Electromechanical equipment intelligent installation guiding method based on UWB positioning and BIM

Abstract

The invention relates to the technical field of building construction, in particular to an electromechanical equipment intelligent installation guiding method based on UWB positioning and BIM, and the method comprises the steps: carrying out the early-stage preparation and system calibration; model processing and path planning; real-time installation guiding and deviation detection are carried out; data confirmation and data archiving; the problems that manual measurement errors are large, a large amount of construction is needed, managers carry out long-period hoisting operation, bolt hole alignment and other operations, deviation, errors and the like are likely to happen, and the operation quality and the service life are likely to be affected are solved.

Description

Technical Field

[0001] This invention relates to the field of building construction technology, specifically a method for guiding the intelligent installation of electromechanical equipment based on UWB positioning and BIM. Background Technology

[0002] As the construction industry continues to develop towards high-end, intelligent, and multifunctional projects, the number of large-scale construction projects is constantly increasing. The installation and commissioning of large-scale building electromechanical equipment is crucial to the overall quality of the building. The installation of large-scale electromechanical equipment is a complex, systematic, and technically demanding engineering activity that involves the collaborative work of multiple professional fields (mechanical, electrical, automation, civil engineering, HVAC, etc.). It is usually characterized by high risk, high investment, and long cycle. Its success or failure is directly related to the safe operation, service life, and overall project benefits of the equipment.

[0003] In existing technologies, the hoisting of large electromechanical equipment is usually carried out manually based on relevant construction drawings, on-site surveys, and samples provided by equipment suppliers, as well as the equipment's geometric dimensions, total quantity, and center of gravity. Safety red and white ropes are set up in the hoisting area, and the hoisting site is inspected manually to report the situation to the hoisting commander. The ground command is equipped with high-efficiency telescopes to monitor the equipment hoisting status, and the hoisting is carried out through a wireless walkie-talkie between the hoisting commander and the tower crane operator.

[0004] However, the applicant has found that the prior art has at least the following problems: Manual measurement requires construction workers to use handheld measuring tools. In addition, since the bottom of the equipment is usually irregularly shaped, this may lead to large measurement errors. Relying entirely on manual command for hoisting is prone to errors, large deviations, significant safety hazards, and long hoisting cycles. Deviations are also likely to occur in bolt hole alignment, foundation levelness, and axis accuracy. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide an intelligent installation guidance method for electromechanical equipment based on UWB positioning and BIM.

[0006] The technical solution adopted by this invention to solve its technical problem is: A method for intelligent installation guidance of electromechanical equipment based on UWB positioning and BIM, comprising: S1. Preliminary Preparations and System Calibration S1.1 Install UWB tags and IMU sensors at key locations on the electromechanical equipment to be installed. Key locations include the center of gravity, lifting points, and interface points. S1.2 In the area where electromechanical equipment is hoisted, install UWB base stations according to the optimized deployment plan that ensures no blind spots in positioning coverage; S1.3 Use a total station to measure the absolute coordinates of at least three known control points within the hoisting operation area, and align the coordinates of the UWB positioning system with the global coordinate system of the BIM model of the electromechanical equipment based on the absolute coordinates; S2, Model Processing and Path Planning S2.1 Extract the theoretical 3D model of the electromechanical equipment to be installed in the BIM environment, and determine the theoretical installation position and theoretical installation posture of the electromechanical equipment based on the theoretical 3D model; S2.2 In the BIM environment, based on the theoretical installation position and posture of the electromechanical equipment, simulate the theoretical path of hoisting the electromechanical equipment, perform collision detection analysis on the theoretical path, and plan a safe hoisting path without collision risk; S2.3. Lightweighting the BIM model, and then sending the lightweighted BIM model, safe hoisting path, theoretical installation position and attitude to the site positioning server. S3, Real-time Installation Guidance and Deviation Detection S3.1 Start the equipment hoisting operation, collect the spatial position and attitude data of the electromechanical equipment in real time through UWB tags and IMU sensors, and send the collected data to the on-site positioning server; S3.2 The on-site positioning server processes the received spatial position and attitude data through a multi-source data fusion algorithm based on Kalman filtering to obtain the current six-degree-of-freedom state of the electromechanical equipment. S3.3 The on-site positioning server compares the current six-degree-of-freedom state with the theoretical installation position and attitude in real time to obtain the position deviation and angle deviation; S3.4 The positional and angular deviations are displayed in real time as a color 3D model, deviation arrows, numerical visualizations, and voice prompts to the smart terminal of the on-site operator, thereby guiding the on-site operator to complete the hoisting of electromechanical equipment.

[0007] As a preferred embodiment, a further technical solution of the present invention is: Preferably, it also includes: S4, data verification and data archiving. S4.1 When the on-site positioning server determines that both the position deviation and the angle deviation are less than the preset tolerance threshold, it sends a positioning qualified prompt tone to the smart terminal. S4.2 The on-site operator completes the final fastening and installation of the equipment based on the qualified positioning prompt sound; S4.3 The on-site positioning server records the actual six degrees of freedom state of the electromechanical equipment after it is in place and installed, and binds the actual six degrees of freedom state with the electromechanical equipment to generate an electromechanical equipment installation acceptance report. S4.4 Export the actual six degrees of freedom state from the site positioning server and update the BIM model of the electromechanical equipment in the BIM environment so that the updated BIM model in the BIM environment is consistent with the actual six degrees of freedom state of the electromechanical equipment.

[0008] Preferred options also include: The identity and job information of on-site operators are bound to exclusive UWB tags. The work areas corresponding to the installation areas of each electromechanical equipment are divided in the BIM model, and the installation drawings, process flow, torque requirements and video tutorials required for each work area are associated. Once the on-site operator enters the hoisting operation area wearing a unique UWB tag, the system sends the installation drawings, process flow, torque requirements, and video tutorials associated with the hoisting operation area to the operator's smart terminal.

[0009] Preferably, the preset tolerance thresholds include a position deviation threshold of ±2mm and an angle deviation threshold of ±0.5°.

[0010] The present invention, which adopts the above technical solution, has the following prominent features compared with the prior art: This addresses the issues of large errors in manual measurement, the need for extensive construction and management personnel to perform long-term hoisting operations and bolt hole alignment, which can easily lead to deviations and errors, affecting work quality and service life. Attached Figure Description

[0011] Figure 1 This is a flowchart illustrating the intelligent installation guidance method for electromechanical equipment in an embodiment of the present invention. Detailed Implementation

[0012] The present invention will be further illustrated below with reference to specific embodiments. The purpose of this illustration is solely to provide a better understanding of the invention. Therefore, the examples given do not limit the scope of protection of the present invention.

[0013] like Figure 1 As shown in the figure, this embodiment presents a method for intelligent installation guidance of electromechanical equipment based on UWB positioning and BIM, including: S1. Preliminary Preparations and System Calibration S1.1 Install UWB tags and IMU sensors at key locations on the electromechanical equipment to be installed. Key locations include the center of gravity, lifting points, and interface points. S1.2 In the area where electromechanical equipment is hoisted, install UWB base stations according to the optimized deployment plan that ensures no blind spots in positioning coverage; S1.3 Use a total station to measure the absolute coordinates of at least three known control points within the hoisting operation area. Align the coordinates of the UWB positioning system with the global coordinate system of the mechanical and electrical equipment BIM model using the absolute coordinates as a reference. You can pre-embed four UWB reference labels (such as Qorvo's DWM3000) within the hoisting operation area, input the coordinates into the BIM model, and form a positioning coordinate system. S2, Model Processing and Path Planning S2.1 Extract the theoretical 3D model of the electromechanical equipment to be installed in the BIM environment, and determine the theoretical installation position and theoretical installation posture of the electromechanical equipment based on the theoretical 3D model; S2.2 In the BIM environment, based on the theoretical installation position and posture of the electromechanical equipment, simulate the theoretical path of hoisting the electromechanical equipment, perform collision detection analysis on the theoretical path, and plan a safe hoisting path without collision risk; S2.3. Lightweighting the BIM model, and then sending the lightweighted BIM model, safe hoisting path, theoretical installation position and attitude to the site positioning server. S3, Real-time Installation Guidance and Deviation Detection S3.1 Start the equipment hoisting operation, collect the spatial position and attitude data of the electromechanical equipment in real time through UWB tags and IMU sensors, and send the collected data to the on-site positioning server; S3.2 The on-site positioning server processes the received spatial position and attitude data through a multi-source data fusion algorithm based on Kalman filtering to obtain the current six-degree-of-freedom state of the electromechanical equipment. S3.3 The on-site positioning server compares the current six-degree-of-freedom state with the theoretical installation position and attitude in real time to obtain the position deviation and angle deviation; S3.4. Display the positional and angular deviations in a visual format, including a color 3D model, deviation arrows, numerical displays, and voice prompts, such as "Move forward 10 centimeters" or "Rotate counterclockwise 2 degrees," and push them to the on-site operator's smart terminal in real time to guide the on-site operator in completing the hoisting of electromechanical equipment.

[0014] S4. Data Verification and Data Archiving S4.1 When the on-site positioning server determines that both the position deviation and the angle deviation are less than the preset tolerance threshold, it sends a positioning qualified prompt tone to the smart terminal; the preset tolerance threshold includes a position deviation threshold of ±2mm and an angle deviation threshold of ±0.5°. S4.2 The on-site operator completes the final fastening and installation of the equipment based on the qualified positioning prompt sound; S4.3 The on-site positioning server records the actual six degrees of freedom state of the electromechanical equipment after it is in place and installed, and binds the actual six degrees of freedom state with the electromechanical equipment to generate an electromechanical equipment installation acceptance report. S4.4 Export the actual six degrees of freedom state from the site positioning server and update the BIM model of the electromechanical equipment in the BIM environment so that the updated BIM model in the BIM environment is consistent with the actual six degrees of freedom state of the electromechanical equipment.

[0015] Precise data during installation (such as final actual installation coordinates, equipment spacing, and elevation) is invaluable for operation and maintenance, but traditional methods struggle to record it. This invention addresses this issue by automatically recording the final actual coordinates of the electromechanical equipment's UWB positioning after installation, generating the installation elevation with a single click, and simultaneously updating the BIM model to create an "As-Built" model. This solves the industry-wide problem of discrepancies between the as-built BIM model and the actual site conditions, providing a highly accurate data foundation for subsequent electromechanical equipment operation and maintenance, replacement, and system expansion, thus achieving a data closed loop from construction to operation and maintenance.

[0016] During implementation, the identity information and job information of on-site operators are bound with exclusive UWB tags. The BIM model is divided into work areas corresponding to the installation areas of each electromechanical equipment, and the installation drawings, process flow, torque requirements and video tutorials required for each work area are associated with them. When a site operator enters the hoisting work area wearing a unique UWB tag, the system sends installation drawings, process flows, torque requirements, and video tutorials associated with that area to the operator's smart terminal. The system also links the operator's UWB location to the work area in the BIM model. When an engineer of a specific trade (such as an installer) enters the installation area of ​​a particular piece of equipment wearing a UWB tag, the system automatically pushes installation drawings, process flows, torque requirements, and video tutorials for that equipment to their smart terminal (such as a tablet / AR glasses). This reduces time spent reviewing drawings and communicating, achieves intelligent matching of information with physical location, ensures the accuracy of installation procedures, and improves work efficiency. This invention addresses the challenges of operating large equipment (such as chillers, large transformers, and boilers) requiring multiple cranes / hydraulic jacking devices in a coordinated manner. It involves installing UWB tags on key points such as the equipment body, hooks, and cables. During hoisting, the system reconstructs the equipment's spatial position in real-time within the BIM environment and performs collision detection with pipes, structural beams, and other adjacent equipment in the model, guiding adjustments to the hoisting plan's location and path. This mitigates the risks of blind hoisting and operation in complex spaces. The system can calculate the optimal path in real-time and issue audible and visual alarms to operators before a collision is imminent (even if imperceptible to the naked eye), significantly improving hoisting safety and efficiency. Furthermore, it addresses the issues of large errors in manual measurement, the need for numerous construction and management personnel for long-term hoisting operations and bolt hole alignment, which can lead to deviations and errors, affecting work quality and service life.

[0017] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of the invention. All equivalent changes made based on the description and drawings of the present invention are included within the scope of the present invention.

Claims

1. A method for intelligent installation guidance of electromechanical equipment based on UWB positioning and BIM, characterized in that, include: S1. Preliminary Preparations and System Calibration S1.1 Install UWB tags and IMU sensors at key locations on the electromechanical equipment to be installed. Key locations include the center of gravity, lifting points, and interface points. S1.2 In the area where electromechanical equipment is hoisted, install UWB base stations according to the optimized deployment plan that ensures no blind spots in positioning coverage; S1.3 Use a total station to measure the absolute coordinates of at least three known control points within the hoisting operation area, and align the coordinates of the UWB positioning system with the global coordinate system of the BIM model of the electromechanical equipment based on the absolute coordinates; S2, Model Processing and Path Planning S2.1 Extract the theoretical 3D model of the electromechanical equipment to be installed in the BIM environment, and determine the theoretical installation position and theoretical installation posture of the electromechanical equipment based on the theoretical 3D model; S2.2 In the BIM environment, based on the theoretical installation position and posture of the electromechanical equipment, simulate the theoretical path of hoisting the electromechanical equipment, perform collision detection analysis on the theoretical path, and plan a safe hoisting path without collision risk; S2.

3. Lightweighting the BIM model, and then sending the lightweighted BIM model, safe hoisting path, theoretical installation position and attitude to the site positioning server. S3, Real-time Installation Guidance and Deviation Detection S3.1 Start the equipment hoisting operation, collect the spatial position and attitude data of the electromechanical equipment in real time through UWB tags and IMU sensors, and send the collected data to the on-site positioning server; S3.2 The on-site positioning server processes the received spatial position and attitude data through a multi-source data fusion algorithm based on Kalman filtering to obtain the current six-degree-of-freedom state of the electromechanical equipment. S3.3 The on-site positioning server compares the current six-degree-of-freedom state with the theoretical installation position and attitude in real time to obtain the position deviation and angle deviation; S3.4 The positional and angular deviations are displayed in real time as a color 3D model, deviation arrows, numerical visualizations, and voice prompts to the smart terminal of the on-site operator, thereby guiding the on-site operator to complete the hoisting of electromechanical equipment.

2. The intelligent installation guidance method for electromechanical equipment based on UWB positioning and BIM according to claim 1, characterized in that, Also includes: S4. Data Verification and Data Archiving S4.1 When the on-site positioning server determines that both the position deviation and the angle deviation are less than the preset tolerance threshold, it sends a positioning qualified prompt tone to the smart terminal. S4.2 The on-site operator completes the final fastening and installation of the equipment based on the qualified positioning prompt sound; S4.3 The on-site positioning server records the actual six degrees of freedom state of the electromechanical equipment after it is in place and installed, and binds the actual six degrees of freedom state with the electromechanical equipment to generate an electromechanical equipment installation acceptance report. S4.4 Export the actual six degrees of freedom state from the site positioning server and update the BIM model of the electromechanical equipment in the BIM environment so that the updated BIM model in the BIM environment is consistent with the actual six degrees of freedom state of the electromechanical equipment.

3. The intelligent installation guidance method for electromechanical equipment based on UWB positioning and BIM according to claim 1, characterized in that, Also includes: The identity and job information of on-site operators are bound to exclusive UWB tags. The work areas corresponding to the installation areas of each electromechanical equipment are divided in the BIM model, and the installation drawings, process flow, torque requirements and video tutorials required for each work area are associated. Once the on-site operator enters the hoisting operation area wearing a unique UWB tag, the system sends the installation drawings, process flow, torque requirements, and video tutorials associated with the hoisting operation area to the operator's smart terminal.

4. The intelligent installation guidance method for electromechanical equipment based on UWB positioning and BIM according to claim 2, characterized in that, The preset tolerance thresholds include a position deviation threshold of ±2mm and an angle deviation threshold of ±0.5°.

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