Real-time pipeline identification spraying error correction system driven by BIM data

Abstract

The invention belongs to the technical field of pipeline engineering automation control, and particularly relates to a BIM data-driven real-time pipeline identification spraying error correction system. Firstly, a pre-compensation module builds a shrinkage coefficient database, receives BIM data and calculates a wet film pre-compensation size; secondly, constructing a three-dimensional model by the spatial relationship pre-judgment module, simulating visibility and outputting a shielding risk level; thirdly, the dynamic adjusting module adjusts the spraying position according to the risk grade difference, the low risk is not adjusted, the middle risk is circumferentially deviated, and the high risk is circumferentially and axially deviated, and the visibility is verified to reach the standard; and finally, the real-time error correction module collects data through multiple sensing devices, compares and judges errors, drives an execution mechanism to adjust, and feeds back a result to the BIM model. The problems of coating shrinkage and space shielding are accurately solved, construction errors are corrected in real time, a whole-process closed loop is formed, the identification precision and visibility are guaranteed, secondary repair is reduced, the cost is reduced, and the pipeline identification construction quality and the automation level are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of pipeline engineering automation control technology, specifically a... BIM A data-driven real-time pipeline marking and spraying error correction system. Background Technology

[0002] In the construction of industrial plants, building electromechanical installations, and municipal pipeline networks, pipeline systems are the core carriers for transporting fluids such as steam, water, gas, and chemical media. The clarity and accuracy of their markings are crucial for the efficiency of subsequent operation, maintenance, and safety management. Pipeline markings must clearly indicate key information such as the type of medium, flow direction, and pressure rating. Traditionally, marking is done manually by spraying or pasting labels. During the marking process, as the paint dries from a wet film state to a dry film state, it is affected by factors such as paint composition, pipe material, and ambient temperature and humidity, resulting in shrinkage and deformation, which may lead to differences between the actual marking size and the expected size. At the same time, there are often supports, adjacent pipes, insulation layers, and other components around the pipeline system, which may obstruct the markings and affect their visibility. Therefore, pipeline marking construction must consider both dimensional accuracy and spatial visibility requirements. However, current pipeline marking spraying technologies have significant shortcomings, making it difficult to meet the demands for high-precision and efficient construction: First, existing technologies determine spraying parameters solely based on the expected dry film size, leading to deviations from the design dimensions after spraying due to paint shrinkage, requiring secondary repairs and increasing construction costs and time. Second, existing technologies lack the ability to predict the surrounding environment of the pipeline, failing to identify potential obstructions from supports, adjacent pipelines, insulation layers, etc., often resulting in obstructions that obscure key information, affecting subsequent operation and maintenance. Third, the lack of real-time error correction methods during spraying means that dynamic issues such as mechanical vibration or nozzle misalignment cannot be addressed promptly by adjusting the spraying position, angle, or paint output, leading to deviations in label position, skewed angles, or inaccurate dimensions. Fourth, existing solutions lack a comprehensive process control logic; the initial size planning, mid-term space assessment, and subsequent construction adjustments are fragmented, failing to achieve continuous and precise control from parameter setting to final spraying, resulting in a need to improve overall construction quality and efficiency. Therefore, the present invention proposes a BIM A data-driven real-time pipeline marking and spraying error correction system. Summary of the Invention

[0003] In order to solve the technical problems mentioned in the background art, the object of the present invention is to provide a BIM A data-driven real-time pipeline marking and spraying error correction system.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A sort of BIM A data-driven real-time pipe marking and spraying error correction system includes: M1: Pre-compensation module, establishes a shrinkage coefficient database. BIM The initial label size parameters output by the model are pre-compensated to generate a pre-compensation parameter set; M2: Spatial Relationship Prediction Module. It establishes a spatial relationship model to simulate the visibility of markers, predicts whether there is a risk of occlusion, and outputs the occlusion risk prediction result. M3: Dynamic adjustment module, which dynamically adjusts the marking spray position based on the occlusion risk prediction result and generates the adjusted spray position parameters; M4: Real-time error correction module, which corrects the spraying error in real time during the spraying process by combining the adjusted spraying position parameters.

[0005] Furthermore, M101: The shrinkage coefficient database is used to establish shrinkage coefficient data for coatings from wet film to dry film under different pipe materials and environmental temperature and humidity conditions, with the pipe material denoted as... The ambient temperature during construction is recorded as The humidity of the construction environment is recorded as The type of coating is denoted as ; Subsequently, all the coating shrinkage rates obtained from the experiments were... according to The contraction coefficient database is formed by classifying and storing data according to four dimensions. ; M102: Connected via standardized data interface BIM The model communicates in real time, receiving two core types of data: initial identification size parameters and pipeline space data. The initial identification size parameter is denoted as ,for BIM The target dimensions for the dry film markers designed in the model include font height, font width, flow direction arrow length, and arrow angle; the pipeline space data is denoted as... This includes the corresponding pipe material, ambient temperature, ambient humidity, and paint type of the pipe to be coated; M103: Based on the pipeline space data, retrieve from the contraction coefficient database Match the corresponding coating shrinkage rate Then, based on the target size of the dry film in the initial marking size parameters, the pre-compensation size to be sprayed in the wet film state is calculated; Calculate the font height Font width and the length of the flow arrow The pre-compensation dimensions for the three types of linear dimensions are calculated using the following formula: in, To pre-compensate the wet film font height; To pre-compensate the wet film font width; The length of the arrow indicating the direction of wet film flow after pre-compensation; For database Medium dry film font height; For database Medium dry film font width; database Length of the arrow indicating the flow direction of the dry membrane; From The shrinkage rate of the matched coating; Regarding the arrow angle, the pre-compensated arrow angle remains consistent with the design value, denoted as... ; M104: Integrating the pre-compensation parameter set as ,and .

[0006] Furthermore, M201: The process for constructing the spatial relationship model is as follows: M2011: Firstly, through the aforementioned BIM The model outputs spatial occlusion analysis data, which includes the three-dimensional coordinates of the pipe to be coated. Pipe outer diameter 3D coordinates of pipe supports and pipe insulation layer thickness and the three-dimensional coordinates of adjacent pipes and pipe outer diameter ; M2012: Subsequently, the circumferential coverage angle marked on the pipe surface was calculated. Complete the space occupancy model for the identifier, the formula is: ;in, To pre-compensate the wet film font width; It is the arcsine function; M2013: Next, convert the adjacent pipes, supports, and insulation layers of the pipe to be sprayed into three-dimensional geometry for occlusion source space modeling, where adjacent pipes are... As axis, Construct a cylindrical model for the radius; the pipe support to be sprayed is... Construct a cuboid model for the vertices; the insulation layer for the pipe to be sprayed is based on the axis of the pipe to be sprayed. Build a cylindrical model for the radius.

[0007] Furthermore, M202: After constructing the spatial relationship model, conduct multi-view marker visibility simulation, the steps of which are as follows: M2021: First, calculate the total projected area of ​​the signage. Then, simulate the axial and oblique view scenes respectively, and calculate the area of ​​the visible region; Next, based on the visible area of ​​the axial projection plane and the total projected area of ​​the sign Obstruction area under axial viewing angle Based on the area of ​​the marker in the oblique projection region and the total projected area Calculate the occlusion area under the strabismus view. ; M2022: Calculate the percentage of occlusion area for both axial and oblique viewing angles; First, the percentage of occlusion area from the axial viewing angle. The calculation formula is: Secondly, the proportion of occlusion area under a squint view. The calculation formula is: ; M2023: Based on the proportion of the obstructed area, predict whether there is a risk of obstruction by adjacent pipes, supports, or insulation layers, and output the risk level. ; Simultaneously, the proportion of occlusion area under each viewpoint was evaluated, and the largest occlusion area proportion was selected. And determine the corresponding risk level. Combined with the coordinates of the occlusion source Output occlusion risk prediction results ,and .

[0008] Furthermore, M301: Determines the adjustment strategy based on the occlusion risk prediction results; The adjustment strategy corresponding to low risk is to perform no adjustment; the adjustment strategy corresponding to medium risk is to perform only circumferential offset operation; the adjustment strategy corresponding to high risk is to perform a combination of circumferential offset and axial offset operation simultaneously. M302: The adjustment amount is then calculated according to the aforementioned adjustment strategy; M3021: For the aforementioned medium risk, the circumferential offset angle is calculated. Circumferential angle after label adjustment .

[0009] Furthermore, M3022: For the aforementioned high-risk cases, axial adjustment is also required in addition to circumferential adjustment; M30221: The high-risk circumferential adjustment fully reuses the circumferential adjustment logic of the medium-risk scenario to obtain the circumferential offset angle. Circumferential angle after label adjustment ; M30222: For the aforementioned axial adjustment, it is first necessary to determine the axial range of the blocking source. ;in, Extreme values ​​of axis coordinates, the range of the support is [ ], The axial length of the support, the starting and ending angles of the shielding source provided by M2 in the circumferential direction of the pipe to be sprayed in the damaged area of ​​the insulation layer are denoted as . ; After determining the axial range of the occlusion source, calculate the initial circumferential range of the identifier. The formula is: in, To identify the total axial length, and ; Next, we choose the direction with the smaller offset to calculate the axial offset; the formula for calculating the positive offset is: Negative offset The calculation formula is: Final axial offset The calculation formula is: in, This is a sign function used to determine the offset direction. Then take The direction is positive; otherwise, take the opposite direction. The direction is negative; Next, it is necessary to verify whether the offset mark is within the effective spraying area of ​​the pipe to be sprayed. or Then adjust the offset direction, where and These correspond to the coordinates of the non-sprayed areas at both ends of the pipe to be sprayed; The final adjusted high-risk circumferential angle is the same as the medium-risk circumferential angle described above. The coordinates of the center point are ; Axial position ; Adjust the position parameters ( Reintegrate into the M2 spatial relationship model and recalculate the percentage of visible area of ​​the markers. ,like Output to M4; if If the dynamic adjustment of the M3 module is not executed, it will return and be re-executed until the visible area ratio reaches the preset requirement or the maximum number of adjustments is reached. If the maximum number of adjustments is exceeded and the requirement is still not met, an error message will be output. The maximum number of adjustments is set to 3 times.

[0010] Furthermore, the M401 collects spraying data through multiple sensors: a laser sensor collects the actual size of the wet film, a vision camera positions and marks the actual location and angle, and an inertial measurement unit... IMU Collect motion parameters of the actuator; M402: Compare the actual data with the adjusted spraying position parameters to determine the error type and drive the actuator to adjust accordingly: size error adjusts the paint output and nozzle speed, position error adjusts the robotic arm displacement, and angle error adjusts the nozzle rotation angle. M403: After correction, use the sensor to collect data again and compare it with the adjusted spraying position parameters. If the error is within the allowable range, stop the correction; if it still exceeds the range, repeat the correction. If the result is still unsatisfactory after three corrections, trigger a manual inspection prompt; feed back the final identification parameters to the... BIM Model.

[0011] Compared with the prior art, the advantages of the present invention are as follows: 1. This invention establishes a shrinkage coefficient database covering four dimensions: pipe material, ambient temperature and humidity, and coating type, through a pre-compensation module. This allows for precise matching of the coating shrinkage rate corresponding to the construction scenario. Furthermore, it calculates the wet film pre-compensation size based on the target dry film size. Compared to existing technologies that rely solely on dry film size for spraying and ignore coating shrinkage characteristics, this module can offset the shrinkage deformation of the coating from wet to dry film from the source, ensuring that the final marked size is highly consistent with the design value. This avoids secondary repair work caused by size deviations and significantly reduces construction costs and time consumption.

[0012] 2. This invention constructs a three-dimensional spatial relationship model through a spatial relationship prediction module, transforming adjacent pipes, supports, and insulation layers into cylindrical or cuboid geometric shapes. Combined with multi-view visibility simulation, it calculates the proportion of obstructed area and classifies risk levels. This design can identify obstruction sources and risk levels in advance before spraying, providing a basis for subsequent position adjustments. It effectively avoids the problem of "discovering obstruction after spraying" in traditional construction and ensures clear visibility of markings from an operation and maintenance perspective.

[0013] 3. The dynamic adjustment module of this invention formulates differentiated strategies based on the level of occlusion risk: no adjustment for low risk, only circumferential offset for medium risk, and combined circumferential and axial offset for high risk. By accurately calculating the offset angle and axial range, it ensures that the adjusted marking avoids the occlusion source and is located in the effective spraying area of ​​the pipeline. At the same time, the adjusted parameters are sent back to the spatial relationship model for secondary verification of visibility until the requirement of visible area ratio ≥80% is met. It is perfectly adapted to the spatial environment of complex pipeline networks such as industrial plants and municipal pipeline networks, and solves the problem of fixed marking position and easy obstruction by surrounding components in traditional construction.

[0014] 4. The real-time error correction module of this invention utilizes a laser sensor, a vision camera, and IMU The inertial measurement unit (IMU) uses multiple devices in collaboration to collect real-time data on wet film size, marker position angle, and actuator motion parameters. It compares these parameters with the adjusted spraying position parameters to determine three types of errors: size, position, and angle. The IMU then drives the actuator to make targeted adjustments; for example, adjusting paint output for size errors and adjusting robotic arm displacement for position errors. After correction, a second verification is performed. Three failures trigger a manual alert, and the final parameters are fed back. BIM The model forms a "pre-compensation - spatial prediction - dynamic adjustment - real-time correction" system. BIM The closed-loop feedback process ensures consistency between construction accuracy and digital model, significantly improving the quality and automation level of signage construction. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the system workflow of the present invention; Figure 2 This is a schematic diagram of the spatial relationship prediction module of the present invention; Figure 3 This is a flowchart illustrating the dynamic adjustment module of the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0018] To achieve the above objectives, the present invention provides a BIM data-driven real-time pipe marking and coating error correction system, such as... Figures 1 - 3 As shown, the system includes: M1: Pre-compensation module, establishes a shrinkage coefficient database. BIM The initial label size parameters output by the model are pre-compensated to generate a pre-compensation parameter set.

[0019] M101: The shrinkage coefficient database is used to establish shrinkage coefficient data of coatings from wet film to dry film under different pipe materials and environmental temperature and humidity. The pipe material is denoted as The ambient temperature during construction is recorded as The humidity of the construction environment is recorded as The type of coating is denoted as ; The pipe materials include carbon steel, stainless steel, and other materials commonly used in engineering projects. PVC Tube, PE Types of pipes include fiberglass pipes; the construction environment temperature range is −5℃ to 40℃, with each 5℃ increment representing a gradient to simulate temperature environments in different seasons and regions; the construction environment humidity range is 30% to 90%, with each 10% increment representing a gradient to simulate construction environments with different levels of humidity; the coating types include solvent-based coatings, water-based coatings, powder coatings, and more. The initial thickness of the wet film of the coating was recorded using a laser thickness gauge. With the thickness of the dry film after complete drying And calculate the coating shrinkage rate. The formula is: The laser thickness gauge must have an accuracy of ±0.05. mm within; Subsequently, all the coating shrinkage rates obtained from the experiments were... according to The contraction coefficient database is formed by classifying and storing data according to four dimensions. ; M102: The system communicates with... through a standardized data interface. BIM The model communicates in real time, receiving two core types of data: initial identification size parameters and pipeline space data. The initial identification size parameter is denoted as ,for BIM The target dimensions of the dry film markings designed in the model include font height, font width, flow arrow length, and arrow angle; The pipeline space data is denoted as This includes the corresponding pipe material, ambient temperature, ambient humidity, and paint type of the pipe to be coated, used to retrieve information from the database. Match the corresponding coating shrinkage rate ; M103: The system module, based on the pipe material, ambient temperature, ambient humidity, and coating type data in the pipeline network spatial data, retrieves information from the shrinkage coefficient database. Match the corresponding coating shrinkage rate Then, based on the target size of the dry film in the initial marking size parameters, the pre-compensation size to be sprayed in the wet film state is calculated; Regarding the font height Font width and the length of the flow arrow Three types of linear dimensions, according to "wet film size = dry film size / (1- The logical calculation of the pre-compensation size for " / 100") is as follows: in, To pre-compensate the wet film font height; To pre-compensate the wet film font width; The length of the arrow indicating the direction of wet film flow after pre-compensation; For database Medium dry film font height; For database Medium dry film font width; database Length of the arrow indicating the flow direction of the dry membrane; From The shrinkage rate of the matched coating; Regarding the arrow angle, since the angle is not affected by linear shrinkage, the pre-compensated arrow angle remains consistent with the design value, denoted as... ; M104: The pre-compensated wet film font height The pre-compensated wet film font width The length of the arrow pointing to the pre-compensated wet film flow direction. and the angle between the pre-compensated arrows Integrate into a pre-compensation parameter set ,and .

[0020] M2: Spatial Relationship Prediction Module. It establishes a spatial relationship model to simulate the visibility of the marker, predicts whether there is an occlusion risk, and outputs the occlusion risk prediction result.

[0021] M201: The process for constructing the spatial relationship model is as follows: M2011: Firstly, through the aforementioned BIM The model outputs spatial occlusion analysis data, which includes the three-dimensional coordinates of the pipe to be coated. Pipe outer diameter (unit: ) Pipe support three-dimensional coordinates and pipe insulation layer thickness and the three-dimensional coordinates of adjacent pipes and pipe outer diameter (unit: mm ); M2012: Subsequently, the circumferential coverage angle marked on the pipe surface was calculated. Complete the space occupancy model for the identifier, the formula is: in, It is an arcsine function, used to calculate the corresponding angle value based on the ratio between the pre-compensated font width and the diameter of the pipe to be sprayed; M2013: Next, convert the adjacent pipes, supports, and insulation layers of the pipe to be sprayed into three-dimensional geometry for occlusion source space modeling, where adjacent pipes are... As axis, Construct a cylindrical model for the radius; the pipe support to be sprayed is... Construct a cuboid model for the vertices; the insulation layer for the pipe to be sprayed is based on the axis of the pipe to be sprayed. Build a cylindrical model for the radius; M202: After constructing the spatial relationship model, conduct multi-view marker visibility simulation, the steps of which are as follows: M2021: First, calculate the total projected area of ​​the signage. The formula is: in, It is a tangent function used to calculate the tangent value of half the included angle of the wet film arrow after pre-compensation, and then participates in the calculation of the projected area of ​​the arrow part; Then, simulate the axial (0°–180° range) and oblique (30°–60° angle with the pipe axis) scenarios respectively, and calculate the area of ​​the visible region; The formula for calculating the visible area from the axial perspective is: in, The cosine function is used to calculate the cosine value of the angle between the axial observation direction and the radial direction of the pipe where the mark is located, so as to reflect the influence of the observation angle on the projected area. The angle between the axial observation direction and the radial direction of the pipe where the mark is located; The occlusion coefficient of the occlusion source from the axial viewing angle; The formula for calculating the visible area from a strabismus perspective is: in, It is a cosine function used to calculate the cosine value of the angle between the oblique observation direction and the radial direction of the pipe where the mark is located; The angle between the oblique observation direction and the radial direction of the pipe where the mark is located; Let be the occlusion coefficient of the occlusion source under the oblique viewing angle; In this embodiment, the occlusion coefficient and When there is no obstruction, the value is 1; when there is complete obstruction, the value is 0. Next, based on the visible area of ​​the axial projection plane and the total projected area Obstruction area under axial viewing angle The formula is: Based on the area of ​​the marker in the oblique projection region and the total projected area Calculate the occlusion area under the strabismus view. The formula is: ; M2022: Calculate the percentage of occlusion area for both axial and oblique viewing angles; First, the percentage of occlusion area from the axial viewing angle. The calculation formula is: Secondly, the proportion of occlusion area under a squint view. The calculation formula is: ; M2023: Based on the proportion of the obstructed area, predict whether there is a risk of obstruction by adjacent pipes, supports, or insulation layers: If The risk level is... Low risk; if The risk level is... Medium risk; if The risk level is... High risk; The proportion of occlusion area was evaluated from various viewpoints, and the proportion of the largest occlusion area was selected. And determine the corresponding risk level. At the same time, combined with the coordinates of the occlusion source Output occlusion risk prediction results ,and .

[0022] M3: Dynamic adjustment module, which dynamically adjusts the marking spray position based on the occlusion risk prediction result and generates the adjusted spray position parameters.

[0023] M301: First, determine the adjustment strategy based on the occlusion risk prediction results; The adjustment strategy corresponding to low risk is to perform no adjustment; the adjustment strategy corresponding to medium risk is to perform only circumferential offset operation; the adjustment strategy corresponding to high risk is to perform a combination of circumferential offset and axial offset operation simultaneously. M302: The adjustment amount is then calculated according to the aforementioned adjustment strategy; M3021: For the medium risk mentioned above, if the source of obstruction is the adjacent pipe, then it is necessary to first calculate the unit vector of the axis of the pipe to be sprayed. , ;in, , These correspond to the coordinates of the two ends of the pipe to be coated; The length of the pipe to be coated; Next, in order to obtain the distance of the obstruction source in the direction perpendicular to the axis of the pipe to be sprayed, and thus further analyze its circumferential influence range, it is necessary to calculate the radial distance from the obstruction source to the axis of the pipe to be sprayed. (unit: mm The formula is: ] in, The projected length of the source and the pipeline axis in the axial direction; Then based on the radial distance Calculate the half angle of the circumferential projection of the occlusion source To determine the angular range occupied by the occupant source in the circumferential direction, the formula is: in, The outer diameter of the adjacent pipe; Finally, calculate the center angle of the blocking source in the circumferential direction of the pipe to be coated. To determine the center position of the circumferential range of the occlusion source, the formula is: in, The projected length of the source and the pipeline axis in the axial direction; Combined with the circumferential projection half angle The final circumferential range of the occlusion source is obtained as follows: ,and ; If the source of the obstruction is a support frame or insulation layer, directly from Extract the starting and ending angles of the masking source along the circumference of the pipe to be sprayed, and denote them as follows: ; Subsequently, based on the pre-compensated wet film font width and the outer diameter of the pipe to be sprayed Calculate the half angle of the circumferential direction of the mark. To determine the angular range occupied by the marker itself in the circumference of the pipe to be coated, the formula is: ; and thus obtain the initial range ; If the initial range If the marker overlaps with the circumferential range of the occlusion source, the marker position needs to be adjusted in the direction with the smaller offset (clockwise or counterclockwise) to avoid the occlusion source. The counterclockwise offset needs to be calculated first, using the following formula: ,like Then, 360° needs to be added to ensure the angle is positive; next, calculate the clockwise offset using the formula: Similarly, if Then you need to add Ensure the angle is positive; finally, the final circumferential offset angle. Take the smaller value between the counterclockwise offset and the clockwise offset, that is ,like Then take Conversely, take ; Based on the circumferential offset angle Calculate the circumferential angle after the label adjustment The formula is ;like Then subtract ;like Then add To ensure the angle is Within the range; since medium risk only requires circumferential adjustment, the axial position remains consistent with the initial axial position of the marking, i.e. Then use trigonometric functions to calculate the coordinates of the center point. and (unit: mm To determine the circumferential position of the marker after adjustment, the formula is: ; M3022: For the aforementioned high-risk cases, axial adjustment is also required in addition to circumferential adjustment. The step-by-step calculation process is as follows: M30221: The high-risk circumferential adjustment fully reuses the circumferential adjustment logic of the medium-risk scenario to obtain the circumferential offset angle. Circumferential angle after label adjustment ; M30222: For the aforementioned axial adjustment, it is first necessary to determine the axial range of the blocking source, denoted as... ,and ,in, This indicates the minimum axial range of the blocking source within the pipe to be coated. Coordinate values; Indicates the maximum axial range of the blocking source in the pipe to be coated. Coordinate values; If the source of the obstruction is an adjacent pipe Take the adjacent pipe at Minimum coordinates in the axial direction, Take the maximum coordinates in the direction of the adjacent pipe; if the obstruction source is a support frame. , ;in, Center point of the stent coordinate, Let M2 be the length of the support along the axial direction of the pipe to be sprayed; if the source of obstruction is a damaged area of ​​the insulation layer, similar to the risks mentioned above, directly extract the starting and ending angles of the obstruction source along the circumference of the pipe to be sprayed from M2, and record them as follows. ; After clarifying the axial range of the occlusion source, in order to analyze the axial positional relationship between the marker and the occlusion source, it is necessary to calculate the initial circumferential range of the marker. The formula is: in, To identify the total axial length, and ; Next, calculate the axial offset by selecting the direction with the smaller offset; for the positive offset (along the positive direction of the axis of the pipe to be sprayed). The calculation formula is: ,like Then add the total axial length indicated by the label. For negative offset (in the negative direction along the axis of the pipe to be sprayed); The calculation formula is: ,like Then subtract the total axial length of the marker. ; Final axial offset The calculation formula is: in, This is a sign function used to determine the offset direction. Then take The direction is positive; otherwise, take the opposite direction. The direction is negative; Next, it is necessary to verify whether the offset mark is within the effective spraying area of ​​the pipe to be sprayed. or Then adjust the offset direction, where and These correspond to the coordinates of the non-sprayed areas at both ends of the pipe to be sprayed; The final adjusted high-risk circumferential angle is the same as the medium-risk circumferential angle described above. The coordinates of the center point are ; Axial position ; Adjust the position parameters ( Reintegrate into the M2 spatial relationship model and recalculate the percentage of visible area of ​​the markers. ,like Output to M4; if If the dynamic adjustment of the M3 module is not executed, it will return and be re-executed until the visible area ratio reaches the preset requirement or the maximum number of adjustments is reached. If the maximum number of adjustments is exceeded and the requirement is still not met, an error message will be output. The maximum number of adjustments is set to 3 times.

[0024] M4: Real-time error correction module, which corrects the spraying error in real time during the spraying process by combining the adjusted spraying position parameters.

[0025] M401: A multi-sensor device collects actual state data during the spraying process, providing a data source for error calculation. The collection process is as follows: First, the actual dimensions of the wet paint film being sprayed are acquired using a laser contour sensor, including font height, font width, and flow arrow length, ensuring that the data corresponds to the pre-compensated dimensions. Then, an industrial area array vision camera captures images of the sprayed area, locating the spatial position and circumferential angle of the actual center point, ensuring that the data corresponds to the adjusted center point coordinates and circumferential angle. Finally, an inertial measurement unit (IMU) integrated into the spraying actuator (such as the end effector of a robotic arm) acquires the real-time angular velocity and linear acceleration of the actuator, preventing misjudgments due to positional errors caused by slight vibrations of the mechanism. M402: The error is determined by directly comparing the collected actual data with the adjusted spraying position parameters. The process is as follows: Size error is determined by comparing the actual wet film size measured by the laser sensor with the pre-compensated size. If the actual size is larger or smaller than the pre-compensated size by more than 5%, then size error exists. Position error is determined by comparing the actual center point position measured by the vision camera with the adjusted center point coordinates. If the axial (along the pipe axis) deviation exceeds 2... mm Radial (perpendicular to pipe axis) deviation exceeds 1.5 mm. mm If so, then a positional error is determined to exist; Angle error is determined by comparing the actual circumferential angle measured by the visual camera with the adjusted circumferential angle. If the deviation exceeds ±2°, an angle error is identified. Based on the type of error, the actuator is directly driven to make corresponding adjustments, as follows: Correcting dimensional errors: If the actual size is too large, reduce the paint output of the spray nozzle or increase the nozzle moving speed; if the actual size is too small, increase the paint output or slow down the nozzle moving speed until the actual size matches the pre-compensated size. Correcting position error: If the actual center point deviates from the adjusted coordinates, drive the robotic arm with the nozzle to move in the opposite direction of the deviation until the actual center point coincides with the adjusted coordinates (for example, if the actual position is to the left, move it to the right). Correcting angle error: If the actual circumferential angle deviates from the adjusted angle, drive the nozzle to rotate around the pipe axis in the opposite direction of the deviation (for example, if the actual angle is clockwise, rotate counterclockwise) until the actual angle matches the adjusted angle. M403: After correction, collect data again using the sensor and compare it with the adjusted spraying position parameters. If the error is within the allowable range (dimensional deviation ≤ 5%, position deviation ≤ 2%), the error will be corrected. mm / 1.5 mm Stop correction if the angle deviation is within ±2°; if it still exceeds the range, repeat the correction. If it still does not meet the standard after 3 corrections, prompt for manual inspection. Finally, the actual data, error conditions, and adjustment actions during the correction process will be briefly recorded, and the final compliant labeling parameters will be fed back to [the relevant authority / organization]. BIM The model is used to ensure that the model matches the actual spraying results.

[0026] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0027] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A kind BIM A data-driven real-time pipeline marking and spraying error correction system, characterized in that, include: M1: Pre-compensation module, establishes a shrinkage coefficient database. BIM The initial label size parameters output by the model are pre-compensated to generate a pre-compensation parameter set; M2: Spatial Relationship Prediction Module. It establishes a spatial relationship model to simulate the visibility of markers, predicts whether there is a risk of occlusion, and outputs the occlusion risk prediction result. M3: Dynamic adjustment module, which dynamically adjusts the marking spray position based on the occlusion risk prediction result and generates the adjusted spray position parameters; M4: Real-time error correction module, which corrects the spraying error in real time during the spraying process by combining the adjusted spraying position parameters.

2. The one according to claim 1 BIM A data-driven real-time pipeline marking and spraying error correction system, characterized in that, M101: The shrinkage coefficient database is used to establish shrinkage coefficient data for coatings from wet film to dry film under different pipe materials and environmental temperature and humidity conditions. The pipe material is denoted as... The ambient temperature during construction is recorded as The humidity of the construction environment is recorded as The type of coating is denoted as ; Subsequently, all the coating shrinkage rates obtained from the experiments were... according to The contraction coefficient database is formed by classifying and storing data according to four dimensions. ; M102: Connected via standardized data interface BIM The model communicates in real time, receiving two core types of data: initial identification size parameters and pipeline space data. The initial identification size parameter is denoted as ,for BIM The target dimensions for the dry film markers designed in the model include font height, font width, flow direction arrow length, and arrow angle; the pipeline space data is denoted as... This includes the corresponding pipe material, ambient temperature, ambient humidity, and paint type of the pipe to be coated; M103: Based on the pipeline space data, retrieve from the contraction coefficient database Match the corresponding coating shrinkage rate Then, based on the target size of the dry film in the initial marking size parameters, the pre-compensation size to be sprayed in the wet film state is calculated; Calculate the font height Font width and the length of the flow arrow The pre-compensation dimensions for the three types of linear dimensions are calculated using the following formula: in, To pre-compensate the wet film font height; To pre-compensate the wet film font width; The length of the arrow indicating the direction of wet film flow after pre-compensation; For database Medium dry film font height; For database Medium dry film font width; database Length of the arrow indicating the flow direction of the dry membrane; From The shrinkage rate of the matched coating; Regarding the arrow angle, the pre-compensated arrow angle remains consistent with the design value, denoted as... ; M104: Integrating the pre-compensation parameter set as ,and .

3. The one according to claim 1 BIM A data-driven real-time pipeline marking and spraying error correction system, characterized in that, M201: The process for constructing the spatial relationship model is as follows: M2011: Firstly, through the aforementioned BIM The model outputs spatial occlusion analysis data, which includes the three-dimensional coordinates of the pipe to be coated. Pipe outer diameter 3D coordinates of pipe supports and pipe insulation layer thickness and the three-dimensional coordinates of adjacent pipes and pipe outer diameter ; M2012: Subsequently, the circumferential coverage angle marked on the pipe surface was calculated. Complete the space occupancy model for the identifier, the formula is: ;in, To pre-compensate the wet film font width; It is the arcsine function; M2013: Next, convert the adjacent pipes, supports, and insulation layers of the pipe to be sprayed into three-dimensional geometry for occlusion source space modeling, where adjacent pipes are... As axis, Construct a cylindrical model for the radius; the pipe support to be sprayed is... Construct a cuboid model for the vertices; the insulation layer for the pipe to be sprayed is based on the axis of the pipe to be sprayed. Build a cylindrical model for the radius.

4. The one according to claim 3 BIM A data-driven real-time pipeline marking and spraying error correction system, characterized in that, M202: After constructing the spatial relationship model, conduct multi-view marker visibility simulation, the steps of which are as follows: M2021: First, calculate the total projected area of ​​the signage. Then, simulate the axial and oblique view scenes respectively, and calculate the area of ​​the visible region; Next, based on the visible area of ​​the axial projection plane and the total projected area of ​​the sign Obstruction area under axial viewing angle Based on the area of ​​the marker in the oblique projection region and the total projected area Calculate the occlusion area under the strabismus view. ; M2022: Calculate the percentage of occlusion area for both axial and oblique viewing angles; First, the percentage of occlusion area from the axial viewing angle. The calculation formula is: Secondly, the proportion of occlusion area under a squint view. The calculation formula is: ； M2023: Based on the proportion of the obstructed area, predict whether there is a risk of obstruction by adjacent pipes, supports, or insulation layers, and output the risk level. ; Simultaneously, the proportion of occlusion area under each viewpoint was evaluated, and the largest occlusion area proportion was selected. And determine the corresponding risk level. Combined with the coordinates of the occlusion source Output occlusion risk prediction results ,and .

5. The method according to claim 1 BIM A data-driven real-time pipeline marking and spraying error correction system, characterized in that, M301: Determine the adjustment strategy based on the occlusion risk prediction results; The adjustment strategy corresponding to low risk is to perform no adjustment; the adjustment strategy corresponding to medium risk is to perform only circumferential offset operation; the adjustment strategy corresponding to high risk is to perform a combination of circumferential offset and axial offset operation simultaneously. M302: The adjustment amount is then calculated according to the aforementioned adjustment strategy; M3021: For the aforementioned medium risk, the circumferential offset angle is calculated. Circumferential angle after label adjustment .

6. The method according to claim 5 BIM A data-driven real-time pipeline marking and spraying error correction system, characterized in that, M3022: For the aforementioned high-risk cases, axial adjustment is also required in addition to circumferential adjustment; M30221: The high-risk circumferential adjustment fully reuses the circumferential adjustment logic of the medium-risk scenario to obtain the circumferential offset angle. Circumferential angle after label adjustment ; M30222: For the aforementioned axial adjustment, it is first necessary to determine the axial range of the blocking source. ;in, Extreme values ​​of axis coordinates, the range of the support is [ ], The axial length of the support, the starting and ending angles of the shielding source provided by M2 in the circumferential direction of the pipe to be sprayed in the damaged area of ​​the insulation layer are denoted as . ; After determining the axial range of the occlusion source, calculate the initial circumferential range of the identifier. The formula is: in, To identify the total axial length, and ; Next, we choose the direction with the smaller offset to calculate the axial offset; the formula for calculating the positive offset is: Negative offset The calculation formula is: Final axial offset The calculation formula is: in, This is a sign function used to determine the offset direction. Then take The direction is positive; otherwise, take the opposite direction. The direction is negative; Next, it is necessary to verify whether the offset mark is within the effective spraying area of ​​the pipe to be sprayed. or Then adjust the offset direction, where and These correspond to the coordinates of the non-sprayed areas at both ends of the pipe to be sprayed; The final adjusted high-risk circumferential angle is the same as the medium-risk circumferential angle described above. The coordinates of the center point are ; Axial position ; Adjust the position parameters ( Reintegrate into the M2 spatial relationship model and recalculate the percentage of visible area of ​​the markers. ,like Output to M4; if If the dynamic adjustment of the M3 module is not executed, it will return and be re-executed until the visible area ratio reaches the preset requirement or the maximum number of adjustments is reached. If the maximum number of adjustments is exceeded and the requirement is still not met, an error message will be output. The maximum number of adjustments is set to 3 times.

7. The one according to claim 1 BIM A data-driven real-time pipeline marking and spraying error correction system, characterized in that, M401: Collects spraying data through multiple sensors: a laser sensor collects the actual size of the wet film, a vision camera positions and marks the actual position and angle, and an inertial measurement unit... IMU Collect motion parameters of the actuator; M402: Compare the actual data with the adjusted spraying position parameters to determine the error type and drive the actuator to adjust accordingly: size error adjusts the paint output and nozzle speed, position error adjusts the robotic arm displacement, and angle error adjusts the nozzle rotation angle. M403: After correction, use the sensor to collect data again and compare it with the adjusted spraying position parameters. If the error is within the allowable range, stop the correction; if it is still out of range, repeat the correction. If the correction is repeated 3 times and still does not meet the standard, trigger a manual inspection prompt. The final identification parameters are fed back to the [system / entity]. BIM Model.

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