A bolt anchoring method and device based on a three-dimensional model to prevent reinforcement collision

Abstract

The application discloses a bolt anchoring method and device for preventing steel bar collision based on a three-dimensional model, which is used for bolt installation in shield tunnel construction, three-dimensional modeling of a segment and internal steel bars is carried out by using a BIM design software; a segment model with steel bars is introduced into an AR device, a software processing system of the AR device reads the steel bar types in the segment; the current segment block type is judged by using an image recognition technology; the segment model of the corresponding block type is superimposed and fused with the real segment by using three-dimensional registration technology and virtual reality fusion display technology of the AR device; a virtual bolt is generated at a placement position of an operating handle; and collision of the virtual bolt and the segment steel bars is judged.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of tunnel engineering, and particularly relates to a bolt anchoring method and device for preventing reinforcement collision based on a three-dimensional model. BACKGROUND

[0002] With the rapid development of urbanization, the demand for rail transit in major cities is rapidly growing. As an important tunnel construction technology, the shield method has been widely used in the construction of urban subway tunnels. Shield tunnel engineering often involves complex geological conditions, requiring efficient construction techniques to ensure the safety and progress of the project. After construction is completed, the necessary facilities such as pipelines and mechanical and electrical equipment inside the tunnel are usually installed by chemical anchoring or expansion bolts on the existing segment structure. These fixing methods must strictly follow the relevant provisions in the Technical Specification for Post-anchoring of Concrete Structures (JGJ145-2013), especially when performing drilling operations, it is necessary to avoid damage to the existing steel bars in the segment.

[0003] However, in real operations, due to the lack of accurate steel bar position information, construction personnel often accidentally hit steel bars, especially main reinforcement, during drilling. This situation not only may cause damage to the structural segment, affecting its durability and load-bearing capacity, but also significantly reduces construction efficiency and increases repair and rework costs. In addition, repeated trial drilling operations not only waste time, but also may have long-term effects on the structural safety of the tunnel. Therefore, there is an urgent need for a technology that can effectively prevent steel bar collision during drilling to improve installation efficiency, reduce maintenance costs, extend the service life of the tunnel, and thus reduce the overall life cycle cost of the entire project. SUMMARY

[0004] In view of the deficiencies in the prior art, the present application proposes a bolt anchoring method and device for preventing reinforcement collision based on a three-dimensional model, which utilizes building information modeling (BIM) technology combined with augmented reality (AR) technology. By creating an accurate three-dimensional model of the segment and its internal reinforcement, and using this model in combination with AR equipment, the position of the reinforcement can be identified and located in real time and accurately on the construction site. The application of this technology can greatly reduce reinforcement collision events during construction, ensure construction quality, improve work efficiency, and ultimately maximize cost-effectiveness.

[0005] To achieve the above-mentioned purpose, the technical solution of the present application is as follows: a bolt anchoring method for preventing reinforcement collision based on a three-dimensional model, for bolt installation in shield tunnel construction, comprising the following steps:

[0006] Step S1: three-dimensional modeling of the segment and internal reinforcement using BIM design software;

[0007] Step S2: the segment model with steel bars is imported into the AR device, and the software processing system of the AR device identifies different segment features and reads the steel bar types inside the segment;

[0008] Step S3: the camera in the AR device is kept stable so that the target segment is always within the shooting range, the picture information is transmitted to the AR device, and the image recognition technology is used to determine the current segment type;

[0009] Step S4: the three-dimensional registration technology and virtual reality fusion display technology of the AR device are used to superimpose and fuse the segment model of the corresponding segment type with the real segment, accurately identify and locate the segment, and ensure that the physical segment is highly coincident with the BIM model;

[0010] Step S5: the interaction technology and virtual reality fusion display technology of the AR device are used to generate a virtual bolt at the placement position of the operation handle;

[0011] Step S6: the software processing system of the AR device judges the collision between the virtual bolt and the segment steel bars.

[0012] Preferably, in step S1, after the completion of the shield tunnel construction, the segment template drawing and the segment reinforcement drawing used in the construction stage are referred to, and appropriate BIM design software is selected to model the segment and its internal steel bars in three dimensions under the premise of being compatible with the data format of the AR device.

[0013] Preferably, in step S1, the outline of the segment model is consistent with the actual segment, which facilitates accurate identification by the AR device during three-dimensional registration tracking, and the segment model can accurately reflect the spatial position relationship of the steel bars inside the segment.

[0014] Preferably, in step S2, the segment models of different segment types are imported into the software processing system of the AR device, and the segment type of the segment model is manually input to determine the segment type, and the steel bar types in the model include main bars and secondary bars; the software processing system of the AR device reads the outline features of the segment models of different segment types.

[0015] Preferably, in step S3, when the image recognition technology is used to distinguish the segment type, the features include the segment width, the segment inner outline, and the grouting hole setting; after the software processing system identifies the segment type of the target segment, it can further determine the corresponding reinforcement type of the segment.

[0016] Preferably, in step S4, the contour features of the real segment are enhanced by using a three-dimensional registration technique, the three-dimensional position information of the real segment is automatically generated, the placement position information of the virtual segment is obtained based on the contour features of the real segment, and the virtual segment and the real segment are superimposed and displayed on the display device by using a virtual reality fusion display technique, and the expression of the steel bar position information is realized in a semi-transparent manner inside the segment.

[0017] Preferably, in step S5, the relative position information of the operation handle is returned to the software processing system by using an interaction technique to obtain the virtual bolt generation position and the insertion angle, a virtual bolt is generated at the position returned by the operation handle and is simultaneously displayed with the virtual segment and the real segment on the display device, and the virtual bolt is generated by using a BIM model pre-imported into the software processing system or is a cylindrical body schematic with a specified length and radius.

[0018] Preferably, in step S6, the software processing system judges whether the bolt collides with the steel bar by performing a Boolean operation on the virtual bolt and the internal steel bar model, when there is an intersection in the Boolean operation result, the system prompts collision information through the display device, when the Boolean operation result is an empty set, no collision information is provided, and when the virtual bolt collides with the internal steel bar of the segment, the type of the collided steel bar is a primary bar or a secondary bar.

[0019] The application also discloses a bolt anchoring device for preventing steel bar collision based on a three-dimensional model, which is used for bolt installation in shield tunnel construction, and comprises a segment model unit, a software processing system, an operation handle, an AR display system and a camera.

[0020] Preferably, the software processing system comprises an image processing module and a collision detection module, the image processing module is used for identifying the block type in the real-time segment image captured by the camera, and the collision detection module is used for performing a Boolean operation based on the three-dimensional models of the virtual bolt and the internal steel bar of the segment, judging whether the bolt collides with the steel bar, and outputting a collision result.

[0021] The application has the following beneficial effects: the application provides a bolt anchoring method for preventing reinforcement collision based on a BIM three-dimensional model, which significantly improves the accuracy and efficiency of bolt installation in a shield tunnel by integrating a building information model (BIM) and augmented reality (AR) technology, and can accurately obtain the distribution information of the reinforcement inside the segment in real time, thereby effectively preventing the collision between the bolt and the reinforcement during construction, which is a key technical problem that cannot be solved by traditional installation methods. Through the implementation of the application, construction personnel can visually see the specific position of the reinforcement before drilling through the AR device, ensuring that the drilling position is away from the key reinforcement structure, thereby avoiding damage to the segment structure and maintaining its structural integrity and durability, not only reducing the construction rework and maintenance costs caused by hitting the reinforcement, but also greatly improving the construction efficiency and safety, and the method of the application effectively prolongs the service life of the tunnel by reducing structural damage caused by construction errors, reduces long-term maintenance and repair needs, and in terms of economic benefits, by reducing errors during construction and improving construction speed, the overall cycle cost of the project can be significantly reduced. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 A bolt anchoring method for preventing reinforcement collision based on a three-dimensional model is shown in the embodiment of the application.

[0023] Figure 2 A recognized segment contour is shown in the embodiment of the application.

[0024] Figure 3 A three-dimensional segment model with reinforcement is shown in the embodiment of the application.

[0025] Figure 4 A bolt anchoring device information transmission diagram based on a three-dimensional model for preventing reinforcement collision is shown in the embodiment of the application. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, not all the embodiments of the application. Based on the embodiments of the application, all other embodiments obtained by those skilled in the art belong to the application.

[0027] Moreover, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the technology can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In other instances, well-known structures, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the application.

[0028] Referring now to the drawings Figures 1-4 The embodiment discloses a bolt anchoring method based on three-dimensional model for preventing collision of steel bars, which is used for bolt installation in shield tunnel construction and comprises the following steps:

[0029] Step S1: three-dimensional modeling of the segment and internal steel bars is performed by using a BIM design software;

[0030] Step S2: the segment model with steel bars is imported into an AR device, and a software processing system of the AR device identifies different segment features and reads the steel bar types inside the segment;

[0031] Step S3: the camera in the AR device is kept stable, so that the target segment is always kept in the shooting range, the picture information is transmitted to the AR device, and the segment block type is judged by using image recognition technology;

[0032] Step S4: the three-dimensional registration technology and virtual reality fusion display technology of the AR device are used to superimpose and fuse the segment model of the corresponding block type with the real segment, accurately identify and position the segment, and ensure that the physical segment can be highly coincident with the BIM model;

[0033] Step S5: the interactive technology and virtual reality fusion display technology of the AR device are used to generate a virtual bolt at the placement position of the operation handle;

[0034] Step S6: the software processing system of the AR device judges the collision between the virtual bolt and the segment steel bars.

[0035] In step S1, after the completion of shield tunnel construction, refer to the segment template drawings and segment reinforcement drawings used during construction, which can accurately reflect the actual size, shape of different types of segments, and the distribution and spacing of internal reinforcement. Under the premise of compatibility with AR device data format, appropriate BIM design software is selected for three-dimensional modeling of segments and their internal reinforcement. Common BIM software such as Autodesk Revit or Tekla Structures has strong modeling capabilities and good compatibility. The outline of the segment model should be consistent with the actual segment to facilitate accurate recognition by the AR device during three-dimensional registration and tracking, and the segment model should accurately reflect the spatial position relationship of the reinforcement inside the segment. During model creation, special attention is paid to ensuring that the model outline is consistent with the actual segment outline, which is crucial for subsequent AR device three-dimensional registration and tracking. After completing model creation, data format conversion and optimization are performed to ensure that the model can be successfully read and processed by the AR device.

[0036] In step S2, segment models of different block types are imported into the software processing system of the AR device. This process involves data transmission and format conversion to ensure that the models can be correctly read and rendered on the AR device. The block type of the segment model is manually input to clearly define the block type, and the reinforcement type in the model includes primary reinforcement and secondary reinforcement. To accurately manage and operate the model, the operator needs to manually input the block type of each segment model in the software interface. Clear input of block type helps the software to more effectively process and apply the models later, especially when positioning and collision detection are performed, which is usually done by selecting a predefined block type list or by entering a specific code. The software processing system of the AR device reads the outline features of segment models of different block types. The software processing system of the AR device will analyze the imported segment model in detail, especially the outline features. By analyzing the outline features, the system can accurately identify the position, shape of the segment and its docking method with adjacent segments.

[0037] In step S3, the operator aims the camera at the target segment, ensuring that the entire segment or at least the key part is always within the shooting range. This step may require the operator to move around the construction site to get the best angle and coverage. The captured images are transmitted to the AR device in real time. This process may be done wirelessly or wired, depending on the device configuration and facility conditions at the construction site. When the software processing system distinguishes segment types using image recognition technology, the features used include segment width, segment inner outline, grouting hole arrangement, etc. After the software processing system identifies the block type of the target segment, it can further determine the corresponding reinforcement type for that type of segment.

[0038] In step S4, the contour features of the real pipe piece are enhanced by using a three-dimensional registration technique, the three-dimensional position information of the real pipe piece is automatically generated, and the placement position information of the virtual pipe piece is obtained based on the contour features of the real pipe piece; the three-dimensional registration technique captures the real-time image of the entity pipe piece through the camera of the AR device, combines with the preset image recognition algorithm, recognizes and tracks the spatial position and direction of the pipe piece, which includes recognizing the edge, angle and other key features of the pipe piece, so as to realize the real-time positioning of the pipe piece. The contour features of the captured real pipe piece are enhanced by the software algorithm, and this processing makes the three-dimensional model of the pipe piece and the entity pipe piece highly matched in vision. The virtual pipe piece and the real pipe piece are superimposed and displayed on the display device by using the virtual reality fusion display technology, and the expression of the steel bar position information is realized in the semi-transparent manner inside the pipe piece. After the three-dimensional position of the real pipe piece is determined, the AR device superimposes and displays the virtual pipe piece model of the corresponding block type with the real pipe piece by using the virtual reality fusion display technology, and the virtual model is superimposed in the visual field of the operator through the AR glasses or other display devices, so that the virtual pipe piece and the entity pipe piece are visually coincided. In the superimposed display, the virtual pipe piece model is presented in a semi-transparent manner, allowing the operator to see the steel bar layout inside the pipe piece, so as to realize the virtual display of the internal steel bar based on the contour of the real pipe piece.

[0039] In step S5, the position and pose data of the operating handle are transmitted back to the software processing system in real time using the interactive technology of the AR device. The operating handle is equipped with sensors such as gyroscopes and accelerometers, which can accurately measure and transmit its relative position and direction information in space. These data are crucial for determining the generated position and insertion angle of the virtual bolt. Using the interactive technology, the relative position information of the operating handle is returned to the software processing system, and the generated position and insertion angle of the virtual bolt are obtained; a virtual bolt is generated at the position returned by the operating handle and is displayed on the display device together with the virtual pipe section and the real pipe section; the virtual bolt is generated using the BIM model pre-imported into the software processing system or a cylindrical body with a specified length and radius. According to the data received from the operating handle, the software processing system calculates the most appropriate bolt installation position and angle. After the position and angle of the bolt are determined, the software processing system uses these information to generate the image of the virtual bolt and superimposes it on the view of the actual construction site through the display system of the AR device. The virtual bolt can be a pre-designed three-dimensional model or a simple graphical identifier, such as a cylindrical body with a specified length and radius, clearly showing its position and direction. Using the virtual reality fusion display technology, the virtual bolt is displayed together with the real pipe section and the imported virtual pipe section model in the field of view of the operator's AR device. This superimposed view allows the operator to check the position of the bolt from multiple angles and ensure that it is correctly set in a position without reinforcement conflict. If necessary, the operator can make fine adjustments to the specific position or angle of the bolt through the operating handle. The system will update the display information in real time to provide feedback and ensure that each adjustment is accurate.

[0040] In step S6, the software processing system performs a Boolean operation on the virtual bolt and the internal rebar model to determine whether the bolt collides with the rebar. If the Boolean operation results in an intersection, the system displays a collision message. If the Boolean operation results in an empty set, a no-collision message is provided. If the virtual bolt collides with the internal rebar of the segment, the collision message includes whether the rebar is primary or secondary. In this step, the software processing system uses Boolean operations to determine whether there is a collision between the virtual bolt and the internal rebar model. Boolean operations are mathematical operations used to determine the relationship between two or more sets (in this case, the virtual bolt model and the 3D rebar model), specifically whether they intersect. If the system detects an intersection between the virtual bolt and the rebar, a collision has occurred. The system displays a collision message to the operator on the AR device's display interface. This message includes the specific location of the collision, the type of rebar (primary or secondary) with which the bolt collides, and recommended adjustment measures. If the Boolean operation results in no intersection between the virtual bolt and the rebar, the system confirms that the location is safe and there is no collision risk, and provides a no-collision message to the operator on the display. This allows the operator to proceed with the subsequent bolt installation steps with peace of mind. To improve the intuitiveness and comprehensibility of the operation, all collision and non-collision information will be intuitively presented on the display system of the AR device through graphics or color codes. For example, red may be used to indicate the collision area and green to indicate the safe area.

[0041] See also Figure 4Another embodiment of the present application describes a bolt anchoring device based on three-dimensional model-based anti-rebar collision for bolt installation in shield tunnel construction, the device includes segment model unit, software processing system, operating handle, AR display system and camera, the segment model unit is used to create a three-dimensional model of the segment and its internal rebar in the BIM design software; the software processing system is the core component of the AR device, used to import the segment model and process different block features and internal rebar types of the segment; the operating handle is configured with an interface for communication with the software processing system, used for the user to select and determine the installation position and angle of the bolt in the AR display system; the interface equipped with the operating handle for communication with the software processing system can be wireless or wired connection, allowing the user to select and determine the installation position and angle of the bolt in the AR display system in real time. The handle usually includes a variety of input devices such as buttons, touchpads or motion sensors, enabling the user to intuitively interact with the system. The AR display system includes a head-mounted display device for superimposed display of the three-dimensional model of the virtual bolt and the segment rebar with the actual segment in the user's field of view, so that the user can visually determine the installation position of the bolt. This superimposed display utilizes virtual reality fusion display technology, allowing the user to intuitively see the specific position of the virtual bolt on the actual segment, thereby performing precise construction operations. The camera is used to capture real-time images of the segment and transmit the images to the software processing system, and the camera is also a key part of the AR device, used to capture real-time images of the target segment.

[0042] Further, the software processing system includes an image processing module and a collision detection module; the image processing module is used to identify the block type in the real-time segment image captured by the camera; the collision detection module is used to perform Boolean operation based on the three-dimensional model of the virtual bolt and the internal rebar of the segment to determine whether the bolt will collide with the rebar, and output the collision result. Through the cooperative work of the above components, the device of the present embodiment can effectively provide precise guidance for bolt installation in shield tunnel construction, avoid rebar collision, ensure structural safety and improve construction efficiency. In addition, the device can also be updated through software and upgraded through hardware to adapt to different construction environments and engineering needs, with high applicability and expandability.

[0043] In summary, the present application discloses a bolt anchoring device and method based on three-dimensional model to prevent collision with reinforcement, designed specifically for bolt installation in shield tunnel construction. This technical solution uses Building Information Modeling (BIM) software to accurately create a three-dimensional model of the segment and its internal reinforcement, ensuring the accuracy and reliability of the construction plan. The accuracy of the model provides a solid data foundation for the entire construction process, reducing risks and costs caused by errors. The present application integrates advanced Augmented Reality (AR) technology to combine computer-generated segment and bolt models with actual on-site conditions, visually displayed on the operator's AR display device. This allows the operator to directly observe the mutual position relationship between virtual bolts and actual segments on site, thereby avoiding potential structural conflicts before construction, especially avoiding collisions between bolts and critical reinforcement. The software processing system also has an intelligent collision detection function that can predict whether the bolt installation position will collide with internal reinforcement through Boolean operations. Once potential collision risks are found, the system will immediately alert the operator to adjust the bolt position to ensure construction safety. Through this intelligent detection and real-time feedback, the construction team can significantly improve construction speed and safety, reducing additional costs due to construction errors.

[0044] Overall, the present application not only optimizes the construction process of important infrastructure projects such as shield tunnels, but also improves engineering quality and economic benefits through technological innovation, bringing significant progress to the field of engineering construction.

[0045] The above-described diagrams are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present application, and are not for the purpose of limitation. It is easily understood that the processes shown in the above-described diagrams do not indicate or limit the time sequence of the processes. In addition, it is also easily understood that the processes can be executed synchronously or asynchronously, for example, in multiple modules.

[0046] It should be understood that the present application is not limited to the precise construction already described and illustrated in the accompanying drawings, and that various modifications and changes in form and detail can be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A bolt anchoring method for preventing steel bar collision based on a three-dimensional model, used for bolt installation in shield tunnel construction, characterized in that: The following steps are involved: Step S1: Use BIM design software to perform three-dimensional modeling of the pipe segments and internal steel bars; Step S2: The segment model with steel bars is imported into the AR device. The software processing system of the AR device identifies the features of different segments and reads the type of steel bars inside the segments. Step S3: Keep the camera in the AR device stable so that the target segment always remains within the shooting range, transmit the image information to the AR device, and use image recognition technology to determine the current segment block type; Step S4: Using the AR device's 3D registration technology and virtual reality fusion display technology, the corresponding segment model is superimposed and fused with the real segment to accurately identify and locate the segment, ensuring that the physical segment is highly consistent with the BIM model. Step S5: Using the interactive technology of the AR device and the virtual reality fusion display technology, a virtual bolt is generated at the location where the operating handle is placed; Step S6: The software processing system of the AR device determines the collision between the virtual bolt and the segment reinforcement.

2. The bolt anchoring method for preventing steel bar collision based on a three-dimensional model according to claim 1 is characterized in that: In step S1, after the shield tunnel construction is completed, refer to the segment template drawings and segment reinforcement drawings used in the construction phase, and select appropriate BIM design software to perform three-dimensional modeling of the segments and their internal reinforcement, provided that the software is compatible with the AR equipment data format.

3. The bolt anchoring method for preventing steel bar collision based on a three-dimensional model according to claim 2, characterized in that: In step S1, the outline of the segment model is consistent with the actual segment, which facilitates the accurate identification of the AR device during three-dimensional registration and tracking. At the same time, the segment model can accurately reflect the spatial position relationship of the steel bars inside the segment.

4. The bolt anchoring method for preventing steel bar collision based on a three-dimensional model according to claim 1, characterized in that: In step S2, segment models of different block types are imported into the software processing system of the AR device, and manual input is used to clarify the block type of the segment model. At the same time, the steel bar types in the model include main bars and secondary bars; the software processing system of the AR device reads the contour features of the segment models of different block types.

5. The bolt anchoring method for preventing steel bar collision based on a three-dimensional model according to claim 1, characterized in that: In step S3, when using image recognition technology to distinguish the types of segments, the features used include segment width, segment inner contour, and grouting hole settings; after the software processing system identifies the block type of the target segment, it can further determine the reinforcement type corresponding to this type of segment.

6. The bolt anchoring method for preventing steel bar collision based on a three-dimensional model according to claim 1, characterized in that: In step S4, the contour features of the real pipe segment are enhanced by using three-dimensional registration technology, and the three-dimensional position information of the real pipe segment is automatically generated. Based on the contour features of the real pipe segment, the placement position information of the virtual pipe segment is obtained; the virtual pipe segment and the real pipe segment are superimposed and displayed on the display device using virtual reality fusion display technology, and the steel bar position information is expressed in a semi-transparent manner inside the pipe segment.

7. The bolt anchoring method for preventing steel bar collision based on a three-dimensional model according to claim 1, characterized in that: In step S5, the relative position information of the operating handle is returned to the software processing system using interactive technology to obtain the virtual bolt generation position and insertion angle; a virtual bolt is generated at the position where the operating handle returns and is displayed simultaneously with the virtual segment and the real segment on the display device; the virtual bolt is generated by pre-importing the BIM model into the software processing system, or by using a cylinder of specified length and radius as an illustration.

8. The bolt anchoring method for preventing steel bar collision based on a three-dimensional model according to claim 1, characterized in that: In step S6, the software processing system determines whether the bolt collides with the steel bar by performing Boolean operations on the virtual bolt and the internal steel bar model. When there is an intersection in the Boolean operation results, the system prompts the collision information through the display device. When the Boolean operation result is an empty set, it provides no collision information. When the virtual bolt collides with the internal steel bar of the pipe segment, the collision information includes the type of the colliding steel bar as the main bar or the secondary bar.

9. A bolt anchoring device based on a three-dimensional model to prevent steel bar collision, used for bolt installation in shield tunnel construction, characterized in that: The device includes a segment model unit, a software processing system, an operating handle, an AR display system and a camera. The segment model unit is used to create a three-dimensional model of the segment and its internal steel bars in the BIM design software; the software processing system is used to import the segment model and process the different block features and internal steel bar types of the segment; the operating handle is configured with an interface for communicating with the software processing system, for the user to select and determine the installation position and angle of the bolt in the AR display system; the AR display system includes a head-mounted display device, which is used to superimpose and display the three-dimensional model of the virtual bolt and the segment steel bar with the actual segment in the user's field of view, so that the user can visually determine the installation position of the bolt; the camera is used to capture the image of the segment in real time and transmit the image to the software processing system; the software processing system includes an image processing module and a collision detection module; the image processing module is used to identify the block type in the real-time segment image captured by the camera; the collision detection module is used to perform Boolean operations based on the three-dimensional models of the virtual bolt and the steel bar in the segment, determine whether the bolt and the steel bar will collide, and output the collision result.

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