Model-based pipeline comprehensive arrangement three-dimensional positioning construction method

Abstract

The invention relates to the technical field of intelligent building construction, and discloses a model-based pipeline comprehensive arrangement three-dimensional positioning construction method, which comprises the following steps: checking an LOD400 precision BIM model in combination with field three-dimensional scanning, constructing a global environment map unified with model coordinates, and establishing a high-fidelity digital reference; a task library is generated based on the reference, and the BIM data and scheduling server dynamically allocates tasks according to the real-time poses of the intelligent terminals and issues a laser projection instruction; a constructor carries out installation according to a positioning line, and carries out dual quality verification through a mixed reality technology and high-precision scanning comparison, so as to form a closed loop. According to the method, a high-precision model and on-site scanning are fused to build an accurate reference, dynamic cooperative guidance is achieved through three-dimensional laser positioning, closed-loop verification is completed by combining BIM-MR and scanning comparison, the problems of inaccurate positioning, low cooperative efficiency, quality control lag and the like are solved, and the precision and efficiency of pipeline construction are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent building construction technology, specifically a model-based three-dimensional positioning construction method for integrated pipeline layout. Background Technology

[0002] With the development of the construction industry, the complexity of pipeline engineering in large-scale projects is increasing, placing higher demands on construction quality and efficiency. To meet these challenges, the industry has begun to explore digital technologies. Among them, pipeline integration based on high-precision Building Information Modeling (BIM) has become an important means to improve design accuracy, effectively reducing drawing conflicts and rework.

[0003] Building upon this foundation, to transfer precise digital designs to the physical site, existing technologies employ equipment such as 3D laser line-layout instruments to project key points onto the site based on BIM model data, guiding installation. Simultaneously, mixed reality (MR) technology has been introduced to assist construction personnel in visual comparison. The application of these technologies has, to a certain extent, improved the single-point accuracy and local efficiency of 3D positioning construction.

[0004] However, the application of existing technologies is often isolated and phased, lacking a systematic closed-loop process. First, there are often discrepancies between the design model and the actual on-site civil engineering completion. If used directly for positioning without verification, the positioning benchmark itself will be inaccurate. Second, the positioning and layout process relies on manual selection and static settings, making it difficult to dynamically allocate tasks based on the real-time location of construction personnel, resulting in poor process coordination. Most importantly, the quality verification stage after installation is disconnected from the construction process, lacking an immediate and objective quantitative feedback mechanism, failing to form a real-time closed loop of "design, construction, and verification," making it difficult to detect and correct potential installation deviations in a timely manner.

[0005] Therefore, this invention proposes a model-based three-dimensional positioning construction method for integrated pipeline layout to address the shortcomings of existing technologies. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a model-based three-dimensional positioning construction method for integrated pipeline layout. This method solves the problems in existing technologies where it is difficult to form a high-precision closed-loop control of the entire construction process due to the lack of verification between the positioning benchmark and the actual site conditions, the lack of dynamic coordination in construction guidance, and the lag in quality verification.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a model-based three-dimensional positioning construction method for integrated pipeline layout, comprising the following steps:

[0008] Step S1: Preprocess the LOD400 precision BIM model, extract the structural and pipeline data for subsequent registration and construction, and verify the LOD400 precision BIM model in combination with the on-site 3D scanning results. Then, operate one or more intelligent spatial positioning terminals to scan the construction area and build a global environment map containing digital spatial anchor points that is consistent with the world coordinate system of the BIM model.

[0009] Step S2: Utilize the verified LOD400 precision BIM model to conduct in-depth design of pipeline integration, generate a structured construction task database, and at the same time, activate all intelligent spatial positioning terminals, enabling the intelligent spatial positioning terminals to construct a multi-terminal collaborative self-positioning network by observing shared digital spatial anchor points.

[0010] Step S3: The BIM data and scheduling server dynamically allocates distributed tasks based on the task database and the real-time poses of each intelligent spatial positioning terminal. The BIM data and scheduling server calculates the dynamic projection vector for the terminal executing the task in real time and issues projection instructions.

[0011] Step S4: Construction personnel carry out installation work according to the positioning lines projected by the intelligent spatial positioning terminal. During and after the installation, mixed reality technology is used to overlay and verify the LOD400 precision BIM model with the installation entity. Furthermore, the intelligent spatial positioning terminal is used to scan the installation results to compare the deviation with the original LOD400 precision BIM model, thus completing the closed-loop verification of construction quality.

[0012] Preferably, in step S1, verifying the LOD400 precision BIM model and constructing a global environment map includes:

[0013] A comprehensive 3D scan of the completed civil engineering structure in the construction area was conducted using a 3D laser scanner to obtain a measured point cloud model. This measured point cloud model was then overlaid and compared with the structural parts in the LOD400 precision BIM model. Based on the deviation analysis results, the LOD400 precision BIM model was precisely adjusted.

[0014] Each intelligent spatial positioning terminal independently runs a real-time positioning and mapping algorithm to construct a local environment map from the perspective of the intelligent spatial positioning terminal, and uploads the local environment map to the BIM data and scheduling server. The BIM data and scheduling server then merges and stitches together multiple local maps into a global environment map.

[0015] Preferably, step S1 further includes:

[0016] Extract the surface geometry information of all building structures from the adjusted LOD400 precision BIM model, and convert the surface geometry information into a three-dimensional point cloud of the building structure;

[0017] The global environment map is registered with the 3D point cloud of the building structure with high precision, the optimal rigid body transformation matrix is ​​solved, and the global environment map based on the relative coordinate system is transformed to the world coordinate system based on the LOD400 precision BIM model coordinate system.

[0018] Preferably, in step S1, generating digital spatial anchor points includes:

[0019] In a global environment that has been registered to the world coordinate system, elements with stable geometric features and uniqueness in the environment are automatically analyzed and extracted, and these elements are defined as digital space anchor points.

[0020] The precise three-dimensional coordinates of the digital spatial anchor point in the world coordinate system are calculated, and this coordinate data is broadcast to all intelligent spatial positioning terminals within the construction area.

[0021] Preferably, in step S2, each data entry in the generated construction task database corresponds to an independent installation task and includes at least the following fields:

[0022] A unique component ID, used for the three-dimensional coordinates of one or more key points projected on-site in the world coordinate system;

[0023] Information on the type, specifications, and physical properties of the materials of the components;

[0024] Construction sequence information derived from the 4D dimension of Building Information Modeling.

[0025] Preferably, in step S2, constructing a multi-terminal cooperative self-localization network includes:

[0026] Each intelligent spatial positioning terminal continuously scans the surrounding environment and actively identifies digital spatial anchor points with known world coordinates;

[0027] The BIM data and scheduling server collects observation data of all intelligent spatial positioning terminals on each digital spatial anchor point in real time from all intelligent spatial positioning terminals, models the pose of all intelligent spatial positioning terminals as a unified state vector, and solves the optimal state estimate through a joint optimization algorithm.

[0028] Preferably, in step S3, the dynamic allocation of distributed tasks includes:

[0029] The intelligent spatial positioning terminal reports its own precise pose in the world coordinate system to the BIM data and scheduling server in real time.

[0030] BIM data and scheduling server query the construction task database, filter out all components whose predecessor dependent tasks have been marked as completed, and form a candidate set of tasks that can be constructed at present;

[0031] For each task in the task candidate set, a comprehensive priority score is calculated, wherein the calculation of the comprehensive priority score takes into account at least the Euclidean distance between the geometric center point of the component to be installed and the current position of the operator.

[0032] The tasks in the task candidate set are sorted in descending order of priority score to form the final task recommendation list, which is then sent to the intelligent space positioning terminal.

[0033] Preferably, in step S3, the real-time calculation of the dynamic projection vector and the issuance of projection commands to the terminal performing the task include:

[0034] The BIM data and scheduling server receives the pose data and target point coordinates reported by the terminal, and calculates a direction vector from the terminal's current position to the target point in real time.

[0035] The calculated direction vector is sent to the corresponding intelligent spatial positioning terminal, which then controls the multi-mode laser projection module in real time, automatically adjusting the projection direction of the multi-mode laser projection module to precisely align with the direction vector.

[0036] Preferably, in step S4, scanning the installation results using an intelligent spatial positioning terminal includes:

[0037] The operator uses a handheld intelligent spatial positioning terminal to perform a high-density three-dimensional scan of the newly installed component and its surrounding environment.

[0038] The intelligent spatial positioning terminal receives the raw scanned data and, combined with the precise pose provided in real time by the cooperative self-localization network, generates an as-built point cloud in the world coordinate system that describes the completed state of the component.

[0039] Preferably, in step S4, completing the closed-loop verification of construction quality includes:

[0040] The as-built point cloud generated after scanning the installation results will be uploaded to the BIM data and scheduling server.

[0041] The BIM data and scheduling server retrieves the LOD400 precision BIM model of the component from the BIM database and calculates the maximum deviation between the as-built point cloud and the LOD400 precision BIM model.

[0042] The calculated maximum deviation value is compared with a pre-set installation accuracy tolerance to determine whether the installation quality is qualified or unqualified.

[0043] The determination result is then fed back to the intelligent spatial positioning terminal, and the final status of the component is updated in the construction task database based on the determination result.

[0044] This invention provides a model-based three-dimensional positioning and construction method for integrated pipeline layout. It offers the following advantages:

[0045] 1. This invention establishes a high-fidelity digital twin benchmark by verifying the results of on-site 3D scanning of a LOD400 precision BIM model and constructing a global environment map consistent with the model's world coordinate system. This pipeline integration layout method based on a precise model ensures the consistency between design data and the physical environment of the construction site from the source, making all subsequent 3D positioning construction based on data sources that have been verified in reality. This fundamentally avoids rework caused by discrepancies between design and site conditions, laying a solid foundation for the accuracy of the entire construction process.

[0046] 2. This invention constructs a multi-terminal collaborative self-positioning network, and a BIM data and scheduling server dynamically allocates tasks and issues projection commands based on the real-time pose of each terminal, achieving intelligent guidance for construction personnel. The intelligent spatial positioning terminal projects three-dimensional positioning points directly onto the work surface in the form of laser lines, replacing the complex process of relying on drawings and manual measurement. This real-time dynamic guidance method greatly reduces the difficulty for construction personnel to understand drawings and reduces measurement errors, significantly simplifying operations in pipeline layout and thus greatly improving construction efficiency.

[0047] 3. This invention constructs a digital closed-loop verification system for construction quality by integrating rapid overlay verification using mixed reality technology and high-precision scanning verification using intelligent spatial positioning terminals after installation. BIM-based mixed reality (MR) technology provides intuitive, real-time qualitative checks, quickly identifying significant deviations; while subsequent scanning and model deviation comparison provide quantitative, high-precision quality data. This verification method, combining qualitative and quantitative approaches, enables immediate, objective, and comprehensive quality control of the installation results, ensuring a high degree of consistency between the final pipeline layout and the LOD400 precision BIM model, thus guaranteeing project quality. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the model-based three-dimensional positioning construction system architecture for integrated pipeline layout according to the present invention;

[0049] Figure 2This is a flowchart of the model-based three-dimensional positioning construction method for integrated pipeline layout according to the present invention.

[0050] Figure 3 This is a schematic diagram of the S100 process of the present invention;

[0051] Figure 4 This is a schematic diagram of the S200 process of the present invention;

[0052] Figure 5 This is a schematic diagram of the S300 process of the present invention;

[0053] Figure 6 This is a schematic diagram of the S400 process of the present invention.

[0054] The module includes: 100, BIM data and scheduling server; 110, model management and verification module; 120, environment registration and registration module; 130, collaborative positioning and anchor point management module; 140, task scheduling and allocation module; 150, dynamic projection vector calculation module; 160, data communication module; 200, intelligent spatial positioning terminal; 210, spatial perception module; 220, multi-mode laser projection module; 230, edge computing module; 240, wireless communication module; and 250, human-computer interaction module. Detailed Implementation

[0055] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0056] See attached document Figure 1 The model-based three-dimensional positioning construction method for integrated pipeline layout provided in this embodiment is implemented through an integrated model-based three-dimensional positioning construction system architecture for integrated pipeline layout. This system architecture is deployed on the construction site to accurately map high-precision digital model information to the physical construction space.

[0057] The system architecture includes a BIM data and scheduling server 100 as a central node, and one or more intelligent spatial positioning terminals 200 that can move freely within the construction area. The BIM data and scheduling server 100 and the multiple intelligent spatial positioning terminals 200 establish a two-way, real-time data communication link through a wireless network (such as Wi-Fi or 5G network) deployed on site.

[0058] The BIM data and scheduling server 100 is deployed on a high-performance computer or cloud instance, serving as the core of the entire methodology's computation and scheduling. The BIM data and scheduling server 100 specifically includes:

[0059] The model management and verification module 110 is configured to receive and process LOD400 precision BIM models, extracting 3D point cloud data of building structures and data of electromechanical pipelines and support components. The model management and verification module 110 is also configured to receive on-site 3D scan point clouds, verify and correct the BIM model by comparing and analyzing them. The model management and verification module 110 is also configured to receive as-built point clouds, and determine the installation quality by calculating the deviation with the corresponding BIM model.

[0060] The environment registration and registration module 120 is configured to receive local environment map data uploaded from one or more intelligent spatial positioning terminals 200 and merge multiple local maps into a unified global environment map. The environment registration and registration module 120 is also configured to execute a point cloud registration algorithm to align the global environment map with the aforementioned three-dimensional point cloud data of the building structure in order to calculate the transformation relationship between the physical environment and the world coordinate system of the BIM model.

[0061] The collaborative positioning and anchor point management module 130 is configured to automatically identify and calibrate digital space anchor points in a registered global environment and broadcast their world coordinates. The collaborative positioning and anchor point management module 130 is also configured to continuously receive observation data of digital space anchor points from each terminal and calculate the precise pose of each terminal in the world coordinate system in real time through a joint optimization algorithm, thereby constructing and maintaining a multi-terminal collaborative positioning network.

[0062] The task scheduling and allocation module 140 is configured to generate a structured construction task database based on the verified BIM model; the task scheduling and allocation module 140 is also configured to dynamically generate and distribute a task recommendation list according to the real-time pose of each terminal and the preset allocation strategy; the task scheduling and allocation module 140 is also configured to receive task status feedback from the terminal and update the construction task database in real time accordingly.

[0063] The dynamic projection vector calculation module 150 is configured to receive the precise pose and world coordinates of the target point to be projected from a specific intelligent spatial positioning terminal 200 at high frequency, and calculate the projection vector to be executed by the terminal in its own coordinate system in real time through coordinate system inverse transformation.

[0064] The data communication module 160 is configured to handle wireless data transmission and reception between BIM data and the scheduling server 100 and all intelligent spatial positioning terminals 200.

[0065] The intelligent spatial positioning terminal 200 is a portable device held by a field operator. Each intelligent spatial positioning terminal 200 specifically includes:

[0066] The spatial perception module 210, which integrates a 3D sensor, is configured to acquire 3D geometric information of the environment surrounding the device. This information is used to generate a local environment map, provide observation data of digital spatial anchor points for the cooperative positioning network, and collect as-built point clouds after component installation.

[0067] The multi-mode laser projection module 220 is configured to receive control commands and precisely project a visible laser beam onto a physical surface to mark key positioning points for component installation.

[0068] Edge computing module 230 is configured to run real-time localization and mapping algorithms on the terminal to generate a local environment map; edge computing module 230 is also configured to convert BIM data and projection vectors issued by scheduling server 100 into low-level hardware control commands for multi-mode laser projection module 220; edge computing module 230 is also configured to process the raw data collected by spatial perception module 210 and combine it with the terminal's precise pose to generate an as-built point cloud with world coordinates.

[0069] The wireless communication module 240 is configured to establish and maintain a bidirectional data link with the BIM data and scheduling server 100.

[0070] The human-computer interaction module 250 (which may be implemented as a miniature display screen of augmented reality glasses or a high-definition touch screen of a handheld device) is configured to display a task list, an augmented reality 3D model of the components, and verification results of the installation quality to the operator; the human-computer interaction module 250 is also configured to receive input instructions from the operator to select tasks or provide feedback on task status.

[0071] Through the above system architecture, the BIM data and scheduling server 100 serves as the central brain, responsible for global perception, high-level decision-making, and complex calculations; the intelligent spatial positioning terminal 200 serves as the distributed execution end, responsible for local environmental perception, self-motion tracking, and final physical information projection.

[0072] See attached document Figure 1 and Figure 2 This invention provides a model-based three-dimensional positioning construction method for integrated pipeline layout. This method is implemented through the aforementioned system architecture and includes the following steps:

[0073] S100: Preparation phase: Model processing and digital registration of the environment.

[0074] This step first preprocesses the LOD400 precision BIM model, extracting structural and pipeline data for subsequent registration and construction, and then verifies the model using the results of on-site 3D scanning. Next, one or more intelligent spatial positioning terminals are used to scan the construction area, constructing a global environment map containing digital spatial anchor points that is consistent with the LOD400 precision BIM model's world coordinate system, thus completing the digital registration of the construction environment.

[0075] S200: Task preparation phase: in-depth design and collaborative network construction.

[0076] This step utilizes the verified LOD400 precision BIM model for detailed pipeline integration design, generating a component fabrication list and a structured construction task database. Simultaneously, within the construction area, all intelligent spatial positioning terminals 200 are activated, enabling them to construct a multi-terminal collaborative self-positioning network by observing shared digital spatial anchor points. This ensures that each terminal can acquire its own high-precision pose in the BIM world coordinate system in real time.

[0077] S300: Execution phase: Adaptive positioning and laying out.

[0078] This step is the core execution stage of on-site positioning and layout. The BIM data and scheduling server 100 dynamically allocates distributed tasks based on the task database and the real-time poses of each intelligent spatial positioning terminal 200. The server calculates dynamic projection vectors in real time for the terminals executing the tasks and issues projection commands. While performing projection, the terminals adaptively adjust laser parameters according to the physical characteristics of the projection surface and project enhanced guidance information according to the construction sequence.

[0079] S400: Installation and verification phase.

[0080] In this step, construction workers install supports and pipelines based on the high-precision, adaptive, and information-enhanced positioning lines projected by the intelligent spatial positioning terminal 200. During and after installation, mixed reality (MR) technology is used to overlay and verify the BIM model with the installed entity. Furthermore, the intelligent spatial positioning terminal 200 can be used to scan the installation results to compare deviations with the original model, thus completing closed-loop verification of construction quality.

[0081] The following section will elaborate on the specific technical implementation methods involved in each step of the above process.

[0082] See attached document Figures 1-3 The following section will now elaborate on step S100 of the method flow of this invention, namely the model processing and digital registration of the environment in the preparation stage. The goal of this step is to establish a high-precision digital benchmark that is precisely aligned with the construction site, providing a unique data source for all subsequent positioning and installation operations.

[0083] First, execute step S110 to establish and verify a LOD400 precision BIM model. In a specific application scenario, such as a financial development and talent training base project, due to the numerous and complex layouts of mechanical and electrical pipelines, a LOD400 precision construction process model is established using modeling software (such as Revit) that conforms to the "Standard for Construction Application of Building Information Modeling" (GB / T 51235). Each mechanical and electrical component in this LOD400 precision construction process model, including pipe sections, valves, supports, etc., contains its unique component name, precise specifications and dimensions, three-dimensional geometric information, absolute elevation, quantity, material type information, and installation process information. Its level of detail allows for direct application in factory prefabrication and precise on-site installation.

[0084] During the model building process, the model management and verification module 110 in the BIM data and scheduling server 100 integrates the building information models (BIMs) of various disciplines. These disciplines refer to independent LOD400 precision BIM models created separately for different electromechanical components in a building project, such as models for electrical and weak current systems, water supply and drainage, ventilation and air conditioning, and fire protection. The model management and verification module 110 automatically performs clash detection, identifies and outputs clash detection reports and design verification reports containing issues such as design errors, component conflicts, and insufficient headroom. After communicating and resolving these issues with the design unit based on these reports, a LOD400 precision BIM model without logical or physical conflicts is formed.

[0085] To ensure the LOD400 precision BIM model accurately guides subsequent construction, after the MEP (Mechanical, Electrical, and Plumbing) professionals are ready to enter the site, step S120 is executed. A comprehensive 3D scan of the completed civil engineering structure in the construction area is performed using equipment such as a 3D laser scanner, obtaining a high-density on-site measured point cloud model. The model management and verification module 110 precisely overlays and compares this measured point cloud model with the structural components of the LOD400 precision BIM model. By calculating the deviation between the two point cloud models, the module 110 can automatically identify and quantify actual construction errors such as the location and size deviations of reserved holes on site, and bulging or under-height sections of structural beams and slabs. Based on the deviation analysis results, the LOD400 precision BIM model is precisely adjusted to form a high-fidelity construction process model that accurately reflects the on-site conditions. To facilitate subsequent automatic registration, the model management and verification module 110 further extracts only the surface geometric information of all building structures (such as walls, slabs, and columns) from the high-fidelity construction process model and converts it into a reference 3D point cloud. This reference 3D point cloud is denoted as the building structure 3D point cloud C in this invention. BIM .

[0086] Subsequently, step S130 is executed to digitally register the environment. One or more operators carrying intelligent spatial positioning terminals 200 enter the construction area that has been scanned and verified. Each intelligent spatial positioning terminal 200 utilizes its integrated spatial perception module 210 to independently and in parallel run a Simultaneous Localization and Mapping (SLAM) algorithm. This algorithm processes environmental data from LiDAR and depth cameras in real time to construct a local environmental map M from the terminal's perspective. k The map is a 3D point cloud or feature map based on a relative coordinate system, and it also estimates the real-time pose of the terminal itself in this local map.

[0087] Each intelligent spatial positioning terminal 200 transmits the constructed local environment map M through its wireless communication module 240. k The data is uploaded to the BIM data and scheduling server 100. After receiving multiple local maps from different terminals, the environment registration and registration module 120 on the BIM data and scheduling server 100 identifies and matches common feature areas between the maps, merging and stitching them into a global environment map M with wider coverage and higher accuracy. global .

[0088] Next, step S140 is executed to perform global registration, establishing an absolute spatial relationship between the physical world and the LOD400 precision BIM model. The environment registration and registration module 120 retrieves the previously generated 3D point cloud C of the building structure from the model management and verification module 110. BIM and integrate it with the global environment map M global Perform high-precision point cloud registration. The essence of this registration process is to solve for an optimal rigid body transformation matrix. This optimal rigid body transformation matrix can transform the global environment map M based on the relative coordinate system. global The solution process involves transforming the model to a world coordinate system W, based on the LOD400 precision BIM model coordinate system, while minimizing the geometric deviation between the two. This solution can be described as an optimization problem:

[0089]

[0090] In the formula, It is the optimal rigid body transformation matrix to be solved, that is, the solution to the optimization problem, and its function is to transform the point from the map coordinate system M to the world coordinate system W; It is a parameter minimization operator, meaning to find a parameter that minimizes the subsequent objective function (i.e., ∑). i ∥·∥ 2 The rigid body transformation matrix that reaches its minimum value (partially) The matrix is ​​then output as the result; Σi This indicates summing over the correspondences of all points; It is the global environment map M global The i-th 3D point in the matrix; corr(·) is a lookup function used to find the correspondence in the 3D point cloud of a building structure C. BIM Find the given map point Find the closest corresponding point in space. This function can be implemented based on algorithms such as Iterative Closest Point (ICP) or its variants; It is found by the correspondence lookup function corr(·), and... Correspondingly, in the 3D point cloud of the building structure C BIM Three-dimensional points in; This indicates the transformation matrix T used in the iteration process of optimization. M→W Point Perform coordinate transformation; ∥·∥ 2 This represents the calculation of the square of the Euclidean distance between two 3D points, which is used to evaluate the current transformation matrix T. M→W A measure of quality.

[0091] After successful global registration, the solution was obtained. Next, step S150 is executed to generate and calibrate digital spatial anchor points. The collaborative positioning and anchor point management module 130 on the server automatically analyzes and extracts geometrically stable and unique elements within the global environment registered in the world coordinate system W, such as the boundary lines between columns and floor slabs, wall corners, and the outlines of reserved openings. These elements are defined as digital spatial anchor points. The collaborative positioning and anchor point management module 130 calculates their precise three-dimensional coordinates in the world coordinate system W and broadcasts this coordinate data to all intelligent spatial positioning terminals 200 within the construction area. These shared digital spatial anchor points will serve as a common reference for all subsequent high-precision, highly robust collaborative self-positioning of all terminals.

[0092] See attached document Figure 1 , Figure 2 and Figure 4 After completing the preparation phase and establishing accurate digital and physical spatial benchmarks, the method flow of this invention proceeds to step S200, the task preparation phase. The core objective of this step is to digitally prepare the construction task and construct a multi-terminal collaborative self-positioning network to support real-time on-site operations.

[0093] Step S210 is executed to generate a detailed design and construction task database based on the LOD400 precision BIM model. The BIM data and scheduling server 100 performs detailed design for pipeline integration based on the LOD400 precision BIM model that has been verified and adjusted in the preceding steps. This detailed design process is executed by the task scheduling and allocation module 140, which automatically extracts detailed information for each component to be installed (e.g., each section of pipeline, duct, cable tray, and each support) from the LOD400 precision BIM model and converts it into structured data entries, ultimately generating a construction task database.

[0094] Each data entry in this construction task database corresponds to an independent installation task and contains at least the following fields: a unique component ID; three-dimensional coordinates of one or more sets of key points for on-site positioning projection in the world coordinate system W; physical attribute information such as the component's type, specifications, and material; and construction sequence information derived from the 4D dimension of the Building Information Model. This sequence information defines the planned installation sequence and dependencies of each component, providing a basis for subsequent dynamic task allocation and construction process guidance.

[0095] Subsequently, step S220 is executed to construct a multi-terminal collaborative self-localization network within the construction area (collaborative self-localization network: multiple intelligent spatial positioning terminals jointly observe shared digital spatial anchor points broadcast by BIM data and scheduling server 100, thereby enabling them to calculate their respective poses in a unified world coordinate system in real time and with high precision). Multiple intelligent spatial positioning terminals 200 are activated and distributed within the work area. Each intelligent spatial positioning terminal 200 continuously scans its surrounding environment using its spatial perception module 210 and actively identifies digital spatial anchor points with known world coordinates broadcast by BIM data and scheduling server 100 in step S150.

[0096] The collaborative positioning and anchor point management module 130 on the BIM data and scheduling server 100 collects observation data of each digital spatial anchor point from all terminals in real time. This collaborative positioning and anchor point management module 130 models the entire system (the system refers to the entire collaborative self-positioning network composed of all N intelligent spatial positioning terminals 200), i.e., the poses of all N intelligent spatial positioning terminals 200, as a unified state vector, and solves for the optimal state estimate through a joint optimization algorithm. The essence of this process is to find the state vector X* that maximizes the probability of all observation data, which can be described as a nonlinear least squares optimization problem:

[0097]

[0098] In the formula, X *It is the optimal system state to be solved, which contains the precise poses of all terminals in the world coordinate system W. Right now It is a parameter minimization operator, meaning to find a state vector X that minimizes the subsequent objective function (i.e., the sum of squared errors); N is the total number of intelligent spatial positioning terminals in the network; O k It is the set of observable digital space anchor points within the current field of view of the k-th terminal; A j It is the precise three-dimensional coordinate of the j-th digital space anchor point in the world coordinate system W, which has been calibrated in step S150; z kj It is the observation data about the j-th digital space anchor point actually measured by the spatial sensing module 210 of the k-th terminal, and this data is located in the coordinate system I of the k-th terminal itself. k Down; It is an observation prediction function that calculates the theoretical observation value for the anchor point based on the currently estimated terminal pose and the known world coordinates of the anchor point. Its specific form is as follows: It represents the square of the Mahalanobis distance, which is used to calculate the actual observed value z. kj The error between the theoretical prediction h(·) and the covariance matrix Σ of the observed noise is used to express the difference between the predicted and actual values. kj Weighting is applied to reflect the confidence level of different observations.

[0099] By continuously performing the aforementioned joint optimization, the cooperative positioning and anchor point management module 130 not only calculates high-precision poses for each terminal but also forms a self-reinforcing cooperative positioning network. In this network, even if a terminal is temporarily unable to observe any digital spatial anchor points due to occlusion, it can still maintain the continuity and accuracy of its positioning by relying on its relative positional relationship with other terminals and the precise poses of those terminals. This provides a highly robust spatial pose reference for subsequent positioning and layout operations.

[0100] See attached document Figure 1 , Figure 2 and Figure 5 After task preparation and collaborative network construction are completed, the method flow of this invention enters step S300, namely the job execution stage. In this stage, through real-time interaction between the intelligent spatial positioning terminal 200 and the BIM data and scheduling server 100, adaptive scheduling and high-precision positioning and layout of construction tasks are achieved.

[0101] Step S310 is executed to perform adaptive task allocation based on the on-site context. When an operator carrying an intelligent spatial positioning terminal 200 enters the work area, the terminal continuously obtains and positions itself accurately in the world coordinate system W through the cooperative self-localization network constructed in step S220. The information is reported in real time to the BIM data and scheduling server 100. Upon receiving this pose information, the task scheduling and allocation module 140 on the BIM data and scheduling server 100 uses it as the core basis for dynamic scheduling. Based on a preset allocation strategy, it selects the most suitable tasks for the operators to perform.

[0102] The pre-defined allocation strategy here is implemented as a multi-stage dynamic filtering and sorting algorithm. First, the algorithm queries the construction task database, filtering out components whose preceding dependent tasks are all marked as "completed," forming a candidate set of currently workable tasks. Then, for each task in this candidate set, the algorithm calculates a comprehensive priority score. This score calculation takes into account at least spatial proximity, specifically the Euclidean distance between the geometric center of the component to be installed and the operator's current position; the closer the distance, the higher the score. Finally, the algorithm sorts the tasks in the candidate set in descending order of priority score, forming the final task recommendation list.

[0103] The task scheduling and allocation module 140 sends the task list generated by the above strategy to the intelligent spatial positioning terminal 200 held by the operator via a wireless network. The operator receives and views the task list through the human-machine interaction module 250 and selects a task to start execution.

[0104] After the operator selects a specific task, step S320 is executed, providing augmented reality visualization guidance. The human-computer interaction module 250 obtains all detailed information about the component corresponding to the task from the BIM data and scheduling server 100, including its LOD400 precision BIM model and associated attributes. The human-computer interaction module 250 utilizes the terminal's real-time updated precise pose... The component's 3D model, displayed at a 1:1 scale with its correct position and orientation, is overlaid on the operator's view using augmented reality technology. This fusion of virtual and real elements allows the operator to intuitively foresee the component's spatial state after installation and verify whether the site environment meets the installation requirements, thus effectively avoiding installation errors.

[0105] Next, step S330 is executed to perform laser projection and layout of high-precision positioning points. For critical positioning points necessary for component installation (such as the center of the screw of a support or hanger, the axial endpoint of a pipe, etc.), their three-dimensional coordinates P in the world coordinate system W are determined. W The precise pose of the intelligent spatial positioning terminal 200, which is frequently updated, has been stored in the construction task database. The data is continuously reported to the BIM data and scheduling server 100. The dynamic projection vector calculation module 150 on the BIM data and scheduling server 100 receives this pose data and the target point coordinates P. WIt also calculates in real time a direction vector pointing from the terminal's current position to the target point. This direction vector... In the terminal's own coordinate system I k The calculation process is as follows:

[0106]

[0107] In the formula, In the terminal's own coordinate system I k The direction vector below, pointing towards the target point to be projected; P W It is the three-dimensional coordinate vector of the target point to be projected in the world coordinate system W; This is the current pose of the intelligent spatial positioning terminal 200 in the world coordinate system W, calculated in real time by the cooperative positioning network. This pose can be decomposed into a rotation matrix. and a translation vector This represents the translation vector of the terminal in the world coordinate system W; It is a rotation matrix The transpose of R is equivalent to the inverse rotation transformation R. W →I k This is used to transform a vector in a world coordinate system to a terminal coordinate system.

[0108] The dynamic projection vector calculation module 150 calculates the direction vector. (Or equivalent control commands) are sent to the corresponding intelligent spatial positioning terminal 200 via the data communication module 160. The edge computing module 230 on the intelligent spatial positioning terminal 200 receives the command and uses it to control the multi-mode laser projection module 220 in real time. The multi-mode laser projection module 220 (which can be specifically implemented as a laser emitter driven by a miniature servo gimbal) automatically adjusts its projection direction and direction vector. Precise alignment allows a visible laser beam to be stably projected onto a wall, ceiling, or floor, the physical position of which is the exact real-world counterpart of the target point.

[0109] After completing the layout and corresponding installation work at one or more positioning points, step S340 is executed to provide closed-loop feedback on the task status. The operator marks the current task execution status (e.g., "Completed," "Encountered an obstacle") via the human-machine interface module 250. This status information is transmitted back to the BIM data and scheduling server 100 via the wireless communication module 240. Upon receiving this feedback, the task scheduling and allocation module 140 on the BIM data and scheduling server 100 updates the status of the corresponding components in the construction task database in real time. This closed-loop data flow not only enables precise and automated tracking of construction progress, but the updated database status also directly serves as real-time input for all subsequent task allocation decisions, forming the adaptive and intelligent foundation for the entire construction management process.

[0110] See attached document Figure 1 , Figure 2 and Figure 6 After the task status during the execution phase is initially marked as "completed," the method flow of the present invention then proceeds to step S400, namely the installation and verification phase. This phase aims to ensure that the actual installation status of the physical components is precisely consistent with the design requirements in the digital model, thereby forming a complete "design, construction, and verification" closed loop.

[0111] Execute step S410 to perform physical installation of components and as-built data acquisition. Based on the precise points projected by the multi-mode laser projection module 220 in step S330 and the augmented reality installation simulation provided by the human-computer interaction module 250 in step S320, the operator completes the physical installation of components (e.g., pipes, supports).

[0112] After installation, the operator first uses Mixed Reality (MR) technology to overlay and verify the LOD400 precision BIM model with the installed entity. This verification process is achieved through the human-computer interaction module 250, allowing the operator to view the overlay of virtual and real images through the specific hardware form of this module.

[0113] If the human-computer interaction module 250 is an augmented reality glasses, the virtual BIM model will be projected directly into the operator's field of vision in the form of a digital light field, seamlessly overlapping with the real components seen through the lenses, achieving an immersive comparison from a first-person perspective.

[0114] If the human-computer interaction module 250 is a handheld device (such as a tablet computer), its high-definition touch screen will display an augmented reality image that is captured by the device's rear camera and synthesized with a virtual model rendered in real time.

[0115] Regardless of the viewing method, the core technical principle enabling this precise overlay lies in the fact that the human-computer interaction module 250 continuously obtains the high-precision pose of the intelligent spatial positioning terminal 200 in the world coordinate system from the cooperative self-localization network, and uses this as the real-time perspective of the virtual camera to render the LOD400 precision BIM model of the component, which is also located at the design coordinates in the same world coordinate system. This rendering process ensures that the virtual model is accurately projected into the operator's field of vision (or screen) at a 1:1 scale and is precisely aligned with its preset spatial position.

[0116] Ultimately, through the human-computer interaction module 250, operators can see a virtual BIM model superimposed on the real building in a semi-transparent manner in real time, thereby intuitively and comprehensively conducting a quick visual inspection of the installation location, orientation, and connection relationships.

[0117] After completing the above-mentioned overlay verification, the installation results are further scanned using an intelligent spatial positioning terminal to compare the deviation with the original LOD400 precision BIM model. The operator holds the intelligent spatial positioning terminal 200 and activates its spatial perception module 210. This module integrates a lidar sensor, a depth camera, and an inertial measurement unit (IMU). These sensors work together to perform a high-density 3D scan of the newly installed component and its surrounding environment, thereby acquiring its 3D geometric information in real time. This scanning process generates a series of raw data (such as raw point clouds generated by lidar sensors or depth images generated by depth cameras). The edge computing module 230 receives this raw data, performs preliminary processing locally on the terminal, and combines it with the precise pose provided in real time by the cooperative self-localization network. Generate an as-built point cloud C, represented in world coordinate system W, describing the completed state of the component. as_built .

[0118] Next, step S420 is executed to perform a deviation analysis between the as-built point cloud and the LOD400 precision BIM model. The intelligent spatial positioning terminal 200 transmits the as-built point cloud C through its wireless communication module 240. as_built The data is uploaded to the BIM data and scheduling server 100. Upon receiving the data, the model management and verification module 110 on the BIM data and scheduling server 100 executes an automated deviation analysis process. The model management and verification module 110 first retrieves the LOD400 precision BIM model of the component from the BIM database based on the current task ID, and represents it as a three-dimensional digital surface, denoted as M. as_designed Subsequently, the model management and verification module 110 calculates the as-built point cloud C. as_built Each point in the design model surface M as_designed The shortest spatial distance.

[0119] To quantify the overall installation deviation, the system calculates a maximum deviation value D. max The calculation process is as follows:

[0120]

[0121] In the formula, D max This is the calculated maximum installation deviation value, representing the degree of mismatch between the as-built entity and the design model; C as_built It is a completed point cloud scanned and uploaded from the construction site; p j It is the completed point cloud C as_built Any three-dimensional point in M; as_designed It is a 3D digital surface extracted from the BIM database, representing the LOD400 precision BIM model corresponding to the component; q is the 3D digital surface M. as_designed Any three-dimensional point on; ∥p j -q∥2 represents point p. j The Euclidean distance between point q and point q.

[0122] Step S430 is executed to automatically determine the installation quality and provide feedback. The model management and verification module 110 calculates the maximum deviation value D. max Compare with a pre-defined installation accuracy tolerance τ for this type of component (e.g., 5 mm for conventional electromechanical piping). If D max If D ≤ τ, the system determines that the installation quality is acceptable. Conversely, if D ≤ τ, the system determines that the installation quality is acceptable. max If the value is greater than τ, it is considered unqualified.

[0123] This determination triggers two parallel information flows. First, the determination result (e.g., "Verification Passed" or "Out of Tolerance: Deviation 5mm") along with a visualized deviation analysis report (e.g., a deviation cloud map rendered with a chromatogram) is sent to the operator's intelligent spatial positioning terminal 200 and presented intuitively to the operator through the human-machine interaction module 250. Second, the result is sent to the task scheduling and allocation module 140, which updates the final status of the component in the construction task database to "Verified" or "Requires Rework." Confirmation of this final status is a prerequisite for unlocking subsequent dependent tasks (e.g., the installation of the next section of pipeline), thus ensuring the continuity and accuracy of construction at the process flow level.

[0124] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A model-based pipeline routing three-dimensional positioning construction method, characterized in that, Comprise the following steps: Step S1: preprocessing the LOD400 precision BIM model, extracting the structure and pipeline data for subsequent registration and construction, and checking the LOD400 precision BIM model combined with the three-dimensional scanning results on site, then controlling one or more intelligent space positioning terminals to scan the construction area and build a global environment map containing digital space anchor points consistent with the BIM model world coordinate system; Step S2: using the checked LOD400 precision BIM model to carry out deepening design of pipeline synthesis, generating a structured construction task database, and at the same time, activating all intelligent space positioning terminals, so that the intelligent space positioning terminals build a multi-terminal collaborative self-positioning network by observing the shared digital space anchor points; Step S3: BIM data and scheduling server dynamically allocate distributed tasks according to the task database and the real-time pose of each intelligent space positioning terminal, and BIM data and scheduling server real-time solve dynamic projection vectors for terminals executing tasks and issue projection instructions; Step S4: construction personnel install according to the positioning line projected by the intelligent space positioning terminal, and use mixed reality technology to superimpose and check the LOD400 precision BIM model and the installed entity during and after installation, and further use the intelligent space positioning terminal to scan the installation results to realize deviation comparison with the original LOD400 precision BIM model, and complete the closed-loop verification of construction quality.

2. The model-based pipeline routing and positioning construction method of claim 1, wherein, In step S1, checking the LOD400 precision BIM model and building a global environment map comprise: Using a three-dimensional laser scanner to comprehensively scan the civil structure completion of the construction area, obtaining a site measured point cloud model, superimposing and comparing the measured point cloud model with the structure part in the LOD400 precision BIM model, and accurately adjusting the LOD400 precision BIM model according to the deviation analysis result; Each intelligent space positioning terminal independently runs the real-time positioning and map building algorithm to build a local environment map under the visual angle of the intelligent space positioning terminal, and uploads the local environment map to the BIM data and scheduling server, and the BIM data and scheduling server fuse and splice multiple local maps into a global environment map.

3. The model-based pipeline routing and placement construction method of claim 2, wherein, Step S1 further comprises: Extracting the surface geometric information of all building structures from the adjusted LOD400 precision BIM model, and converting the surface geometric information into a building structure three-dimensional point cloud; High-precision point cloud registration is performed between the global environment map and the building structure three-dimensional point cloud to solve the optimal rigid transformation matrix, and the global environment map based on the relative coordinate system is transformed to the world coordinate system based on the LOD400 precision BIM model coordinate system.

4. The model-based pipeline routing and placement construction method of claim 3, wherein, In step S1, generating digital space anchor points comprises: In the global environment registered to the world coordinate system, automatically analyzing and extracting elements with stable geometric features and uniqueness in the environment, and defining these elements as digital space anchor points; The precise three-dimensional coordinates of the digital space anchor points in the world coordinate system are calculated, and the coordinate data are broadcast to all intelligent space positioning terminals in the construction area.

5. The model-based pipeline routing and placement construction method of claim 1, wherein, Each data entry in the construction task database generated in the step S2 corresponds to an independent installation task, and at least contains the following fields: A unique component ID, which is used to locate the three-dimensional coordinates of one or more groups of key points in the world coordinate system; The type, size and material physical property information of the component; The construction timing information derived from the 4D dimension of the building information model.

6. The model-based pipeline routing and placement construction method of claim 1, wherein, The step S2 of constructing a multi-terminal collaborative self-positioning network includes: Each intelligent space positioning terminal continuously scans the surrounding environment and actively identifies digital space anchor points with known world coordinates; The BIM data and scheduling server collects observation data of each digital space anchor point from all intelligent space positioning terminals in real time, models the poses of all intelligent space positioning terminals as a unified state vector, and solves the optimal state estimation by a joint optimization algorithm.

7. The model-based pipeline routing and placement construction method of claim 1, wherein, The step S3 of performing dynamic allocation of distributed tasks includes: The intelligent space positioning terminal reports its precise pose in the world coordinate system to the BIM data and scheduling server in real time; The BIM data and scheduling server queries the construction task database, filters out components whose all previous dependent tasks have been marked as completed, and forms a current task candidate set; For each task in the task candidate set, a comprehensive priority score is calculated, which at least considers the Euclidean distance between the geometric center of the component to be installed and the current position of the operator; The tasks in the task candidate set are sorted in descending order of priority score to form a final task recommendation list and are issued to the intelligent space positioning terminal.

8. The model-based pipeline-staging three-dimensional positioning construction method of claim 1, wherein, The step S3 of calculating a dynamic projection vector for the terminal performing the task in real time and issuing a projection instruction includes: The BIM data and scheduling server receives the pose data and target point coordinates reported by the terminal, and calculates a direction vector pointing from the current position of the terminal to the target point in real time; The calculated direction vector is issued to the corresponding intelligent space positioning terminal, which controls the multi-mode laser projection module in real time according to the direction vector to automatically adjust the projection direction of the multi-mode laser projection module to be accurately aligned with the direction vector.

9. The model-based pipeline-staging three-dimensional positioning construction method of claim 1, wherein, The step S4 of using the intelligent space positioning terminal to scan the installation results includes: The operator holds the intelligent space positioning terminal and performs a high-density three-dimensional scan on the just-installed component and the surrounding environment of the just-installed component; The intelligent space positioning terminal receives the scanned raw data and generates a completion point cloud representing the completion state of the component in the world coordinate system in combination with the accurate pose provided by the collaborative self-positioning network in real time.

10. The model-based pipeline routing and layout three-dimensional positioning construction method according to claim 9, characterized in that, The step S4 of completing the closed-loop verification of construction quality includes: The completion point cloud generated after scanning the installation results is uploaded to the BIM data and scheduling server; The BIM data is used to call the LOD400 precision BIM model of the component from the BIM database by the scheduling server, and the maximum deviation value between the as-built point cloud and the LOD400 precision BIM model is calculated; The calculated maximum deviation value is compared with a pre-set installation precision tolerance to determine whether the installation quality is qualified or unqualified; And the determination result is fed back to the intelligent space positioning terminal, and the final state of the component is updated in the construction task database according to the determination result.

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