Automatic storage yard underground pipe network construction device and method based on BIM

Abstract

The invention discloses an automatic stockyard underground pipe network construction device and method based on BIM, and relates to the technical field of automatic stockyard underground pipe network construction.The automatic stockyard underground pipe network construction device comprises a stockyard base layer, under cooperation of a pipeline real-time monitoring assembly, the three-dimensional technology of BIM is used for checking pipeline space collision, pipeline comprehensive arrangement, construction space position arrangement and the like; the underground pipe network structure is deeply designed, construction drawings such as welding positions and embedded part positions are deepened, and the unmanned aerial vehicle surveying and mapping and radar scanning technologies are combined, so that a three-dimensional model of a construction site can be updated in real time during operation; the system is convenient to seamlessly joint with the operation process of a pipeline real-time monitoring assembly and a multi-dimensional regulation and control pipe network operation assembly in field operation, can remotely control and dynamically adjust construction, effectively monitors the welding degree, laying stability and the like of a pipe network according to the pipe network construction process, remarkably improves the construction quality and efficiency of the automatic yard underground pipe network, and reduces the construction cost. And the construction process is more efficient.

Description

Technical Field

[0001] The present invention relates to the technical field of automated yard underground pipe network construction, and in particular to a BIM-based automated yard underground pipe network construction device and method. Background Art

[0002] The underground pipeline network of the storage yard generally includes water supply pipelines, drainage pipelines, gas pipelines, thermal pipelines and power cables, etc. The specific construction steps will vary depending on the type of pipeline and the construction environment. The following are general construction steps: Mark the cutting line of the road section and determine the area and depth to be excavated. Use machinery or manual chiseling to hit the concrete part, and determine the path and depth of the pipeline according to the requirements of the drawings. Use machinery or manual excavation of earth and stone, and determine the buried depth and slope of the pipeline according to the requirements of the drawings. Earthwork transportation, transport the excess earth away from the construction site. Laying the foundation cushion of the pipeline, select the appropriate cushion material according to the type of pipeline and the construction environment. Laying the pipeline, lay the pipeline on the cushion according to the requirements of the drawings. Backfilling the pipeline, use appropriate materials to fill the gaps around the pipeline densely. Construction of inspection wells, build inspection wells according to the requirements of the drawings, and ensure smooth connection with the pipeline.

[0003] However, in the prior art, during the construction of underground pipelines in automated storage yards, since the internal pipeline construction is affected by the underground environment, it is difficult to effectively monitor the welding degree, laying stability, etc. of the pipelines according to the progress of the pipeline construction, resulting in the inability to guarantee the overall construction quality. Therefore, it is necessary to propose an automated underground pipeline construction device and method based on BIM. Summary of the invention

[0004] The purpose of the present invention is to provide an automated yard underground pipeline construction device and method based on BIM, so as to solve the problem proposed in the above background technology that during the construction of the automated yard underground pipeline, since the internal pipeline construction is affected by the underground environment, it is easy to be unable to effectively monitor the welding degree, laying stability, etc. of the pipeline according to the progress of the pipeline construction during the official website construction, resulting in the overall construction quality cannot be guaranteed.

[0005] To achieve the above object, the present invention provides the following technical solutions: a BIM-based automated yard underground pipe network construction device, comprising a yard base, with optical fiber refractive index sensor line groups symmetrically installed on the left and right sides of the yard base, a pipeline is placed inside the yard base through a pre-buried slot, and a pipeline real-time monitoring component is slidably connected inside the pipeline;

[0006] The pipeline real-time monitoring component includes a monitoring shell frame, and a chain structure is sleeved and connected in a groove on the outside of the monitoring shell frame. The chain structure consists of a chain, two sets of driving gears and a driving control motor assembly. The outer circumference of the chain structure is fastened with a connecting frame block, and an electric telescopic rod is installed on the top of the connecting frame block. The top of the electric telescopic rod is fastened with a transverse connecting rod, and the left and right ends of the transverse connecting rod are hinged with angle rotating columns, and the side ends of the angle rotating columns are hinged with contact wheel structures. Mounting frames are installed inside the left and right ends of the monitoring shell frame, and the interior of the mounting frames is respectively installed with drive linear rails and guide sliding columns, and the interiors of the guide sliding columns are slidably connected with sliding semi-ring guide rails, and the outer side of the sliding semi-ring guide rail is slidably connected with a sliding adjustable small telescopic rod, and the side ends of the sliding adjustable small telescopic rod are rotatably connected with an ultrasonic detection plate through a rotating joint.

[0007] Preferably, guide rail grooves are opened on the left and right sides of the yard base layer, rollers are slidably connected inside the guide rail grooves, the tops of the rollers are fastened to a supporting steel frame, and the side frame surfaces of the supporting steel frame are fastened to a lateral adjustment guide rail.

[0008] Preferably, the bottom end of the lateral adjustment guide rail is internally slidably connected to a sliding angle rotating frame, the side end of the sliding angle rotating frame is installed with an angle-driven energy-saving motor, and the outside of the sliding angle rotating frame is externally connected to a multi-dimensional control pipe network operation component.

[0009] Preferably, the multi-dimensional control pipe network operation component includes a rotating angle frame, the side end of the rotating angle frame is fastened to a transverse guide rail adjustment frame, a guide slide column is installed inside the side end of the transverse guide rail adjustment frame, and the side end of the guide slide column is slidably connected to a vertical adjustment guide frame.

[0010] Preferably, a pneumatic guide rod is installed inside the vertical adjustment guide frame, and the outside of the pneumatic guide rod is slidably connected to a position sliding seat, a high-definition camera is installed on the side end of the position sliding seat, the bottom end of the position sliding seat is fastened with an angle adjustment drive motor structure, and the side end of the angle adjustment drive motor structure is fastened with a quick-connect hoop frame.

[0011] Preferably, a drive mounting structure is installed inside the quick-connect hoop frame, and a quick-connect disc rack is installed at the bottom end of the drive mounting structure. The quick-connect disc rack is used for quickly replacing the connection construction reconstruction equipment.

[0012] Preferably, the bottom of the plane of the yard base is connected to an underground modular unmanned transportation structure, and the underground modular unmanned transportation structure is used to form autonomous navigation and transportation with the transportation structure equipment on the plane of the yard base, automatically carry materials and waste, reduce manual intervention, and optimize logistics efficiency.

[0013] Preferably, a reciprocating adjustment driving structure is installed at the side end of the guide rail groove, and the reciprocating adjustment driving structure is used for the roller to drive the related structure it carries to move and adjust at a uniform speed.

[0014] Preferably, laser calibration generators are installed around the surface of the peripheral frame of the supporting steel frame, and the laser calibration generators are used to form automatic calibration and positioning according to the construction reconstruction equipment when using pipeline operations.

[0015] The method for constructing an automated underground pipe network in a storage yard based on BIM comprises the following steps:

[0016] S1. First, the guide rail groove is opened according to the area of ​​the yard base, and then the underground modular unmanned transportation structure and the transportation structure equipment on the base plane of the yard are used to form autonomous navigation and transportation, and automatically transport the pipeline and the waste generated after the operation;

[0017] S2. When the pipeline reaches the preset position, the multi-dimensional control pipeline network operation component is used to place the pipeline according to the underground pipeline network path, and the installation operation sequence of the construction reconstruction equipment is adjusted, and then the pipeline is welded;

[0018] S3. Secondly, when the pipeline is operated as described above, the laser calibration generator is used to form an automatic calibration positioning according to the construction reconstruction equipment when the pipeline is operated, so as to ensure the accuracy of the pipeline operation;

[0019] S4. Next, use BIM's three-dimensional technology to check pipeline space collisions, comprehensive pipeline layout, and construction space location layout, and conduct in-depth design of underground pipeline network structures, including deepening of construction drawings such as welding locations and embedded parts locations. Then, use pipeline real-time monitoring components to enter the pipeline after operation, and automatically form a detection of welding seams and pipeline installation angles, and provide real-time feedback to the external database terminal. Combined with drone mapping and radar scanning technology, it can be used to update the three-dimensional model of the construction site in real time during operation, so as to facilitate seamless connection with the operation process of pipeline real-time monitoring components and multi-dimensional control pipeline operation components in on-site operations, and can remotely control and dynamically adjust construction.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. In the present invention, with the cooperation of pipeline real-time monitoring components, the three-dimensional technology of BIM is used to check pipeline space collision, comprehensive pipeline layout, construction space position layout, etc., and the underground pipeline network structure is deeply designed, including the deepening of construction drawings such as welding positions and embedded parts positions. Then, the pipeline real-time monitoring components are used to enter the pipeline after operation, and then the optical fiber refractive index sensor line group is symmetrically installed on the left and right sides of the base of the yard to monitor the stability of the pipeline and the possible displacement. Then, the chain structure is started by driving the control motor component to make it transmit in the groove outside the monitoring shell frame, and then the electric telescopic rod is adjusted in height as needed so that the horizontal connecting rod and the contact wheel structure can contact the inner wall of the pipeline, and the angle is adjusted by the angle rotating column so that the contact wheel structure is close to the inner wall of the pipeline, so that the overall structure can move stably inside the pipeline. Secondly Under the guidance of the driving rail and the guide slide column, the sliding semi-ring guide rail moves along the inner wall of the installation frame, and then adjusts the position by sliding the small telescopic rod, and uses the ultrasonic detection plate to perform non-destructive testing on the inner wall of the pipeline. The data is transmitted to the external database terminal through the wireless communication module, and the collected data is processed using the 3D technology of BIM to evaluate the welding quality, laying stability and inner wall defects of the pipeline. In combination with drone mapping and radar scanning technology, the 3D model of the construction site can be updated in real time during operation, which is convenient for seamless connection with the operation process of the pipeline real-time monitoring components and multi-dimensional control pipeline operation components in the on-site operation. The construction can be dynamically adjusted by remote control, and the welding degree and laying stability of the pipeline network can be effectively monitored according to the progress of the pipeline network construction, which significantly improves the quality and efficiency of the underground pipeline network construction in the automated yard, and provides more efficient construction process.

[0022] 2. In the present invention, the angle of the sliding angle rotating frame 13 is adjusted by the angle driving energy-saving motor 14 under the cooperation of the multi-dimensional control pipe network operation component, and then the rotating angle frame 110 and the horizontal guide rail adjustment frame 111 and the related structures carried by them are further adjusted along the guide slide column 112 so that they are aligned with the target area, and then the displacement height of the position sliding seat 115 is adjusted by the pneumatic guide rod 114 in the vertical adjustment guide frame 113, so that the high-definition camera 116 and its related structures are adjusted, and with the cooperation of the high-definition camera 116, the image of the construction site is captured in real time and transmitted to the external database terminal through the wireless communication module, and then the quick connection hoop frame 118 and the quick connection disc frame 1190 are used to quickly replace the connection construction reconstruction equipment, such as welding equipment, cutting equipment, etc., according to the construction needs, so that the angle adjustment drive motor structure 117 Under the drive control, the azimuth is adjusted to adapt to different work requirements, and the angle of the sliding angle rotating frame is further improved by adjusting the angle of the sliding angle rotating frame through the angle drive energy-saving motor, and then the rotating angle frame and the horizontal guide rail adjustment frame and the related structures they carry are further adjusted along the guide slide column to align them with the target area, and then the displacement height of the position sliding seat is adjusted by the pneumatic guide rod in the vertical adjustment guide frame to adjust the high-definition camera and its related structures. With the cooperation of the high-definition camera, the image of the construction site is captured in real time and transmitted to the external database terminal through the wireless communication module. Secondly, the quick-connect hoop frame and the quick-connect disc frame are used to quickly replace and connect the construction reconstruction equipment, such as welding equipment, cutting equipment, etc., according to the construction requirements, so that the azimuth is adjusted under the drive control of the angle adjustment drive motor structure to adapt to different work requirements and further improve the work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the main view of the BIM automated yard underground pipe network construction device of the present invention;

[0024] Figure 2 It is a schematic diagram of the installation position structure of the pipeline real-time monitoring component in the BIM automated yard underground pipeline network construction device of the present invention;

[0025] Figure 3 It is a schematic diagram of the installation position structure of the laser calibration generator, the sliding angle rotating frame and the angle driving energy-saving motor in the BIM automated yard underground pipe network construction device of the present invention;

[0026] Figure 4 It is a structural schematic diagram of a multi-dimensional control pipe network operation component in the BIM-based automated yard underground pipe network construction device of the present invention;

[0027] Figure 5 It is a schematic diagram of the installation position structure of the pipeline real-time monitoring component in the BIM automated yard underground pipeline network construction device of the present invention;

[0028] Figure 6 It is a structural schematic diagram of a pipeline real-time monitoring component in the BIM automated yard underground pipeline network construction device of the present invention;

[0029] Figure 7 It is a structural schematic diagram of another angle of the pipeline real-time monitoring component of the BIM automated yard underground pipeline construction device of the present invention;

[0030] Figure 8 In the BIM automated yard underground pipe network construction device of the present invention Figure 7 A in the figure is an enlarged structural diagram.

[0031] In the figure: 1. Yard base; 2. Guide rail groove; 3. Fiber optic refractive index sensor line group; 4. Reciprocating adjustment drive structure; 5. Roller; 6. Underground modular unmanned transportation structure; 7. Support steel frame; 8. Lateral adjustment guide rail; 9. Pipeline; 10. Pipeline real-time monitoring component; 101. Monitoring shell frame; 102. Chain structure; 103. Connecting frame block; 104. Electric telescopic rod; 105. Angle rotating column; 106. Contact wheel structure; 107. Drive line rail; 108. Sliding semi-ring guide rail; 109. Sliding adjustment small telescopic rod; 1090. Ultrasonic Detection board; 1091, guide slide column; 1092, horizontal connecting rod; 11, multi-dimensional control pipe network operation component; 110, rotation angle frame; 111, horizontal guide rail adjustment frame; 112, guide slide column; 113, vertical adjustment guide frame; 114, pneumatic guide rod; 115, position sliding seat; 116, high-definition camera; 117, angle adjustment drive motor structure; 118, quick connection hoop frame; 119, drive installation structure; 1190, quick connection disk frame; 12, laser calibration generator; 13, sliding angle rotation frame; 14, angle drive energy-saving motor. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] In the present invention, reference is made to Figure 1 - Figure 8 As shown: BIM's automated yard underground pipe network construction device includes a yard base 1, with optical fiber refractive index sensor line groups 3 symmetrically installed on the left and right sides of the yard base 1, and a pipeline 9 is placed inside the yard base 1 through a pre-buried slot, and a pipeline real-time monitoring component 10 is slidably connected inside the pipeline 9;

[0034] The pipeline real-time monitoring component 10 includes a monitoring housing frame 101, and a chain structure 102 is sleeved in a groove on the outside of the monitoring housing frame 101. The chain structure 102 consists of a chain, two sets of driving gears and a driving control motor component. The outer peripheral side of the chain structure 102 is fastened with a connecting frame block 103, and an electric telescopic rod 104 is installed on the top of the connecting frame block 103. The top of the electric telescopic rod 104 is fastened with a horizontal connecting rod 1092, and the left and right ends of the horizontal connecting rod 1092 are hinged with angle rotation. Column 105, the side ends of the angle rotating column 105 are hinged with a contact wheel structure 106, and the left and right ends of the monitoring shell frame 101 are internally installed with mounting frames, and the interiors of the mounting frames are respectively installed with driving linear rails 107 and guide sliding columns 1091, and the interiors of the sliding frames are both slidably connected with sliding semi-ring guide rails 108, and the outer sides of the sliding semi-ring guide rails 108 are slidably connected with a sliding adjustable small telescopic rod 109, and the side ends of the sliding adjustable small telescopic rod 109 are rotatably connected with an ultrasonic detection plate 1090 through a rotating joint.

[0035] In a specific scheme, firstly, the pipeline 9 is placed inside the base layer 1 of the yard through the pre-buried slot. After ensuring that the position and direction of the pipeline 9 meet the design requirements, the three-dimensional technology of BIM is used to check the pipeline space collision, comprehensive pipeline arrangement, construction space position arrangement, etc., and the underground pipeline network structure is further designed, including the deepening of the construction drawings such as the welding position and the embedded part position. Then, the pipeline real-time monitoring component 10 is used to enter the pipeline 9 after the operation, and then the optical fiber refractive index sensor line group 3 is symmetrically installed on the left and right sides of the base layer 1 of the yard to monitor the stability of the pipeline 9 and the possible displacement. Then, the chain structure 102 is started by driving the control motor component to make it transmit in the slot outside the monitoring shell frame 101, and then the electric telescopic rod 104 adjusts the height as needed so that the horizontal connecting rod 1092 and the contact wheel structure 106 can contact the inner wall of the pipeline 9, and the angle is adjusted by the angle rotating column 105 so that the contact wheel structure 106 is close to the inner wall of the pipeline, so that the whole The body structure moves stably inside the pipeline 9, and then under the guidance of the driving linear rail 107 and the guide slide column 1091, the sliding semi-ring guide rail 108 moves along the inner wall of the installation frame, and then adjusts the position by sliding the small telescopic rod 109, and uses the ultrasonic detection plate 1090 to perform non-destructive testing on the inner wall of the pipeline 9. The data is transmitted to the external database terminal through the wireless communication module, and the collected data is processed using the three-dimensional technology of BIM to evaluate the welding quality, laying stability and inner wall defects of the pipeline. In combination with drone mapping and radar scanning technology, it can be used to update the three-dimensional model of the construction site in real time during operation, so as to facilitate seamless connection with the operation process of the pipeline real-time monitoring component 10 and the multi-dimensional control pipeline operation component 11 in the on-site operation, and can remotely control the dynamic adjustment of construction, effectively monitor the welding degree and laying stability of the pipeline according to the progress of the pipeline construction, significantly improve the quality and efficiency of the underground pipeline construction of the automated yard, and provide more efficient construction process.

[0036] In the present invention, according to Figure 1 - Figure 4 As shown, guide rail grooves 2 are opened on the left and right sides of the yard base layer 1, rollers 5 are slidably connected inside the guide rail grooves 2, and the tops of the rollers 5 are fastened to support steel frames 7, and lateral adjustment guide rails 8 are fastened to the side frame surfaces of the support steel frames 7.

[0037] The bottom end of the lateral adjustment guide rail 8 is internally slidably connected with a sliding angle rotating frame 13, the side end of the sliding angle rotating frame 13 is installed with an angle driving energy-saving motor 14, and the outside of the sliding angle rotating frame 13 is connected with a multi-dimensional control pipe network operation component 11.

[0038] The multi-dimensional control pipe network operation component 11 includes a rotating angle frame 110, the side end of the rotating angle frame 110 is fastened with a transverse guide rail adjustment frame 111, the side end of the transverse guide rail adjustment frame 111 is internally installed with a guide slide column 112, and the side end of the guide slide column 112 is slidably connected with a vertical adjustment guide frame 113.

[0039] A pneumatic guide rod 114 is installed inside the vertical adjustment guide frame 113, and a position sliding seat 115 is slidably connected to the outside of the pneumatic guide rod 114. A high-definition camera 116 is installed on the side end of the position sliding seat 115. The bottom end of the position sliding seat 115 is fastened with an angle adjustment drive motor structure 117, and the side end of the angle adjustment drive motor structure 117 is fastened with a quick connection hoop 118.

[0040] A drive mounting structure 119 is installed inside the quick connection hoop frame 118 , and a quick connection disc rack 1190 is installed at the bottom end of the drive mounting structure 119 . The quick connection disc rack 1190 is used for quickly replacing the connection construction reconstruction equipment.

[0041] In a specific solution, the supporting steel frame 7 is moved to a predetermined position by sliding the roller 5 inside the guide rail groove 2, and then the lateral position of the multi-dimensional control pipe network operation component 11 is adjusted by the lateral adjustment guide rail 8, so that the angle of the sliding angle rotating frame 13 can be adjusted by the angle driving energy-saving motor 14, and then the rotating angle frame 110 and the lateral guide rail adjustment frame 111 and the related structures carried by them are further adjusted along the guide slide column 112 so that they are aligned with the target area, and then the displacement height of the position sliding seat 115 is adjusted by the pneumatic guide rod 114 in the vertical adjustment guide frame 113, so that the high-definition camera 116 and its related structures are adjusted, and with the cooperation of the high-definition camera 116, the image of the construction site is taken in real time and transmitted to the external database terminal through the wireless communication module, and then the quick connection hoop frame 118 and the quick connection disc frame 1190 are used to quickly replace the connection construction reconstruction equipment, such as welding equipment, cutting equipment, etc., according to the construction requirements, so that the azimuth adjustment is performed under the drive control of the angle adjustment drive motor structure 117 to adapt to different operation requirements and further improve the operation efficiency.

[0042] In the present invention, according to Figure 1 and Figure 3 As shown, the bottom of the plane of the yard base layer 1 is connected to an underground modular unmanned transportation structure 6, and the underground modular unmanned transportation structure 6 is used to form autonomous navigation and transportation with the transportation structure equipment on the plane of the yard base layer 1, automatically transport materials and waste, reduce manual intervention, and optimize logistics efficiency.

[0043] A reciprocating adjustment driving structure 4 is installed at the side end of the guide rail groove 2. The reciprocating adjustment driving structure 4 is used for the roller 5 to drive the related structures it carries to move and adjust at a uniform speed.

[0044] Laser calibration generators 12 are installed around the surface of the surrounding frame of the supporting steel frame 7. The laser calibration generators 12 are used to form automatic calibration and positioning when the construction reconstruction equipment uses the pipeline 9 for operation.

[0045] In a specific solution, an underground modular unmanned transport structure 6 is used to automatically transport materials and waste to a designated location according to a preset path and task, and can achieve precise autonomous navigation through a built-in GPS chip to reduce the need for manual handling and optimize logistics efficiency. The reciprocating adjustment drive structure 4 controls the roller 5 to drive the supporting steel frame 7 and the multi-dimensional control pipe network operation component 11 thereon to move at a uniform speed, ensuring that the multi-dimensional control pipe network operation component 11 can accurately reach the predetermined location and improve construction accuracy.

[0046] The wiring diagram of the optical fiber refractive index sensor line group 3, ultrasonic detection board 1090, position sliding seat 115, high-definition camera 116, angle adjustment drive motor structure 117, laser calibration generator 12 and angle drive energy-saving motor 14 in the present invention is common knowledge in the field, and its working principle is a well-known technology. The model is selected according to the actual use, so the control method and wiring layout of the optical fiber refractive index sensor line group 3, ultrasonic detection board 1090, position sliding seat 115, high-definition camera 116, angle adjustment drive motor structure 117, laser calibration generator 12 and angle drive energy-saving motor 14 will no longer be explained in detail.

[0047] The method of use and working principle of the device are as follows: first, according to the regional scope of the yard base layer 1, the guide rail groove 2 is opened, and then the underground modular unmanned transportation structure 6 and the transportation structure equipment on the plane of the yard base layer 1 are used to form autonomous navigation and transportation, automatically transport the pipeline 9 and the waste generated after the operation, and can realize accurate autonomous navigation through the built-in GPS chip to reduce the demand for manual transportation and optimize logistics efficiency. Then, when the pipeline 9 is placed inside the yard base layer 1 through the pre-buried slot hole, after ensuring that the position and direction of the pipeline 9 meet the design requirements, the multi-dimensional control pipeline operation component 11 is used to place the pipeline 9 according to the underground pipeline path, and after adjusting the installation operation sequence of the construction reconstruction equipment, the pipeline 9 is welded, and then By adjusting the lateral position of the multi-dimensional control pipe network operation component 11 through the lateral adjustment guide rail 8, the angle of the sliding angle rotating frame 13 can be adjusted by the angle driving energy-saving motor 14, and then the rotating angle frame 110 and the lateral guide rail adjustment frame 111 and the related structures carried by them are further adjusted along the guide slide column 112 to align them with the target area, and then the displacement height of the position sliding seat 115 is adjusted by the pneumatic guide rod 114 in the vertical adjustment guide frame 113, so that the high-definition camera 116 and its related structures are adjusted, and with the cooperation of the high-definition camera 116, the image of the construction site is captured in real time and transmitted to the external database terminal through the wireless communication module, and then the quick connection hoop frame 118 and the quick connection disc frame 1190 are used to According to the construction requirements, the connection construction reconstruction equipment, such as welding equipment, cutting equipment, etc., is quickly replaced, so that the azimuth adjustment is performed under the drive control of the angle adjustment drive motor structure 117 to adapt to different operation requirements and further improve the operation efficiency. Then, the three-dimensional technology of BIM is used to check the pipeline space collision, the comprehensive arrangement of pipelines, the construction space position arrangement, etc., and the underground pipeline network structure is further designed, including the deepening of the construction drawings such as the welding position and the embedded part position. Then, the pipeline real-time monitoring component 10 is used to enter the pipeline 9 after the operation, and then the optical fiber refractive index sensor line group 3 is symmetrically installed on the left and right sides of the yard base 1 to monitor the stability of the pipeline 9 and the possible displacement. Then, the drive control electric The machine assembly starts the chain structure 102 to make it transmit in the groove outside the monitoring shell frame 101, and then the electric telescopic rod 104 adjusts the height as needed, so that the horizontal connecting rod 1092 and the contact wheel structure 106 can contact the inner wall of the pipe 9, and adjusts the angle through the angle rotating column 105, so that the contact wheel structure 106 is close to the inner wall of the pipe, so that the whole structure can move stably inside the pipe 9, and then under the guidance of the driving linear rail 107 and the guide slide column 1091, the sliding semi-ring guide rail 108 moves along the inner wall of the installation frame, and then adjusts the position by sliding the small telescopic rod 109, and uses the ultrasonic detection board 1090 to perform non-destructive detection on the inner wall of the pipe 9, and the data is transmitted to the external database terminal through the wireless communication module.The collected data is processed using BIM's three-dimensional technology to evaluate the welding quality, laying stability and inner wall defects of the pipeline. It is combined with drone mapping and radar scanning technology to update the three-dimensional model of the construction site in real time during operation, which is convenient for seamless connection with the operation process of the pipeline real-time monitoring component 10 and the multi-dimensional control pipeline operation component 11 in the on-site operation. The construction can be dynamically adjusted by remote control, and the welding degree and laying stability of the pipeline network can be effectively monitored according to the progress of the pipeline network construction, which significantly improves the quality and efficiency of the underground pipeline network construction in the automated yard, and provides more efficient construction process.

[0048] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. The BIM-based automated underground pipe network construction device for storage yards is characterized by: It comprises a storage yard base (1), wherein optical fiber refractive index sensor lines (3) are symmetrically installed on the left and right sides of the storage yard base (1), a pipeline (9) is placed inside the storage yard base (1) through a pre-buried slot, and a pipeline real-time monitoring component (10) is slidably connected inside the pipeline (9); The pipeline real-time monitoring component (10) comprises a monitoring housing frame (101), a chain structure (102) is sleeved and connected in a groove on the outside of the monitoring housing frame (101), the chain structure (102) comprises a chain, two sets of driving gears and a driving control motor component, a connecting frame block (103) is fastened and connected to the outer peripheral side of the chain structure (102), an electric telescopic rod (104) is installed on the top of the connecting frame block (103), a transverse connecting rod (1092) is fastened and connected to the top of the electric telescopic rod (104), and the left and right ends of the transverse connecting rod (1092) are both hinged An angle rotating column (105), the side ends of which are hinged with contact wheel structures (106), the left and right ends of the monitoring housing frame (101) are internally installed with mounting frames, the interiors of the mounting frames are respectively installed with driving line rails (107) and guide slide columns (1091), the interiors of which are both slidably connected with sliding semi-ring guide rails (108), the outer interior of the sliding semi-ring guide rail (108) is slidably connected with a sliding adjustable small telescopic rod (109), and the side ends of the sliding adjustable small telescopic rod (109) are rotatably connected with an ultrasonic detection plate (1090) through a rotating joint.

2. The BIM-based automated underground pipe network construction device for a storage yard according to claim 1, characterized in that: The left and right sides of the yard base layer (1) are provided with guide rail grooves (2), the interior of the guide rail grooves (2) is slidably connected with rollers (5), the top of the rollers (5) is fastened with a supporting steel frame (7), and the side frame surface of the supporting steel frame (7) is fastened with a transverse adjustment guide rail (8).

3. The BIM-based automated underground pipe network construction device for a storage yard according to claim 2 is characterized in that: The bottom end of the lateral adjustment guide rail (8) is internally slidably connected to a sliding angle rotating frame (13), the side end of the sliding angle rotating frame (13) is installed with an angle driving energy-saving motor (14), and the outside of the sliding angle rotating frame (13) is connected to a multi-dimensional control pipe network operation component (11).

4. The BIM-based automated underground pipe network construction device for a storage yard according to claim 3 is characterized in that: The multi-dimensional control pipe network operation component (11) comprises a rotating angle frame (110), the side end of the rotating angle frame (110) is fastened to a transverse guide rail adjustment frame (111), a guide slide column (112) is installed inside the side end of the transverse guide rail adjustment frame (111), and the side end of the guide slide column (112) is slidably connected to a vertical adjustment guide frame (113).

5. The BIM-based automated underground pipe network construction device for a storage yard according to claim 4 is characterized in that: A pneumatic guide rod (114) is installed inside the vertical adjustment guide frame (113), and a position sliding seat (115) is slidably connected to the outside of the pneumatic guide rod (114). A high-definition camera (116) is installed on the side end of the position sliding seat (115). The bottom end of the position sliding seat (115) is fastened with an angle adjustment drive motor structure (117), and the side end of the angle adjustment drive motor structure (117) is fastened with a quick connection hoop (118).

6. The BIM-based automated yard underground pipe network construction device according to claim 5 is characterized in that: A drive mounting structure (119) is installed inside the quick connection hoop frame (118), and a quick connection disc frame (1190) is installed at the bottom end of the drive mounting structure (119). The quick connection disc frame (1190) is used for quickly replacing the connection construction reconstruction equipment.

7. The BIM-based automated underground pipe network construction device for a storage yard according to claim 6 is characterized in that: The bottom of the flat surface of the yard base (1) is connected to an underground modular unmanned transport structure (6), and the underground modular unmanned transport structure (6) is used to form autonomous navigation and transportation with the transport structure equipment on the flat surface of the yard base (1), automatically transport materials and waste, reduce manual intervention, and optimize logistics efficiency.

8. The BIM-based automated underground pipe network construction device for a storage yard according to claim 7 is characterized in that: A reciprocating adjustment drive structure (4) is installed at the side end of the guide rail groove (2), and the reciprocating adjustment drive structure (4) is used for the roller (5) to drive the related structure it carries to perform uniform speed movement adjustment.

9. The BIM-based automated underground pipe network construction device for a storage yard according to claim 8, characterized in that: Laser calibration generators (12) are installed around the surface of the peripheral frame of the supporting steel frame (7), and the laser calibration generators (12) are used to form automatic calibration positioning when the construction reconstruction equipment uses the pipeline (9) for operation.

10. A method for constructing an automated underground pipe network in a storage yard based on BIM, characterized in that: The BIM-based automated yard underground pipe network construction device according to claim 9 is used, comprising the following steps: S1. First, according to the area of ​​the yard base (1), the guide rail groove (2) is opened, and then the underground modular unmanned transportation structure (6) and the transportation structure equipment on the plane of the yard base (1) are used to form autonomous navigation and transportation, and automatically transport the pipeline (9) and the waste generated after the operation; S2, when the pipeline (9) reaches the preset position, the multi-dimensional control pipeline network operation component (11) is used to place the pipeline (9) according to the underground pipeline network path, and after adjusting the installation operation sequence of the construction reconstruction equipment, the pipeline (9) is welded; S3. Secondly, when the pipeline (9) is operated as described above, the laser calibration generator (12) is used to form an automatic calibration positioning according to the construction reconstruction equipment when the pipeline (9) is operated, so as to ensure the accuracy of the pipeline (9) during the operation; S4. Next, the three-dimensional technology of BIM is used to check pipeline space collision, comprehensive pipeline layout, construction space location layout, etc., and the underground pipeline network structure is further designed, including the deepening of construction drawings such as welding positions and embedded parts positions. After that, the pipeline real-time monitoring component (10) is used to enter the pipeline (9) after the operation, and automatically form a detection of the welding seam and pipeline installation angle, and real-time feedback is given to the external database terminal. In addition, the drone mapping and radar scanning technology are combined to update the three-dimensional model of the construction site in real time during the operation, so as to facilitate seamless connection with the operation process of the pipeline real-time monitoring component (10) and the multi-dimensional control pipeline operation component (11) in the on-site operation, and the construction can be dynamically adjusted by remote control.

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