Water supply pipeline installation auxiliary method and system based on multi-source positioning and digital twinning

Abstract

The invention relates to the technical field of pipeline construction, and discloses a water supply pipeline installation auxiliary method and system based on multi-source positioning and digital twinning, and the method comprises the steps: constructing a digital twinning model based on a three-dimensional point cloud modeling technology, and integrating the geographic information of a construction area, high-voltage line corridor parameters and pipeline installation path planning data; a multi-source positioning sensor group is arranged on hoisting equipment and a pipeline, and spatial position, attitude and environmental electric field data are collected in real time and transmitted to a data fusion processing module; multi-source data are fused through a Kalman filtering algorithm, and high-precision positioning is realized in combination with a digital twinborn model; dynamically adjusting a positioning mode based on an adaptive switching mechanism; construction parameters are generated in real time, dynamic monitoring and early warning are conducted, and when a safety threshold value is exceeded, alarm is triggered and operation is suspended. The system corresponds to the method. By the adoption of the method, the positioning precision and environmental adaptability of water supply pipeline installation are improved, the construction safety risk of complex scenes is reduced, and the construction efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of pipeline construction technology, specifically to an auxiliary method and system for water supply pipeline installation based on multi-source positioning and digital twins. Background Technology

[0002] The installation of large-diameter water supply pipelines, especially plastic-coated steel pipes and PCCP pipes with a diameter of ≥2m, often faces complex environmental challenges, particularly in scenarios such as passing under high-voltage power line corridors, where multiple technical difficulties exist:

[0003] Traditional hoisting processes rely on manual calibration, making it difficult to achieve high-precision coordinated positioning of equipment and pipelines. The hoisting axis deviation is large, which cannot meet the requirements for precise installation.

[0004] The construction area has a complex environment, and satellite signals are easily blocked. A single positioning method cannot maintain continuous positioning when the signal is interrupted, resulting in positioning failure.

[0005] When constructing near high-voltage lines, safety clearance is strictly controlled, but existing technology lacks real-time monitoring methods for boom swing angle and distance between equipment and high-voltage lines, resulting in high safety risks.

[0006] Construction parameters (such as hoisting speed and safety clearance) rely heavily on experience and cannot be dynamically adjusted based on real-time positioning data, making it difficult to adapt to the needs of efficient construction in complex environments.

[0007] The lack of digital integration of geographical information and high-voltage line parameters in the construction area makes it impossible to provide accurate environmental benchmark data for construction, resulting in a low degree of matching between construction planning and the actual environment.

[0008] The aforementioned problems result in traditional construction methods being insufficient in precision, high in safety risks, and cumbersome in procedures when installing large-diameter water supply pipes, making it difficult to meet the requirements of modern engineering for efficient, safe, and precise construction. Summary of the Invention

[0009] The purpose of this invention is to provide a water supply pipeline installation assistance method and system based on multi-source positioning and digital twins, so as to solve the technical problems mentioned in the background art.

[0010] To achieve the above objectives, the present invention discloses the following technical solutions:

[0011] In a first aspect, the present invention discloses an auxiliary method for water supply pipeline installation based on multi-source positioning and digital twins, which constructs a digital twin model of the area to be constructed. The digital twin model is generated based on three-dimensional point cloud modeling technology. The data content of the digital twin model includes the geographic information of the construction area, high-voltage line corridor parameters, and pipeline installation path planning data.

[0012] A multi-source positioning sensor group is deployed on the hoisting equipment and the pipeline, and the multi-source positioning sensor group includes a Beidou real-time dynamic differential positioning device, a high-precision laser radar, an inertial navigation system, and a high-voltage line electric field intensity sensor.

[0013] Multi-source data is collected in real time by using the multi-source positioning sensor group, and the multi-source data includes spatial position data, attitude data, and surrounding environment electric field intensity data of the hoisting equipment and the pipeline.

[0014] The multi-source data is fused by using a Kalman filtering algorithm, and positioning data is obtained by high-precision positioning of the spatial positions of the hoisting equipment and the pipeline based on the digital twin model, wherein the Beidou real-time dynamic differential positioning device provides an absolute positioning reference, the high-precision laser radar corrects positioning errors by point cloud matching, and the inertial navigation system maintains positioning continuity when satellite signals are blocked to control the error range.

[0015] The positioning mode is dynamically adjusted based on an adaptive switching mechanism, including: when the satellite signal is normal, the positioning signal of the Beidou real-time dynamic differential positioning device is used as the main signal, and the high-precision laser radar is used to assist in suppressing positioning jitter; when the satellite signal is blocked or weak, the high-precision laser radar and the inertial navigation system are automatically switched to a combined mode to maintain continuous positioning accuracy.

[0016] Construction parameters are generated in real time according to the fused positioning data and safety parameters in the digital twin model, and the construction parameters include hoisting axis deviation control values, high-voltage line safety clearances, hoist arm swing angle limits, and hoisting speeds.

[0017] The pipeline hoisting process is dynamically monitored and warned based on the construction parameters, including: when a deviation exceeding a safety threshold is detected, an electronic fence alarm is triggered and the work is suspended until the construction parameters are adjusted to meet the construction parameters and the construction is resumed; wherein the safety threshold includes a critical value for defining a safety boundary.

[0018] Preferably, the digital twin model is generated based on three-dimensional point cloud modeling technology, including the following steps:

[0019] The construction area is scanned by the high-precision laser radar to obtain a point cloud space of the construction area.

[0020] The point cloud space is divided into uniform voxels and effective voxels are selected, and a three-dimensional model is constructed by calculating the point in the voxel and the characteristic value of the covariance matrix to obtain the digital twin model.

[0021] Preferably, the multi-source positioning sensor group is deployed on the hoisting equipment and the pipeline, including:

[0022] The antenna of the Beidou real-time dynamic differential positioning device is installed on the top of the hoisting equipment without obstruction.

[0023] A high-precision laser radar is installed at the front end of the hoisting arm of the hoisting equipment;

[0024] An inertial navigation system is installed at the center of gravity of the hoisting equipment;

[0025] A high-voltage line electric field strength sensor is installed at the end of the hoisting arm of the hoisting equipment;

[0026] An auxiliary positioning sensor and an insulation layer detection sensor are installed on the pipeline, the auxiliary positioning sensor works with the Beidou real-time dynamic differential positioning device, the high-precision laser radar and the inertial navigation system on the hoisting equipment to feedback the spatial position and attitude of the pipeline in real time, and the insulation layer detection sensor is used to monitor the state of the pipeline insulation layer.

[0027] Preferably, when the multi-source data is fused, the sensor timestamps are aligned by PPS pulse signals to make the data timing of the Beidou real-time dynamic differential positioning device, the high-precision laser radar and the inertial navigation system consistent.

[0028] Preferably, the multi-source positioning sensor group further comprises a Beidou short message dual-mode terminal which works with the Beidou real-time dynamic differential positioning device to transmit positioning data and construction parameters in a network-free environment.

[0029] Preferably, the dynamic monitoring and early warning of the pipeline hoisting process based on the construction parameters further comprises:

[0030] Based on the scanning data of the high-precision laser radar and the data of the insulation layer detection sensor on the pipeline, the insulation layer of the pipeline is detected in real time, and an insulation layer protection area is delineated based on the positioning data;

[0031] Based on the preset early warning judgment condition, it is determined whether the current hoisting action will cause the insulation layer to be damaged, and if so, an early warning is triggered; wherein the early warning judgment condition comprises:

[0032] The relative position relationship between the pipeline and the spreader of the hoisting equipment, and the surrounding obstacles is obtained in real time by the high-precision laser radar, and it is determined whether the distance between the pipeline and the spreader of the hoisting equipment or the distance between the pipeline and the surrounding obstacles is less than the safety distance set in the insulation layer protection area;

[0033] The local stress change or integrity parameter of the insulation layer is fed back in real time by the insulation layer detection sensor, and it is determined whether the change or integrity parameter exceeds the preset safety range;

[0034] It is determined whether the current position of the pipeline is in an area where the insulation layer is easily damaged according to the positioning data.

[0035] As preferred, the dynamic adjustment of the positioning mode based on the adaptive switching mechanism further comprises:

[0036] The Beidou real-time dynamic differential positioning device and the high-precision laser radar and inertial navigation system combined mode respectively adopt a tight coupling algorithm and a loose coupling algorithm for positioning data comparison. When it is detected that the data deviation exceeds the preset range, the high-precision laser radar and inertial navigation system combined mode is automatically switched to.

[0037] As preferred, the digital twin model is further used to simulate the pipeline installation process, and a trajectory accuracy verification report is generated by comparing the actual hoisting trajectory with the model planning trajectory. The verification report is used to verify whether the positioning accuracy of the multi-source positioning sensor group meets the construction requirements.

[0038] As preferred, the pipeline includes large-diameter plastic-coated steel pipes and PCCP pipes, and the construction parameters further include welding process parameters and weld detection standards for plastic-coated steel pipes, and interface sealing treatment parameters and joint pressing requirements for PCCP pipes.

[0039] In a second aspect, the present application discloses a water supply pipeline installation auxiliary system based on multi-source positioning and digital twinning, which applies the multi-source positioning and digital twinning-based water supply pipeline installation auxiliary method as described above. The system comprises:

[0040] A model construction module is configured to generate a digital twin model of the to-be-constructed area based on three-dimensional point cloud modeling technology. The data content of the digital twin model includes geographic information of the construction area, high-voltage line corridor parameters, and pipeline installation path planning data.

[0041] A multi-source positioning sensor group is configured to collect multi-source data in real time. The multi-source data includes spatial position data, attitude data, and surrounding environment electric field intensity data of hoisting equipment and pipelines. The multi-source positioning sensor group includes a Beidou real-time dynamic differential positioning device, a high-precision laser radar, an inertial navigation system, and a high-voltage line electric field intensity sensor.

[0042] A multi-source data fusion module is configured to fuse multi-source data through a Kalman filtering algorithm and to obtain positioning data by high-precision positioning of the spatial position of hoisting equipment and pipelines based on the digital twin model. The Beidou real-time dynamic differential positioning device provides an absolute positioning reference. The high-precision laser radar corrects positioning errors through point cloud matching. The inertial navigation system maintains positioning continuity to control error range when satellite signals are blocked.

[0043] The positioning mode switching module is configured to: when the satellite signal is normal, taking the positioning signal of the Beidou real-time dynamic differential positioning device as a main signal, and suppressing positioning jitter through the high-precision laser radar; when the satellite signal is blocked or weak, automatically switching to a high-precision laser radar and inertial navigation system combined mode to maintain continuous positioning accuracy.

[0044] The construction parameter generation module is configured to: generating construction parameters in real time according to the fused positioning data and safety parameters in the digital twin model, the construction parameters including hoisting axis deviation control value, high-voltage line safety clearance, hoist arm swing angle limit and hoisting speed.

[0045] The dynamic monitoring and early warning module is configured to: dynamically monitoring and early warning the pipeline hoisting process based on the construction parameters, triggering an electronic fence alarm and suspending the work when a deviation exceeding a safety threshold is detected, and resuming the construction after adjustment to meet the construction parameters.

[0046] Beneficial effects: The pipeline installation auxiliary method and system based on multi-source positioning and digital twinning of the application can provide accurate digital environment benchmarks for construction by constructing a digital twin model, integrating construction area geographic information, high-voltage line corridor parameters and pipeline installation path planning data, and improving the matching degree of construction planning and the actual environment; the multi-source positioning sensor group can simultaneously collect spatial position, attitude and environmental electric field data of the hoisting equipment and the pipeline, realizing cooperative positioning of the equipment and the pipeline and improving positioning accuracy; the multi-source data is fused through the Kalman filtering algorithm, and high-precision positioning is realized in combination with the digital twin model, ensuring that high-precision positioning data can still be provided when the signal is interrupted; the positioning mode is dynamically adjusted based on the adaptive switching mechanism, ensuring continuous positioning accuracy in all scenarios; the hoisting axis deviation control value, high-voltage line safety clearance, hoist arm swing angle limit and hoisting speed and other construction parameters are generated in real time based on the fused positioning data and safety parameters in the digital twin model, realizing dynamic optimization of the construction parameters and adapting to complex environment construction requirements; through dynamic monitoring and early warning of the pipeline hoisting process, the electronic fence alarm is triggered and the work is suspended when a deviation exceeding a safety threshold is detected, effectively improving construction safety and reducing safety risks in dangerous scenarios such as near high-voltage lines. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0048] Figure 1A flowchart of a water supply pipeline installation auxiliary method based on multi-source positioning and digital twinning provided by the embodiments of the present application is shown. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be described clearly and completely below. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0050] In this document, the term "comprising" is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the elements defined by the statement "comprising" do not exclude the presence of additional identical elements in the process, method, article or device including the elements.

[0051] The embodiments disclose, in a first aspect, a water supply pipeline installation auxiliary method based on multi-source positioning and digital twinning as shown in the accompanying drawings. Figure 1 The water supply pipeline installation auxiliary method based on multi-source positioning and digital twinning aims to improve the construction precision and efficiency of water supply pipelines and ensure construction safety. Specifically, the method includes the following steps:

[0052] S1-constructing a digital twinning model of the area to be constructed, the digital twinning model being generated based on three-dimensional point cloud modeling technology, and the data content of the digital twinning model including geographic information of the construction area, high-voltage line corridor parameters and pipeline installation path planning data.

[0053] S2-deploying a multi-source positioning sensor group on the hoisting equipment (such as a 150-ton crawler crane) and the pipeline. The multi-source positioning sensor group includes a Beidou real-time dynamic differential positioning device, a high-precision laser radar, an inertial navigation system and a high-voltage line electric field intensity sensor.

[0054] S3-collecting multi-source data in real time by using the multi-source positioning sensor group, the multi-source data including spatial position data, attitude data and surrounding environment electric field intensity data of the hoisting equipment and the pipeline;

[0055] S4-fusing the multi-source data by a Kalman filtering algorithm, and obtaining positioning data by high-precision positioning of the spatial position of the hoisting equipment and the pipeline based on the digital twinning model, wherein the Beidou real-time dynamic differential positioning device provides an absolute positioning reference, the high-precision laser radar corrects the positioning error through point cloud matching, and the inertial navigation system maintains positioning continuity when the satellite signal is blocked to control the error range.

[0056] S5- dynamically adjusting the positioning mode based on the adaptive switching mechanism, including: when the satellite signal is normal, taking the positioning signal of the Beidou real-time dynamic differential positioning device as the main signal, and suppressing the positioning jitter through the high-precision laser radar assistance; when the satellite signal is blocked or weak, automatically switching to the high-precision laser radar and inertial navigation system combined mode to maintain continuous positioning accuracy;

[0057] S6- according to the fused positioning data and the safety parameters (such as the high-voltage line safety clearance of 15 meters) in the digital twin model, real-time generation of construction parameters, including hoisting axis deviation control value, high-voltage line safety clearance, hoisting arm swing angle limit and hoisting speed;

[0058] S7- based on the construction parameters, dynamically monitoring and warning the pipeline hoisting process, including: when the deviation exceeding the safety threshold is detected, triggering the electronic fence alarm and suspending the work until the construction parameters are adjusted to meet the construction parameters and the construction is resumed; wherein the safety threshold includes a critical value (such as "the hoisting axis deviation shall not exceed a certain value" or "the distance from the high-voltage line shall not be less than a certain value") for defining the safety boundary, which is the judgment standard for triggering the warning.

[0059] Based on the above, the water supply pipeline installation auxiliary method based on multi-source positioning and digital twin of the embodiment provides accurate environmental benchmarks for construction, solving the problem of low matching degree between traditional construction planning and actual environment; multi-source sensor cooperative positioning and data fusion realize high-precision cooperative positioning of equipment and pipeline, overcoming the defects of insufficient positioning accuracy of traditional single sensor; adaptive switching mechanism ensures continuous positioning in all scenarios, solving the positioning failure problem caused by satellite signal interruption; dynamically generating construction parameters and linking with warning reduces the safety risk of work near high-voltage lines and improves construction efficiency.

[0060] In the embodiment, the pipeline includes large-diameter (referring to the pipe diameter ≥ 2m) plastic-coated steel pipe and PCCP pipe, and the construction parameters further include: welding process parameters (such as preheating temperature, etc.) of plastic-coated steel pipe and welding seam detection standards (such as ultrasonic flaw detection for welding seam detection, etc.), interface sealing treatment parameters (such as interface sealing ring installation pressure) of PCCP pipe and joint pressure requirements (such as joint pressure test pressure). In specific implementation, the corresponding parameters are automatically called according to the pipe type, for example, when the PCCP pipe is hoisted, the interface alignment accuracy is preferentially monitored to ensure that the process requirements of internal pulling and both sides filling are met.

[0061] In the embodiment, the construction of the digital twin model includes the following steps:

[0062] The construction area is scanned by 360° high-precision laser radar to obtain a point cloud space composed of original point cloud data;

[0063] The point cloud space is divided into uniform voxels (such as a resolution of 0.5 m) and effective voxels containing at least 5 points are screened, a three-dimensional model conforming to a 1:10000 mapping standard is constructed by calculating the points in the voxels and the eigenvalues of the covariance matrix, and the digital twin model is obtained, the three-dimensional model (i.e. the digital twin model) conforms to the preset mapping standard and labels the wire sag, distance between obstacles and lowest point height information of the construction area, and provides environmental constraint data for the multi-source positioning system.

[0064] Based on the above-mentioned construction steps of the digital twin model, the high-precision three-dimensional model can accurately restore the construction environment and provide a reliable reference for positioning and safety parameter setting, solving the problem of large error in traditional manual measurement; secondly, the high-voltage line parameters provide data support for dynamic safety warning and improve the controllability of construction in complex environments.

[0065] In the present embodiment, the installation of the multi-source positioning sensor group includes the following steps:

[0066] The antenna of the Beidou real-time dynamic differential positioning device is installed at the top of the hoisting equipment without obstruction to ensure that the received differential signal is not disturbed;

[0067] A high-precision laser radar is installed at the front end of the hoisting arm of the hoisting equipment to realize 360° scanning to monitor the dynamic distance between the hoist of the hoisting equipment and the high-voltage line and the pipeline in real time;

[0068] An inertial navigation system is installed at the center of gravity of the hoisting equipment to output attitude angles (pitch angle, roll angle) at a high frequency such as 100 Hz;

[0069] A high-voltage line electric field intensity sensor is installed at the end of the hoisting arm of the hoisting equipment to monitor the environmental electric field;

[0070] An auxiliary positioning sensor and an insulation layer detection sensor are installed on the pipeline, the auxiliary positioning sensor cooperates with the Beidou real-time dynamic differential positioning device, the high-precision laser radar and the inertial navigation system on the hoisting equipment to work in real time to feedback the spatial position and attitude of the pipeline, and the insulation layer detection sensor is used to monitor the state of the pipeline insulation layer.

[0071] Based on the above-mentioned installation steps of the multi-source positioning sensor group, the sensor deployment position is adaptively matched to the construction scene to ensure the accuracy and comprehensiveness of data acquisition; the sensors of the pipeline and the equipment work cooperatively to realize the linkage positioning of the equipment, the pipeline and the environment, and solve the problem of insufficient pipeline precision caused by traditional positioning relying only on equipment.

[0072] Further, when fusing the multi-source data, it also includes aligning the sensor timestamps through the PPS pulse signal, ensuring that the timing error of the multi-source data is ≤1 ms, so that the data timing of the Beidou real-time dynamic differential positioning device, high-precision laser radar and inertial navigation system is consistent. For example, when the high-precision laser radar scans the relative position of the pipeline and the spreader, the Beidou real-time dynamic differential positioning device is triggered synchronously to record the absolute coordinates, and the inertial navigation system records the attitude data, and the time stamp alignment is used to realize the space-time matching of the data, providing consistent input for the Kalman filtering algorithm.

[0073] Based on the above timestamp alignment processing, the time difference interference of multi-source data can be eliminated, the fusion accuracy can be improved, the positioning deviation problem caused by traditional asynchronous data can be solved, and the time consistency of the hoisting equipment and the pipeline position data is ensured, providing a reliable basis for dynamic monitoring and early warning.

[0074] On the other hand, the multi-source positioning sensor group also includes a Beidou short message dual-mode terminal, which cooperates with the Beidou real-time dynamic differential positioning device to transmit positioning data and construction parameters in a network-free environment, and supports dual-mode switching of ground communication and satellite communication. For example, when the network in the construction area is interrupted, the terminal sends real-time positioning data to the control center through the Beidou short message, ensuring uninterrupted remote monitoring.

[0075] Based on the configuration of the above-mentioned Beidou short message dual-mode terminal, the data transmission problem in a network-free environment is solved, ensuring the continuity of construction monitoring in the whole area; and the construction collaboration efficiency in complex environments is improved, avoiding delays caused by communication interruption.

[0076] Based on the arrangement of the foregoing multi-source positioning sensor group, the dynamic monitoring and early warning of the pipeline hoisting process based on the construction parameters further includes:

[0077] Based on the scanning data of the high-precision laser radar and the data of the insulation layer detection sensor on the pipeline, the insulation layer of the pipeline is detected in real time, and the insulation layer protection area is determined based on the positioning data;

[0078] Based on the preset early warning judgment condition, it is judged whether the current hoisting action will cause damage to the insulation layer. If so, an early warning is triggered; wherein the early warning judgment condition includes:

[0079] The relative positional relationship between the pipeline and the spreader of the hoisting equipment, and the surrounding obstacles (such as high-voltage line towers) is obtained in real time by the high-precision laser radar, and it is judged whether the distance between the pipeline and the spreader of the hoisting equipment or the distance between the pipeline and the surrounding obstacles is less than the safety distance set by the insulation layer protection area;

[0080] The insulation layer detection sensor feeds back the local stress change parameter (such as tensile stress > 5MPa) or integrity parameter (such as damage area > 0.1m 2 ) of the insulation layer in real time, and judges whether the change or integrity parameter exceeds the preset safety range;

[0081] According to the positioning data, it is confirmed whether the current position of the pipeline is in an area prone to damage of the insulation layer (such as within 10 meters below the high-voltage line).

[0082] Based on the above dynamic monitoring and early warning design, the insulation layer damage risk is judged in multiple dimensions to realize real-time protection, solve the problems of missed detection and lag in traditional manual inspection, and reduce the damage rate of the insulation layer of the plastic-coated steel pipe and the PCCP pipe, thereby reducing the maintenance cost in the later period.

[0083] In the embodiment, the dynamic adjustment of the positioning mode based on the adaptive switching mechanism further includes:

[0084] The Beidou real-time dynamic differential positioning device and the high-precision laser radar and inertial navigation system combined mode respectively adopt tight coupling and loose coupling algorithms for positioning data comparison, and automatically switch to the high-precision laser radar and inertial navigation system combined mode when it is detected that the data deviation exceeds the preset range, so as to maintain the continuity of positioning.

[0085] Based on the above adaptive switching mechanism design, the positioning interruption caused by the failure of a single system is avoided through redundancy checking and rapid switching, the system reliability is improved, and the problems of weak anti-interference ability of the traditional positioning system in complex scenes such as high-voltage line shielding and electromagnetic interference are solved.

[0086] In the embodiment, the digital twin model is also used to simulate the pipeline installation process, and a trajectory accuracy verification report is generated by comparing the actual hoisting trajectory with the model planning trajectory, and the verification report is used to verify whether the positioning accuracy of the multi-source positioning sensor group meets the construction requirements. That is, during construction, the actual hoisting trajectory data is collected in real time, compared with the model planning trajectory, and a trajectory accuracy verification report containing horizontal deviation and elevation deviation is generated. For example, after the DN4600 plastic-coated steel pipe is hoisted, the report shows that the horizontal deviation between the actual trajectory and the planning trajectory is ≤±3cm, and the elevation deviation is ≤±5cm, verifying that the positioning system accuracy meets the construction requirements.

[0087] Based on the above simulation installation design, the positioning accuracy is quantitatively verified by comparing the simulation trajectory with the actual trajectory, so as to ensure that the construction quality meets the standard, provide data support for subsequent process adjustment, and reduce the secondary deviation correction cost.

[0088] In summary, the water supply pipeline installation auxiliary method based on multi-source positioning and digital twinning of the embodiment, by constructing a digital twin model based on three-dimensional point cloud modeling technology, integrating the geographic information of the construction area, the high-voltage line corridor parameters and the pipeline installation path planning data, providing accurate digital environment benchmark for construction, improving the matching degree of construction planning and actual environment; A multi-source positioning sensor group can simultaneously collect the spatial position, attitude and environment electric field data of the hoisting equipment and the pipeline, realize the cooperative positioning of the equipment and the pipeline, and solve the problem of insufficient positioning accuracy of traditional single sensor; The data fusion processing module fuses multi-source data through Kalman filtering algorithm, realizes high-precision positioning combined with the digital twin model, the Beidou real-time dynamic differential positioning device provides absolute positioning benchmark, the high-precision laser radar corrects positioning error, and the inertial navigation system maintains positioning continuity when satellite signal is blocked, effectively solving the problem of positioning failure caused by signal interruption; Based on the adaptive switching mechanism, the positioning mode is dynamically adjusted, the Beidou real-time dynamic differential positioning device is mainly used when the satellite signal is normal, the high-precision laser radar is used to assist in suppressing positioning jitter, and when the signal is blocked, the high-precision laser radar and the inertial navigation combined mode is automatically switched to, to ensure the continuous positioning accuracy in the whole scene; Combined with the fused positioning data and the safety parameters in the digital twin model, the hoisting axis deviation control value, the high-voltage line safety clearance, the hoist arm swing angle limit and the hoisting speed and other construction parameters are generated in real time, the dynamic optimization of construction parameters is realized, and the construction demand in complex environment is adapted; Through dynamic monitoring and early warning of the pipeline hoisting process, when the deviation exceeding the safety threshold is detected, the electronic fence alarm is triggered and the work is suspended, effectively improving the construction safety and reducing the safety risk in dangerous scenes such as near high-voltage lines

[0089] The embodiment provides a water supply pipeline installation auxiliary system based on multi-source positioning and digital twinning in the second aspect, which applies the water supply pipeline installation auxiliary method based on multi-source positioning and digital twinning as described above, and the system comprises:

[0090] The model construction module is configured to generate a digital twin model of the area to be constructed based on three-dimensional point cloud modeling technology, and the data content of the digital twin model includes geographic information of the construction area, high-voltage line corridor parameters and pipeline installation path planning data;

[0091] The multi-source positioning sensor group is configured to collect multi-source data in real time; wherein the multi-source data includes spatial position data, attitude data and surrounding environment electric field intensity data of the hoisting equipment and the pipeline, and the multi-source positioning sensor group includes a Beidou real-time dynamic differential positioning device, a high-precision laser radar, an inertial navigation system and a high-voltage line electric field intensity sensor;

[0092] The multi-source data fusion module is configured to fuse the multi-source data through a Kalman filtering algorithm, and to obtain positioning data by high-precision positioning of the hoisting equipment and the spatial position of the pipeline based on the digital twin model; wherein the Beidou real-time dynamic differential positioning device provides an absolute positioning reference, the high-precision laser radar corrects the positioning error through point cloud matching, and the inertial navigation system maintains positioning continuity when satellite signals are blocked to control the error range.

[0093] The positioning mode switching module is configured to use the positioning signal of the Beidou real-time dynamic differential positioning device as the main signal when the satellite signal is normal, and to use the high-precision laser radar to assist in suppressing positioning jitter; when the satellite signal is blocked or weak, automatically switch to the combination mode of the high-precision laser radar and the inertial navigation system to maintain continuous positioning accuracy.

[0094] The construction parameter generation module is configured to generate construction parameters in real time according to the fused positioning data and the safety parameters in the digital twin model, wherein the construction parameters include hoisting axis deviation control value, high-voltage line safety clearance, hoist arm swing angle limit, and hoisting speed.

[0095] The dynamic monitoring and early warning module is configured to dynamically monitor and early warn the pipeline hoisting process based on the construction parameters, and when a deviation exceeding the safety threshold is detected, trigger an electronic fence alarm and suspend the work until the construction parameters are adjusted to meet the construction parameters.

[0096] It should be noted that the water supply pipeline installation auxiliary system based on multi-source positioning and digital twinning of the present embodiment corresponds to the aforementioned water supply pipeline installation auxiliary method based on multi-source positioning and digital twinning, and therefore, the parts of the water supply pipeline installation auxiliary system based on multi-source positioning and digital twinning that are not described in detail in the present embodiment (including but not limited to specific technical means and technical effects) can be referred to the description in the aforementioned water supply pipeline installation auxiliary method based on multi-source positioning and digital twinning, which will not be repeated here.

[0097] In the embodiments provided by the present application, it should be understood that the embodiments described herein can be realized by hardware, software, firmware, middleware, codes or any proper combination thereof. For hardware implementation, the processor can be realized in one or more of the following components: an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a processor, a controller, a microcontroller, a microprocessor, other electronic units designed to perform the functions described herein, or a combination thereof. For software implementation, the procedures described herein can be implemented with a computer program that is written in any suitable programming language. The program can be stored in a computer readable storage medium or transmitted as one or more instructions or codes on the computer readable storage medium. The computer readable storage medium includes any storage medium that can be accessed by a computer. The computer readable storage medium can include but is not limited to the following media: a RAM, a ROM, an EEPROM, a CD-ROM or other optical disc storage, a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program codes in the form of instructions or data structures and can be accessed by a computer.

[0098] Finally, it should be noted that the above only describes the preferred embodiments of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, modifications or equivalent replacements of some technical features described in the foregoing embodiments can be made by those skilled in the art, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for assisting in the installation of water supply pipelines based on multi-source positioning and digital twins, characterized in that, The method includes the following steps: A digital twin model of the area to be constructed is constructed. The digital twin model is generated based on three-dimensional point cloud modeling technology. The data content of the digital twin model includes the geographical information of the construction area, high-voltage line corridor parameters, and pipeline installation path planning data. A multi-source positioning sensor group is deployed on the hoisting equipment and pipelines. The multi-source positioning sensor group includes a Beidou real-time dynamic differential positioning device, a high-precision lidar, an inertial navigation system, and a high-voltage line electric field strength sensor. The multi-source positioning sensor group is used to collect multi-source data in real time, including spatial position data and attitude data of the hoisting equipment and pipeline, as well as electric field strength data of the surrounding environment. The Kalman filter algorithm is used to fuse multi-source data, and the spatial position of the hoisting equipment and pipeline is obtained with high precision based on the digital twin model. The Beidou real-time dynamic differential positioning device provides an absolute positioning reference, the high-precision lidar corrects the positioning error through point cloud matching, and the inertial navigation system maintains positioning continuity to control the error range when satellite signals are blocked. The positioning mode is dynamically adjusted based on an adaptive switching mechanism, including: when the satellite signal is normal, the positioning signal of the Beidou real-time dynamic differential positioning device is used as the main signal, and the positioning jitter is suppressed by the high-precision lidar; when the satellite signal is blocked or weak, the system automatically switches to the combination mode of high-precision lidar and inertial navigation system to maintain continuous positioning accuracy. Based on the fused positioning data and safety parameters in the digital twin model, construction parameters are generated in real time. These construction parameters include the hoisting axis deviation control value, the safety clearance of the high-voltage line, the boom swing angle limit, and the hoisting speed. Dynamic monitoring and early warning of the pipeline hoisting process based on the construction parameters include: when a deviation exceeding the safety threshold is detected, triggering an electronic fence alarm and suspending the operation until it is adjusted to meet the construction parameters before resuming the operation; wherein, the safety threshold includes critical values ​​used to define the safety boundary (such as "the deviation of the hoisting axis shall not exceed a certain value" and "the distance from the high-voltage line shall not be less than a certain value"), which are the criteria for triggering the early warning.

2. The water supply pipeline installation assistance method based on multi-source positioning and digital twin as described in claim 1, characterized in that, The process of generating a digital twin model based on 3D point cloud modeling technology includes the following steps: The construction area is scanned using a high-precision lidar to obtain the point cloud space of the construction area; The point cloud space is divided into uniform voxels and effective voxels are selected. A three-dimensional model is constructed by calculating the eigenvalues ​​of the midpoints and covariance matrix of the voxels to obtain the digital twin model.

3. The water supply pipeline installation assistance method based on multi-source positioning and digital twin as described in claim 1, characterized in that, The deployment of a multi-source positioning sensor array on hoisting equipment and pipelines includes: Install the antenna of the Beidou real-time dynamic differential positioning device on an unobstructed area at the top of the hoisting equipment; Install a high-precision lidar at the front end of the crane boom of the hoisting equipment; An inertial navigation system is installed at the center of gravity of the hoisting equipment; Install a high-voltage electric field strength sensor at the end of the boom of the hoisting equipment; An auxiliary positioning sensor and an insulation layer detection sensor are installed on the pipeline. The auxiliary positioning sensor works in conjunction with the Beidou real-time dynamic differential positioning device, high-precision lidar and inertial navigation system on the hoisting equipment to provide real-time feedback on the spatial position and attitude of the pipeline. The insulation layer detection sensor is used to monitor the condition of the pipeline insulation layer.

4. The water supply pipeline installation assistance method based on multi-source positioning and digital twin as described in claim 3, characterized in that, When fusing the multi-source data, the method also includes aligning the sensor timestamps using PPS pulse signals to ensure that the data timing of the BeiDou real-time dynamic differential positioning device, high-precision lidar, and inertial navigation system is consistent.

5. The water supply pipeline installation assistance method based on multi-source positioning and digital twin as described in claim 3, characterized in that, The multi-source positioning sensor group also includes a Beidou short message dual-mode terminal, which works in conjunction with the Beidou real-time dynamic differential positioning device to transmit positioning data and construction parameters in a network-free environment.

6. The water supply pipeline installation assistance method based on multi-source positioning and digital twin as described in claim 3, characterized in that, The dynamic monitoring and early warning of the pipeline hoisting process based on the construction parameters also includes: Based on the scanning data of the high-precision lidar and the data of the insulation layer detection sensor on the pipeline, the insulation layer of the pipeline is detected in real time, and the insulation layer protection area is delineated based on the positioning data. Based on preset early warning judgment conditions, it is determined whether the current hoisting action will cause damage to the insulation layer; if so, an early warning is triggered. The early warning judgment conditions include: The relative positions of the pipeline and the lifting equipment, as well as surrounding obstacles, are obtained in real time by high-precision lidar to determine whether the distance between the pipeline and the lifting equipment or between the pipeline and surrounding obstacles is less than the safety distance set by the insulation layer protection area. The insulation layer detection sensor provides real-time feedback on local stress changes or integrity parameters of the insulation layer, and determines whether the changes or integrity parameters exceed the preset safety range. Based on the location data, confirm whether the current location of the pipeline is in an area where the insulation layer is easily damaged.

7. The water supply pipeline installation assistance method based on multi-source positioning and digital twin as described in claim 1, characterized in that, The aforementioned dynamic adjustment of the positioning mode based on the adaptive switching mechanism also includes: The BeiDou real-time dynamic differential positioning device and the high-precision lidar and inertial navigation system combination mode respectively use tightly coupled and loosely coupled algorithms to compare positioning data. When the data deviation is detected to exceed the preset range, the system automatically switches to the high-precision lidar and inertial navigation system combination mode.

8. The water supply pipeline installation assistance method based on multi-source positioning and digital twin according to claim 1, characterized in that, The digital twin model is also used to simulate the pipeline installation process. By comparing the actual hoisting trajectory with the model's planned trajectory, a trajectory accuracy verification report is generated. The verification report is used to check whether the positioning accuracy of the multi-source positioning sensor group meets the construction requirements.

9. The water supply pipeline installation assistance method based on multi-source positioning and digital twin according to claim 1, characterized in that, The pipeline includes large-diameter plastic-coated steel pipes and PCCP pipes. The construction parameters also include: welding process parameters and weld inspection standards for plastic-coated steel pipes, and interface sealing treatment parameters and joint pressure testing requirements for PCCP pipes.

10. A water supply pipeline installation assistance system based on multi-source positioning and digital twin, employing the water supply pipeline installation assistance method based on multi-source positioning and digital twin as described in any one of claims 1-9, characterized in that, The system includes: The model building module is configured to generate a digital twin model of the area to be constructed based on 3D point cloud modeling technology. The data content of the digital twin model includes the geographic information of the construction area, high-voltage line corridor parameters, and pipeline installation path planning data. The multi-source positioning sensor group is configured to: collect multi-source data in real time; wherein, the multi-source data includes spatial position data and attitude data of hoisting equipment and pipelines and electric field strength data of the surrounding environment, and the multi-source positioning sensor group includes a Beidou real-time dynamic differential positioning device, a high-precision lidar, an inertial navigation system and a high-voltage line electric field strength sensor; The multi-source data fusion module is configured to: fuse multi-source data using a Kalman filter algorithm, and obtain positioning data by performing high-precision positioning of the hoisting equipment and pipeline spatial positions based on the digital twin model; wherein, the Beidou real-time dynamic differential positioning device provides an absolute positioning reference, the high-precision lidar corrects positioning errors through point cloud matching, and the inertial navigation system maintains positioning continuity to control the error range when satellite signals are blocked; The positioning mode switching module is configured to: when the satellite signal is normal, use the positioning signal of the Beidou real-time dynamic differential positioning device as the main signal, and use the high-precision lidar to help suppress positioning jitter; when the satellite signal is blocked or weak, automatically switch to the high-precision lidar and inertial navigation system combination mode to maintain continuous positioning accuracy. The construction parameter generation module is configured to generate construction parameters in real time based on the fused positioning data and safety parameters in the digital twin model. The construction parameters include the hoisting axis deviation control value, the safety clearance of the high-voltage line, the boom swing angle limit, and the hoisting speed. The dynamic monitoring and early warning module is configured to: dynamically monitor and provide early warnings for the pipeline hoisting process based on the construction parameters; when a deviation exceeding the safety threshold is detected, an electronic fence alarm is triggered and the operation is suspended until the deviation is adjusted to meet the construction parameters before resuming construction.

Images