector. The horizontal slide of the two-dimensional linear slide system is provided with a locking top screw, which can quickly fix and remove the paint can. The top of the paint can is provided with a cover body, on which a motor can be installed. The output end of the motor is connected to a stirrer to stir the paint to prevent precipitation.

[0041] In the above technical solution, the present invention is equipped with an advanced two-dimensional linear slide system and a spraying system, which can achieve precise positioning of the spraying operation.

[0042] The four corners of the vehicle body are equipped with omnidirectional wheel systems to achieve multi-directional precise movement. The vehicle body adopts a sturdy and durable structure that can carry various subsystems and is equipped with an omnidirectional wheel system consisting of four Mecanum wheels, which enables the vehicle body to move precisely in any direction and improves maneuverability in complex environments.

[0043] The navigation and positioning system consists of a high-precision inertial navigation system (INS) and a visual system. The high-precision inertial navigation system (INS) integrates a GPS module and a high-precision gyroscope to provide accurate position and attitude information; coupled with the visual system to assist in navigation and positioning, the data fusion of the depth camera and laser scanner significantly improves the environmental perception capability and overall accuracy.

[0044] The control and task management system consists of a central control unit (CCU) coordinating the operation of each subsystem, and a real-time operating system (RTOS) ensuring efficient and real-time response. The task management system handles the reception, parsing and execution of drawing tasks, and supports remote task publishing and monitoring through wireless communication modules. Machine learning algorithms are introduced to improve the intelligence level of path planning and task execution. The central control unit (CCU) and real-time operating system (RTOS) introduce machine learning algorithms to optimize path planning and task execution.

[0045] The modular display and user interface includes a display screen and a user interface module. The display screen displays task status and system information in real time, and the user interface module allows the user to input tasks, monitor system status, and perform manual control. The modular design makes the display and user interface system easy to maintain and upgrade. The modular display and user interface facilitates task input and system monitoring.

[0046] The safety and obstacle avoidance system uses LiDAR or ultrasonic sensors to ensure the safe operation of the equipment in complex environments. The safety and obstacle avoidance system uses LiDAR or ultrasonic sensors to achieve automatic obstacle avoidance, and the multi-sensor fusion system further improves obstacle avoidance performance and safety.

[0047] The data processing and storage system includes a data processing module and a storage module to ensure data integrity and traceability of operation records; in the data processing and storage system, the data processing module is responsible for processing various sensor data and task instructions, and the storage module is used to save task data and operation records. The modular design facilitates the maintenance and expansion of the data processing unit and the storage module.

[0048] The power management system includes a battery module and a power management unit, which are used to ensure that the device can run stably for a long time. In the power management system, the battery module provides the power required for the device to run, and the power management unit (PMU) is responsible for power distribution and charging management to ensure that the device can run stably for a long time.

[0049] In summary, an embodiment of the present invention provides an intelligent building marking system, the core of which includes a sturdy and durable vehicle body and various subsystems carried on the vehicle body. Equipped with an omnidirectional wheel system, it can achieve multi-directional precise movement; a high-precision inertial navigation system (INS) is combined with a visual system to provide accurate position and posture information. The marking system can automatically perform precise spraying according to the instructions of the central control unit. The control and task management system uses a real-time operating system (RTOS) and a machine learning algorithm to optimize the task execution process. The user interface module provides an intuitive operation interface and supports task input and system monitoring. The safety and obstacle avoidance system uses a laser radar (LiDAR) or ultrasonic sensor to ensure construction safety. The data processing and storage system ensures the integrity and traceability of the data, while the power management system ensures the stable operation of the equipment. The system solves the problems of insufficient accuracy and low efficiency in traditional building layout by integrating high-precision navigation and positioning technology with BIM (Building Information Modeling) technology.

[0050] The embodiment of the present invention also provides a high-precision layout method combined with BIM technology, which is used in the above-mentioned intelligent building marking system. Figure 2-Figure 3 As shown, the method comprises the following steps:

[0051] Step S1, using BIM software to build a three-dimensional model containing all construction elements, importing it into the intelligent system and calibrating the coordinates to ensure synchronization with the site and improve the accuracy of the layout;

[0052] The above implementation steps specifically include: Data preparation: Collect design drawings, technical specifications and equipment parameters. Use professional BIM software (such as Revit) to build a 3D model of the project, including all construction elements. Import the 3D model into the intelligent building marking system and calibrate the model coordinate system to the site coordinate system to ensure that the model is synchronized with the site, thereby improving the accuracy of the layout.

[0053] Step S2: The system is placed at any selected location within the construction area, and initial positioning is performed through the INS and vision systems to ensure accurate movement and posture adjustment of the vehicle in a complex environment;

[0054] The above implementation steps specifically include: Initialization and positioning: The intelligent building marking system is placed at any selected location on the construction site and initially positioned through a high-precision inertial navigation system (INS) and a visual system to ensure precise movement and posture adjustment of the vehicle in complex environments; this design allows the system to flexibly position and operate when encountering obstacles or other restrictions in the center.

[0055] Step S3, the system uses a two-dimensional linear slide to coordinate the spraying system according to the three-dimensional representation of the BIM model to achieve accurate drawing of the arc outer contour;

[0056] The above implementation steps specifically include: Outer contour drawing: The marking system starts to draw the arc outer contour of the cylinder. The BIM model provides an accurate three-dimensional representation of the structure. The horizontal slide and the vertical slide in the two-dimensional linear slide system work in coordination to ensure that the spraying system can accurately locate the outer contour of the cylinder. Under the command of the central control unit (CCU), the spraying system dynamically adjusts the spraying parameters through an adaptive control algorithm to accurately draw the arc outer contour line on the surface of the cylinder wall;

[0057] Step S4: According to the BIM model preset, the system automatically draws the outer contour of the structural column, and INS provides precise position information to ensure fast and accurate spraying;

[0058] The above implementation steps specifically include: Structural column contour drawing: The marking system draws the outer contours of 72 structural columns in sequence according to the preset 5° intervals in the BIM model. Through the position and attitude information provided by the high-precision inertial navigation system (INS), the marking system can accurately find the position of each structural column on the inner and outer walls of the cylinder. With the assistance of the slide system, the spraying system quickly and accurately completes the spraying operation of the outer contour of each structural column;

[0059] Step S5: The user interface displays the task status in real time, compares the BIM model with the actual operation data, and monitors the spraying accuracy. LiDAR or ultrasonic sensors provide automatic obstacle avoidance to ensure construction safety;

[0060] The above implementation steps specifically include: real-time monitoring and safety assurance. During the entire drawing process, the display and user interface module displays the task status and system information in real time, and the BIM model is compared with the actual operation data to help monitor the operation status and spraying accuracy of the marking system to ensure that the operation meets the design requirements. The safety and obstacle avoidance system uses laser radar (LiDAR) or ultrasonic sensors to ensure the safe operation of the marking system at the construction site and automatically avoid possible obstacles;

[0061] Step S6: Record sensor data and operation records to ensure data integrity and traceability. The power management system ensures stable operation of the equipment.

[0062] The above implementation steps specifically include: Data processing and storage: The data processing module records all sensor data and operation records during the entire marking process to ensure the integrity and traceability of the task data. The power management system ensures the power supply and stable operation of the equipment during long-term operation.

[0063] Figure 4This is a schematic diagram of a cylindrical concrete structure. In this cylindrical concrete structure project, in order to ensure uniform support of the structure and optimize mechanical properties, structural columns are set at intervals of 5 degrees on the inner and outer walls of the cylinder. The entire structure has 72 such structural columns, evenly distributed around the cylinder, forming a solid support network.

[0064] Figure 5 yes Figure 4 Schematic diagram of the spherical shell grid support at A. The attached figure shows the design of the spherical shell grid support, which is a key component used to ensure the accurate installation of the large steel structure spherical shell grid in the hemispherical space. The precise alignment of the structural columns and the spherical shell grid supports in the figure is crucial to ensure the stability and integrity of the entire structure. Precise lofting plays a vital role in this process, ensuring that the position and angle of each support are strictly consistent with the design drawings, thereby achieving the smooth installation of the large steel structure and the ultimate stability of the structure.

[0065] The high-precision lofting method combined with BIM technology described in the embodiment of the present invention realizes the automated process from data preparation to contour drawing and structural column positioning, thereby improving construction efficiency and safety. The real-time monitoring and safety assurance system ensures the accuracy of the operation. The modular design makes the system easy to maintain and upgrade, and adapts to changing construction needs.

[0066] In summary, the intelligent building marking system and the high-precision lofting method combined with BIM technology described in the embodiments of the present invention have the following beneficial effects:

[0067] High maneuverability and precise positioning: The vehicle is equipped with an omnidirectional wheel system, combined with a high-precision inertial navigation system (INS) and a visual system, to achieve high maneuverability and precise positioning in complex environments.

[0068] Intelligent spraying and adaptive control: The marking system uses a two-dimensional linear slide and spraying system, with an adaptive control algorithm to dynamically adjust the spraying parameters to ensure marking accuracy. The paint tank design includes a quick connector and a stirrer, which improves the flexibility and convenience of the spraying system.

[0069] Integrated control and user interaction: The central control unit (CCU) and real-time operating system (RTOS) integrate machine learning algorithms to achieve efficient real-time response and intelligent task management. The user interface module provides a friendly interactive experience, allowing users to input tasks and monitor the system.

[0070] Safety and obstacle avoidance capabilities: Use LiDAR or ultrasonic sensors, combined with multi-sensor fusion technology, to ensure the safe operation of equipment in complex environments.

[0071] Data processing and power management: The design of the data processing unit and storage module, as well as the power management unit (PMU), ensures data integrity, traceability, and stable operation of the equipment.

[0072] BIM technology integration and construction efficiency improvement: Through the combination of BIM software and intelligent building marking system, calibration with the on-site coordinate system is achieved, which significantly improves the accuracy of layout and construction efficiency.

[0073] Real-time monitoring and construction safety: The combination of real-time monitoring system and safety obstacle avoidance system ensures the accuracy of operation and the safety of the construction site.

[0074] Modular design: The modular design of the entire system improves the convenience of maintenance and upgrades, and enables the system to flexibly respond to various construction environments.

[0075] Overall system effect: The present invention integrates the above technologies to form a highly integrated and intelligent building lofting system. This system not only significantly improves the lofting accuracy and construction efficiency, but also ensures the safety and reliability of construction through real-time monitoring and safety obstacle avoidance functions. The modular design makes the system easy to maintain and upgrade, and can adapt to changing construction needs, representing a major advancement in building lofting technology.

[0076] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. Intelligent building marking system, including: A vehicle body, and an omnidirectional wheel system, a navigation and positioning system, a control and task management system, a modular display and user interface, a safety and obstacle avoidance system, a data processing and storage system, and a power management system mounted on the vehicle body, characterized in that the vehicle body also includes a marking system; The marking system includes a two-dimensional linear slide system and a spraying system. The two-dimensional linear slide system is composed of a vertical slide and a horizontal slide. The spraying system is installed on the horizontal slide to perform precise positioning and spraying operations of the nozzle; the spraying system automatically performs marking operations according to the instructions of the central control unit, and dynamically adjusts the spraying parameters according to the actual environment through an adaptive control algorithm.

2. The intelligent building marking system according to claim 1, characterized in that: The spraying system consists of a paint can, a pressure pump and a nozzle. A discharge end is provided at the bottom of the paint can, which is connected or removed with a connecting pipe on the pressure pump through a quick connector. The top of the paint can is provided with a cover body, on which a motor is installed. The output end of the motor is connected to a stirrer to stir the paint to prevent precipitation.

3. The intelligent building marking system according to claim 2, characterized in that: The horizontal slide of the two-dimensional linear slide system is provided with a locking screw for quickly fixing and disassembling the paint can.

4. The intelligent building marking system according to claim 1, characterized in that: The navigation and positioning system consists of an inertial navigation system and a visual system. The inertial navigation system integrates a GPS module and a high-precision gyroscope to provide accurate position and attitude information; the visual system assists in navigation and positioning, and improves environmental perception and overall accuracy through data fusion of a depth camera and a laser scanner.

5. The intelligent building marking system according to claim 1, characterized in that: The control and task management system is composed of a real-time operating system and a central control unit to coordinate the operation of each subsystem. The real-time operating system ensures high efficiency and real-time response. The task management system handles the reception, parsing and execution of drawing tasks, and supports remote task publishing and monitoring through a wireless communication module.

6. The intelligent building marking system according to claim 1, characterized in that: The modular display and user interface includes a display screen and a user interface module. The display screen displays task status and system information in real time. The user interface module allows the user to input tasks, monitor system status and perform manual control.

7. The intelligent building marking system according to claim 1, characterized in that: The safety and obstacle avoidance system uses lidar or ultrasonic sensors to achieve automatic obstacle avoidance, ensuring the safe operation of the equipment in complex environments.

8. The intelligent building marking system according to claim 1, characterized in that: The data processing and storage system includes a data processing module and a storage module, which are used to ensure data integrity and traceability of operation records; the data processing module is responsible for processing various sensor data and task instructions, and the storage module is used to save task data and operation records.

9. The intelligent building marking system according to claim 1, characterized in that: The power management system includes a battery module and a power management unit. The battery module provides the power required for the operation of the device; the power management unit is responsible for power distribution and charging management to ensure long-term stable operation of the device.

10. A high-precision layout method combined with BIM technology, used in the intelligent building marking system according to claims 1 to 9, characterized in that: The method comprises the following steps: Use BIM software to build a 3D model containing all construction elements, import it into the intelligent system and calibrate the coordinates to ensure synchronization with the site; The system is placed at any selected location within the construction area, and the initial positioning is performed through the navigation and positioning system to ensure the precise movement and posture adjustment of the vehicle in a complex environment; Based on the three-dimensional representation of the BIM model, the system uses a two-dimensional linear slide to coordinate the spraying system to accurately draw the outer contour of the arc; According to the preset BIM model, the system automatically draws the outer contour of the structural column, and the navigation and positioning system provides precise location information to ensure fast and accurate spraying; The user interface displays the task status in real time, compares the BIM model with the actual operation data, monitors the spraying accuracy, and the LiDAR or ultrasonic sensor provides automatic obstacle avoidance to ensure construction safety; Sensor data and operation records are recorded to ensure data integrity and traceability, and the power management system ensures stable operation of the equipment.

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