Collision-free laying method for newly-added pipelines of multi-layer pipe gallery

Abstract

The invention discloses a collision-free laying method for newly-added pipelines of a multi-layer pipe gallery, and belongs to the technical field of municipal engineering and pipeline laying. By means of the method, the technical problem that in the complex and dense multi-layer pipe gallery environment, when a pipeline is newly added, the pipeline is likely to collide with an existing pipeline or an accessory structure is solved. According to the technical scheme, the method comprises the steps that pipe gallery internal point cloud data are collected, and a first three-dimensional digital model is constructed; new pipeline starting and stopping positions are set; an automatic path planning algorithm is adopted to calculate a laying path meeting the requirements that the minimum distance between the outer surface of the pipeline and the existing structure is 10-30 cm, and the minimum distance between the working envelope surface of laying equipment and the existing structure is 15-50 cm; adding the path into the model to generate a second three-dimensional digital model; and finally guiding the equipment to implement installation. The method is mainly used for safe and efficient laying of pipelines in updating and expansion of urban underground pipe galleries.

Description

Technical Field

[0001] This invention relates to the field of municipal engineering and pipeline laying technology. More specifically, this invention relates to a collision-free laying method for new pipelines in multi-story pipe corridors. Background Technology

[0002] In multi-story utility tunnel projects, laying new pipelines is a complex and precise operation. Existing technologies face several inherent problems and shortcomings in practical applications, mainly in path planning and collision avoidance control.

[0003] Currently, the design of new pipeline routes relies on designers' understanding of two-dimensional drawings and their experience in on-site surveys. Manual planning only considers the physical outer diameter and static layout of the pipeline, ignoring the operating space and movement trajectory of the laying equipment. Two-dimensional drawings are difficult to represent three-dimensional obstacle relationships, which easily leads to collision risks during actual laying. Traditional spatial measurement uses total stations, measuring tapes, and other manual methods, which are inefficient, produce discrete data, and have poor measurement conditions within the pipe gallery, making it easy for data omissions or errors to occur, and making it impossible to build high-precision models. In addition, existing route planning methods lack consideration for dynamic factors during construction and do not include the equipment working space in the route evaluation, resulting in theoretically feasible routes failing in actual operation or requiring high-risk construction methods.

[0004] The main reasons for the above problems are: limited means of acquiring three-dimensional spatial information and insufficient data processing capabilities; lack of automated algorithms that integrate multiple constraints for path search and optimization; lack of systematic integrated analysis of dynamic construction factors and static layout; and information disconnect between design and construction stages.

[0005] In the past, when solving these problems, technicians increased the density of measurement points or the number of manual checks, which improved the reliability of the path, but increased costs and made it difficult to eliminate collisions. Using simple 3D modeling to assist design has limited improvement in anti-collision effect due to issues such as modeling accuracy, calculation efficiency and workspace constraints of non-integrated equipment. In complex utility tunnel areas, it is impossible to effectively balance the economy, feasibility and safety of the path. Summary of the Invention

[0006] One object of the present invention is to solve at least the above-mentioned problems and to provide at least the advantages that will be described later.

[0007] To achieve these objectives and other advantages according to the present invention, a collision-free laying method for new pipelines in multi-story pipe racks is provided, comprising the following steps: Collect spatial point cloud data of existing pipelines and ancillary structures inside multi-level utility tunnels; Spatial point cloud data is input into 3D modeling software, and a first 3D digital model containing all existing pipes and ancillary structures is generated through a surface reconstruction algorithm. In the first three-dimensional digital model, the starting and ending positions of the newly added pipeline are set; Based on the first three-dimensional digital model, an automatic path planning algorithm is used to calculate candidate laying paths for the new pipeline between the starting and ending positions. When calculating candidate laying paths, the automatic path planning algorithm simultaneously applies a first constraint and a second constraint. The first constraint is defined as maintaining a minimum distance of 10-30cm between the outer surface of the new pipeline and the outer surface of any existing pipeline or auxiliary structure in the first three-dimensional digital model. The second constraint is defined as maintaining a minimum distance of 15-50cm between the pipeline laying equipment used to install the new pipeline and the outer surface of any existing pipeline or auxiliary structure in the first three-dimensional digital model. The automatic path planning algorithm searches for candidate laying paths that satisfy the first and second constraints in the first three-dimensional digital model space. When a candidate laying path that satisfies the first and second constraints is found, the candidate laying path is output as the final laying path. Add the geometric data of the new pipeline corresponding to the final laying path to the first three-dimensional digital model to generate a second three-dimensional digital model containing the new pipeline. Based on the final laying path, the pipeline laying equipment will be used to install the new pipeline at the predetermined location within the multi-story pipe gallery.

[0008] Preferably, when laying the Nth new pipeline, the operation of setting the start and end positions is applied to the second three-dimensional digital model, and the automatic path planning algorithm calculates the candidate laying paths for the Nth new pipeline as follows: The first constraint condition update is defined as the minimum distance between the outer surface of the Nth newly added pipeline and the surface of any existing pipeline, planned new pipeline or auxiliary structure in the second three-dimensional digital model being kept within 10~30cm. The second constraint condition update is defined as the minimum distance between the working envelope surface of the pipeline laying equipment and the surface of any existing pipeline, planned new pipeline or auxiliary structure in the second three-dimensional digital model being kept within 15~50cm.

[0009] Preferably, when the automatic path planning algorithm applies the first constraint, it performs deformation risk classification on the pipeline in the current three-dimensional digital model; Deformation risk classification operations include: Identify pipes in the current 3D digital model whose material properties are marked as elastomeric materials and classify them as Class I deformable pipes. Identify pipes in the current 3D digital model whose medium temperature property exceeds 80℃ and classify them as Class II deformable pipes. For the section of the candidate laying path that is adjacent to the first type of deformable pipe or the second type of deformable pipe, the minimum distance of the first constraint condition of the section is increased from 10~30cm to 20~40cm. The automatic path planning algorithm recalculates the candidate laying paths for this section based on the improved first constraint.

[0010] Preferably, when installing new pipelines using pipeline laying equipment, vibration suppression operations are performed on construction sections where the distance to the first or second type of deformable pipeline is less than 50cm. Vibration suppression operations include the following steps: Pressure sensors are installed at the contact points between the support structure of the pipeline laying equipment and the ground or side wall of the pipe gallery. The readings of the pressure sensors are monitored in real time. When the reading exceeds 5kN, the active vibration reduction system built into the pipeline laying equipment is activated. Based on the increase in pressure sensor reading, the flow valve opening of the hydraulic damper is linearly reduced. Specifically, for every 1 kN increase in pressure sensor reading, the flow valve opening decreases by 0.08~0.15 mm. Based on the increase in the rate of change of pressure sensor reading, the flow valve opening of the hydraulic damper is instantaneously reduced. Specifically, for every 1 kN / s increase in the rate of change of pressure sensor reading, the flow valve opening decreases instantaneously by 0.12~0.25 mm. The vibration acceleration transmitted from the supporting structure to the pipe gallery structure is controlled within 0.5~2 m / s². 2 Within this range, the installation of new pipelines continues while the vibration acceleration remains within this range.

[0011] Preferably, during the installation of new pipelines in pipeline laying equipment, sag compensation is performed on pipeline sections with a span greater than 3m. The sag compensation operation includes the following steps: The installation operation should be suspended when the new pipeline is hoisted to the predetermined height; Measure the actual sag value of the newly added pipeline. The actual sag value is the vertical distance from the midpoint of the bottom of the pipeline to the theoretical laying path. When the difference between the actual sag value and the theoretical sag value in the second three-dimensional digital model exceeds 10-15% of the pipe's outer diameter, the sag compensation mechanism is activated. Based on the actual direction and magnitude of the sag deviation, calculate the adjustment amount for the pipe hanging point position. If the actual sag is greater than the theoretical value, increase the hanging point spacing and decrease the sling inclination angle so that the adjustment amount of the hanging point spacing is 1.05 to 1.15 times the theoretical spacing, and the sling inclination angle is reduced by 3 to 8°. If the actual sag is less than the theoretical value, decrease the hanging point spacing and increase the sling inclination angle so that the adjustment amount of the hanging point spacing is 0.90 to 0.95 times the theoretical spacing, and the sling inclination angle is increased by 5 to 10°. After adjustment, remeasure the actual sag value until the difference is less than 10% of the pipe's outer diameter, then resume installation.

[0012] Preferably, during the step of acquiring spatial point cloud data, the blind spot marking operation is performed simultaneously; The blind spot marking operation includes the following steps: Identify pipe gallery areas that are completely obscured by existing pipes from the scanning perspective and mark them as Level 1 blind spots; Identify the pipe gallery area partially obscured by the auxiliary structure from the scanning perspective and mark it as a secondary blind zone; For the first-level blind zone, wide-angle reflective target balls are installed with a spacing of 10-15cm. The spatial coordinates of the target balls are then re-scanned to obtain the spatial coordinates. For the second-level blind zone, a structured light projector is used to project a grid-coded pattern. The deformed pattern is collected by a binocular camera, and the depth information of the occluded area is calculated. The target ball coordinates and depth information are fused into the original spatial point cloud data to generate a first three-dimensional digital model without blind spots.

[0013] Preferably, after setting the start and end positions of the new pipeline, a construction accessibility verification operation is performed. The construction accessibility verification process includes the following steps: Based on the working envelope parameters of the pipeline laying equipment, the movement trajectory of the equipment is simulated in the first three-dimensional digital model; Check whether the start and end positions meet the device reachability requirements: If the distance between the starting or ending position and the nearest obstacle is less than 1.2 to 1.5 times the radius of the working envelope, it is marked as a red warning point; if the starting or ending position is located in an area where the radius of curvature of the pipe gallery corner is less than 2m, it is marked as a yellow warning point. When there are red warning points or consecutive yellow warning points with a length greater than 5m, it is recommended to adjust the output position to the operation interface.

[0014] Preferably, a model simplification preprocessing operation is performed before the automatic path planning algorithm calculates candidate laying paths; The model simplification preprocessing operation includes the following steps: The pipes in the first three-dimensional digital model are classified according to their outer diameter: pipes with an outer diameter less than 50mm are simplified into cylindrical envelopes, pipes with an outer diameter in the range of 50~200mm retain their original geometric model, and pipes with an outer diameter greater than 200mm are simplified into cuboid envelope grooves. Delete the bend transition section with a curvature radius greater than 10m in the first three-dimensional digital model; Based on the simplified model execution path planning algorithm, after the planning is completed, the original model geometric constraints are loaded into the final laying path to verify collisions.

[0015] Preferably, in the model simplification preprocessing operation, the outer diameter grading simplification and bend transition section deletion operations are exempted for pipes and auxiliary structures supplemented by wide-angle reflective target spheres or structured light projection; The exemption process includes the following steps: Preserve the original geometry of all pipe areas located by the wide-angle reflective target sphere; Preserve the original geometric model of all auxiliary structural areas reconstructed by structured light projection; After the path planning algorithm is completed, collision detection is performed simultaneously on the original geometric model and the simplified model that have been exempted from the operation during the final laying path verification.

[0016] Preferably, after performing model simplification preprocessing, a model accuracy consistency verification operation is performed, including: Obtain the simplified first three-dimensional digital model and identify the high-precision areas reconstructed by wide-angle reflective target spheres or structured light projection, as well as the low-precision areas simplified by outer diameter grading or removed by bend removal. Establish a geometric error mapping relationship between high-precision and low-precision regions; After the automatic path planning algorithm outputs the final laying path, the path segments are divided into segments for collision risk rating based on the geometric error mapping relationship. For path segments that pass through the boundary between high and low precision areas, the collision detection threshold is increased by 15-25% based on the first constraint condition. For path segments that are completely located in the low precision area, the original unsimplified model is loaded for local verification during the final laying path verification stage.

[0017] The present invention has at least the following beneficial effects: First, this invention, by applying dual constraints, not only ensures a safe distance between the new pipeline and the existing structure, but also, for the first time, incorporates the operating space requirements of the pipeline laying equipment itself as a hard constraint into the automatic planning algorithm, fundamentally avoiding collision risks caused by ignoring the dynamic envelope of the equipment. This method transforms passive collision avoidance relying on human experience into active planning based on high-precision 3D models and automated algorithms, significantly improving the success rate and safety of new pipeline laying operations in complex utility tunnel environments.

[0018] Secondly, this invention incorporates planned new pipelines into subsequent route planning constraints, enabling dynamic updates to the planning environment. This allows the planning of the Nth pipeline to simultaneously avoid all existing facilities and previously planned pipelines, ensuring the rational and orderly use of utility tunnel space resources. It avoids situations where improper planning sequence leads to the inability to install subsequent pipelines or the need for replanning, enabling the efficient and phased implementation of complex multi-pipeline laying systems, and ensuring the consistency and feasibility of the overall solution.

[0019] Third, by introducing a deformation risk classification mechanism, this invention can intelligently identify existing pipelines that are prone to deformation and adaptively increase safety distance constraints for high-risk objects. This allows the planned path to have a higher safety margin when it is close to pipelines that are prone to deformation, effectively preventing collision accidents caused by the deformation of adjacent pipelines during construction or operation, and enhancing the robustness and reliability of the entire laying method in the face of complex and sensitive environments.

[0020] Fourth, this invention integrates a sensing and control system to monitor and suppress vibrations during construction activities near sensitive pipelines in real time. Employing pressure feedback and a dual-loop control strategy, it rapidly responds to and counteracts construction disturbances, keeping the vibration energy transmitted to surrounding structures at extremely low levels. This significantly reduces vibration interference to adjacent deformed pipelines, avoids the risk of displacement or damage caused by construction vibrations, and ensures safe close-range construction under harsh conditions. It serves as an important physical supplement to collision avoidance measures during the planning stage.

[0021] Fifth, this invention introduces a measurement-comparison-adjustment-re-verification closed-loop control process to detect and compensate for sag deviation caused by self-weight in real time; it quantitatively adjusts the lifting point parameters to guide the pipeline shape to accurately conform to the theoretical design path, ensuring installation posture accuracy. This effectively avoids stress concentration and connection difficulties caused by excessive sag, or unnatural stress states caused by insufficient sag, ensuring the long-term stability and reliability of the pipeline system after installation and reducing subsequent maintenance needs.

[0022] Sixth, this invention effectively obtains accurate geometric information of the occluded area by hierarchically marking blind spots and using two targeted supplementary measurement technologies: target sphere and structured light. By integrating the supplementary data with the original point cloud, a three-dimensional digital model that fully restores the real environment inside the utility tunnel is generated. This provides a solid and reliable data foundation for all subsequent planning and verification steps based on this model, reducing the risk of collisions caused by model deficiencies from the source.

[0023] Seventh, this invention simulates equipment movement capabilities in a digital environment and uses red / yellow warning rules to assess the accessibility of installation points, identifying and warning in advance of locations where equipment cannot be safely operated or reached. This forces designers to consider the practical constraints of construction implementation during the planning stage, avoiding the planning of pipelines in locations where equipment cannot be installed at all. This reduces later design rework and temporary changes to on-site construction plans, improving the overall efficiency and economy of the project.

[0024] Eighth, this invention significantly reduces the number of faces and model complexity required by the automatic path planning algorithm by simplifying the model based on pipe size and curvature, thus significantly shortening the computation time. Furthermore, reloading the original refined model for collision detection in the final verification stage ensures the accuracy of the final results. This step-by-step strategy of "simplified planning and precise verification" makes it possible to perform rapid automatic path planning in complex pipe gallery environments on ordinary computing hardware, enhancing the practicality of the method.

[0025] Ninth, this invention simplifies and exempts high-value areas obtained from supplementary measurements, preserving the original geometric details of these areas. During final collision verification, these high-precision models and simplified models are loaded simultaneously, enabling the algorithm to use the most realistic data for interference checks in critical and complex areas. This achieves an optimal balance between global efficiency and local accuracy without sacrificing the verification reliability of critical areas, thus benefiting from the global computational efficiency advantages of simplified models.

[0026] Tenth, this invention implements a differentiated verification strategy by establishing a precision difference mapping and risk classification of the path; it tightens the tolerance for high uncertainty regions (boundaries) and performs original model verification for low precision regions. This targeted approach effectively captures and addresses the risk of missed collisions that may be introduced by model simplification. This ensures that the final collision verification result is no longer based on a model with uniform precision, but on an intelligent model that better reflects real uncertainty, thereby further enhancing the credibility of the final output of this collision-free laying method.

[0027] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Detailed Implementation

[0028] The present invention will be further described in detail below with reference to embodiments, so that those skilled in the art can implement it based on the description.

[0029] It should be noted that, unless otherwise specified, the experimental methods described in the following implementation plan are all conventional methods, and the reagents and materials described are all commercially available unless otherwise specified.

[0030] This invention provides a collision-free laying method for newly added pipelines in multi-story pipe corridors, comprising the following steps: Collect spatial point cloud data of existing pipelines and ancillary structures inside multi-level utility tunnels; Spatial point cloud data is input into 3D modeling software, and a first 3D digital model containing all existing pipes and ancillary structures is generated through a surface reconstruction algorithm. In the first three-dimensional digital model, the starting and ending positions of the newly added pipeline are set; Based on the first three-dimensional digital model, an automatic path planning algorithm is used to calculate candidate laying paths for the new pipeline between the starting and ending positions. When calculating candidate laying paths, the automatic path planning algorithm simultaneously applies a first constraint and a second constraint. The first constraint is defined as maintaining a minimum distance of 10-30cm between the outer surface of the new pipeline and the outer surface of any existing pipeline or auxiliary structure in the first three-dimensional digital model. The second constraint is defined as maintaining a minimum distance of 15-50cm between the pipeline laying equipment used to install the new pipeline and the outer surface of any existing pipeline or auxiliary structure in the first three-dimensional digital model. The automatic path planning algorithm searches for candidate laying paths that satisfy the first and second constraints in the first three-dimensional digital model space. When a candidate laying path that satisfies the first and second constraints is found, the candidate laying path is output as the final laying path. Add the geometric data of the new pipeline corresponding to the final laying path to the first three-dimensional digital model to generate a second three-dimensional digital model containing the new pipeline. According to the final laying path, the pipeline laying equipment is used to install the new pipeline into the predetermined position in the multi-story pipe gallery; In this embodiment, specifically, the acquisition of spatial point cloud data can be accomplished using a 3D laser scanner. The 3D laser scanner can be placed at multiple preset stations inside the pipe gallery. By emitting laser beams and receiving reflected signals, a high-density set of 3D coordinate points of the pipe gallery environment can be obtained. The scanning resolution of the scanner can be set to achieve a point spacing of 6mm at a distance of 10 meters to ensure that the detailed outlines of pipe flanges, valves and other auxiliary structures can be clearly captured. During the scanning process, in order to reduce blind spots, it is recommended that the overlap rate of adjacent stations be kept above 60%. The obtained raw point cloud data can be imported into point cloud preprocessing software to perform noise removal, multi-station point cloud registration and other operations, and finally generate a complete spatial point cloud dataset inside the pipe gallery. When generating the first 3D digital model, the preprocessed point cloud data can be imported into the 3D modeling software platform. The surface reconstruction algorithm can use the Poisson disk sampling algorithm or the moving least squares algorithm to reconstruct the continuous surface model of the pipeline and its ancillary structures. For pipelines with larger diameters, the model reconstruction accuracy can be controlled within ±5mm; for smaller structures such as supports, the reconstruction accuracy can be controlled within ±2cm. The coordinate system of the first 3D digital model can adopt the original coordinate system of the pipe gallery design drawings to facilitate subsequent positioning and planning operations. After the first 3D digital model is generated, the reconstructed surface model can be repaired for holes and its smoothness optimized to make it closer to the geometric shape of the physical entity. When setting the start and end positions of a new pipeline, the operator can directly select three-dimensional spatial points on the human-computer interaction interface of the first three-dimensional digital model. The start position can be selected at the center point of the end face of the reserved interface flange of the pipe gallery, and the end position can be selected at the center point of the connection port of the target equipment. The input of position coordinates can support manual input of precise XYZ coordinate values ​​with an accuracy of 1mm. The automatic path planning algorithm used for path planning can be the fast random expansion tree algorithm based on sampling or the A* algorithm based on graph search and its variants. The specific value of the minimum distance in the first constraint can be selected as 15cm, 20cm or 25cm, and the specific value of the minimum distance in the second constraint can be selected as 20cm, 30cm or 40cm. These distance thresholds are set as input parameters during algorithm initialization. Pipeline laying equipment can be selected from gantry-type pipeline hoisting systems or truss-type manipulators. The equipment can be mainly composed of a traveling chassis, a multi-section hydraulic telescopic arm, an end effector with grippers, and a control system. Its working envelope is a virtual three-dimensional volume surrounding the physical structure of the equipment, which is used to simulate the maximum space required for the equipment to move and operate during planning. During installation, the equipment moves along the final laying path, grips the new pipeline with its grippers, and positions the pipeline segment by segment to the spatial coordinate position determined by the path. During the installation process, the positioning accuracy of the equipment can be controlled within ±1cm. The material of the new pipeline can be Q235B carbon steel or stainless steel 304, and its standard length can be 6m or 12m. It can be connected into a continuous pipeline by welding or flanges. This implementation method can achieve the technical effect of automatically planning a safe laying path for new pipelines in complex and dense pipe gallery environments. At the same time, it ensures that the pipeline itself and its installation equipment maintain a sufficient safe distance from existing facilities during construction, thereby avoiding collision accidents and improving the reliability and efficiency of construction.

[0031] In another embodiment of the present invention, when it is necessary to lay the Nth new pipeline, the operation of setting the start position and the end position is applied to the second three-dimensional digital model, and the automatic path planning algorithm calculates the candidate laying path of the Nth new pipeline as follows: The first constraint condition update is defined as the minimum distance between the outer surface of the Nth newly added pipeline and the surface of any existing pipeline, planned new pipeline or auxiliary structure in the second three-dimensional digital model being kept within 10~30cm; the second constraint condition update is defined as the minimum distance between the working envelope surface of the pipeline laying equipment and the surface of any existing pipeline, planned new pipeline or auxiliary structure in the second three-dimensional digital model being kept within 15~50cm. In this embodiment, specifically, after the planning of the first new pipeline is completed and a second three-dimensional digital model containing it is generated, when a second or subsequent new pipeline needs to be laid, the planning operation will be carried out on the basis of the updated model. The operator can run three-dimensional modeling software on the computer workstation and load the second three-dimensional digital model file that has previously contained all existing pipelines and planned pipeline models. In this model, the operator can also select new starting and ending positions through the human-computer interaction interface. These positions can avoid existing pipelines and meet new process requirements. The software can receive these inputs and use them as new parameters for subsequent path planning. When calculating the path of newly added pipelines, the automatic path planning algorithm updates its core distance constraints. The first updated constraint requires that the outer surface of the Nth pipeline currently being planned maintains a minimum distance from the surfaces of all existing objects in the model. The specific value of this minimum distance can be selected as 12cm, 20cm, or 28cm. These objects include not only the original existing pipelines and their ancillary structures, but also all newly added pipelines that have been planned and added to the model. When searching for a path, the algorithm treats the geometric models of all these objects as impenetrable obstacles and performs collision detection. Meanwhile, the updated second constraint requires that the working envelope of the pipeline laying equipment also maintain a larger minimum distance between it and the surfaces of all existing objects in the model. The specific value of this distance can be selected as 20cm, 35cm or 45cm. The set of existing objects here also includes all the pipelines that have been planned before. During the calculation process, the algorithm will calculate in real time the distance between the envelope formed by the possible pose of the equipment and all obstacles in the entire model environment to ensure that the installed equipment has enough operating space and will not interfere with the installed or soon-to-be-installed pipelines. The path search strategy is consistent with that of the first planning, but the constraint detection environment is more complex. This implementation method can achieve the technical effect of continuously ensuring a reasonable and safe distance between each pipeline and between the pipeline and the installation equipment when planning multiple new pipelines in sequence in the utility tunnel. It avoids the collision problem between subsequent pipelines and previously laid pipelines that may be caused by different planning sequences, so that the laying plan of multiple pipelines can be carried out safely and reliably in sequence.

[0032] In another embodiment of the present invention, when the automatic path planning algorithm applies the first constraint condition, the pipe in the current three-dimensional digital model is classified for deformation risk. Deformation risk classification operations include: Identify pipes in the current 3D digital model whose material properties are marked as elastomeric materials and classify them as Class I deformable pipes. Identify pipes in the current 3D digital model whose medium temperature property exceeds 80℃ and classify them as Class II deformable pipes. For the section of the candidate laying path that is adjacent to the first type of deformable pipe or the second type of deformable pipe, the minimum distance of the first constraint condition of the section is increased from 10~30cm to 20~40cm. The automatic path planning algorithm recalculates the candidate laying paths for this section based on the improved first constraint. In this implementation, specifically, while the path planning algorithm is running and applying the first constraint condition for collision detection, the system will start a parallel deformation risk classification process. This process scans and identifies the attribute data of all pipes in the current 3D digital model. The classification process is based on the attribute fields that are predefined or added later in the pipe model. These fields may include key parameters such as material and medium temperature. The system can read this information stored in the model database or additional metadata file and make classification judgments according to preset logical rules. The classification results will be associated with the pipe objects and stored for the path planning algorithm to call. The specific classification rules are as follows: the system will filter out pipe objects marked as elastomeric materials in the material attribute field. These elastomeric materials can include nitrile rubber or silicone rubber. At the same time, the system will filter out pipe objects with a value exceeding 80°C in the medium temperature attribute field, such as pipes with a value of 90°C or 110°C. Pipes that meet either condition will be marked as Class I or Class II deformation pipes, respectively. This classification information can be used as a new attribute label added to the model, such as a field called deformation risk level, which can take the values ​​of I, II, or none. After the automatic path planning algorithm generates preliminary candidate laying paths, the system will detect whether there are any sections of the path that are adjacent to or too close to any of the above-mentioned deformable pipes. For these specific sections, the algorithm will dynamically adjust the distance threshold of its first constraint condition. The specific increase value can be selected as 25cm, 30cm or 35cm as the new minimum distance requirement to replace the original 10 to 30cm range. Subsequently, the path planning algorithm will start local recalculation for these high-risk sections, and search for a path that meets all safety requirements in the local space with the improved distance constraint condition. The newly calculated path segment will be smoothly connected with the other parts of the original path. This implementation method can identify existing pipelines that are prone to deformation due to soft materials or high temperatures during the planning stage, and avoid potential collision risks by increasing the safety distance. It enhances the adaptability to special pipelines under complex working conditions, thereby improving the reliability and safety of the planning results.

[0033] In another embodiment of the present invention, when installing new pipelines using pipeline laying equipment, vibration suppression operation is performed on the construction section where the distance to the first type of deformable pipeline or the second type of deformable pipeline is less than 50cm. Vibration suppression operations include the following steps: Pressure sensors are installed at the contact points between the support structure of the pipeline laying equipment and the ground or side wall of the pipe gallery. The readings of the pressure sensors are monitored in real time. When the reading exceeds 5kN, the active vibration reduction system built into the pipeline laying equipment is activated. Based on the increase in pressure sensor reading, the flow valve opening of the hydraulic damper is linearly reduced. Specifically, for every 1 kN increase in pressure sensor reading, the flow valve opening decreases by 0.08~0.15 mm. Based on the increase in the rate of change of pressure sensor reading, the flow valve opening of the hydraulic damper is instantaneously reduced. Specifically, for every 1 kN / s increase in the rate of change of pressure sensor reading, the flow valve opening decreases instantaneously by 0.12~0.25 mm. The vibration acceleration transmitted from the supporting structure to the pipe gallery structure is controlled within 0.5~2 m / s². 2 Within this range, the installation of new pipelines continues while the vibration acceleration remains within this range; In this embodiment, specifically, when the pipeline laying equipment is installed in an area classified as deformable pipeline, if the distance is less than 50cm, the system will activate vibration suppression operation. This operation aims to prevent construction vibration from adversely affecting soft or high-temperature pipelines. Pressure sensors can be installed on the contact surface between the equipment support base and the concrete foundation or side wall of the pipe gallery to monitor changes in support force. These pressure sensors can be resistance strain gauge sensors with a range of 0~20kN and an output signal of 4~20mA. The sensor readings are collected in real time by the equipment control system, and the sampling frequency can be 100Hz. When the control system detects that the reading of any sensor exceeds the threshold of 5000N for 10ms, it determines that there is a vibration risk state and then sends an activation command to the active vibration reduction system. The active vibration damping system can be built into the hydraulic circuit of the chassis or support arm of the pipeline laying equipment. The system can include an electro-hydraulic servo valve driven by a controller, which is used to regulate the oil flow of the hydraulic damper connected to the support structure. The control strategy includes two parallel calculation control loops: one is linear control based on the absolute value of pressure, where the control algorithm outputs a command to reduce the opening of the flow valve by 0.1 mm for every 1000 N increase in pressure; the other is instantaneous control based on the rate of pressure change, where the control algorithm instantaneously reduces the valve opening by 0.2 mm for every 1000 N / s increase in the rate of pressure change. The minimum resolution of the valve opening can be 0.01 mm to ensure the accuracy of the control. Through the aforementioned control mechanism, the system aims to rapidly dissipate the vibration energy generated at the construction site and maintain the vibration acceleration transmitted to the pipe rack foundation through the support structure within a low range. The vibration acceleration can be verified using a triaxial accelerometer installed on the pipe rack structure, with a measurement range of ±5 m / s². 2Installation work will only proceed after the control system confirms that the vibration acceleration is stably controlled within 0.5~2 m / s². 2 The vibration will only continue within the specified range. If the acceleration value exceeds the upper limit, the control system will further reduce the opening of the hydraulic flow valve until the vibration returns to the allowable range. This implementation method can effectively suppress the transmission of construction vibration when performing precision installation work on nearby easily deformable pipelines. Through real-time monitoring and active control, it reduces the impact of installation disturbances on sensitive pipelines and lowers the risk of collisions or equipment damage caused by vibration-induced deformation.

[0034] In another embodiment of the present invention, during the installation of new pipelines in pipeline laying equipment, a sag compensation operation is performed on pipeline sections with a span greater than 3m. The sag compensation operation includes the following steps: The installation operation should be suspended when the new pipeline is hoisted to the predetermined height; Measure the actual sag value of the newly added pipeline. The actual sag value is the vertical distance from the midpoint of the bottom of the pipeline to the theoretical laying path. When the difference between the actual sag value and the theoretical sag value in the second three-dimensional digital model exceeds 10-15% of the pipe's outer diameter, the sag compensation mechanism is activated. Based on the actual direction and magnitude of the sag deviation, calculate the adjustment amount for the pipe hanging point position. If the actual sag is greater than the theoretical value, increase the hanging point spacing and decrease the sling inclination angle so that the adjustment amount of the hanging point spacing is 1.05 to 1.15 times the theoretical spacing, and the sling inclination angle is reduced by 3 to 8°. If the actual sag is less than the theoretical value, decrease the hanging point spacing and increase the sling inclination angle so that the adjustment amount of the hanging point spacing is 0.90 to 0.95 times the theoretical spacing, and the sling inclination angle is increased by 5 to 10°. After adjustment, remeasure the actual sag value until the difference is less than 10% of the pipe's outer diameter, then resume installation. In this embodiment, specifically, during the hoisting and installation of the pipeline laying equipment, when it is detected that the span between the two ends of a certain section of the newly added pipeline exceeds 3m, the system will automatically trigger the sag compensation operation process. The span threshold can be set to 3.5m or 4m. The hoisting equipment can pause the lifting or moving operation to make the pipeline stably suspended at the current height. The operator or automatic control system will confirm that the pipeline is currently stationary to prepare for accurate measurement. This pause point is usually selected at an intermediate height before the pipeline is about to be placed in the final installation position. The actual sag value can be measured using a laser rangefinder or a total station. The laser rangefinder can be installed on the top structure of the pipe gallery directly above the pipe section and measures the distance vertically downwards to the midpoint of the bottom of the pipe. The difference between this measured value and the design elevation of the laying path at that point is the actual sag value. The theoretical sag value can be calculated from the coordinates of the pipe centerline at the corresponding position in the second three-dimensional digital model. When the difference between the calculated actual and theoretical sag exceeds 12% or 13% of the pipe outer diameter, the sag compensation mechanism is activated. The pipe outer diameter can be 159mm or 219mm. Sag compensation is achieved by adjusting the lifting point actuators of the hoisting equipment. If the measured sag is too large, the control system will calculate the adjustment amount, increasing the distance between the two lifting points to 1.08 times the theoretical distance, and reducing the angle between the sling and the vertical direction by 5°. If the measured sag is too small, the distance between the lifting points will be reduced to 0.93 times the theoretical distance, and the angle between the sling and the vertical direction will be increased by 7°. After the adjustment, the system will measure the actual sag value again. This iterative process of measurement and adjustment will continue until the sag deviation is corrected to a tolerance range of less than 10% of the pipe's outer diameter. Once the requirement is met, the hoisting equipment will be released from the pause state and continue to execute the subsequent pipe installation steps. This implementation method can achieve the technical effect of dynamically detecting and correcting the sag deviation generated during the installation of long-span pipelines. By adjusting the hoisting parameters, the actual shape of the pipeline is made closer to the theoretical design path, ensuring the positional accuracy of the pipeline installation and avoiding installation stress or connection difficulties caused by excessive sag or insufficient lifting.

[0035] In another embodiment of the present invention, during the step of collecting spatial point cloud data, a blind spot marking operation is performed simultaneously; The blind spot marking operation includes the following steps: Identify pipe gallery areas that are completely obscured by existing pipes from the scanning perspective and mark them as Level 1 blind spots; Identify the pipe gallery area partially obscured by the auxiliary structure from the scanning perspective and mark it as a secondary blind zone; For the first-level blind zone, wide-angle reflective target balls are installed with a spacing of 10-15cm. The spatial coordinates of the target balls are then re-scanned to obtain the spatial coordinates. For the second-level blind zone, a structured light projector is used to project a grid-coded pattern. The deformed pattern is collected by a binocular camera, and the depth information of the occluded area is calculated. The target ball coordinates and depth information are fused into the original spatial point cloud data to generate a first three-dimensional digital model without blind spots. In this embodiment, specifically, during the process of acquiring point cloud data of the internal space of the pipe gallery using a 3D laser scanner, the system will simultaneously run a blind zone analysis algorithm. This algorithm can analyze the density distribution of point cloud data in real time based on the current scanner station location and orientation. For the part where point cloud data of the rear area cannot be obtained at all due to obstruction by the pipe in front, the algorithm will identify and mark it as a first-level blind zone. Similarly, for the area where only sparse or incomplete point cloud data can be obtained due to obstruction by auxiliary structures such as supports or valves, the algorithm will identify and mark it as a second-level blind zone. The polygon coordinates of these blind zones will be recorded in a separate log file. For the top or side walls of the utility tunnel marked as Level 1 blind zones, operators can attach wide-angle reflective target spheres as artificial markers. These target spheres can be standard measuring target spheres with a high-strength plastic substrate coated with a retroreflective film, with a diameter of 1.5 inches. The spacing between the target spheres can be set to 12 cm or 13 cm to ensure effective capture during subsequent scans. After the target spheres are deployed, rescanning is required from multiple new locations where these target spheres can be directly viewed to obtain high-precision three-dimensional coordinates of their centers. For the area surrounding complex ancillary structures marked as secondary blind zones, a structured light 3D scanner can be used for supplementary measurements. This device can include a projector that can project a specific grayscale encoded grating pattern and two binocular cameras arranged at a certain angle. The projector projects the grating pattern onto the area being measured, and the two cameras simultaneously acquire the pattern deformed by the changes in the height of the object's surface. By solving the image parallax, the depth information of the area can be calculated and a dense point cloud can be generated. Finally, through coordinate transformation, the target sphere coordinates and structured light depth point cloud data obtained by the supplementary scan are registered and fused with the original laser point cloud data to form a complete 3D point cloud dataset without missing data, which can be used for subsequent high-precision 3D modeling. This implementation method can effectively identify and compensate for scanning blind spots during the data acquisition stage. By supplementing measurement methods, it obtains geometric information of the occluded areas, significantly improving the integrity of the original spatial point cloud data and laying a solid data foundation for generating accurate and reliable three-dimensional digital models.

[0036] In another embodiment of the present invention, after setting the starting and ending positions of the new pipeline, a construction accessibility verification operation is performed. The construction accessibility verification process includes the following steps: Based on the working envelope parameters of the pipeline laying equipment, the movement trajectory of the equipment is simulated in the first three-dimensional digital model; Check whether the start and end positions meet the device reachability requirements: If the distance between the starting or ending position and the nearest obstacle is less than 1.2 to 1.5 times the radius of the working envelope, it is marked as a red warning point; if the starting or ending position is located in an area where the radius of curvature of the pipe gallery corner is less than 2m, it is marked as a yellow warning point. When there are red warning points or the length of consecutive yellow warning points exceeds 5m, it is recommended to adjust the output position to the operation interface. In this embodiment, specifically, after setting the start and end positions of the new pipeline in the 3D software, the system will call the construction accessibility verification module. This module first needs to load the 3D working envelope parameters of the pipeline laying equipment. These parameters can be obtained in advance from the equipment database, including the maximum external space range occupied by the equipment in various postures such as extension, rotation, and lifting. Based on these parameters, the module performs kinematic simulation of the equipment in the first 3D digital model that has been constructed, starting from the starting point and following the potential equipment movement path. It simulates the movement trajectory of the equipment chassis, boom and other components in the limited space of the pipe gallery and detects its interference with the surrounding models. The accessibility condition detection includes two specific judgments. The first judgment is to calculate the minimum distance between the starting point or ending point and all obstacle surfaces in the first three-dimensional digital model. This minimum distance can be compared with the equivalent sphere radius of the equipment's working envelope. This radius can be a fixed value of 1.8m. If the calculated minimum distance is less than 1.3 times this radius (e.g., 1.8m × 1.3 = 2.34m), the point will be marked as a red warning point by the system. The second judgment is to analyze the local environment of the pipe gallery where the point is located. If the point is located at a sharp bend with a curvature radius of less than 2m (e.g., a 1.5m corner), it will be marked as a yellow warning point. When the verification logic detects at least one red warning point, or a continuous yellow warning path with a length exceeding 5m (e.g., 5.5m), the system will generate a location adjustment suggestion. This suggestion can be displayed on the 3D software's interface as a text prompt or by highlighting the problem area. The prompt can indicate the type of problem (e.g., insufficient operating space for the starting point or the ending point being located in a sharp bend that is difficult for the equipment to reach), and suggest that the user adjust the point to a more open area (e.g., move the point 3m along the pipe axis to the middle of a straighter pipe section). After adjusting the position according to the suggestion, the user can restart the accessibility verification process. This implementation method can identify installation locations where equipment cannot be safely reached or operated in the early stages of planning. It provides intuitive early warnings and adjustment guidance through simulation and rule-based judgment, avoiding planning rework or on-site installation failures due to construction feasibility issues, and improving the feasibility of the solution.

[0037] In another embodiment of the present invention, a model simplification preprocessing operation is performed before the automatic path planning algorithm calculates the candidate laying path. The model simplification preprocessing operation includes the following steps: The pipes in the first three-dimensional digital model are classified according to their outer diameter: pipes with an outer diameter less than 50mm are simplified into cylindrical envelopes, pipes with an outer diameter in the range of 50~200mm retain their original geometric model, and pipes with an outer diameter greater than 200mm are simplified into cuboid envelope grooves. Delete the bend transition section with a curvature radius greater than 10m in the first three-dimensional digital model; Based on the simplified model execution path planning algorithm, after the planning is completed, the original model geometric constraints are loaded into the final laying path to verify collisions. In this embodiment, specifically, before executing the computationally intensive automatic path planning algorithm, the system performs a simplification preprocessing on the first three-dimensional digital model to improve computational efficiency. The simplification operation first classifies all pipe entities in the model according to the pipe's outer diameter. For pipes with an outer diameter less than 50mm (e.g., a 25mm instrument pipe or a 40mm drain pipe), their complex flanges and valves are ignored, and the whole is replaced by a continuous cylindrical envelope model with a diameter slightly larger than the pipe's outer diameter. For pipes with an outer diameter between 50 and 200mm (e.g., an 89mm steam pipe or a 159mm water supply pipe), their original accurate three-dimensional mesh model is retained. For pipes with an outer diameter greater than 200mm (e.g., a 400mm central heating pipe), their model is replaced by a cuboid groove-shaped envelope that can enclose their maximum external dimensions. In addition to simplifying the pipes themselves, the system also filters the pipe bends in the model. All gentle bends with a radius of curvature greater than 10m will have their transition geometry removed from the collision detection model, with only their start and end points retained as path points, because their impact on path planning is negligible. Sharp bends with a radius of curvature less than or equal to 10m will have their complete geometry retained. After the above-mentioned hierarchical simplification and bend removal process, a simplified model is obtained that retains the main spatial obstacle features but significantly reduces the number of facets. The automatic path planning algorithm searches and calculates candidate laying paths based on this simplified model. Due to the reduced model complexity, the computation time for path search is significantly reduced. After the algorithm outputs the final laying path, the system will start a final collision verification step. In this step, the original, unsimplified high-precision first three-dimensional digital model will be loaded. The algorithm will accurately calculate the minimum distance between the pipe on the final laying path and all detailed geometry in the original model to ensure that it meets the requirements of the first and second constraints. This step-by-step method takes into account both computational efficiency and the accuracy and reliability of the final result. This implementation method can significantly improve the computational efficiency of automatic planning algorithms while ensuring the final accuracy of path planning. It reduces computational complexity through evidence-based model simplification, making it possible to perform rapid automatic path planning in complex utility tunnel environments.

[0038] In another embodiment of the present invention, in the model simplification preprocessing operation, the pipes and auxiliary structures supplemented by wide-angle reflective target spheres or structured light projection are exempted from the outer diameter grading simplification and bend transition section deletion operations. The exemption process includes the following steps: Preserve the original geometry of all pipe areas located by the wide-angle reflective target sphere; Preserve the original geometric model of all auxiliary structural areas reconstructed by structured light projection; After the path planning algorithm is completed, the original geometric model and the simplified model, which have been exempted from the operation, are loaded simultaneously for collision detection during the final laying path verification. In this implementation, specifically, during the model simplification preprocessing, the system identifies high-precision geometric regions in the model that are obtained through supplementary measurement methods and grants exemptions to these regions. These regions mainly refer to pipe segments that have blind spots in the initial scan and are subsequently precisely located by pasting wide-angle reflective target balls and rescanning, or complex auxiliary structure regions reconstructed by structured light 3D scanning technology. The system automatically identifies these model components with special sources by comparing the historical source logs of the modeling data and adds exemption marks to them in the subsequent simplification process, allowing them to skip the standard simplification rules. For these marked exemption areas, their original high-precision geometric models will be fully preserved. This means that even if the actual outer diameter of a pipe section is less than 50mm, as long as it is located by wide-angle reflective target ball assisted measurement, it will not be replaced by a cylindrical envelope, but will retain its original mesh model containing details such as flanges and valves. Similarly, a support and hanger assembly reconstructed by structured light scanning, regardless of its overall size, will not be replaced by a simple cuboid envelope groove. All bend transition sections with a curvature radius greater than 10m in the exemption areas will also be preserved and will not be deleted. After the automatic path planning algorithm calculates the final laying path based on the simplified model, during the final collision verification, the system will simultaneously load two models: one is a simplified model that has undergone outer diameter grading simplification and bend removal, and the other is a set of original high-precision geometric models that only contain the exempted areas. The verification algorithm will calculate the minimum distance between the laying path and this hybrid model environment. This method ensures that the most accurate geometric data is used for the final interference check in critical areas, while the simplified model is used in non-critical areas to ensure the overall computational efficiency of the verification process. This implementation achieves the technical effect of protecting the original geometric accuracy of key areas during model simplification. By exempting high-value supplementary measurement data, it ensures the detection reliability of these areas in the final collision verification stage, balancing the relationship between global computational efficiency and local verification accuracy.

[0039] In another embodiment of the present invention, after performing the model simplification preprocessing operation, a model accuracy consistency verification operation is performed, including: The simplified first three-dimensional digital model is obtained, and the high-precision areas supplemented by wide-angle reflective target spheres or structured light projection are identified, as well as the low-precision areas simplified by outer diameter grading or deleted by bending transition sections. Establish a geometric error mapping relationship between high-precision and low-precision regions; After the automatic path planning algorithm outputs the final laying path, the path segments are divided into segments for collision risk rating based on the geometric error mapping relationship. For path segments that pass through the boundary between high and low precision areas, the collision detection threshold is increased by 15-25% based on the first constraint condition. For path segments that are completely located in the low precision area, the original unsimplified model is loaded for local verification during the final laying path verification stage. In this embodiment, specifically, after completing the model simplification preprocessing, the system will perform a model accuracy consistency check. This operation first performs a global analysis on the simplified first three-dimensional digital model. By checking the data source attributes of each entity in the model, different accuracy regions are automatically identified. High-precision regions refer to those pipe sections and auxiliary structure models that are accurately positioned by wide-angle reflective target balls or finely reconstructed by structured light projection. Their geometric errors can be controlled within ±5mm. Low-precision regions refer to those pipe models that have undergone outer diameter grading simplification (e.g., replaced by cylindrical envelopes or cuboid envelopes) and the deleted bend transition sections with a curvature radius greater than 10m. The abstract representation of these regions will introduce larger geometric errors, which may reach ±50mm. The system establishes a geometric error mapping relationship between high-precision regions and adjacent low-precision regions. This can be achieved by selecting a series of sampling points near the boundary between the two types of regions and calculating the spatial coordinate deviations between the simplified model and the original unsimplified model at these points. These deviation values ​​and their distribution are recorded as an error mapping table (for example, the deviation value of one sampling point can be 30 mm, and the deviation value of another sampling point can be 40 mm). This mapping relationship quantitatively describes the magnitude of uncertainty introduced into different parts of the model due to the simplification operation. After the automatic path planning algorithm outputs the final laying path, the system will perform segmented collision risk rating based on the model areas traversed by the path and their error mapping relationship. For a path that happens to pass through the boundary between high and low precision areas, since the geometric representation uncertainty of its surrounding environment is the highest, the system will tighten the collision detection threshold of this path segment by 20% based on the first constraint condition (for example, if the original first constraint condition is 20cm, then a threshold of 16cm will be used for verification on this path segment). For a path that is entirely located in the low precision area, the system will temporarily block the simplified model in the final verification stage and instead load the original, unsimplified high precision model data to perform local and accurate collision verification on this path segment to ensure the reliability of the results. This implementation method can identify and quantify the differences in accuracy between simplified models. By using differentiated verification strategies to focus on checking high-risk path segments, it mitigates the risk of missed collisions that may be caused by model simplification and improves the robustness of the entire verification process to model errors.

[0040] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and embodiments shown and described herein.

Claims

1. A collision-free laying method for newly added pipelines in multi-story pipe corridors, characterized in that, Includes the following steps: Collect spatial point cloud data of existing pipelines and ancillary structures inside multi-level utility tunnels; Spatial point cloud data is input into 3D modeling software, and a first 3D digital model containing all existing pipes and ancillary structures is generated through a surface reconstruction algorithm. In the first three-dimensional digital model, the starting and ending positions of the newly added pipeline are set; Based on the first three-dimensional digital model, an automatic path planning algorithm is used to calculate candidate laying paths for the new pipeline between the starting and ending positions. When calculating candidate laying paths, the automatic path planning algorithm simultaneously applies a first constraint and a second constraint. The first constraint is defined as maintaining a minimum distance of 10-30cm between the outer surface of the new pipeline and the outer surface of any existing pipeline or auxiliary structure in the first three-dimensional digital model. The second constraint is defined as maintaining a minimum distance of 15-50cm between the pipeline laying equipment used to install the new pipeline and the outer surface of any existing pipeline or auxiliary structure in the first three-dimensional digital model. The automatic path planning algorithm searches for candidate laying paths that satisfy the first and second constraints in the first three-dimensional digital model space. When a candidate laying path that satisfies the first and second constraints is found, the candidate laying path is output as the final laying path. Add the geometric data of the new pipeline corresponding to the final laying path to the first three-dimensional digital model to generate a second three-dimensional digital model containing the new pipeline. Based on the final laying path, the pipeline laying equipment will be used to install the new pipeline at the predetermined location within the multi-story pipe gallery.

2. The collision-free laying method for newly added pipelines in multi-story pipe corridors as described in claim 1, characterized in that, When laying the Nth new pipeline, the operation of setting the start and end positions is applied to the second three-dimensional digital model. When the automatic path planning algorithm calculates the candidate laying paths for the Nth new pipeline: The first constraint condition update is defined as the minimum distance between the outer surface of the Nth newly added pipeline and the surface of any existing pipeline, planned new pipeline or auxiliary structure in the second three-dimensional digital model being kept within 10~30cm. The second constraint condition update is defined as the minimum distance between the working envelope surface of the pipeline laying equipment and the surface of any existing pipeline, planned new pipeline or auxiliary structure in the second three-dimensional digital model being kept within 15~50cm.

3. The collision-free laying method for newly added pipelines in multi-story pipe corridors as described in claim 2, characterized in that, When applying the first constraint condition in the automatic path planning algorithm, the deformation risk of the pipeline in the current three-dimensional digital model is classified. Deformation risk classification operations include: Identify pipes in the current 3D digital model whose material properties are marked as elastomeric materials and classify them as Class I deformable pipes. Identify pipes in the current 3D digital model whose medium temperature property exceeds 80℃ and classify them as Class II deformable pipes. For the section of the candidate laying path that is adjacent to the first type of deformable pipe or the second type of deformable pipe, the minimum distance of the first constraint condition of the section is increased from 10~30cm to 20~40cm. The automatic path planning algorithm recalculates the candidate laying paths for this section based on the improved first constraint.

4. The collision-free laying method for newly added pipelines in multi-story pipe corridors as described in claim 3, characterized in that, When installing new pipelines using pipeline laying equipment, vibration suppression operations shall be performed on construction sections where the distance to Class I or Class II deformable pipelines is less than 50cm. Vibration suppression operations include the following steps: Pressure sensors are installed at the contact points between the support structure of the pipeline laying equipment and the ground or side wall of the pipe gallery. The readings of the pressure sensors are monitored in real time. When the reading exceeds 5kN, the active vibration reduction system built into the pipeline laying equipment is activated. Based on the increase in pressure sensor reading, the flow valve opening of the hydraulic damper is linearly reduced. Specifically, for every 1 kN increase in pressure sensor reading, the flow valve opening decreases by 0.08~0.15 mm. Based on the increase in the rate of change of pressure sensor reading, the flow valve opening of the hydraulic damper is instantaneously reduced. Specifically, for every 1 kN / s increase in the rate of change of pressure sensor reading, the flow valve opening decreases instantaneously by 0.12~0.25 mm. The vibration acceleration transmitted from the supporting structure to the pipe gallery structure is controlled within 0.5~2 m / s². 2 Within this range, the installation of new pipelines continues while the vibration acceleration remains within this range.

5. The collision-free laying method for newly added pipelines in multi-story pipe corridors as described in claim 3, characterized in that, During the installation of new pipelines in pipeline laying equipment, sag compensation operations are performed on pipeline sections with a span greater than 3m. The sag compensation operation includes the following steps: The installation operation should be suspended when the new pipeline is hoisted to the predetermined height; Measure the actual sag value of the newly added pipeline. The actual sag value is the vertical distance from the midpoint of the bottom of the pipeline to the theoretical laying path. When the difference between the actual sag value and the theoretical sag value in the second three-dimensional digital model exceeds 10-15% of the pipe's outer diameter, the sag compensation mechanism is activated. Based on the actual direction and magnitude of the sag deviation, calculate the adjustment amount for the pipe hanging point position. If the actual sag is greater than the theoretical value, increase the hanging point spacing and decrease the sling inclination angle so that the adjustment amount of the hanging point spacing is 1.05 to 1.15 times the theoretical spacing, and the sling inclination angle is reduced by 3 to 8°. If the actual sag is less than the theoretical value, decrease the hanging point spacing and increase the sling inclination angle so that the adjustment amount of the hanging point spacing is 0.90 to 0.95 times the theoretical spacing, and the sling inclination angle is increased by 5 to 10°. After adjustment, remeasure the actual sag value until the difference is less than 10% of the pipe's outer diameter, then resume installation.

6. The collision-free laying method for newly added pipelines in multi-story pipe corridors as described in claim 1, characterized in that, During the process of acquiring spatial point cloud data, the blind spot marking operation is performed simultaneously. The blind spot marking operation includes the following steps: Identify pipe gallery areas that are completely obscured by existing pipes from the scanning perspective and mark them as Level 1 blind spots; Identify the pipe gallery area partially obscured by the auxiliary structure from the scanning perspective and mark it as a secondary blind zone; For the first-level blind zone, wide-angle reflective target balls are installed with a spacing of 10-15cm. The spatial coordinates of the target balls are then re-scanned to obtain the spatial coordinates. For the second-level blind zone, a structured light projector is used to project a grid-coded pattern. The deformed pattern is collected by a binocular camera, and the depth information of the occluded area is calculated. The target ball coordinates and depth information are fused into the original spatial point cloud data to generate a first three-dimensional digital model without blind spots.

7. The collision-free laying method for newly added pipelines in multi-story pipe corridors as described in claim 1, characterized in that, After setting the start and end positions of the new pipeline, perform a construction accessibility verification operation. The construction accessibility verification process includes the following steps: Based on the working envelope parameters of the pipeline laying equipment, the movement trajectory of the equipment is simulated in the first three-dimensional digital model; Check whether the start and end positions meet the device reachability requirements: If the distance between the starting or ending position and the nearest obstacle is less than 1.2 to 1.5 times the radius of the working envelope, it is marked as a red warning point; if the starting or ending position is located in an area where the radius of curvature of the pipe gallery corner is less than 2m, it is marked as a yellow warning point. When there are red warning points or consecutive yellow warning points with a length greater than 5m, it is recommended to adjust the output position to the operation interface.

8. The collision-free laying method for newly added pipelines in multi-story pipe corridors as described in claim 1, characterized in that, Before the automatic path planning algorithm calculates candidate laying paths, a model simplification preprocessing operation is performed. The model simplification preprocessing operation includes the following steps: The pipes in the first three-dimensional digital model are classified according to their outer diameter: pipes with an outer diameter less than 50mm are simplified into cylindrical envelopes, pipes with an outer diameter in the range of 50~200mm retain their original geometric model, and pipes with an outer diameter greater than 200mm are simplified into cuboid envelope grooves. Delete the bend transition section with a curvature radius greater than 10m in the first three-dimensional digital model; Based on the simplified model execution path planning algorithm, after the planning is completed, the original model geometric constraints are loaded into the final laying path to verify collisions.

9. The collision-free laying method for newly added pipelines in multi-story pipe corridors as described in claim 8, characterized in that, In the model simplification preprocessing operation, the outer diameter grading simplification and bend transition section deletion operations are exempted for pipes and auxiliary structures that are supplemented by wide-angle reflective target spheres or structured light projection; The exemption process includes the following steps: Preserve the original geometry of all pipe areas located by the wide-angle reflective target sphere; Preserve the original geometric model of all auxiliary structural areas reconstructed by structured light projection; After the path planning algorithm is completed, collision detection is performed simultaneously on the original geometric model and the simplified model that have been exempted from the operation during the final laying path verification.

10. The collision-free laying method for newly added pipelines in multi-story pipe corridors as described in claim 8, characterized in that, After performing model simplification preprocessing, a model accuracy consistency check is performed, including: Obtain the simplified first three-dimensional digital model and identify the high-precision areas reconstructed by wide-angle reflective target spheres or structured light projection, as well as the low-precision areas simplified by outer diameter grading or removed by bend removal. Establish a geometric error mapping relationship between high-precision and low-precision regions; After the automatic path planning algorithm outputs the final laying path, the path segments are divided into segments for collision risk rating based on the geometric error mapping relationship. For path segments that pass through the boundary between high and low precision areas, the collision detection threshold is increased by 15-25% based on the first constraint condition. For path segments that are completely located in the low precision area, the original unsimplified model is loaded for local verification during the final laying path verification stage.