Plant electromechanical pipeline three-dimensional positioning installation system based on BIM (Building Information Modeling) and construction method

Abstract

The invention discloses a BIM-based factory building electromechanical pipeline three-dimensional positioning installation system and a construction method, and relates to the technical field of electromechanical pipeline construction. The system comprises a three-dimensional positioning module which carries out millimeter-level precision scanning on a factory building structure, generates point cloud data including walls, beam columns and existing pipelines, and obtains dynamic coordinates through real-time communication between a positioning base station deployed in a factory building and positioning labels of pipeline prefabricated parts and construction equipment, so that multi-technology fusion three-dimensional positioning of a building structure is realized; the defects that at present, only a total station is adopted for single-point positioning, the positioning precision is insufficient, the positioning efficiency is low, the dynamic installation process cannot be monitored in real time, the dynamic position deviation in the pipeline hoisting and connecting process cannot be tracked in real time, and the construction effect is affected are overcome, and the pipeline arrangement precision is guaranteed.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of mechanical and electrical pipeline construction, and particularly relates to a plant mechanical and electrical pipeline three-dimensional positioning installation system and construction method based on BIM. BACKGROUND

[0002] In modern building construction, mechanical and electrical installation is a key component, and its quality directly affects the overall performance and safety of the building. In the construction process of buildings, mechanical and electrical installation engineering mainly includes intelligent building engineering, electrical engineering, ventilation and air conditioning engineering, water supply and drainage engineering, etc., including air pipes, self-spraying pipes, fire hydrant pipes, bridge frames, air conditioning water pipes, pressure drainage pipes, etc.

[0003] At present, for the construction of corresponding pipelines in mechanical and electrical installation engineering, construction personnel mainly construct according to the planning of two-dimensional drawings based on the designed two-dimensional drawings. Since mechanical and electrical pipelines include water supply and drainage, heating and ventilation, electricity, process pipes, etc., the overall system is relatively complex, and the space is staggered and dense, and the installation precision is high. When the construction personnel construct according to the two-dimensional drawings, the two-dimensional drawings cannot intuitively present the three-dimensional relationship of the pipelines, and understanding deviation is easy to occur. In addition, the construction sequence of each professional pipeline is random, and pipeline collisions with building structures and pipelines are easy to occur in the construction process, affecting the construction efficiency and construction progress. At the same time, manual intervention is more in the construction process, increasing the work burden of the construction personnel, and the labor intensity is large. In the construction process, only single-point positioning is performed by using a total station, the positioning precision is insufficient, the positioning efficiency is low, and the dynamic installation process cannot be monitored in real time. The dynamic position deviation in the pipeline hoisting and connection process cannot be tracked in real time, affecting the construction effect.

[0004] To solve the above problems, we design a plant mechanical and electrical pipeline three-dimensional positioning installation system and construction method based on BIM. SUMMARY

[0005] To solve the above technical problems, the application is realized by the following technical scheme: The application is a plant mechanical and electrical pipeline three-dimensional positioning installation system based on BIM, which comprises a central control terminal, and the central control terminal is electrically connected with a three-dimensional positioning module, a data processing module, a model construction module, a construction design module, a construction management module, a monitoring optimization module and an acceptance and archiving module. The three-dimensional positioning module comprises: A laser scanning unit is used to scan the plant structure with millimeter-level precision to generate point cloud data containing walls, beams, columns and existing pipelines; A UWB positioning unit is used for real-time positioning in a complex environment with centimeter-level precision and for obtaining real-time coordinates of the construction site; A total station unit is used for millimeter-level positioning of key nodes of the building structure.

[0006] The construction design module comprises: A construction scheme design unit for pipeline comprehensive arrangement, determining pipeline route, support hanger position and reserved hole parameters, and generating a new arrangement scheme of mechanical and electrical pipelines; A construction drawing generation unit for displaying the mechanical and electrical pipeline arrangement scheme generated by the construction scheme design unit in two-dimensional drawings; A construction pipeline pre-processing unit for determining the material, specification, size, processing method and connection method of the pipe section involved in the mechanical and electrical pipeline arrangement scheme generated by the construction scheme design unit.

[0007] The construction management module comprises: A simulation construction unit for simulating construction and verifying the feasibility of the mechanical and electrical pipeline arrangement scheme generated by the construction scheme design unit; A projection unit for projecting image data in the actual construction process; A movement control unit for remote guidance in the actual construction process.

[0008] The monitoring optimization module comprises: A monitoring unit for monitoring relevant data and construction live in the actual construction process; An optimization adjustment unit for optimizing and adjusting the mechanical and electrical pipeline arrangement scheme generated by the construction scheme design unit.

[0009] The acceptance and archiving module comprises an acceptance unit for acceptance after construction is completed and a central database unit for archiving construction data, the acceptance unit is associated with the laser scanning unit and the model building module, and the central database unit is associated with the central control terminal, the laser scanning unit, the UWB positioning unit, the total station unit, the data processing module, the model building module, the construction scheme design unit, the construction pipeline pre-processing unit and the monitoring unit.

[0010] A construction method comprising the following steps: Step one: data acquisition, through the cooperation of the laser scanning unit, the UWB positioning unit and the total station unit, multi-technology fusion positioning is realized, the building structure and three-dimensional coordinate information of the construction site are collected, and a three-dimensional reference coordinate system of the construction site is established; Step two: based on the information collected in step one, the building structure model of the construction site is constructed in the BIM software through the model building module, including the models of walls, floors, ceilings and existing mechanical and electrical pipelines, providing accurate spatial reference for the planning and arrangement of mechanical and electrical pipelines; Step three: developing a construction plan, based on the construction site building structure model established in step two, a corresponding mechanical and electrical pipeline layout plan is developed through a construction plan design unit; Step four: simulation construction, the construction plan developed in step three is simulated through the simulation construction unit to verify the feasibility of the mechanical and electrical pipeline layout plan generated by the construction plan design unit; Step five, optimizing the construction plan, based on the simulation construction in step four, the construction plan developed in step three is optimized and adjusted through the monitoring unit and the optimization adjustment unit; Step six, construction and acceptance, based on the optimized construction plan in step five, the projection unit, the movement control unit, the monitoring unit, the laser scanning unit, the UWB positioning unit and the total station unit cooperate to carry out the construction operation, and after the construction is completed, the acceptance unit is used for acceptance, and the related data in the construction process is archived and saved to the central database unit.

[0011] The present application has the following beneficial effects: The laser scanning unit scans the factory building structure with millimeter-level precision to generate point cloud data containing walls, beams, columns and existing pipelines, and the UWB positioning unit realizes real-time positioning in complex environments with centimeter-level precision. At the same time, the positioning base station deployed in the factory communicates with the positioning tags of the pipeline prefabricated parts and construction equipment to obtain dynamic coordinates in real time, and cooperates with the total station unit for millimeter-level positioning of key nodes of the building structure. Through coordinate transformation, the BIM model coordinates are mapped to the construction site, realizing high-precision positioning of the building structure. The disadvantages of the prior art, such as insufficient positioning accuracy, low positioning efficiency, inability to monitor the dynamic installation process in real time, inability to track the dynamic position deviation of the pipeline hoisting and connection process in real time, and affecting the construction effect, are solved. The simulation module simulates the construction of the layout plan to verify the feasibility of the layout plan, and optimizes the layout plan according to the simulation data, realizing the purpose of developing a pipeline layout plan according to the actual situation, avoiding the conflict between the pipeline and the structure or the pipeline and the pipeline in the construction process, and facilitating real-time adjustment of the pipeline in the actual construction process, further improving the construction efficiency and construction precision. The three-dimensional projection of the construction process is realized under the cooperation of the projection unit and the movement control unit, so that the construction personnel can remotely visualize the online guidance operation, greatly reducing the work burden of manual intervention, and solving the problem that the two-dimensional drawing cannot intuitively present the three-dimensional relationship of the pipeline when the construction personnel constructs according to the two-dimensional drawing, and the understanding deviation is easy to occur.

[0012] Of course, implementing any product of the application does not necessarily require achieving all the advantages described above at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the following embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0014] Fig. 1 The system block diagram of the plant mechanical and electrical pipeline three-dimensional positioning and installation system based on BIM of the present application; Fig. 2 The flowchart of the construction method of the present application.

[0015] In the drawings, the component list represented by each number is as follows: 100, central control terminal; 200, three-dimensional positioning module; 201, laser scanning unit; 202, UWB positioning unit; 203, total station unit; 300, data processing module; 400, model construction module; 500, construction design module; 501, construction scheme design unit; 502, construction drawing generation unit; 503, construction pipeline pre-processing unit; 600, construction management module; 601, simulation construction unit; 602, projection unit; 603, movement control unit; 700, monitoring optimization module; 701, monitoring unit; 702, optimization adjustment unit; 800, acceptance and archiving module; 801, acceptance unit; 802, central database unit. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0017] In the description of the present application, it should be understood that the terms "upper", "middle", "outer", "inner" and the like indicate the orientation or positional relationship, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the indicated component or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0018] Please refer to Figs. 1-2As shown, the factory building electromechanical pipeline three-dimensional positioning installation system based on BIM comprises a central control terminal 100, the central control terminal 100 is electrically connected with a three-dimensional positioning module 200, a data processing module 300, a model construction module 400, a construction design module 500, a construction management module 600, a monitoring optimization module 700 and an acceptance and archiving module 800, the three-dimensional positioning module 200 comprises: A laser scanning unit 201, by adopting a ground laser scanner to perform millimeter-level precision scanning on the factory building structure, point cloud data containing walls, beams and columns and existing pipelines is generated; A UWB positioning unit 202, by arranging four or more UWB positioning base stations at key positions of the factory building, such as column tops and corner positions, a positioning network covering the construction area is formed, UWB positioning tags are pasted at both ends of the pipeline prefabricated parts, and positioning terminals are installed on the construction equipment, a global positioning coordinate system is established, and centimeter-level real-time positioning is realized in a complex environment, and dynamic coordinates are obtained through real-time communication between the positioning base stations arranged in the factory building and the positioning tags of the pipeline prefabricated parts and the construction equipment; A total station unit 203 is used for millimeter-level positioning of key nodes of the building structure, and the BIM model coordinates are mapped to the construction site through coordinate conversion.

[0019] The data processing module 300 filters out the noise of the relevant data information collected by the laser scanning unit 201, the UWB positioning unit 202 and the total station unit 203, and exports the filtered data in a BIM software compatible format, and the model construction module 400 constructs a building structure model of the construction site in the BIM software, including models of walls, floors, ceilings and existing electromechanical pipelines, to provide accurate spatial references for planning and arrangement of electromechanical pipelines, the model needs to contain component codes, spatial dimensions, technical parameters and other information, and a standardized component library is formed.

[0020] The construction design module 500 comprises: A construction scheme design unit 501 is convenient for integrating building, structure and electromechanical professional models, based on new construction intervals and existing construction intervals, performing pipeline comprehensive arrangement, determining pipeline direction, support and hanger position and reserved hole parameters, and generating a new electromechanical pipeline arrangement scheme; A construction drawing generation unit 502 is convenient for extracting detailed construction drawings from the building structure model, including pipeline arrangement drawings and installation detail drawings, to provide accurate guidance for on-site construction; The construction pipeline pre-processing unit 503 is convenient for generating a prefabrication processing detail drawing of a pipe segment according to the constructed building model and the designed mechanical and electrical pipeline arrangement scheme, determining the material, specification, size, flange specification, connection angle, processing mode and connection mode of each pipeline segment, facilitating the cutting, welding and corrosion treatment of the pipeline in the factory, simultaneously pasting a two-dimensional code on the prefabricated component, associating the installation position, material specification and other information in the BIM model, and realizing digital management of the supply chain.

[0021] The construction management module 600 comprises: The simulation construction unit 601 is convenient for simulating construction based on the constructed building model and the generated new mechanical and electrical pipeline arrangement scheme, and simulating installation of the pipeline according to the designed construction path; The projection unit 602 is convenient for on-site construction management according to the building structure model and the construction drawing, and projecting the pipeline design coordinates, installation process parameters and quality standards in the BIM model to the construction site through the AR device, realizing visual guidance of virtual and real superposition, facilitating workers to directly locate the pipeline trend and equipment coordinates by contrasting the virtual model, and eliminating reading deviation; The movement control unit 603 is convenient for the construction personnel to run TrimbleConnect through the tablet computer, to view the BIM model, positioning data and three-dimensional section view in real time, and to guide pipeline hoisting and support installation.

[0022] The monitoring optimization module 700 comprises: The monitoring unit 701 collects data such as position deviation and connection strength in the installation process through sensors deployed on the construction equipment and the pipeline, and transmits the data to the central control terminal 100 in real time, simultaneously facilitates the collection of construction progress data and construction overview through the sensors, and realizes real-time monitoring of the progress of the simulation construction unit 601 and the live of the simulation construction, verifies the feasibility of the construction scheme, including possible conflicts between the new pipeline and the building structure and between the new pipeline and the existing pipeline, and verifies the designed pipeline arrangement space; Meanwhile, in the actual construction process, the pipe segment is preliminarily fixed by setting a positioning clamp, the spatial position of the pipe segment is adjusted by the hoisting equipment according to the coordinates fed back in real time by the UWB positioning unit 202, and the installation accuracy data is synchronously collected by the laser scanning unit 201; The positioning clamp is internally provided with an inclination sensor, which can monitor the levelness and perpendicularity of the pipeline installation in real time, and ensures the installation accuracy.

[0023] The optimization adjustment unit 702 is convenient for analyzing the process logic and resource allocation, predicting potential delay points, adjusting and optimizing the construction scheme, eliminating possible problems in the actual construction process, and adjusting the selection of construction materials according to the monitored simulation construction live. At the same time, the optimized scheme is exported as a two-dimensional drawing and a roaming animation, which is attached to the construction disclosure sheet to ensure that workers understand the pipeline route and installation details.

[0024] The acceptance and archiving module 800 includes an acceptance unit 801 for acceptance after construction is completed, and a central database unit 802 for archiving construction data. The acceptance unit 801 is associated with the laser scanning unit 201 and the model building module 400, and the central database unit 802 is associated with the central control terminal 100, the laser scanning unit 201, the UWB positioning unit 202, the total station unit 203, the data processing module 300, the model building module 400, the construction scheme design unit 501, the construction pipeline pre-processing unit 503, and the monitoring unit 701.

[0025] A construction method, comprising the following steps: Step one: data collection, through the cooperation of the laser scanning unit 201, the UWB positioning unit 202, and the total station unit 203, multi-technology fusion positioning is realized, the building structure and three-dimensional coordinate information of the construction site are collected, and a three-dimensional reference coordinate system of the construction site is established; Step two: based on the information collected in step one, the model building module 400 constructs a building structure model of the construction site in BIM software, including models of walls, floors, ceilings, and existing mechanical and electrical pipelines, providing accurate spatial references for the planning and arrangement of mechanical and electrical pipelines; Step three: develop a construction scheme, based on the building structure model of the construction site established in step two, the construction scheme design unit 501 develops a corresponding mechanical and electrical pipeline arrangement scheme; Step four: simulate construction, according to the construction scheme developed in step three, the simulation construction unit 601 simulates construction to verify the feasibility of the mechanical and electrical pipeline arrangement scheme generated by the construction scheme design unit 501; Step five, optimize the construction scheme, based on the simulation construction in step four, the monitoring unit 701 and the optimization and adjustment unit 702 optimize and adjust the construction scheme developed in step three; Step six, construction and acceptance, based on the optimized construction scheme in step five, the projection unit 602, the movement control unit 603, the monitoring unit 701, the laser scanning unit 201, the UWB positioning unit 202, and the total station unit 203 cooperate to carry out construction operations, and at the same time, after the construction is completed, the acceptance unit 801 carries out acceptance, and the related data during the construction process is archived and saved to the central database unit 802.

[0026] Embodiment

[0027] In the early stage of the mechanical and electrical pipeline construction, first of all, under the action of the laser scanning unit 201, the three-dimensional point cloud data of the construction site is collected, combined with the action of the UWB positioning unit 202, the positioning base station deployed in the factory and the positioning tag on the pipeline installation equipment are communicated in real time to obtain dynamic coordinates, combined with the action of the total station unit 203 on the building structure column, beam marking the pipeline center line, realizing multi-technology fusion three-dimensional positioning, generating a global three-dimensional coordinate system; Secondly, through the model construction module 400, the building structure model of the construction site is constructed in the BIM software, combined with the construction scheme design unit 501, the building, structure, mechanical and electrical professional models are integrated, based on the new construction interval and the existing construction interval, the pipeline is comprehensively arranged, the pipeline direction, support hanger position and reserved hole parameters are determined, the new mechanical and electrical pipeline layout scheme is generated, and under the action of the construction drawing generation unit 502, the generated layout scheme is generated into two-dimensional drawings; At the same time, under the action of the simulation construction unit 601, based on the constructed building model and the generated new mechanical and electrical pipeline layout scheme, the simulation construction is carried out, and the pipeline is simulated to be installed according to the designed construction path, combined with the monitoring unit 701, the sensors deployed on the construction equipment and the pipeline collect construction progress data and construction overview, real-time monitoring of the simulation construction unit 601 is carried out, the feasibility of the construction scheme is verified, including the possible conflicts between the new pipeline and the building structure and the new pipeline and the existing pipeline, and the designed pipeline arrangement space is verified, and the optimization adjustment unit 702 is adjusted according to the monitored simulation construction situation, the process logic and resource allocation are analyzed, the potential delay points are predicted, the construction scheme is adjusted and optimized, the problems that may occur in the actual construction process are eliminated, and the selection of construction materials is adjusted; Then, through the construction pipeline pre-processing unit 503, according to the constructed building model and the optimized layout scheme, the prefabrication processing detail drawing of the pipe section is generated, the material, specification, size, flange specification, connection angle, processing method and connection method of each pipeline section are determined, and the cutting, welding and corrosion treatment of the pipeline are realized in the factory; Secondly, the actual construction is carried out, in the construction process, under the action of the mobile control unit 603, the construction personnel run TrimbleConnect through the tablet computer, real-time view BIM model, positioning data and three-dimensional section view, guide pipeline hoisting and support installation, combined with the action of the projection unit 602, the pipeline design coordinates, installation process parameters and quality standards in the BIM model are projected to the construction site through the AR device, realizing the visualization guidance of virtual and real superposition, facilitating workers to directly compare the virtual model to locate the pipeline direction and equipment coordinates, eliminating the reading deviation; In this process, the hoisting equipment using the UWB positioning unit 202 hoists the pipeline, real-time receives the dynamic coordinates of the UWB tag on the pipeline, displays the deviation value of the actual position and the design coordinates through the AR interface, adjusts the pipeline with a larger deviation value, and at the same time, uses the positioning clamp with the inclination sensor to fix the pipeline, the sensor real-time monitors the levelness and perpendicularity of the pipeline, and ensures to meet the installation specification, after completing the installation of each section of the pipeline, the laser scanning unit 201 collects the point cloud data of the installed pipeline, compares with the BIM model to generate a deviation report, and ensures the installation accuracy; After the whole system pipeline installation construction is completed, the whole three-dimensional laser scanning is carried out through the laser scanning unit 201, the completion point cloud model is generated and compared with the design BIM model, under the action of the acceptance unit 801, the whole installation deviation is calculated, if the whole deviation value is controlled within ±5mm, then it is accepted; At the same time, the installation time, related construction data, personnel information, detection data and deviation record in the construction process are associated to the BIM model, a digital archive containing the whole life cycle information is formed, and is archived and saved to the central database unit 802, thereby providing a basis for the pipeline operation and maintenance in the later period.

[0028] It should be further explained that the installation structure, connection mode or setting mode of each component in the present application are common mechanical modes, as long as the beneficial effects can be achieved.

[0029] In the description of the present application, the description of the terms "one embodiment", "example", "specific example" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are contained in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0030] The preferred embodiments of the present application disclosed above are only used to help explain the present application. The preferred embodiments do not describe all the details, nor limit the application to the specific embodiments described. Obviously, according to the content of the present application, many modifications and changes can be made. The present application selects and describes these embodiments in order to better explain the principles and practical application of the present application, so that those skilled in the art can well understand and utilize the present application. The present application is limited by the claims and their entire scope and equivalents.

Claims

1. A BIM-based three-dimensional positioning and installation system for electromechanical pipelines in a factory, characterized in that, The system includes a central control terminal (100), which is electrically connected to a three-dimensional positioning module (200), a data processing module (300), a model building module (400), a construction design module (500), a construction management module (600), a monitoring and optimization module (700), and an acceptance and archiving module (800). The three-dimensional positioning module (200) includes: The laser scanning unit (201) is used to perform millimeter-level precision scanning of the factory structure and generate point cloud data including walls, beams, columns, and existing pipelines; UWB positioning unit (202) is used for centimeter-level real-time positioning in complex environments and to obtain real-time coordinates of the construction site; The total station unit (203) is used for millimeter-level positioning of key nodes in building structures.

2. The BIM-based three-dimensional positioning and installation system for electromechanical pipelines in a factory, as described in claim 1, is characterized in that... The construction design module (500) includes: The construction scheme design unit (501) is used for integrated pipeline layout, determining pipeline routing, support and hanger positions and reserved hole parameters, and generating new electromechanical pipeline layout schemes. The construction drawing generation unit (502) is used to display the electromechanical pipeline layout scheme generated by the construction scheme design unit (501) in two-dimensional drawings; The construction pipeline prefabrication unit (503) is used to determine the material, specifications, dimensions, processing method and connection method of the pipe sections involved in the electromechanical pipeline layout scheme generated by the construction scheme design unit (501).

3. The BIM-based three-dimensional positioning and installation system for factory electromechanical pipelines according to claim 2, characterized in that, The construction management module (600) includes: The simulation construction unit (601) is used to simulate construction and verify the feasibility of the electromechanical pipeline layout scheme generated by the construction scheme design unit (501); The projection unit (602) is used to project image data from the actual construction process. Mobile control unit (603) is used for remote guidance during actual construction.

4. The BIM-based three-dimensional positioning and installation system for electromechanical pipelines in a factory, as described in claim 2, is characterized in that... The monitoring optimization module (700) includes: The monitoring unit (701) is used to monitor relevant data and construction conditions during the actual construction process. The optimization and adjustment unit (702) is used to optimize and adjust the electromechanical pipeline layout scheme generated by the construction scheme design unit (501).

5. A BIM-based three-dimensional positioning and installation system for electromechanical pipelines in a factory, as described in claim 1, is characterized in that... The acceptance and archiving module (800) includes an acceptance unit (801) for acceptance after construction is completed and a central database unit (802) for archiving construction data. The acceptance unit (801) is associated with the laser scanning unit (201) and the model building module (400). The central database unit (802) is associated with the central control terminal (100), the laser scanning unit (201), the UWB positioning unit (202), the total station unit (203), the data processing module (300), the model building module (400), the construction scheme design unit (501), the construction pipeline prefabrication unit (503), and the monitoring unit (701).

6. A construction method, based on the BIM-based three-dimensional positioning and installation system for factory electromechanical pipelines as described in claims 1-5, characterized in that, Includes the following steps: Step 1: Data acquisition. Through the cooperation of the laser scanning unit (201), UWB positioning unit (202) and total station unit (203), multi-technology fusion positioning is achieved to collect the building structure and three-dimensional coordinate information of the construction site and establish a three-dimensional reference coordinate system for the construction site. Step 2: Construct a building structure model, including models of walls, floors, ceilings, and existing mechanical and electrical pipelines, to provide accurate spatial references for the planning and layout of mechanical and electrical pipelines; Step 3: Develop a construction plan. Based on the construction site building structure model established in Step 2, develop a corresponding electromechanical pipeline layout plan through the construction plan design unit (501). Step 4: Simulate construction. The simulated construction unit (601) simulates construction according to the construction plan formulated in Step 3 to verify the feasibility of the electromechanical pipeline layout plan generated by the construction plan design unit (501). Step 5: Optimize the construction plan. Based on the simulated construction in Step 4, the construction plan formulated in Step 3 is optimized and adjusted through the monitoring unit (701) and the optimization and adjustment unit (702). Step Six: Construction and Acceptance. Based on the optimized construction plan in Step Five, construction work is carried out with the cooperation of the projection unit (602), the motion control unit (603), the monitoring unit (701), the laser scanning unit (201), the UWB positioning unit (202), and the total station unit (203). After the construction is completed, the acceptance unit (801) is used for acceptance, and the relevant data in the construction process are archived and saved in the central database unit (802).

Images