Method and system for intelligently generating spraying process and spraying track based on BIM model

Abstract

The invention discloses a method and system for intelligently generating a spraying process and a spraying track based on a BIM model, relates to the technical field of BIM models, and solves the problems that an existing intelligent spraying method controls the spraying process in advance through programming, is only suitable for being used in a large batch of standard workpieces, is repeatedly used in a large scale through one-time programming, and is not suitable for non-standard structures such as a steel structure and the like. One-by-one programming is needed, and the spraying efficiency is low. The method comprises the steps that the curved surface type of the surface of a to-be-sprayed building in a BIM model is analyzed, the to-be-sprayed building is divided into a plurality of to-be-sprayed areas according to the curved surface type, and the spraying track of each to-be-sprayed area is set; acquiring simulation spraying information based on the spraying track; the actual spraying information is compared with the simulated spraying information, and the actual spraying information is adjusted; according to the method, the problems of complicated programming, low efficiency and the like of a non-standard structure are solved, and the flexibility, the accuracy and the overall efficiency of spraying operation are remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the field of BIM models, and specifically relates to a method and system for intelligently generating spraying processes and spraying trajectories based on BIM models. Background Art

[0002] In fields such as construction and industry, spraying operations are an important technological link. Currently, paint spraying on the market is mainly divided into three categories: 1. Manual spraying, relying on manual experience, all kinds of data such as spraying speed, distance, nozzle size, and angle are completely based on personal experience and responsibility. Although it can be applied to various workpieces, there are various problems such as spraying waste, unstable quality, low efficiency, and high labor costs; 2. Reciprocating machine spraying, the advantages are that it can control spraying speed, distance, and simple angles, but the spraying range is relatively limited, and it cannot be adjusted in a timely manner according to the component situation. It can only spray simply left and right, up and down, and many solutions will spray on areas that do not need to be sprayed, resulting in waste, and the angle cannot be adjusted in a timely manner according to the component structure shape. Currently, it can only spray some relatively regular components and cannot be applied; 3. Vision + spraying robot spraying, this solution is relatively similar to the present invention, but there are also essential differences. The advantage of this solution is that through programming, spraying processes can be controlled in advance, including but not limited to various data such as spraying speed, distance, and angle. However, the programming efficiency is slow, suitable for use in a large number of standard workpieces. Once programmed, it can be repeatedly used in large quantities. For non-standard structures such as steel structures, if programmed one by one, the efficiency is very low, and it is very difficult to compare the efficiency of manual programming with the software's automatic recognition and generation of spraying trajectories and paths.

[0003] Therefore, the present invention provides a method and system for intelligently generating spraying processes and spraying trajectories based on BIM models. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art; for this purpose, the present invention proposes a method and system for intelligently generating spraying processes and spraying trajectories based on BIM models, which is used to solve the technical problem that existing intelligent spraying methods can only be used in a large number of standard workpieces by programming to control spraying processes in advance. Once programmed, they can be repeatedly used in large quantities. For non-standard structures such as steel structures, they need to be programmed one by one, resulting in low spraying efficiency.

[0005] To achieve the above object, the first aspect of the present invention provides a method for intelligently generating spraying processes and spraying trajectories based on BIM models, including the following steps:

[0006] Construct a BIM model of the building to be sprayed and a spraying parameter library;

[0007] Analyze the surface types of the building surfaces to be sprayed in the BIM model. According to the surface types, divide the building to be sprayed into several areas to be sprayed, and set the spraying trajectories for each area to be sprayed.

[0008] And, according to the spraying parameter library and area information, obtain the spraying parameters for the area to be sprayed. The BIM model sprays the area to be sprayed based on the spraying parameters, and adjusts the spraying parameters, and marks the adjusted spraying parameters as simulated spraying information; wherein, the area information includes surface type and surface property.

[0009] Obtain the actual spraying information of the building to be sprayed, compare the actual spraying information with the simulated spraying information, and adjust the actual spraying information; wherein, both the actual spraying information and the simulated spraying information include spraying trajectories and spraying parameters.

[0010] Preferably, the construction of the BIM model of the building to be sprayed includes:

[0011] Obtain the point cloud data of the building to be sprayed, preprocess the point cloud data, extract several component features of the building to be sprayed, and associate several components with component attributes; based on the component features and component attributes, construct the BIM model of the building to be sprayed.

[0012] The point cloud data of the present invention can capture every detail of the building, including complex geometries and surface textures, which enables the BIM model to reflect the actual building situation with extremely high precision. By using point cloud data to create or update the BIM model, the errors that may occur during manual measurement and modeling can be greatly reduced. The BIM model generated based on point cloud data lays the foundation for more accurately planning the spraying path in the subsequent process, especially for complex structures or inaccessible places, ensuring the quality and efficiency of the spraying operation.

[0013] Preferably, the construction process of the spraying parameter library includes:

[0014] Extract spraying data from historical data and industry standards; classify and organize the spraying data according to spraying conditions; based on the classified and organized spraying data, construct a structured spraying parameter library; wherein, the spraying parameter library includes a relational database or a non-relational database, and the spraying parameter library includes a paint table, a base material table, and a spraying parameter table.

[0015] Preferably, the analysis of the surface types of the building surfaces to be sprayed in the BIM model includes:

[0016] Perform grid division on the curved surface part of the building surface to be sprayed, calculate the normal vector of each grid cell, compare the included angle of the normal vectors of adjacent grid cells, and determine whether the included angle of the normal vectors is greater than a preset included angle threshold; if so, mark the adjacent grid cells as plane grids; if not, mark the adjacent grid cells as curved surface grids.

[0017] The area formed by several adjacent planar meshes is marked as a planar area, and the area formed by several adjacent curved meshes is marked as a curved area.

[0018] Preferably, the adjacent mesh units are two mesh units sharing an edge or a vertex.

[0019] By calculating the normal vector of each mesh unit and comparing the included angle of the normal vectors between adjacent mesh units, the present invention can more accurately distinguish the true planar area and the curved area. This helps to improve the accuracy of subsequent processing steps (such as spray path planning). This method can well adapt to the building surfaces with complex geometric shapes. Whether it is a regular or irregular curved surface, its characteristics can be found through this detailed mesh analysis, so as to achieve targeted processing. By clearly distinguishing the planar and curved areas, different spraying strategies or materials can be adopted for different areas in actual operation, optimizing the use efficiency of resources and reducing waste.

[0020] Preferably, according to the curved surface type, the building to be sprayed is divided into several areas to be sprayed, including:

[0021] The areas to be sprayed are divided into planar areas, curved areas and special areas according to the curved surface type; among them, the special area does not include the planar area and the curved area.

[0022] Preferably, the spraying trajectory of the area to be sprayed includes:

[0023] The spraying trajectory for the planar area is set as follows:

[0024] Select the center point or one of the corner points of the planar area as the starting point. Starting from the starting point, generate a straight path along the mesh line direction. After reaching the boundary of the planar area, move one mesh spacing in the vertical direction, and then turn to generate a straight path; among them, after each turn, the path gradually expands towards the center or the outside of the area, forming a spiral trajectory; among them, the spraying speed of the spraying machine is uniform;

[0025] The spraying trajectory for the curved area is set as follows:

[0026] Divide the curved area into several sub-areas. Select the center point or one of the corner points of the sub-area as the starting point. Starting from the starting point, move a distance d along the normal direction at the starting point to generate a spraying point. Determine the next spraying point in turn along the normal direction of the mesh. After reaching the boundary of the curved area, move one mesh spacing in the vertical direction and change the direction. Then, along the new travel path, determine the position of the spraying point again according to the normal direction of the mesh. The spraying trajectory is obtained by fitting several spraying points; among them, the spraying speed of the spraying machine is the moving distance d, that is, dynamically changing.

[0027] In the present invention, the spraying trajectory in the planar region adopts a spiral trajectory starting from the center or corner points, which can ensure comprehensive coverage without omission in the planar region. At the same time, it avoids material waste caused by repeated spraying, and the combination of uniform spraying and regular path planning helps to ensure uniform coating thickness and avoid the problem of excessive coating thickness. For the spraying trajectory in the curved surface region, the complex curved surface is subdivided, and corresponding spraying strategies are formulated according to the specific shape characteristics of each sub-region, which can effectively deal with various irregular surfaces. The spraying points are determined along the normal direction and connected in sequence to form a trajectory, ensuring that each spraying point accurately falls on the expected position, enhancing the control ability of the curved surface details. Through the careful division and targeted spraying of the curved surface region, the working efficiency and spraying quality are improved.

[0028] Preferably, the method for obtaining the moving distance d includes the following steps:

[0029] Mark several curvature analysis points in the sub-region, calculate the curvature of each curvature analysis point, perform mean processing on the calculated curvatures to obtain the curvature of the sub-region; according to the curvature of the sub-region, calculate the moving distance d through the formula d = C / (|k| + λ); where C is the maximum step length of the spraying machine, that is, the effective coverage width of the spraying machine, k is the curvature of the curved surface, and λ is an adjustment coefficient.

[0030] It should be noted that λ is a small positive number to avoid d approaching infinity when the curvature approaches zero.

[0031] The present invention dynamically adjusts the moving distance of the spraying machine according to the curvature of the curved surface sub-region to ensure the consistency of the coating thickness and full spraying coverage on surfaces with different curvatures. In high-curvature regions (more curved places), a smaller moving distance is used to ensure sufficient paint coverage; while in low-curvature or near-planar regions, a larger moving distance is allowed, thereby improving the spraying efficiency. By considering the specific shape characteristics of the curved surface to determine the most suitable moving distance, unnecessary paint waste can be avoided, and each part can obtain an appropriate coating thickness.

[0032] Preferably, comparing the actual spraying information with the simulated spraying information and adjusting the actual spraying information includes:

[0033] Obtain the point cloud data of the surface of the area to be sprayed in real time during actual spraying, compare the point cloud data with the spraying trajectory in the BIM model, and when there is a deviation between the actual spraying trajectory and the simulated spraying trajectory, adjust the spraying angle of the spraying machine;

[0034] Obtain the spraying parameters of actual spraying in real time, compare the actual spraying parameters with the simulated spraying parameters one by one, and adjust the actual spraying parameters.

[0035] Preferably, the second aspect of the present invention provides a system for intelligently generating a spraying process and a spraying trajectory based on a BIM model, including a construction module, an analysis module, and an adjustment module;

[0036] Construction module: used to construct the BIM model of the building to be sprayed and establish a spraying parameter library;

[0037] Analysis module: used to analyze the surface types of the building surface to be sprayed in the BIM model, divide the building to be sprayed into several areas to be sprayed according to the surface types, and set the spraying trajectories of each area to be sprayed;

[0038] And, according to the spraying parameter library and area information, obtain the spraying parameters of the area to be sprayed, the BIM model performs simulated spraying on the area to be sprayed based on the spraying parameters, and adjusts the spraying parameters to obtain simulated spraying information; wherein, the area information includes surface type and surface property;

[0039] Adjustment module: used to obtain the actual spraying information of the building to be sprayed, compare the actual spraying information with the simulated spraying information, and adjust the actual spraying information; wherein, both the actual spraying information and the simulated spraying information include spraying trajectory and spraying parameters.

[0040] Compared with the prior art, the beneficial effects of the present invention are:

[0041] By constructing the BIM model of the building to be sprayed and establishing a spraying parameter library, the present invention can accurately capture all the details of the building and its related attributes, which not only simplifies the preliminary preparation work, but also ensures that all subsequent operations are based on accurate data. Further, the building to be sprayed is divided into several areas to be sprayed, the surface types of the areas to be sprayed are analyzed, and special spraying strategies are formulated for different types of surfaces (such as flat surfaces, curved surfaces), and non-standard and complex building structures such as steel structures are flexibly dealt with to ensure that each area can be treated in the most suitable way, which not only improves the spraying accuracy, but also ensures the consistency and aesthetics of the coating. This method greatly improves the working efficiency and accuracy of the entire spraying process and reduces the possibility of human errors. When adjusting the actual spraying parameters, the simulated spraying parameters need to be referred to, that is, the spraying process of the area to be sprayed is simulated using the BIM model to obtain the simulated spraying parameters. When entering the actual spraying stage, the actual spraying information is compared and analyzed with the previously simulated information, and the deviation is found and corrected in time, so as to ensure that the actual operation is as close as possible to the ideal state. The present invention not only improves the quality and efficiency of the spraying operation, but also reduces the cost and resource consumption, providing strong technical support for modern building construction. Description of the Drawings

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0043] Figure 1 It is a schematic diagram of the method flow of the present invention;

[0044] Figure 2 It is a schematic diagram of the generation of the spraying trajectory in the planar area of the present invention;

[0045] Figure 3 It is a schematic diagram of the generation of the spraying trajectory in the curved surface area of the present invention;

[0046] Figure 4 It is a schematic diagram of the system structure framework of the present invention. Specific embodiments

[0047] The following will clearly and completely describe the technical solutions of the present invention in combination with the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0048] Please refer to Figure 1 , the first aspect embodiment of the present invention provides a method for intelligently generating spraying processes and spraying trajectories based on a BIM model, including the following steps:

[0049] Construct a BIM model of the building to be sprayed;

[0050] Specifically, obtain the point cloud data of the building to be sprayed, preprocess the point cloud data, extract several component features of the building to be sprayed, and associate several components with component attributes; based on the component features and component attributes, construct a BIM model of the building to be sprayed.

[0051] For example: A construction unit needs to perform anti-corrosion spraying operations on the steel structure beams of an industrial building. To ensure accurate spraying path planning and consistency with the design drawings, lidar scanning technology is used to obtain the point cloud data of the steel structure beams. The scanning covers the entire area of the steel structure beams, including details such as main beams, secondary beams, and connection nodes. The generated point cloud data is stored in the.las or.ply format, containing attributes such as the spatial coordinates (X, Y, Z), color information (RGB), and reflection intensity of each point. The point cloud data is denoised, and after processing, the component features are extracted and associated with the attributes. For example, main beam A: {length = 12m, width = 0.5m, height = 0.8m, material = Q345 steel, spraying area = 40m 2}; secondary beam B: {length = 6m, width = 0.3m, height = 0.5m, connection method = welding}; node C: {location = (x = 5m, y = 3m, z = 4m), connection type = rigid, spraying protection = yes}; Based on the point cloud data, the geometric features of the steel structure beams are drawn and bound to the component attributes, and finally the BIM model of the steel structure beams is constructed.

[0052] In addition, a spraying parameter library is established;

[0053] Specifically, spraying data is extracted from historical data and industry standards; the spraying data is classified and sorted according to spraying conditions; based on the classified and sorted spraying data, a structured spraying parameter library is constructed; among them, the spraying parameter library includes a relational database or a non-relational database, and the spraying parameter library includes a paint table, a base material table, and a spraying parameter table.

[0054] For example: Use a relational database (such as MySQL, PostgreSQL) or a non-relational database (such as MongoDB);

[0055] Design data tables, including a paint table, a base material table, an environmental condition table, a spraying parameter table, etc.; Examples of data are as follows:

[0056] Paint table:

[0057]

[0058] Base material table:

[0059]

[0060] Spraying parameter table:

[0061]

[0062] The spraying parameter table is used to store the matching relationships between paint types, base material attributes, environmental conditions, and spraying equipment parameters.

[0063] Analyze the surface types of the building surfaces to be sprayed in the BIM model, and divide the building to be sprayed into several areas to be sprayed according to the surface types;

[0064] Specifically,

[0065] The area composed of several adjacent plane meshes is marked as a plane area, and the area composed of several adjacent curved surface meshes is marked as a curved surface area.

[0066] Among them, adjacent mesh cells share an edge or a vertex between two mesh cells.

[0067] For example: Convert the curved surface part of the BIM model of the steel structure beam into triangular meshes or quadrilateral meshes;

[0068] For triangular mesh cells:

[0069] Let the three vertices of the triangle be A(x1,y1,z1), B(x2,y2,z2), and C(x3,y3,z3) respectively;

[0070] Calculate two edge vectors:

[0071]

[0072] Calculate the normal vector: Normalize the normal vector:

[0073] Assume that the normal vectors of two adjacent mesh cells are respectively and Calculate the included angle θ: Among them, is the dot product of the normal vectors.

[0074] Define the vertex coordinates of the quadrilateral. Let the four vertices of the quadrilateral be P1(x1,y1,z1), P2(x2,y2,z2), P3(x3,y3,z3), and P4(x4,y4,z4). Split the quadrilateral into two triangles, such as triangle 1: P1→P2→P3, triangle 2: P1→P3→P4; Calculate the normal vectors of the two triangles respectively, and the normal vector of the quadrilateral cell is the average value of the normal vectors of the two triangles.

[0075] Obtain the area information of the area to be sprayed, and set the spraying trajectory based on the area information;

[0076] Specifically, the area to be sprayed is divided into a plane area, a curved surface area, and a special area according to the surface type; among them, the special area does not include the plane area and the curved surface area, such as the weld position, the hole position, etc.

[0077] The spraying trajectory for the plane area is set as follows:

[0078] Please refer to Figure 2 and select the center point or one of the corner points of the planar region as the starting point. Starting from the starting point, generate a straight path along the grid line direction. After reaching the boundary of the planar region, move one grid spacing in the vertical direction, and then turn to generate a straight path; among them, after each turn, the path gradually expands towards the center or the outside of the region, forming a spiral trajectory; among them, the spraying speed of the spraying machine is uniform;

[0079] For example: Suppose a corner point on the top surface of a steel structure beam is selected as the starting point. Starting from this corner point, move along the long side of the beam (i.e., the X-axis direction). Starting from the starting point, move in the selected direction (such as the positive X-axis direction) until reaching the boundary of the planar region (such as the end of the beam). After reaching the boundary, move one grid spacing in the direction perpendicular to the current path (the Y-axis direction) (such as 10 cm), and then turn to continue generating a straight path. After each turn, the path gradually expands towards the center or the outside of the region, forming a spiral trajectory.

[0080] The specific trajectory is as follows:

[0081] Starting from the lower left corner, first move to the right end of the beam, then move up one grid spacing, then move back to the left, and then move up one grid spacing again. After that, repeat this process. For each complete circle, the path will be closer to the center (if expanding inwards) or farther from the center (if expanding outwards) until the entire surface is completely covered.

[0082] It should be noted that since this part is a planar region, during the entire spraying process, keep the moving speed of the spray gun constant to ensure the consistency of the coating thickness.

[0083] For the spraying trajectory setting of the curved surface region, it is as follows:

[0084] Please refer to Figure 3 and divide the curved surface region into several sub-regions. Select the center point or one of the corner points of the sub-region as the starting point. Starting from the starting point, move a distance d along the normal direction at the starting point to generate a spraying point, and sequentially determine the next spraying point along the normal direction of the grid. After reaching the boundary of the curved surface region (i.e., the vertical direction of the curved surface is not the normal direction), move one grid spacing and change the direction, and then determine the position of the spraying point along the new traveling path again according to the normal direction of the grid. The spraying trajectory is obtained by fitting several spraying points; among them, the spraying speed of the spraying machine is the moving distance d, that is, it changes dynamically.

[0085] Among them, moving a distance d to generate a spraying point includes:

[0086] Extract several points from the sub-region and mark them as several curvature analysis points, calculate the curvature of each curvature analysis point, perform mean processing on the calculated curvatures to obtain the curvature of the sub-region; according to the curvature of the sub-region, calculate the moving distance d through the formula d = C / (|k| + λ); where C is the maximum step length of the spraying machine, k is the curvature of the sub-region, and λ is the adjustment coefficient.

[0087] For example: Assume that a certain part of a steel structure beam has a certain arc, and this part is regarded as our curved surface region. Divide the curved surface region into multiple small rectangles or square grids, with each grid side length of 10 cm (which can be adjusted according to the actual situation). Select a corner point of the curved surface region as the starting point, randomly select N points, such as 5 points, in each sub-region as curvature analysis points, calculate the curvature values of each point, and perform average processing on these curvature values to obtain the curvature of the sub-region. Use the above moving distance calculation formula to obtain the moving distance d.

[0088] The specific trajectory is as follows:

[0089] Generate the first spraying point: Starting from the starting point, move a distance d along the normal direction at the starting point to generate the first spraying point;

[0090] Determine the subsequent spraying points in sequence: Calculate the moving distance along the grid line direction to determine the next spraying point until reaching the boundary and then change the direction to continue generating spraying points;

[0091] Fit the spraying trajectory: Form a continuous spraying trajectory by connecting all the generated spraying points.

[0092] Among them, the special region is automatically marked through the weld coordinates in the BIM model. In actual operation, in order to ensure the spraying quality and the safety and reliability of subsequent processes, a "safety distance buffer zone" is usually set around the weld. This area is to prevent the spraying material from directly covering the weld, thus affecting the welding quality or the progress of subsequent inspection work.

[0093] And according to the spraying parameter library, obtain the spraying parameters of the area to be sprayed. The BIM model sprays the area to be sprayed based on the spraying parameters and adjusts the spraying parameters to obtain the simulated spraying information;

[0094] Among them, the region information includes the curved surface type and the curved surface properties.

[0095] For example, a certain area of a steel structure beam is flat (the upper and lower flanges of the beam), with the following surface properties: material: steel, surface roughness: Ra = 6.3 μm. The simulated spraying information is obtained from the spraying parameter library, i.e., nozzle distance: 300 mm, coating thickness: between 80 - 120 μm, etc. Among them, the spraying speed can be set uniformly within the maximum spraying width range of the spraying machine, and spraying is carried out at a fixed spraying speed. The spraying angle is parallel to the curved surface.

[0096] Obtain the actual spraying information of the building to be sprayed, compare the actual spraying information with the simulated spraying information, and adjust the actual spraying information; among them, both the actual spraying information and the simulated spraying information include spraying trajectories and spraying parameters.

[0097] When using a binocular camera or lidar to scan the point cloud data on the surface of the area to be sprayed in real time during actual spraying, compare the point cloud data with the spraying trajectory in the BIM model. When there is a deviation between the actual spraying trajectory and the simulated spraying trajectory, adjust the spraying angle of the spraying machine;

[0098] Obtain the spraying parameters of the actual spraying, compare them one by one with the simulated spraying parameters, and adjust the actual spraying parameters; for example, online detect the coating thickness of the actual spraying through an infrared spectrometer. When the coating thickness is higher, adjust the spraying speed of the spraying machine.

[0099] Please refer to Figure 4 , the second aspect of the present invention provides a system for intelligently generating spraying processes and spraying trajectories based on a BIM model, including a construction module, an analysis module, and an adjustment module;

[0100] Construction module: used to construct the BIM model of the building to be sprayed and establish a spraying parameter library;

[0101] Analysis module: used to analyze the properties of the curved surfaces in the BIM model, divide the building to be sprayed into several areas to be sprayed according to the curved surface type, and set the spraying trajectories of each area to be sprayed;

[0102] And, according to the spraying parameter library and area information, obtain the spraying parameters of the area to be sprayed. The BIM model performs simulated spraying on the area to be sprayed based on the spraying parameters, and adjusts the spraying parameters to obtain the simulated spraying information; among them, the area information includes the curved surface type and surface properties;

[0103] Adjustment module: used to obtain the actual spraying information of the building to be sprayed, compare the actual spraying information with the simulated spraying information, and adjust the actual spraying information; among them, both the actual spraying information and the simulated spraying information include spraying trajectories and spraying parameters.

[0104] Some of the data in the above formula are calculated by removing the dimension and taking their numerical values. The formula is the one that is closest to the actual situation obtained through software simulation of a large amount of collected data. The preset parameters and preset thresholds in the formula are set by those skilled in the art according to the actual situation or obtained through simulation of a large amount of data.

[0105] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical method of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A method for intelligently generating a spraying process and a spraying trajectory based on a BIM model, characterized in that, It includes the following steps: Construct a BIM model of the building to be sprayed and a spraying parameter library; Analyze the surface types of the building to be sprayed in the BIM model, divide the building to be sprayed into several areas to be sprayed according to the surface types, and set the spraying trajectories of each area to be sprayed; And, according to the spraying parameter library and area information, obtain the spraying parameters of the area to be sprayed, the BIM model performs simulated spraying on the area to be sprayed based on the spraying parameters, and adjusts the spraying parameters to obtain simulated spraying information; wherein, the area information includes surface type and surface property; Obtain the actual spraying information of the building to be sprayed, compare the actual spraying information with the simulated spraying information, and adjust the actual spraying information; wherein, both the actual spraying information and the simulated spraying information include spraying trajectory and spraying parameters.

2. The method for intelligently generating a spraying process and a spraying trajectory based on a BIM model according to claim 1, wherein The construction of the BIM model of the building to be sprayed includes: Obtain the point cloud data of the building to be sprayed, preprocess the point cloud data, extract several component features of the building to be sprayed, and associate several components with component attributes; based on the component features and component attributes, construct a BIM model of the building to be sprayed.

3. The method for intelligently generating a spraying process and a spraying trajectory based on a BIM model according to claim 1, wherein The construction process of the spraying parameter library includes: Extract spraying data from historical data and industry standards; classify and organize the spraying data according to spraying conditions; based on the classified and organized spraying data, construct a structured spraying parameter library; wherein, the spraying parameter library includes a relational database or a non-relational database.

4. The method for intelligently generating a spraying process and a spraying trajectory based on a BIM model according to claim 1, wherein, The analysis of the surface types of the building to be sprayed in the BIM model includes: Perform meshing on the curved surface part of the building to be sprayed, calculate the normal vector of each grid unit, compare the included angle of the normal vectors of adjacent grid units, and determine whether the included angle of the normal vectors is greater than a preset angle threshold; if so, mark the adjacent grid units as plane grids; if not, mark the adjacent grid units as curved surface grids; Mark the area composed of several adjacent plane grids as a plane area, and mark the area composed of several adjacent curved surface grids as a curved surface area.

5. The method for intelligently generating a spraying process and a spraying trajectory based on a BIM model according to claim 4, characterized in that The adjacent grid units share a side or a vertex between two grid units.

6. The method for intelligently generating a spraying process and a spraying trajectory based on a BIM model according to claim 4, wherein The division of the building to be sprayed into several areas to be sprayed according to the surface type includes: The areas to be sprayed are divided into plane areas, curved surface areas and special areas according to the surface type; wherein, the special area does not include plane areas and curved surface areas.

7. The method for intelligently generating a spraying process and a spraying trajectory based on a BIM model according to claim 6, wherein The spraying trajectory of the area to be sprayed includes: The spraying trajectory for the plane area is set as follows: Select the center point or one of the corner points of the plane area as the starting point, start from the starting point, generate a straight path along the grid line direction, after reaching the boundary of the plane area, move one grid spacing in the vertical direction, and then turn to generate a straight path; wherein, after each turn, the path gradually expands towards the center or outside of the area, forming a spiral trajectory; wherein, the spraying speed of the spraying machine is uniform; The spraying trajectory for the curved surface area is set as follows: Divide the curved surface area into several sub-regions. Select the center point or one of the corner points of the sub-region as the starting point. Starting from the starting point, move a distance d several times along the normal direction at the starting point to generate several spraying points. After reaching the boundary of the curved surface area, move a grid spacing in the vertical direction and change the direction. Then, determine the positions of the spraying points again along the normal direction of the grid according to the new travel path. The spraying trajectory is obtained by fitting several spraying points; where the spraying speed of the spraying machine is the moving distance d.

8. The method for intelligently generating a spraying process and a spraying trajectory based on a BIM model according to claim 7, wherein The method for obtaining the distance d includes the following steps: Mark several curvature analysis points in the sub-region, calculate the curvature of each curvature analysis point, perform mean processing on the calculated curvatures to obtain the curvature of the sub-region; calculate the moving distance d through the formula d = C / (|k| + λ) according to the curvature of the sub-region; where C is the maximum step length of the spraying machine, k is the curvature of the curved surface, and λ is the adjustment coefficient.

9. The method for intelligently generating a spraying process and a spraying trajectory based on a BIM model according to claim 1, characterized in that, Comparing the actual spraying information with the simulated spraying information and adjusting the actual spraying information includes: Obtain the point cloud data on the surface of the area to be sprayed during actual spraying in real time, compare the point cloud data with the spraying trajectory in the BIM model, and adjust the spraying angle of the spraying machine when there is a deviation between the actual spraying trajectory and the simulated spraying trajectory. Obtain the spraying parameters of actual spraying in real time, compare the actual spraying parameters with the simulated spraying parameters one by one, and adjust the actual spraying parameters.

10. A system for intelligently generating a spraying process and a spraying trajectory based on a BIM model, operating according to the method for intelligently generating a spraying process and a spraying trajectory based on a BIM model described in any one of claims 1-9, characterized in that, It includes a construction module, an analysis module, and an adjustment module; Construction module: used to construct the BIM model of the building to be sprayed and establish a spraying parameter library; Analysis module: used to analyze the curved surface type of the surface of the building to be sprayed in the BIM model, divide the building to be sprayed into several areas to be sprayed according to the curved surface type, and set the spraying trajectories of each area to be sprayed; And, according to the spraying parameter library and area information, obtain the spraying parameters of the area to be sprayed, perform simulated spraying on the area to be sprayed based on the spraying parameters in the BIM model, and adjust the spraying parameters to obtain simulated spraying information; where the area information includes the curved surface type and the curved surface properties; Adjustment module: used to obtain the actual spraying information of the building to be sprayed, compare the actual spraying information with the simulated spraying information, and adjust the actual spraying information; where both the actual spraying information and the simulated spraying information include the spraying trajectory and the spraying parameters.

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