Electromechanical pipe heald installation construction method and system

Abstract

The invention discloses an electromechanical pipe comprehensive installation construction method and system, and relates to the technical field of intelligent construction, the system comprises a scanner, and further comprises a mobile seat and a cloud platform, the mobile seat comprises a seat body, a control module installed in the seat body, and a power system and a wireless communication unit which are in electric signal connection with the control module, the scanner is detachably connected to the base body and is in data connection with the control module, the cloud platform pre-stores BIM modeling and model data corresponding to a construction project, and the control module is in data connection with the cloud platform and is configured to obtain a user instruction and determine a scanning task to be executed currently; obtaining matched model data from the cloud platform according to the task features of the scanning task; requesting to obtain current position data; and determining a moving path and a scanning point location based on the model data and a preset scanning rule, and sending a scanning control instruction to the scanner. The method has the effect of improving the construction accuracy when the BIM technology is applied to construction.

Description

Technical Field

[0001] The present application relates to the field of smart construction technology, and in particular to a method and system for installing and constructing a mechanical and electrical pipeline complex. Background Art

[0002] Subway stations have complex structures and numerous electromechanical pipelines. Currently, construction is mostly done layer by layer from top to bottom. There is a lot of coordination between teams of different professions, and there are many problems in the process. It is expected that the construction period will be difficult to control.

[0003] In response to the above situation, some units have begun to use BIM technology to deepen the design and construction simulation, and to timely and in advance discover possible collisions, errors and omissions between construction items, so as to avoid rework or shutdown during construction; the construction process after applying BIM technology includes: BIM modeling and deepening layout-3D measurement technology review-integrated module processing-positioning measurement-bracket base installation and fixation-modular pipeline assembly-integrated module lifting-pipeline docking installation.

[0004] Among them, the BIM modeling and biochemical layout stage is specifically: first, model, integrate, and run collision detection according to the CAD construction drawings provided by the design institute; then make a support and hanger family, analyze the bracket layout, support form, model, and model for force analysis; then use Navisworks software to simulate the integrated pipeline assembly construction process, modularize the integrated pipeline, and split the entire electromechanical integrated pipeline into integrated modules with a length of 4.5m or 6m for later installation.

[0005] From the above content, it can be seen that the three-dimensional measurement technology review mainly checks the installation matching degree of the integrated modules to avoid obvious positive and negative deviations between the bracket fixing points and the modules, which makes it impossible to carry out smooth construction. In this process, the staff scans the site by manually moving the three-dimensional laser scanner to obtain point cloud data, splices the data after multiple operations, and then corrects the BIM module based on the point cloud data. This causes the staff's work standardization to have a great impact on the scanner point position, and has a great impact on the accuracy of the point cloud data and the accuracy of splicing. Therefore, this application proposes a new technical solution. Summary of the invention

[0006] In order to improve the construction accuracy when applying BIM technology, the present application provides a method and system for electromechanical pipe installation construction.

[0007] In the first aspect, the present application provides a mechanical and electrical pipe installation and construction system, which adopts the following technical solution: A mechanical and electrical pipe installation construction system includes a scanner, a mobile seat and a cloud platform. The mobile seat includes a seat body, a control module installed in the seat body, and a power system and a wireless communication unit whose electrical signals are connected to the control module. The scanner is detachably connected to the seat body and the data is connected to the control module. The cloud platform pre-stores BIM modeling and model data corresponding to the construction project. The control module data is connected to the cloud platform and is configured as follows: Obtain user instructions and determine the current scanning task to be executed; Obtain matching model data from the cloud platform according to the task characteristics of the scanning task; Request to obtain current location data; The moving path and scanning points are determined based on the model data and preset scanning rules, and scanning control instructions are sent to the scanner.

[0008] Optionally, the control module is electrically connected to a positioning unit, the positioning unit is mounted on the base, and the control module is configured as follows: If the current state of the scanner meets the preset operation state, the positioning data is obtained through the positioning unit; The scanning task to be currently executed is determined based on the positioning data.

[0009] Optionally, the control module is electrically connected to a distance measuring sensor, the distance measuring sensor is mounted on the base and the detection head faces the front of the base, and the control module is configured as follows: If the current process is moving, the distance detection value of the ranging sensor is obtained; It is determined whether the moving path is obstructed according to the distance detection value. If so, the comparison result between the scanning data of the scanner and the model data is obtained, and an abnormal prompt is output according to the comparison result.

[0010] Optionally, the base body is provided with a slot, the scanner has at least one support leg and is adapted to the slot, a pressure sensor is provided in the slot, the electrical signal of the pressure sensor is connected to the control module, and the control module is configured as follows: if the feedback signal of the pressure sensor indicates that the support leg is inserted, then after the scanner is connected, it is determined that the current state of the scanner meets the preset operating state.

[0011] Optionally, the power system includes wheels and a motor, the seat body includes a base and a lifting plate located above the base, the wheels are multiple and are rotatably connected to the base respectively, the motor is used to drive at least one wheel to rotate, an electric cylinder is embedded in the base, the telescopic rod end of the electric cylinder faces upward and is hinged to the bottom of the lifting plate, there are at least three electric cylinders and they are evenly distributed around the center of the lifting plate, a level bubble is set at the upper end of the lifting plate, and the electric cylinder and the motor are connected to the control module by electrical signals.

[0012] Optionally, a gyroscope is provided in the seat body, and the electrical signal of the gyroscope is connected to the control module. The control module is configured as follows: if a request is made to obtain current position data, each electric cylinder is controlled based on the feedback value of the gyroscope until the feedback value of the gyroscope indicates that the lifting plate is horizontal.

[0013] Optionally, the control module is also connected to a human-machine interaction unit via electrical signals, and the human-machine interaction unit is installed on the seat.

[0014] In the second aspect, the present application provides a method for installing and constructing a mechanical and electrical pipe system, which adopts the following technical solution: A method for installing and constructing a mechanical and electrical pipeline complex, comprising BIM modeling and in-depth layout, three-dimensional measurement technology review, integrated module processing, positioning measurement, bracket base installation and fixation, modular pipeline assembly, integrated module hoisting and pipeline docking installation, wherein in the three-dimensional measurement technology review, actual point cloud data is obtained using the mechanical and electrical pipeline complex installation and construction system as described in any one of claims 1 to 7.

[0015] To summarize, the present application includes the following beneficial technical effects: by setting the scanner on the mobile base, the mobile base automatically connects to the Internet and obtains BIM model data matching the location to be scanned from a shared cloud platform, and calculates and analyzes the points to be scanned and the moving path based on the model data and scanning rules, so that the mobile base moves according to the analyzed moving path, and the scanner scans each scanning point at the same time, so as to obtain more accurate point cloud data, thereby improving the construction accuracy when applying BIM technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application.

[0017] Figure 2 It is a schematic diagram of the control structure of an embodiment of the present application.

[0018] Figure 3 It is a schematic diagram of the power system structure of an embodiment of the present application.

[0019] Explanation of the reference numerals: 1. scanner; 2. mobile seat; 21. seat body; 22. control module; 23. power system; 24. wireless communication unit; 25. positioning unit; 11. support foot; 12. slot; 13. pressure sensor; 231. wheel; 232. motor; 211. base; 212. lifting plate; 213. electric cylinder; 3. gyroscope; 4. distance measuring sensor; 5. human-computer interaction unit. DETAILED DESCRIPTION

[0020] The following is combined with Figure 1-3 This application is described in further detail.

[0021] The embodiment of the present application discloses a mechanical and electrical pipe installation and construction system.

[0022] Reference Figure 1 and Figure 2 A mechanical and electrical pipe installation construction system includes a scanner 1, a mobile seat 2 and a cloud platform. The mobile seat 2 includes a seat body 21, a control module 22 installed in the seat body 21, and a power system 23 and a wireless communication unit 24 whose electrical signals are connected to the control module 22. The scanner 1 adopts a three-dimensional laser scanner. The scanner 1 is detachably connected to the seat body 21 and the data is connected to the control module 22. The cloud platform pre-stores BIM modeling and model data corresponding to the construction project. The control module 22 includes a PLC controller and a repeater connected to the PLC controller. The repeater is used to extend the signal transmission distance. The control module 22 is connected to the cloud platform and is configured as follows: 1) Obtain user instructions and determine the current scanning task to be executed; It is understandable that the user inputs specific scanning point information, such as: hanging brackets, partition wall completion lines, structural columns and other scanning points.

[0023] 2) Obtain matching model data from the cloud platform based on the task characteristics of the scanning task; It is understandable that the task feature may be the task location, that is, the location of the scanning point, and the BIM model data matching the location of the scanning point is obtained from the cloud platform.

[0024] 3) Request to obtain the current position data (the current position of scanner 1); 4) Based on the model data and the preset scanning rules (scanning each scanning point in sequence), the moving path and scanning points are determined, and a scanning control instruction is sent to scanner 1.

[0025] Through the above settings, by setting the scanner 1 on the mobile base 2, the mobile base 2 automatically connects to the network and obtains the BIM model data matching the location to be scanned from the shared cloud platform, and calculates and analyzes the points and moving paths to be scanned according to the model data and the scanning rules, so that the mobile base 2 moves according to the analyzed moving path, and the scanner 1 scans each scanning point at the same time, so as to obtain more accurate point cloud data, thereby improving the construction accuracy when applying BIM technology.

[0026] Reference Figure 1 and Figure 2 In another embodiment of the present application, in order to automatically acquire the scanning task, the control module 22 is electrically connected to the positioning unit 25, the positioning unit 25 is installed on the base 21, and the control module 22 is configured as follows: If the current state of the scanner 1 meets the preset operation state, the positioning data is obtained through the positioning unit 25; The scanning task to be currently executed is determined based on the positioning data.

[0027] It can be understood that based on the positioning data, the model data matching the current positioning data is retrieved from the BIM model database pre-stored in the cloud platform to determine the scanning task, and then the moving path and scanning points are determined based on the model data and preset scanning rules, and the scanner 1 is controlled to scan.

[0028] The status of scanner 1 conforms to the preset job status setting, and the specific settings are as follows: Reference Figure 1 and Figure 2 , there is at least one supporting leg 11 at the bottom of the scanner 1. In the embodiment, three supporting legs 11 are arranged at the bottom of the scanner 1. A slot 12 for the supporting leg 11 to be inserted is provided on the upper surface of the base 21. A pressure sensor 13 is installed at the bottom of the slot 12. The electrical signal of the pressure sensor 13 is connected to the control module 22. The control module 22 is configured as follows: if the feedback signal of the pressure sensor 13 indicates that the supporting leg 11 is inserted, then after the scanner 1 is connected, it is determined that the current state of the scanner 1 meets the preset operating state.

[0029] It can be understood that when the support leg 11 is inserted into the slot 12, since the support leg 11 contacts the detection end of the pressure sensor 13, and due to the self-gravity of the scanner 1, the support leg 11 applies force to the pressure sensor 13. When the signal detected by the pressure sensor 13 is greater than the threshold, it means that the support leg 11 has been inserted into place, that is, the scanner 1 has been placed, and a data connection is established with the scanner 1. After the connection is completed, it is determined to be in an operating state.

[0030] Considering that the construction site has not been completed yet, the ground may be uneven, causing the overall tilt and affecting the accuracy of the point cloud data, so the settings are as follows: Reference Figure 1 and Figure 3 The power system 23 includes wheels 231 and motors 232. The seat body 21 includes a base 211 and a lifting plate 212 located above the base 211. There are four wheels 231 and they are rotatably connected to the base 211. The motor 232 is installed on the base 211 and drives a pair of wheels 231 to rotate through a gear structure. An electric cylinder 213 is embedded in the base 211. The telescopic rod of the electric cylinder 213 faces upward and is hinged to the bottom of the lifting plate 212. In this embodiment, there are four electric cylinders 213 and they are evenly distributed around the center of the lifting plate 212. A level bubble (not shown in the figure) is fixedly installed on the upper surface of the lifting plate 212. The electric cylinder 213 and the motor 232 are both electrically connected to the control module 22, and a slot 12 is opened on the lifting plate 212.

[0031] Before installing the scanner 1 , the horizontality of the lifting plate 212 is adjusted by observing the level bubble and controlling each electric cylinder 213 at the same time. After the lifting plate 212 is leveled, the support leg 11 of the scanner 1 is inserted into the slot 12 .

[0032] Reference Figure 1 and Figure 2 In another embodiment of the present application, it can also be automatic leveling, and the specific settings are as follows: A gyroscope 3 is provided in the seat body 21, and the electrical signal of the gyroscope 3 is connected to the control module 22. The control module 22 is configured as follows: if a request is made to obtain current position data, each electric cylinder 213 is controlled based on the feedback value of the gyroscope 3 until the feedback value of the gyroscope 3 indicates that the lifting plate 212 is horizontal.

[0033] Through the above arrangement, after the scanner 1 is installed in place, the extension and retraction of each electric cylinder 213 are controlled respectively according to the feedback value of the gyroscope 3, so that the lifting plate 212 remains horizontal. At the same time, during the movement, the leveling can be continuously performed according to the feedback value of the gyroscope 3, thereby preventing the base body 21 from tilting and making the scanning data more accurate.

[0034] Reference Figure 2 In another embodiment of the present application, since there may be differences between the BIM model data and the construction site, obstacles may appear at the construction site, affecting the movement of the mobile seat 2. Therefore, in order to enable the mobile seat 2 to automatically avoid obstacles, the control module 22 is electrically connected to the distance sensor 4, and the distance sensor 4 is installed on the seat 21 and the detection head faces the front of the seat 21. The control module 22 is configured as follows: If the current process is moving, the distance detection value of the distance measuring sensor 4 is obtained; It is determined whether the moving path is obstructed according to the distance detection value. If so, the comparison result between the scanning data of the scanner 1 and the model data is obtained, and an abnormal prompt is output according to the comparison result.

[0035] It can be understood that when an obstacle appears in front of the moving seat 2, the distance detection value of the ranging sensor 4 will become smaller, and it is determined that the moving path is blocked. The scanning data of the scanner 1 at this time is compared with the model data. If the comparison result is inconsistent, there is a deviation between the actual site situation and the model data, and an abnormal prompt is output. Through the above settings, not only obstacles can be found, but also the differences between the model and the site can be found, so that the BIM model data can be optimized.

[0036] In order to facilitate the operation of on-site personnel, the control module 22 is also electrically connected to the human-machine interaction unit 5, which is installed on the base 21. The human-machine interaction unit 5 can adopt the existing technology - touch display screen, so that the user can directly touch the screen with a finger to operate.

[0037] The embodiment of the present application also discloses a method for installing and constructing a mechanical and electrical pipe system.

[0038] A method for installing and constructing a mechanical and electrical pipe system comprises the following steps: S1. BIM modeling and in-depth layout, which includes: building a model, and based on the model, using the parametric function of BIM technology to create related support and hanger families, systematically analyzing the support points, and establishing a support and hanger model, and based on the model, modularizing and disassembling the integrated pipeline; S2, 3D measurement technology review, including: automatically stitching the point cloud data scanned on site by scanner 1, segmenting and denoising redundant point cloud data, obtaining valid point cloud data, and correcting the BIM model based on the point cloud data; S3, integrated module processing, which includes: the factory organizes the prefabrication of pipeline facilities such as air ducts, pipe sections, brackets, etc. according to the numbering code, construction plan, processing parameter QR code processing task book and component list provided by the project department; S4, positioning measurement, which includes: staking out according to the optimized BIM model, and marking according to the staking out points; S5, the bracket base is installed and fixed, which includes: completing the bracket base installation according to the layout point position; S6. modular pipeline assembly, which includes: fixing each pipeline into the framework of a single group of modules; S7, hoisting of the integrated module, which includes: docking and installing the assembled and fixed module with the support and hanger; S8, pipeline docking installation, which includes: docking and installing adjacent modules; Among them, in the three-dimensional measurement technology review, the actual point cloud data is obtained by using any of the above-mentioned electromechanical pipe installation construction systems.

[0039] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A mechanical and electrical pipe installation construction system, comprising a scanner (1), characterized in that: The invention also comprises a mobile seat (2) and a cloud platform, wherein the mobile seat (2) comprises a seat body (21), a control module (22) installed in the seat body (21), a power system (23) connected to the control module (22) by electrical signals, and a wireless communication unit (24), wherein the scanner (1) is detachably connected to the seat body (21) and is data-connected to the control module (22), wherein the cloud platform pre-stores BIM modeling and model data corresponding to the construction project, and the control module (22) is data-connected to the cloud platform and is configured as follows: Obtain user instructions and determine the current scanning task to be executed; Obtain matching model data from the cloud platform according to the task characteristics of the scanning task; Request to obtain current location data; The moving path and scanning points are determined based on the model data and the preset scanning rules, and a scanning control instruction is sent to the scanner (1).

2. According to claim 1, a mechanical and electrical pipe installation construction system is characterized in that: The control module (22) is electrically connected to a positioning unit (25), the positioning unit (25) being mounted on the seat (21), and the control module (22) is configured as follows: If the current state of the scanner (1) meets the preset operation state, the positioning data is obtained through the positioning unit (25); The scanning task to be currently executed is determined based on the positioning data.

3. The electromechanical pipe installation construction system according to claim 1, characterized in that: The control module (22) is electrically connected to a distance measuring sensor (4), the distance measuring sensor (4) being mounted on the base (21) with the detection head facing the front of the base (21), and the control module (22) being configured as follows: If the mobile device is currently in the process of moving, obtaining the distance detection value of the distance measuring sensor (4); Whether the moving path is obstructed is determined based on the distance detection value. If so, a comparison result between the scanning data of the scanner (1) and the model data is obtained, and an abnormal prompt is output based on the comparison result.

4. The electromechanical pipe installation construction system according to claim 2, characterized in that: The seat body (21) is provided with a slot (12), the scanner (1) has at least one leg (11) adapted to fit the slot (12), a pressure sensor (13) is provided in the slot (12), an electrical signal of the pressure sensor (13) is connected to a control module (22), and the control module (22) is configured such that: if a feedback signal of the pressure sensor (13) indicates that the leg (11) is inserted, then after the scanner (1) is connected, it is determined that the current state of the scanner (1) meets a preset operating state.

5. The electromechanical pipe installation construction system according to claim 4 is characterized in that: The power system (23) comprises a wheel (231) and a motor (232); the seat body (21) comprises a base (211) and a lifting plate (212) located above the base (211); the wheels (231) are multiple and are rotatably connected to the base (211); the motor (232) is used to drive at least one wheel (231) to rotate; an electric cylinder (213) is embedded in the base (211); the telescopic rod end of the electric cylinder (213) faces upward and is hinged to the bottom of the lifting plate (212); there are at least three electric cylinders (213) and they are evenly distributed around the center of the lifting plate (212); a level bubble is arranged at the upper end of the lifting plate (212); and the electric cylinder (213) and the motor (232) are both connected to the control module (22) via electrical signals.

6. The electromechanical pipe installation construction system according to claim 5, characterized in that: A gyroscope (3) is arranged in the seat body (21), and an electrical signal of the gyroscope (3) is connected to a control module (22). The control module (22) is configured to: if a request is made to obtain current position data, then, based on a feedback value of the gyroscope (3), control each electric cylinder (213) until the feedback value of the gyroscope (3) indicates that the lifting plate (212) is horizontal.

7. The electromechanical pipe installation construction system according to claim 1, characterized in that: The control module (22) is also electrically connected to a human-machine interaction unit (5), and the human-machine interaction unit (5) is mounted on the seat (21).

8. A method for installing and constructing a mechanical and electrical pipe system, characterized in that: include: S1. BIM modeling and in-depth layout, which includes: building a model, and based on the model, using the parametric function of BIM technology to create related support and hanger families, systematically analyzing the support points, and establishing a support and hanger model, and based on the model, modularizing and disassembling the integrated pipeline; S2, 3D measurement technology review, including: automatically stitching the point cloud data scanned on site by means of a scanner (1), segmenting and denoising redundant point cloud data, obtaining valid point cloud data, and correcting the BIM model based on the point cloud data; S3, integrated module processing, which includes: the factory organizes the prefabrication of pipeline facilities such as air ducts, pipe sections, brackets, etc. according to the numbering code, construction plan, processing parameter QR code processing task book and component list provided by the project department; S4, positioning measurement, which includes: staking out according to the optimized BIM model, and marking according to the staking out points; S5, the bracket base is installed and fixed, which includes: completing the bracket base installation according to the layout point position; S6. modular pipeline assembly, which includes: fixing each pipeline into the framework of a single group of modules; S7, hoisting of the integrated module, which includes: docking and installing the assembled and fixed module with the support and hanger; S8, pipeline docking installation, which includes: docking and installing adjacent modules; Among them, in the three-dimensional measurement technology review, the actual point cloud data is obtained by using the electromechanical pipe installation construction system as described in any one of claims 1-7.

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