An intelligent marking device for assisting in mapping and positioning of historic buildings

Abstract

The application discloses an intelligent marking device for assisting in surveying and positioning historical buildings, comprising a perception control unit, a marking execution unit, a power management unit and a man-machine interaction unit, wherein the perception control unit is integrated with a positioning perception unit and a wireless communication unit, and the positioning perception unit comprises a UWB positioning module and an IMU inertial measurement module; the device realizes high-precision positioning of ±3mm in a complex space, far exceeding the first-class standard of the industry specification; the UWB positioning module and the IMU inertial measurement module are combined to improve the Kalman filtering algorithm, and the position information is updated once every 10ms, thus effectively making up for the short board of single sensor positioning and solving the problem of inaccurate positioning caused by GPS shielding and space shielding in historical buildings; precise positioning data enables the surveying and detecting points to be highly matched with the actual positions, the data correlation error rate is reduced to below 0.1%, accurate spatial data support is provided for historical building structure analysis and protection and repair scheme making, and the scientific nature of surveying and mapping work is guaranteed from the source.

Description

Technical Field

[0001] This invention relates to the field of historical building protection and surveying technology, specifically to an intelligent marking device for assisting in the surveying and positioning of historical buildings. Background Technology

[0002] Historical buildings are non-renewable resources that bear witness to human civilization. Accurate surveying is a core prerequisite for their protection and restoration, and precise positioning and marking of inspection points are crucial for accurately reproducing the building's true form in survey data. Currently, in historical building surveying, operators must simultaneously complete data collection, location marking, and information recording. In complex structural areas such as bracket sets and coffered ceilings, manual positioning errors exceed 5cm, failing to meet the ±2mm accuracy requirement of the "Historical Building Surveying Standard." Furthermore, the matching of survey data with physical locations relies on manual intervention, resulting in an error rate as high as 15%. Existing positioning and marking devices also have many shortcomings. Single-sensor or GPS positioning errors exceed 10cm inside buildings. Data synchronization requires manual post-processing import, which is time-consuming and prone to packet loss. Additionally, fixed pressure spraying can easily damage the surface of ancient buildings, making it difficult to adapt to the specific needs of historical building surveying. Summary of the Invention

[0003] To address the problems of insufficient accuracy, data synchronization lag, and vulnerability to damage in traditional historical building surveying and positioning, this invention provides an intelligent marking device to assist in the surveying and positioning of historical buildings.

[0004] To achieve the above objectives, the present invention specifically adopts the following technical solution: A smart marking device for assisting in the mapping and positioning of historical buildings includes a perception control unit, a marking execution unit, a power management unit, and a human-computer interaction unit. The perception control unit integrates a positioning perception unit and a wireless communication unit. The positioning perception unit includes a UWB positioning module and an IMU inertial measurement module. The marking execution unit is equipped with a piezoelectric jet nozzle, and a piezoelectric jet valve is installed inside the piezoelectric jet nozzle. The piezoelectric jet valve is adapted to biodegradable fluorescent gel marking materials, and the piezoelectric jet valve can adjust the jet pressure according to the building material. All units are electrically connected through a PCB motherboard.

[0005] Preferably, the output terminals of the UWB positioning module and the IMU inertial measurement module of the positioning sensing unit are both connected to the microcontroller signal of the sensing control unit. The microcontroller performs position calculation on the data collected by the UWB positioning module and the IMU inertial measurement module through an improved Kalman filter algorithm, and updates the position information every 10ms. The positioning accuracy of the device is ≤±3mm.

[0006] Preferably, the piezoelectric jet valve of the marking execution unit has a jet pressure adjustment range of 0.08MPa-0.3MPa, with three preset pressure levels corresponding to different building materials. The single jet volume of the piezoelectric jet nozzle is controlled at 0.05mL±0.01mL, and the diameter of the fluorescent mark formed by the jet is 5mm±1mm. Preferably, the marking execution unit is further provided with a UV-LED excitation lamp and a magnetic dust cover, the magnetic dust cover being installed on the outside of the piezoelectric nozzle, and the UV-LED excitation lamp being arranged adjacent to the piezoelectric nozzle.

[0007] Preferably, the wireless communication unit of the sensing control unit is a Bluetooth chip that supports the Bluetooth 5.0 protocol. The Bluetooth chip has a built-in AES-128 encryption module and is electrically connected to the microcontroller of the sensing control unit. The synchronization delay of the Bluetooth chip in transmitting the marked location data to the main detection device is ≤100ms, and the data packet loss rate is ≤0.1%.

[0008] Preferably, the human-computer interaction unit includes an arc-shaped grip shell, a multi-functional capacitive touch screen, a marking trigger, and several capacitive touch buttons, including a standby capacitive touch button, a mode switching capacitive touch button, a Bluetooth connection capacitive touch button, and an activation light switch capacitive touch button. Preferably, the mode switching capacitive touch button is electrically connected to the sensing control unit and is used to adjust the injection pressure of the piezoelectric injection valve, and the marking trigger is electrically connected to both the sensing control unit and the marking execution unit.

[0009] Preferably, the labeling execution unit is further provided with an embedded storage tank. The arc-shaped grip shell has an embedded storage tank injection port that is connected to the embedded storage tank. The embedded storage tank is made of polytetrafluoroethylene and has a volume of 10mL. Its discharge end is connected to the piezoelectric injection port. The embedded storage tank is used to store biodegradable fluorescent gel labeling materials.

[0010] Preferably, the power management unit includes a lithium polymer battery and a charging management chip. A power switch, a Type-C charging port, and a battery inspection cover are embedded in the arc-shaped grip shell. The charging management chip supports 2A fast charging and integrates overcharge, over-discharge, and overcurrent protection modules. The Type-C charging port is electrically connected to the charging management chip. The power switch and the Type-C charging port are both electrically connected to the power management unit.

[0011] Preferably, the PCB motherboard is made of 4-layer immersion gold process, with an anti-interference capability of ≥10kV; the arc-shaped grip shell is made of carbon fiber reinforced polylactic acid material, and the grip area is provided with anti-slip silicone bumps with a friction coefficient of ≥0.8; the overall size of the smart marking device is 160mm×70mm×45mm, the overall weight is 280g, the working temperature range is -10℃~45℃, and the working relative humidity range is 10%~90%.

[0012] The beneficial effects of this invention are as follows: (I) This device achieves high-precision positioning of ±3mm in complex spaces, far exceeding the industry standard for Class I positioning. By combining the UWB positioning module with the IMU inertial measurement module and improving the Kalman filter algorithm, the position information is updated every 10ms, effectively compensating for the shortcomings of single-sensor positioning and solving the problem of inaccurate positioning caused by GPS shielding and spatial obstruction inside historical buildings. The accurate positioning data ensures that the surveyed and detected points are highly matched with the actual locations, reducing the data association error rate to below 0.1%. This provides accurate spatial data support for the structural analysis of historical buildings and the formulation of protection and restoration plans, ensuring the scientific nature of the surveying work from the source.

[0013] (II) This device completely solves the industry pain point of "conflict between surveying and protection" in traditional marking, achieving non-destructive marking of historical buildings. The device can automatically adjust the spray pressure from 0.08MPa to 0.3MPa according to different building materials such as stone, wood, and murals. Combined with a quantitative spraying design, it avoids the physical damage to ancient buildings caused by fixed-pressure spraying. At the same time, the marking material uses a biodegradable fluorescent gel with polylactic acid and sodium fluorescein as the main components. It can be completely degraded in 30 days under natural conditions. It can be removed simply by rinsing with deionized water, leaving no residue. Professional testing has shown that it does not cause chemical damage to common materials of ancient buildings, thus balancing surveying needs with building protection.

[0014] (III) This device significantly improves the efficiency of historical building surveying and reduces overall surveying costs. Based on the low-latency encrypted transmission protocol of Bluetooth 5.0, the positioning data can be synchronized to the main detection device within 100ms when the marking operation is triggered, realizing real-time binding of markers and data. Compared with the traditional USB import method, the data synchronization efficiency is improved by 99%. A single person can complete the marking and data synchronization operation without the need for multiple people to collaborate on recording. According to actual tests, the time required to complete the surveying of a Ming and Qing dynasty ancient residence is reduced by 40% compared with the traditional method. At the same time, the device reduces the cost of repeated surveying caused by positioning errors. The core module has a high localization rate, and the production cost is far lower than that of imported similar products, combining economy and practicality. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural schematic diagram of the present invention; Figure 2This is a three-dimensional structural schematic diagram of the present invention; Figure 3 This is a flowchart of the system's operating timing of the present invention; Figure 4 This is a flowchart of the positioning and data fusion algorithm of the present invention.

[0016] Reference numerals: 1. Sensing and control unit; 2. Marking execution unit; 3. Power management unit; 4. Multifunctional capacitive touch screen; 5. UV-LED excitation lamp; 6. Piezoelectric injection nozzle; 7. Magnetic dust cover; 8. Marking trigger; 9. Curved grip shell; 10. Power switch; 11. Type-C charging port; 12. Battery check cover; 13. Embedded storage tank inlet; 14. Standby capacitive touch button; 15. Mode switching capacitive touch button; 16. Bluetooth connection capacitive touch button; 17. Excitation lamp switch capacitive touch button. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0018] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0019] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0020] All electrical components mentioned in this article are connected to an external main controller and 220V AC mains power, and the main controller can be a conventional known device such as a computer that can control it.

[0021] In the description of the embodiments of the present invention, it should be noted that the terms "inner", "outer", "upper", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0022] Example: Refer to Figures 1-4 A smart marking device for assisting in the mapping and positioning of historical buildings includes a perception control unit 1, a marking execution unit 2, a power management unit 3, and a human-computer interaction unit. The perception control unit 1 integrates a positioning perception unit and a wireless communication unit. The positioning perception unit includes a UWB positioning module and an IMU inertial measurement module. The marking execution unit 2 is equipped with a piezoelectric jet nozzle 6, which contains a piezoelectric jet valve. The piezoelectric jet valve is adapted to biodegradable fluorescent gel marking materials, and the jet pressure can be adjusted according to the building material. All units are electrically connected through a PCB motherboard.

[0023] The output terminals of the UWB positioning module and the IMU inertial measurement module of the positioning sensing unit are both connected to the microcontroller signal of the sensing control unit 1. The microcontroller calculates the position of the data collected by the UWB positioning module and the IMU inertial measurement module through an improved Kalman filter algorithm, and updates the position information every 10ms. The positioning accuracy of the device is ≤±3mm.

[0024] The sensing and control unit 1 is the core control and data processing unit of the device, integrating a microcontroller, a positioning and sensing unit, and a wireless communication unit. It is the core module for realizing multi-source positioning data fusion, jet action control, and wireless data transmission. The microcontroller is the computing core of the entire device, capable of receiving and processing sensor data and issuing commands, and supporting online program upgrades. The positioning and sensing unit consists of multiple types of sensors forming a multi-source positioning system, enabling synchronous acquisition of initial ranging and motion data, and outputting high-precision positioning coordinates after algorithm processing. The wireless communication unit establishes a two-way data transmission link between the device and the main detection equipment, ensuring low-latency and high-security transmission of positioning and marking data, while also supporting interactive feedback on the device's operating status.

[0025] The system's operating sequence is as follows: S1. Connection Establishment: The device establishes a Bluetooth connection and UWB ranging link with the main detection equipment; S2. Positioning Acquisition: The positioning sensing unit acquires and calculates position data in real time; S3. Marking Trigger: After receiving the marking command, the core control unit adjusts the spray pressure according to the preset material parameters; S4. Spraying Execution: Spraying is triggered to form fluorescent marks, and the position data is simultaneously packaged and transmitted to the main detection equipment; S5. Data Synchronization: The main detection equipment completes the association and storage of the marking data and the detection data.

[0026] The location acquisition data fusion algorithm flow in step S2 above is as follows: S21. UWB ranging initialization; S22. IMU data acquisition; S23. Kalman filter prediction; S24. Observation update; S25. Position calculation; S26. Data output (period 10ms).

[0027] The piezoelectric jet valve of the marking execution unit 2 has a jet pressure adjustment range of 0.08MPa-0.3MPa, with three preset pressure levels corresponding to different building materials. The single jet volume of the piezoelectric jet port 6 is controlled at 0.05mL±0.01mL, and the diameter of the fluorescent mark formed by the jet is 5mm±1mm. The marking execution unit 2 is also equipped with a UV-LED excitation lamp 5 and a magnetic dust cover 7. The magnetic dust cover 7 is installed on the outside of the piezoelectric jet nozzle 6, and the UV-LED excitation lamp 5 and the piezoelectric jet nozzle 6 are arranged adjacent to each other.

[0028] The marking execution unit 2 is the marking operation module of the device, integrating storage, spraying, fluorescence excitation, and protection components. It realizes the storage of marking materials, precise spraying, and visualization of fluorescent marking, and can adjust the spraying parameters according to different building materials to meet the requirements of non-destructive marking. The unit has an embedded storage tank for storing biodegradable fluorescent gel marking materials. The storage tank is connected to the piezoelectric spray valve and piezoelectric spray nozzle 6 to realize the quantitative delivery and spraying of marking materials. The UV-LED excitation lamp 5 is arranged adjacent to the piezoelectric spray nozzle 6 to provide an excitation light source for fluorescent marking, enabling rapid identification of marking points. The magnetic dust cover 7 is covered on the outside of the piezoelectric spray nozzle 6, providing dust and anti-clogging protection for the spray nozzle when not in operation. The magnetic design facilitates quick disassembly and installation.

[0029] The human-computer interaction unit includes a curved grip shell 9, a multi-functional capacitive touch screen 4, a marking trigger 8, and several capacitive touch buttons, including a standby capacitive touch button 14, a mode switching capacitive touch button 15, a Bluetooth connection capacitive touch button 16, and an activation light switch capacitive touch button 17. The mode switching capacitive touch button 15 is electrically connected to the sensing control unit 1 and is used to adjust the injection pressure of the piezoelectric injection valve. The marking trigger 8 is electrically connected to both the sensing control unit 1 and the marking execution unit 2.

[0030] The labeling execution unit 2 is also equipped with an embedded storage tank. The arc-shaped grip shell 9 has an embedded storage tank injection port 13 that is connected to the embedded storage tank. The embedded storage tank is made of polytetrafluoroethylene and has a volume of 10mL. Its discharge end is connected to the piezoelectric injection port 6. The embedded storage tank is used to store biodegradable fluorescent gel labeling materials.

[0031] The human-machine interface unit is the device's operation and status display module, including a curved grip shell 9, a multi-functional capacitive touch screen 4, a marking trigger 8, and multiple sets of capacitive touch buttons, enabling handheld operation, parameter adjustment, action triggering, and visualization of the device's working status. The curved grip shell 9 serves as the overall support structure for the device, with each functional unit built into or embedded in the shell surface. The grip area of ​​the shell features an anti-slip structure to enhance the stability and comfort of handheld operation. The multi-functional capacitive touch screen 4 displays the device's connection status, positioning coordinates, spray parameters, and other information in real time, providing operators with intuitive status feedback. The multiple sets of capacitive touch buttons are touch-sensitive and responsive, enabling functions such as device standby, spray pressure adjustment, Bluetooth connection, and activation / deactivation of the excitation light. The marking trigger 8 is the core triggering component for marking operations, linked with the sensing control unit 1 and the marking execution unit 2 to achieve precise triggering of the spraying action. The curved grip shell 9 also features an embedded material tank inlet 13, connected to the material tank of the marking execution unit 2, allowing for convenient replenishment of marking materials.

[0032] The power management unit 3 includes a lithium polymer battery and a charging management chip. The arc-shaped grip shell 9 is embedded with a power switch 10, a Type-C charging port 11 and a battery inspection cover 12. The charging management chip supports 2A fast charging and integrates overcharge, over-discharge and overcurrent protection modules. The Type-C charging port 11 is electrically connected to the charging management chip. The power switch 10 and the Type-C charging port 11 are both electrically connected to the power management unit 3.

[0033] The power management unit 3 provides a stable power supply to all units of the device, integrating power supply, charging, protection, and control components. It balances fast charging, battery life, and electrical safety, making it suitable for long-term outdoor surveying operations. The unit has a built-in charging management chip that works with the lithium polymer battery to achieve full-process protection for fast charging and charging / discharging, preventing damage to the battery caused by overcharging, over-discharging, and overcurrent. The power management unit 3 is connected to the power switch 10, Type-C charging port 11, and battery inspection cover 12 embedded in the casing, respectively realizing the on / off control of the device's overall power supply, fast charging, and battery inspection and replacement. The layout of each component is ergonomic and easy to operate.

[0034] The PCB motherboard uses a 4-layer immersion gold process and has an anti-interference capability of ≥10kV; the arc-shaped grip shell 9 is made of carbon fiber reinforced polylactic acid material, and the grip area is equipped with anti-slip silicone bumps with a friction coefficient of ≥0.8; the overall dimensions of the smart marking device are 160mm×70mm×45mm, the overall weight is 280g, the working temperature range is -10℃~45℃, and the working relative humidity range is 10%~90%.

[0035] Working principle: At least three UWB base stations are set up around the historical building to be surveyed. The base stations are paired and calibrated with the main detection equipment to construct a local positioning coordinate system for the building and to map this coordinate system to the WGS84 global coordinate system, providing a unified positioning reference for the main detection equipment and device. At the same time, the material information of each area of ​​the building to be surveyed is entered into the main detection equipment to provide data basis for the automatic adjustment of the device's spray pressure.

[0036] Press the power switch 10 on the curved grip shell 9 to start the sensing control unit 1 and complete the initialization self-test of each sensor and chip. After the self-test is completed, press the Bluetooth connection capacitive touch button 16 to establish a Bluetooth communication link with the main detection device through the wireless communication unit. At the same time, the UWB positioning module of the sensing control unit 1 establishes a ranging link with the surrounding UWB base station. After the link is successfully established, the multi-functional capacitive touch screen 4 will display "Connection successful" and the initial positioning coordinates, completing the two-way data communication between the device and the main detection device.

[0037] Based on the building material information entered by the main testing equipment, the spray pressure level of the marking execution unit 2 is adjusted by switching the mode capacitive touch button 15 to complete the preset spray parameters of the corresponding material at the testing point. After the parameters are set, they will be displayed in real time on the multi-functional capacitive touch screen 4. Remove the magnetic dust cover 7, press the marking trigger 8 lightly to perform a test spray, check the glue dispensing status of the piezoelectric spray nozzle 6, and ensure that the spray volume is uniform and unblocked. After the test spray is completed, press the standby capacitive touch button 14, and the device enters a low-power standby state, waiting for the operation command.

[0038] The remaining amount of biodegradable fluorescent gel in the storage tank of the marking execution unit 2 is checked through the embedded storage tank injection port 13. If the remaining amount is insufficient, it is replenished through the injection port. After replenishment, the tank is sealed to prevent leakage of marking material or contamination with impurities.

[0039] After the device enters the surveying and mapping area, the UWB positioning module of the sensing and control unit 1 interacts with the surrounding UWB base stations in real time to obtain initial ranging data and transmit it to the microcontroller. At the same time, the IMU inertial measurement module of the positioning sensing unit collects the motion data of the device in real time. The microcontroller dynamically corrects the initial ranging data through the Kalman filter algorithm, updates the position information at a fixed period, and finally outputs high-precision positioning coordinates, which are displayed in a dual coordinate system on the multi-functional capacitive touch screen 4 to achieve accurate positioning of the detection point.

[0040] The main testing equipment inspects the structure of historical buildings. When key testing points (such as structural damage points or dimensional measurement points) are identified, a marking instruction is automatically sent to the device. After receiving the instruction, the device's sensing and control unit 1 automatically matches the preset spray pressure parameters according to the material information pre-entered by the main testing equipment to complete the parameter calibration before spraying. At this time, the multi-functional capacitive touch screen 4 displays "Marking ready", prompting the operator to perform the trigger operation.

[0041] The operator aligns the piezoelectric nozzle 6 of the device with the detection point to be marked and pulls the marking trigger 8. After receiving the trigger signal, the sensing control unit 1 sends a spraying command to the marking execution unit 2. The piezoelectric spray valve operates according to the matched pressure parameters, spraying a quantitative amount of biodegradable fluorescent gel from the piezoelectric nozzle 6 onto the surface of the detection point to form a uniform circular fluorescent mark. If the ambient light is dim or the mark point needs to be quickly identified, the excitation lamp switch capacitor touch button 17 can be pressed to start the UV-LED excitation lamp 5, and the mark point can be visualized through fluorescence excitation.

[0042] As the marking trigger 8 initiates the spraying action, the perception control unit 1 packages information such as device ID, timestamp, dual-coordinate system positioning coordinates of the detection point, marking type, and spray pressure into a standardized data format. This data is then encrypted and transmitted to the main detection device via the wireless communication unit, achieving low-latency synchronization of the marking data. After receiving the data, the main detection device automatically associates it with the structural detection data (such as size, material, and degree of damage) of the corresponding detection point to generate a mapping data package containing complete location information. This data package is then simultaneously stored on both the local and cloud servers, achieving a one-to-one binding between the physical location of the marking and the mapping data, thus avoiding errors caused by manual matching later.

[0043] After the surveying and marking of the entire historical building is completed, the operators can use the UV-LED excitation lamp 5 of the device or an external ultraviolet lamp to irradiate the building surface and quickly identify all fluorescent markers. At the same time, the main detection equipment retrieves the synchronous surveying data package of each marker and checks the positioning coordinates and detection information in the data against the actual location and structural status of the markers on site one by one to complete the on-site verification of the surveying data and ensure the authenticity and accuracy of the data.

[0044] After verification, the fluorescent markings on the building surface are rinsed with deionized water. The marking material is completely soluble in water, leaving no residue after rinsing. It will not cause any chemical damage to common materials of historical buildings such as wood, stone, brick, and murals, thus achieving non-destructive cleaning of the testing points.

[0045] Press the standby capacitive touch button 14 to put the device into standby mode, and attach the magnetic dust cover 7 to protect the piezoelectric spray nozzle 6. Wipe the dust and dirt off the surface of the curved grip shell 9 with a dry cloth to prevent water from entering the Type-C charging port 11 and other interfaces. Inject deionized water into the storage tank through the embedded storage tank inlet 13, and gently press the marked trigger 8 to rinse, preventing residual fluorescent gel from solidifying and clogging the spray pipe and nozzle. If the device's battery is low, fast charge it through the Type-C charging port 11. After charging is complete, turn off the power switch 10 and store the device in a dry and ventilated environment.

[0046] If it is necessary to pause the operation during the work interval, press the standby capacitive touch button 14. The device will turn off the non-core components of the positioning sensing unit and the marking execution unit, and only retain the Bluetooth communication link, entering a low-power standby state to reduce power consumption. After the entire surveying and mapping operation is completed, press and hold the power switch 10. The sensing control unit 1 will turn off the power of each functional unit in sequence, and the device will be completely powered off, completing the entire surveying and marking operation process.

[0047] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. An intelligent marking device for assisting in the surveying and positioning of historical buildings, characterized in that, It includes a perception control unit (1), a tag execution unit (2), a power management unit (3), and a human-machine interaction unit. The perception control unit (1) integrates a positioning perception unit and a wireless communication unit. The positioning perception unit includes a UWB positioning module and an IMU inertial measurement module. The tag execution unit (2) is equipped with a piezoelectric jet nozzle (6). The piezoelectric jet nozzle (6) is equipped with a piezoelectric jet valve. The piezoelectric jet valve is adapted to biodegradable fluorescent gel tagging materials, and the piezoelectric jet valve can adjust the jet pressure according to the building material. Each unit is electrically connected through a PCB motherboard.

2. The intelligent marking device for assisting in the surveying and positioning of historical buildings according to claim 1, characterized in that, The output terminals of the UWB positioning module and the IMU inertial measurement module of the positioning sensing unit are both connected to the microcontroller signal of the sensing control unit (1). The microcontroller performs position calculation on the data collected by the UWB positioning module and the IMU inertial measurement module through an improved Kalman filter algorithm, and updates the position information every 10ms. The positioning accuracy of the device is ≤±3mm.

3. The intelligent marking device for assisting in the surveying and positioning of historical buildings according to claim 1, characterized in that, The piezoelectric jet valve of the marking execution unit (2) has a jet pressure adjustment range of 0.08MPa-0.3MPa, and three preset pressure levels are used for different building materials. The single jet volume of the piezoelectric jet port (6) is controlled to be 0.05mL±0.01mL, and the diameter of the fluorescent mark formed by the jet is 5mm±1mm. The marking execution unit (2) is also equipped with a UV-LED excitation lamp (5) and a magnetic dust cover (7). The magnetic dust cover (7) is installed on the outside of the piezoelectric jet nozzle (6), and the UV-LED excitation lamp (5) and the piezoelectric jet nozzle (6) are arranged adjacent to each other.

4. The intelligent marking device for assisting in the surveying and positioning of historical buildings according to claim 1, characterized in that, The wireless communication unit of the sensing control unit (1) is a Bluetooth chip that supports the Bluetooth 5.0 protocol. The Bluetooth chip has a built-in AES-128 encryption module and is electrically connected to the microcontroller of the sensing control unit (1). The synchronization delay of the Bluetooth chip in transmitting the marked location data to the main detection device is ≤100ms, and the data packet loss rate is ≤0.1%.

5. The intelligent marking device for assisting in the surveying and positioning of historical buildings according to claim 1, characterized in that, The human-computer interaction unit includes an arc-shaped grip shell (9), a multi-functional capacitive touch screen (4), a marking trigger (8), and several capacitive touch buttons, including a standby capacitive touch button (14), a mode switching capacitive touch button (15), a Bluetooth connection capacitive touch button (16), and an activation light switch capacitive touch button (17). The mode switching capacitive touch button (15) is electrically connected to the sensing control unit (1) and is used to adjust the injection pressure of the piezoelectric injection valve. The marking trigger (8) is electrically connected to the sensing control unit (1) and the marking execution unit (2).

6. The intelligent marking device for assisting in the surveying and positioning of historical buildings according to claim 1, characterized in that, The labeling execution unit (2) is also equipped with an embedded storage tank. The arc-shaped grip shell (9) has an embedded storage tank injection port (13) connected to the embedded storage tank. The embedded storage tank is made of polytetrafluoroethylene and has a volume of 10mL. Its discharge end is connected to the piezoelectric injection port (6). The embedded storage tank is used to store biodegradable fluorescent gel labeling materials.

7. The intelligent marking device for assisting in the surveying and positioning of historical buildings according to claim 1, characterized in that, The power management unit (3) includes a lithium polymer battery and a charging management chip. A power switch (10), a Type-C charging port (11), and a battery inspection cover (12) are embedded on the arc-shaped grip shell (9). The charging management chip supports 2A fast charging and integrates overcharge, over-discharge, and overcurrent protection modules. The Type-C charging port (11) is electrically connected to the charging management chip. The power switch (10) and the Type-C charging port (11) are both electrically connected to the power management unit (3).

8. The intelligent marking device for assisting in the surveying and positioning of historical buildings according to any one of claims 1-7, characterized in that, The PCB motherboard is made of 4-layer immersion gold process and has an anti-interference capability of ≥10kV; the arc-shaped grip shell (9) is made of carbon fiber reinforced polylactic acid material, and the grip is provided with anti-slip silicone bumps with a friction coefficient of ≥0.8; the overall size of the smart marking device is 160mm×70mm×45mm, the overall weight is 280g, the working temperature range is -10℃~45℃, and the working relative humidity range is 10%~90%.

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