Paying-off positioning method and device for pipeline installation based on BIM and AR

Abstract

The invention discloses a BIM (Building Information Modeling) and AR (Augmented Reality)-based pay-off positioning method and device for pipeline installation, and relates to the technical field of building construction. Through dynamic pay-off data updating, real-time environment analysis and a spatial positioning registration mechanism, the defects that traditional manual pay-off depends on drawings, measurement is time-consuming and is easily influenced by subjective factors are effectively overcome, the positioning deviation is reduced to the millimeter level, and the rework rate is greatly reduced; paying-off parameters and a real-time deviation monitoring function are automatically optimized, the adaptability under the condition of a complex construction site is ensured, and installation interruption caused by environmental changes is avoided; the seamless synchronization of the BIM model and actual data not only strengthens the traceability of the construction process, but also provides complete data support for subsequent project auditing and maintenance optimization, thereby comprehensively improving the reliability and overall efficiency of construction management.

Description

Technical Field

[0001] This invention relates to the field of building construction technology, and specifically to a layout and positioning method and device based on BIM and AR for pipeline installation. Background Technology

[0002] Building construction refers to the production activities during the implementation phase of an engineering project. It is the process of building various types of structures, or the process of turning the lines on design drawings into physical objects at designated locations. It includes foundation construction, main structure construction, roofing construction, and decoration construction. The site where construction work takes place is called the "construction site" or "building site." Building pipelines are common equipment in building construction. They refer to the transportation of gases, liquids, or fluids containing solid particles through pipes, valves, and other components, commonly found in water supply, drainage, heating, gas supply, and oil and gas transportation.

[0003] Existing intelligent layout and positioning methods and devices for building pipeline installation typically rely on traditional manual measuring tools, such as measuring tapes, laser rangefinders, or simple positioning equipment. These methods require significant manpower, are cumbersome, and inefficient. In complex building environments, existing technologies struggle to guarantee high accuracy in layout and positioning, are easily affected by site conditions, leading to significant deviations in pipeline installation positions and impacting subsequent construction quality. Furthermore, existing devices lack real-time integration with digital models, hindering dynamic adjustment and optimization. When handling large-scale pipeline installation tasks, they are time-consuming and prone to rework. Therefore, traditional methods have significant shortcomings in improving construction efficiency and reducing human error, necessitating the introduction of more intelligent technologies for improvement. To this end, we propose a BIM and AR-based layout and positioning method and device for pipeline installation. Summary of the Invention

[0004] The purpose of this invention is to provide a BIM-based and AR-based layout and positioning method and apparatus for pipeline installation in order to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention specifically adopts the following technical solution:

[0006] A BIM and AR-based layout and positioning method for pipe installation includes the following steps:

[0007] Step S1: Generate layout data for pipeline installation based on the BIM model, including pipeline direction, three-dimensional coordinate position, connection point information and spatial relationship with surrounding components. Combine historical construction deviation data and site environment information to predict possible deviations and intelligently compensate for virtual layout coordinates.

[0008] Step S2: Load the layout data using an AR device and collect real-time environmental information of the construction site, including the distribution of lighting, obstacles, and construction materials;

[0009] Step S3: Use spatial positioning technology to align the BIM model with the site environment, generate dynamic virtual layout marks, and automatically adjust the display effect of the marks according to changes in the site environment;

[0010] Step S4: Project the virtual markings in real time on the AR display interface to guide operators in accurately placing the pipes;

[0011] Step S5: Monitor the deviation between the installed pipe location and the BIM model in real time, and automatically optimize subsequent layout parameters based on feedback data;

[0012] Step S6: After installation, the BIM model is automatically updated to record actual construction data, achieving dynamic consistency between the virtual model and the actual construction.

[0013] Preferably, in step S1, generating layout data for pipeline installation based on the BIM model specifically includes using BIM software to extract the three-dimensional coordinates of the pipeline centerline, pipe diameter specifications, slope requirements, and spatial relationship with surrounding components. Based on the centerline discretization algorithm, spatial constraint detection algorithm, and slope optimization algorithm, the system automatically calculates and generates a sequence of layout reference points and precise coordinates of connection points that conform to the construction specifications.

[0014] Preferably, in step S3, spatial positioning technology is used to align the BIM model with the site environment. Specifically, this involves combining real-time positioning and mapping algorithms with pre-set site reference points. The AR device's built-in sensors are used to match the site point cloud data with the BIM model coordinate system in real time, achieving millimeter-level spatial registration accuracy. The real-time positioning and mapping algorithm includes:

[0015] Step S31: Point cloud acquisition and preprocessing: Collect point cloud data of the construction site through the depth camera of the AR device, and perform noise filtering and sparsification processing.

[0016] Step S32: Feature extraction: Extract geometric feature points from the site point cloud and BIM model, including pipe inflection points, component edges and reference point locations;

[0017] Step S33: Initial Registration: The Iterative Closest Point (ICP) algorithm is used to initially align the BIM model with the site point cloud;

[0018] Step S34: Error optimization: Combining on-site benchmark constraints, the BIM model coordinate system is updated iteratively through nonlinear least squares optimization to control the registration error to the millimeter level;

[0019] Step S35: Dynamic Update: During construction, new point cloud data is collected in real time to update and fine-tune the BIM model online, achieving continuous alignment between virtual and real data and accurate layout.

[0020] Preferably, in step S4, virtual layout marks are projected in real time on the AR display interface, including displaying the pipeline routing guide line, the three-dimensional outline of the pipe fitting installation position, and the direction indicator arrows of key connection points with high-brightness colors, and the projection angle and scaling ratio can be dynamically adjusted according to the operator's perspective.

[0021] By tracking the operator's head position and line of sight, the projection angle, scaling ratio, and perspective effect of the markers are adjusted in real time to ensure that the virtual markers match the actual construction environment. Based on the BIM model and on-site point cloud data, the spatial interference between the pipeline layout position and surrounding components is detected in real time. When potential collisions or illegal installation risks occur, the AR interface will automatically highlight warnings and provide adjustment suggestions.

[0022] The color, shape, and flashing frequency of virtual markers are dynamically changed according to different pipe diameters, slopes, or types of critical connection points to enhance operators' attention to key points and achieve more accurate and safer pipeline laying operations.

[0023] The location data of installed pipelines is overlaid on the virtual layout markers in real time, creating a dynamic visualization effect of construction, which makes it easier for operators to refer to the previous installation and adjust the subsequent layout strategy.

[0024] Preferably, in step S5, the real-time monitoring of installation position deviation is achieved by capturing the position of the installed pipe using the depth camera of the AR device and comparing it with the theoretical position in the BIM model in real time. When the deviation exceeds a preset threshold, an audio-visual warning is triggered and a deviation vector image is superimposed on the AR interface.

[0025] Preferably, in step S5, the automatic optimization of the layout parameters based on feedback data includes dynamically adjusting the coordinate compensation values ​​of subsequent layout points according to historical installation deviation data, updating the spatial coordinates of virtual layout marks in real time, and generating deviation correction logs that are synchronized to the cloud database.

[0026] The present invention also provides a wire laying and positioning device for implementing any of the above methods, comprising:

[0027] BIM data processing system, used to parse building information models and generate pipeline layout coordinate datasets;

[0028] The AR core processing system is integrated into the head-mounted display device, with a built-in environmental perception sensor group and spatial computing chip;

[0029] The alignment system uses multi-sensor fusion technology to achieve real-time spatial mapping between the BIM model and the physical environment.

[0030] The dynamic projection system precisely overlays virtual markings onto the operator's field of vision using optical waveguide lenses;

[0031] The deviation monitoring system uses computer vision algorithms to compare the spatial position of the actual installed components with the BIM model;

[0032] The parameter optimization controller automatically iterates the stakeout parameters and drives the model update interface based on the deviation analysis results.

[0033] Preferably, the BIM data processing system includes:

[0034] The model parsing unit is used to read building information model files and extract geometric and attribute data such as pipe centerline, pipe diameter, slope, connection points, and spatial relationship with surrounding components;

[0035] The coordinate generation unit is used to calculate the three-dimensional coordinates of the pipeline layout points based on analytical data using a centerline discretization algorithm and a spatial constraint detection algorithm, forming a layout coordinate dataset.

[0036] The data optimization unit is used to dynamically compensate and correct the layout coordinates based on historical installation deviation data, and output the corrected coordinate dataset to the AR core processing system.

[0037] Preferably, the AR core processing system includes:

[0038] The image rendering engine unit is used to project virtual layout marks in real time in the AR display interface, including pipe routing guide lines with highlighted colors, three-dimensional outlines of pipe fitting installation positions, and directional arrows indicating key connection points.

[0039] A depth vision sensor, integrated into a head-mounted display device, is used to capture the actual location of an installed pipe using a depth camera;

[0040] The data processing unit, with a built-in spatial computing chip, is used to perform real-time comparative analysis with the theoretical location in the BIM model. When the deviation exceeds a preset threshold, it triggers an audio-visual warning and displays a deviation vector map overlaid on the AR interface.

[0041] The feedback optimization unit is used to dynamically adjust the coordinate compensation values ​​of subsequent layout points based on historical installation deviation data, update the spatial coordinates of virtual layout marks in real time, and generate deviation correction logs that are synchronized to the cloud database.

[0042] Preferably, the dynamic projection system includes:

[0043] The laser projection unit is used to generate high-brightness virtual layout marks through optical waveguide lenses, including pipeline routing guide lines, three-dimensional outlines of pipe fitting installation positions, and direction indicator arrows.

[0044] The viewpoint adaptive unit is used to adjust the projection angle and scaling ratio in real time according to the operator's head movement to ensure that the markings accurately match the physical environment.

[0045] The feedback calibration interface is used to receive spatial mapping data from the alignment system and optimize the coordinate accuracy of the virtual markers.

[0046] The synchronization controller is used to interact with the projection data and the AR core processing system in real time to enable dynamic updates of the markers.

[0047] The beneficial effects of this invention are as follows:

[0048] 1. This invention effectively overcomes the shortcomings of traditional manual layout, which relies on drawings, is time-consuming to measure, and is easily affected by subjective factors, by using dynamic layout data updates, real-time environmental analysis, and spatial positioning registration mechanisms. It reduces positioning deviation to the millimeter level and significantly reduces rework rate.

[0049] 2. The automatic optimization of layout parameters and real-time deviation monitoring functions of this invention ensure adaptability under complex construction site conditions and avoid installation interruptions caused by environmental changes; while the seamless synchronization between the BIM model and actual data not only enhances the traceability of the construction process, but also provides complete data support for subsequent project auditing and maintenance optimization, thereby comprehensively improving the reliability and overall efficiency of construction management.

[0050] 3. This invention automatically scans the construction site using an environmental perception sensor group (such as a multispectral camera and an inertial measurement unit) to obtain real-time point cloud data and scene texture information. It then performs millisecond-level spatial registration with the BIM model using a spatial computing chip to ensure seamless matching between the virtual layout marks and the physical environment. Attached Figure Description

[0051] Figure 1 This is a flowchart of the positioning method of the present invention;

[0052] Figure 2 This is a flowchart of the real-time positioning and map building algorithm in this invention;

[0053] Figure 3 This is a schematic diagram of the positioning device of the present invention. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0055] Please see Figure 1-2 This invention provides a BIM and AR-based layout and positioning method for pipeline installation, comprising the following steps:

[0056] Step S1: Generate layout data for pipeline installation based on the BIM model, including pipeline direction, coordinate position, and connection point information. This data can be transmitted in real-time to the AR core processing system via a synchronous controller, enabling dynamic marking and updates. This allows construction personnel to visually view the pipeline direction, coordinate position, and connection point information on-site using AR devices, ensuring installation accuracy and efficiency. Simultaneously, the generated layout data is synchronized with the BIM model in real-time, supporting automatic adjustments to the layout plan to adapt to changes in the site environment, improving the level of intelligent construction, and thus enhancing installation accuracy and construction efficiency.

[0057] Step S2: Load the layout data through the AR device and collect the construction site environmental information in real time; by analyzing and comparing the real-time collected data, automatically identify the deviation between the actual site conditions and the preset layout data, and generate adjustment instructions; that is, the adjusted layout plan can be fed back to the AR device in real time to update the dynamic markers, assist construction personnel in accurately adjusting the pipeline installation position and avoid error accumulation; at the same time, the system can also record construction process data for subsequent BIM model optimization and construction quality traceability, further enhancing the reliability and adaptability of intelligent construction management.

[0058] The automatic identification of the deviation between the actual on-site conditions and the preset layout data is based on the following mathematical formula: In the formula, Let be the three-dimensional coordinate deviation value of the i-th pipeline feature point (such as inflection point or connection point). The actual 3D coordinates of this feature point collected by the AR device. The preset three-dimensional coordinates of this feature point in the BIM model;

[0059] The pipeline deviation angle θ is calculated using the vector dot product based on the following mathematical formula:

[0060] , ,

[0061] In the formula, This is the actual route vector of the pipeline as identified by AR. This refers to the preset orientation vector in the BIM model.

[0062] when Greater than the preset accuracy threshold or Greater than the deviation threshold When the deviation is detected, the AR system will display a red warning mark at the corresponding feature point or pipe section and automatically push deviation adjustment suggestions to the AR device interface of the construction personnel. At the same time, the deviation data will be synchronized to the BIM model in real time. The system will re-optimize the layout path based on the deviation distribution characteristics, generate new layout data and update the AR mark to ensure the accuracy and adaptability of subsequent installation operations.

[0063] Step S3: Use spatial positioning technology to align the BIM model with the actual site environment to generate dynamic virtual layout marks; this allows for real-time display of the precise correspondence between the virtual layout marks and the actual site location, assisting construction personnel in intuitively adjusting the pipe installation angle and height using AR devices, avoiding positioning deviations, and further improving installation efficiency and quality.

[0064] Among them, the spatial positioning technology used to align the BIM model with the actual site environment is based on the following formula:

[0065] In the formula, It is a 3×3 rotation matrix, representing the rotational relationship between the BIM model coordinate system and the field measurement coordinate system. The 3×1 translation vector reflects the positional offset of the origin of the two coordinate systems. ≥5 sets of corresponding coordinate data are collected from on-site spatial positioning markers (such as optical targets, RFID tags), and the least squares method is used for iterative solution to ensure that the average positional error after alignment is ≤±2mm. Based on this formula, the spatial coordinates of the virtual layout markers are updated in real time. When the AR device detects that the deviation between the actual on-site position and the virtual marker exceeds a preset threshold, the edge of the marker will flash to guide the construction personnel to fine-tune the installation parameters and ensure the accuracy of pipeline positioning.

[0066] Step S4: Project virtual layout marks in real time on the AR display interface to guide operators to accurately place pipes; that is, the real-time projected virtual marks can provide intuitive visual guidance to help operators quickly identify the pipe installation position and reduce manual measurement errors.

[0067] Step S5: Monitor the installation position deviation in real time and automatically optimize the layout parameters based on the feedback data; that is, it can ensure the accurate matching of the pipeline position with the preset layout data and reduce manual intervention.

[0068] The real-time monitoring of installation position deviation is based on the following formula: In the formula, This represents the installation position deviation of the i-th spatial positioning marker point, in mm. These are the actual coordinates of the i-th marker point in the field measurement coordinate system. The preset theoretical coordinates of the i-th marker point in the BIM model coordinate system. It is a 3×3 rotation matrix. The two vectors are 3×1 translation vectors, and they are coordinate system transformation parameters obtained in the previous solution using the least squares method. This represents Euclidean norm operations, used to calculate the spatial straight-line distance between two three-dimensional points. The system will statistically analyze the deviation values ​​of all collected marker points and calculate the average and maximum deviations.

[0069] Step S6: After installation is completed, the BIM model is automatically updated to record the actual construction data; that is, the actual construction data can be automatically integrated into the BIM model to achieve accurate synchronization between the model and the actual installation, which facilitates subsequent construction quality assessment, maintenance optimization and project audit, reduces human error and improves the overall construction management efficiency and reliability.

[0070] In this embodiment, preferably, the layout data for pipeline installation is generated based on the BIM model. Specifically, this includes using BIM software to extract the three-dimensional coordinates of the pipeline centerline, pipe diameter specifications, slope requirements, and spatial relationships with surrounding components. The system then automatically calculates and generates a sequence of layout reference points and precise coordinates of connection points that conform to construction specifications. Obtaining spatial relationships facilitates accurate collision detection and spatial avoidance, thereby preemptively avoiding potential conflicts with building structures, electromechanical equipment, etc., when generating the layout reference point sequence, ensuring the physical feasibility and construction safety of the pipeline installation path. Simultaneously, combined with pipe diameter specifications and slope requirements, the system can automatically calculate and optimize support positioning points and installation heights, generating detailed layout guidelines that conform to construction specifications and mechanical requirements.

[0071] In this embodiment, preferably, spatial positioning technology is used to align the BIM model with the site environment. Specifically, the SLAM (Simultaneous Localization and Mapping) algorithm is combined with pre-set site reference points, and the AR device's built-in sensors are used to match the site point cloud data with the BIM model coordinate system in real time, achieving spatial registration with millimeter-level accuracy.

[0072] The instantaneous localization and mapping algorithm includes:

[0073] Step S31: Point cloud acquisition and preprocessing: Collect point cloud data of the construction site through the depth camera of the AR device, and perform noise filtering and sparsification processing.

[0074] Step S32: Feature extraction: Extract geometric feature points from the site point cloud and BIM model, including pipe inflection points, component edges and reference point locations;

[0075] Step S33: Initial Registration: The Iterative Closest Point (ICP) algorithm is used to initially align the BIM model with the site point cloud;

[0076] Step S34: Error optimization: Combining on-site benchmark constraints, the BIM model coordinate system is updated iteratively through nonlinear least squares optimization to control the registration error to the millimeter level;

[0077] Step S35: Dynamic Update: During construction, new point cloud data is collected in real time to update and fine-tune the BIM model online, achieving continuous alignment between virtual and real data and accurate layout.

[0078] This enables precise projection and real-time updating of dynamic virtual layout marks. The AR device's built-in vision system overlays virtual marks onto the actual environment, assisting construction personnel in intuitively adjusting pipe installation angles and heights, avoiding positioning deviations caused by environmental interference. Simultaneously, the SLAM algorithm, combined with on-site benchmarks, continuously optimizes matching accuracy, maintaining millimeter-level error control even in complex construction scenarios, ensuring seamless alignment between virtual and physical elements. By analyzing the spatial relationship between point cloud data and the BIM model in real time, the system automatically detects and corrects potential conflict points, such as interference between pipes and building structures, thereby proactively mitigating construction risks. Furthermore, this spatial registration process supports multi-device collaboration, allowing multiple operators to share the same registration data and simultaneously perform pipe installation operations, further improving team collaboration efficiency and overall construction intelligence.

[0079] In this embodiment, preferably, step S4 involves real-time projection of virtual layout marks onto the AR display interface. This includes displaying a pipeline routing guide line, a three-dimensional outline of the fitting installation location, and directional arrows indicating key connection points in a highlighted color overlay. The projection angle and scaling ratio can be dynamically adjusted according to the operator's perspective. Marking the pipeline routing guide line, the three-dimensional outline of the fitting installation location, and the directional arrows indicating key connection points provides visual focus guidance, enabling operators to quickly identify key installation locations in complex construction site environments and avoiding directional confusion caused by traditional drawing interpretation. Specifically, the pipeline routing guide line uses dynamic flowing light effects to clearly indicate the pipeline extension path and turning direction; the three-dimensional outline of the fitting installation location is displayed in a semi-transparent highlighted color, accurately defining the fitting's size and orientation in three-dimensional space; and the directional arrows indicating key connection points rotate dynamically, intuitively indicating the precise angle requirements of flange connections or socket joints.

[0080] By tracking the operator's head position and line of sight, the projection angle, scaling ratio, and perspective effect of the markers are adjusted in real time to ensure that the virtual markers match the actual construction environment. Based on the BIM model and on-site point cloud data, the spatial interference between the pipeline layout position and surrounding components is detected in real time. When potential collisions or illegal installation risks occur, the AR interface will automatically highlight warnings and provide adjustment suggestions.

[0081] The color, shape, and flashing frequency of virtual markers are dynamically changed according to different pipe diameters, slopes, or types of critical connection points to enhance operators' attention to key points and achieve more accurate and safer pipeline laying operations.

[0082] The location data of installed pipelines is overlaid on the virtual layout markers in real time, creating a dynamic visualization effect of construction, which makes it easier for operators to refer to the previous installation and adjust the subsequent layout strategy.

[0083] In this embodiment, preferably, step S5 involves real-time monitoring of installation position deviation. Specifically, the actual position of the installed pipe is captured by the depth camera of the AR device and compared with the theoretical position in the BIM model in real time. When the deviation exceeds a preset threshold, an audible and visual warning is automatically triggered, and a deviation vector diagram is overlaid on the AR interface. This provides real-time guidance for deviation correction, assisting operators in accurately adjusting the pipe position, and automatically records deviation data to the construction log for subsequent quality traceability.

[0084] In this embodiment, preferably, step S5 involves automatically optimizing the layout parameters based on feedback data. This includes dynamically adjusting the coordinate compensation values ​​of subsequent layout points according to historical installation deviation data, updating the spatial coordinates of virtual layout marks in real time, and generating a deviation correction log that is synchronized to the cloud database. This effectively reduces the time spent on manual repetitive measurements and adjustments. Furthermore, this optimization mechanism can dynamically adjust the threshold range based on the construction tolerance rate, improving adaptability under complex working conditions while ensuring installation accuracy.

[0085] The above methods can effectively solve the key problems mentioned in the background technology, such as insufficient accuracy, low efficiency, susceptibility to environmental interference and accumulation of human error, and improve the accuracy of pipeline installation and the level of intelligent construction.

[0086] Specifically, by using dynamic layout data updates, real-time environmental analysis, and spatial positioning registration mechanisms, this method effectively overcomes the shortcomings of traditional manual layout, which relies on drawings, is time-consuming to measure, and is easily affected by subjective factors. It reduces positioning deviations to the millimeter level and significantly lowers rework rates. Simultaneously, automatic optimization of layout parameters and real-time deviation monitoring ensure adaptability to complex construction site conditions, avoiding installation interruptions due to environmental changes. Furthermore, the seamless synchronization between the BIM model and actual data not only enhances the traceability of the construction process but also provides complete data support for subsequent project audits and maintenance optimization, thereby comprehensively improving the reliability and overall efficiency of construction management. In addition, this method demonstrates excellent performance in multi-device collaborative operations, supporting multiple operators to share real-time data and collaboratively complete pipeline installation tasks, further shortening the construction period and reducing collaboration costs, ultimately achieving a unified high-precision, high-efficiency, and highly intelligent approach to building pipeline installation.

[0087] Please see Figure 3The present invention also provides an intelligent wire laying and positioning device for implementing the above method, comprising:

[0088] BIM data processing system, used to parse building information models and generate pipeline layout coordinate datasets;

[0089] The AR core processing system is integrated into the head-mounted display device, with a built-in environmental perception sensor group and spatial computing chip;

[0090] The alignment system uses multi-sensor fusion technology to achieve real-time spatial mapping between the BIM model and the physical environment.

[0091] The dynamic projection system precisely overlays virtual markings onto the operator's field of vision using optical waveguide lenses;

[0092] The deviation monitoring system uses computer vision algorithms to compare the spatial position of the actual installed components with the BIM model. Based on LiDAR, the system acquires three-dimensional spatial point cloud data of the installed pipes and achieves millimeter-level coordinate alignment with the BIM model through the built-in model registration engine unit. It calculates multi-dimensional parameters such as axial offset, angular deviation, and connection point displacement in real time, and generates a heat map on the AR interface to intuitively display the deviation distribution. It automatically marks warning signs for areas exceeding the tolerance, providing a quantitative basis for installation accuracy control.

[0093] The parameter optimization controller automatically iterates the layout parameters and drives the model update interface based on the deviation analysis results. Under the action of the parameter optimization controller, machine learning algorithms are used to analyze historical deviation patterns, generate a layout parameter compensation model, dynamically calculate coordinate correction coefficients through an adaptive compensator and push them to the AR terminal in real time, synchronously update the cloud BIM model version and generate a complete optimization log, forming a closed-loop control process of "monitoring-analysis-optimization-execution", continuously improving the accuracy and construction efficiency of pipeline installation.

[0094] In this embodiment, preferably, the BIM data processing system includes:

[0095] The model parsing unit is used to read building information model files and extract pipe geometry data and attribute information.

[0096] The coordinate generation unit is used to calculate the three-dimensional spatial coordinates of the pipeline layout points based on the extracted data and generate a coordinate dataset.

[0097] The data optimization unit is used to dynamically adjust coordinate parameters based on historical deviation feedback and output the results to the AR display system.

[0098] With the help of the BIM data processing system, the building information model file can be parsed efficiently, the geometric data and attribute information of the pipeline can be extracted, and the three-dimensional spatial coordinates of the pipeline layout points can be calculated based on these data to generate an accurate coordinate dataset. At the same time, the coordinate parameters are dynamically adjusted through the data optimization unit, and the output results are optimized based on historical deviation feedback to ensure the real-time accuracy and adaptability of the layout data, thereby providing reliable data support for the AR display system.

[0099] In this embodiment, preferably, the AR core processing system includes:

[0100] The image rendering engine unit is used to project virtual layout marks in real time in the AR display interface, including pipe routing guide lines with highlighted colors, three-dimensional outlines of pipe fitting installation positions, and directional arrows indicating key connection points.

[0101] A depth vision sensor, integrated into a head-mounted display device, is used to capture the actual location of an installed pipe using a depth camera;

[0102] The data processing unit, with a built-in spatial computing chip, is used to perform real-time comparative analysis with the theoretical location in the BIM model. When the deviation exceeds a preset threshold, it triggers an audio-visual warning and displays a deviation vector map overlaid on the AR interface.

[0103] The feedback optimization unit is used to dynamically adjust the coordinate compensation values ​​of subsequent layout points based on historical installation deviation data, update the spatial coordinates of virtual layout marks in real time, and generate deviation correction logs that are synchronized to the cloud database.

[0104] With the help of the AR core processing system, the system can project brightly colored pipe routing guide lines, 3D outlines of pipe fitting installation positions, and directional arrows into the operator's field of vision in real time. It can accurately capture the actual position data of the installed pipes and perform millisecond-level comparison and analysis with the theoretical positions of the BIM model through a spatial computing chip. When the deviation exceeds the preset threshold, it can automatically trigger an audio-visual warning and overlay a deviation vector map. At the same time, it can dynamically adjust the coordinate compensation values ​​of subsequent layout points based on historical installation deviation data, update the spatial coordinates of virtual markers in real time, and generate deviation correction logs that are synchronized to the cloud database, thereby ensuring the accuracy and efficiency of pipe installation.

[0105] In this embodiment, preferably, the dynamic projection system includes:

[0106] The laser projection unit is used to generate high-brightness virtual layout marks through optical waveguide lenses, including pipeline routing guide lines, three-dimensional outlines of pipe fitting installation positions, and direction indicator arrows.

[0107] The viewpoint adaptive unit is used to adjust the projection angle and scaling ratio in real time according to the operator's head movement to ensure that the markings accurately match the physical environment.

[0108] The feedback calibration interface is used to receive spatial mapping data from the alignment system and optimize the coordinate accuracy of the virtual markers.

[0109] The synchronization controller is used to interact with the projection data and the AR core processing system in real time to enable dynamic updates of the markers.

[0110] With the help of the dynamic projection system, the bright colored pipe routing guide lines, the three-dimensional outline of the pipe installation position, and the direction indicator arrows can be accurately projected into the operator's field of vision through the optical waveguide lens. The projection angle and scaling ratio are adjusted in real time according to the head movement to ensure that the virtual marks and the physical environment always maintain spatial matching. At the same time, the spatial mapping data of the alignment system is received through the feedback calibration interface to continuously optimize the projection coordinate accuracy. Then, through the synchronous controller and the AR core processing system, the dynamic update and position correction of the line markings are realized, thereby providing the operator with stable and accurate visual guidance.

[0111] Through the systematic cooperation of the above-mentioned units, key issues mentioned in the background technology, such as insufficient precision, low efficiency, susceptibility to environmental interference, and accumulation of human error, can be effectively solved. Construction precision can be improved to the millimeter level, manual labor can be reduced, and the entire life cycle management of the construction process can be realized through real-time data synchronization and closed-loop optimization mechanism. This ensures high-quality, low-cost, and short-cycle delivery of pipeline installation projects, and ultimately promotes the transformation and upgrading of the construction industry towards intelligence and digitalization.

[0112] Specifically, when the operator activates the head-mounted display device, the environmental perception sensor group (such as multispectral cameras and inertial measurement units) automatically scans the construction site, acquiring real-time point cloud data and scene texture information. This data is then spatially registered with the BIM model via a spatial computing chip at millisecond levels, ensuring seamless matching between virtual layout markings and the physical environment. The operator positions and installs the pipeline based on highlighted guide lines, 3D outlines, and directional arrows in the AR interface. The deviation monitoring system continuously collects LiDAR point clouds, uses a deep learning model to identify installation deviation patterns, generates heat maps in real time, and triggers an alert mechanism. The parameter optimization controller, based on an adaptive compensation algorithm trained on historical log data, dynamically adjusts subsequent layout coordinates, synchronously updates the cloud-based BIM model version, and generates an optimization report for construction management personnel to review. This closed-loop process effectively reduces human intervention, improves installation accuracy, shortens the construction cycle, and ensures efficient delivery and quality control of the pipeline project.

[0113] The working principle and usage process of this invention: When using this device, the operator first wears a head-mounted display device with an integrated AR core processing system. After the device is started, the BIM data processing system automatically loads and parses the preset building information model file to generate a pipeline layout coordinate dataset. At the same time, the environmental perception sensor group scans the physical environment in real time and achieves accurate mapping between the BIM model and the site space through multi-sensor fusion technology.

[0114] The dynamic projection system immediately overlays virtual layout marks (such as pipe routing guide lines, 3D outlines of pipe fitting installation locations, and direction indicator arrows) onto the operator's field of view, and dynamically adjusts the projection angle and scaling ratio based on the viewpoint adaptive unit to ensure that the marks are accurately matched with the physical environment.

[0115] During pipeline installation, the deviation monitoring system uses lidar to capture 3D point cloud data of the installed pipe fittings. It then compares the data with the BIM model at the millimeter level using the model registration engine unit, and calculates parameters such as axial offset, angular deviation, and connection point displacement in real time. If the deviation exceeds the threshold, the system automatically triggers an audible and visual warning and overlays a heat map and deviation vector map on the AR interface.

[0116] The parameter optimization controller analyzes historical deviation data based on machine learning algorithms, dynamically calculates coordinate correction coefficients, drives the adaptive compensator to update the layout parameters, pushes them synchronously to the AR terminal, revises the cloud BIM model version, and generates optimization logs.

[0117] The entire process forms a closed-loop control. Operators only need to follow AR guidance to complete the installation task. The system is continuously iterated and optimized to improve installation accuracy and construction efficiency.

[0118] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A layout and positioning method for pipeline installation based on BIM and AR, characterized in that, Includes the following steps: Step S1: Generate layout data for pipeline installation based on the BIM model, including pipeline direction, three-dimensional coordinate position, connection point information and spatial relationship with surrounding components. Combine historical construction deviation data and site environment information to predict possible deviations and intelligently compensate for virtual layout coordinates. Step S2: Load the layout data using an AR device and collect real-time environmental information of the construction site, including the distribution of lighting, obstacles, and construction materials; Step S3: Use spatial positioning technology to align the BIM model with the site environment, generate dynamic virtual layout marks, and automatically adjust the display effect of the marks according to changes in the site environment; Step S4: Project the virtual markings in real time on the AR display interface to guide operators in accurately placing the pipes; Step S5: Monitor the deviation between the installed pipe location and the BIM model in real time, and automatically optimize subsequent layout parameters based on feedback data; Step S6: After installation, the BIM model is automatically updated to record actual construction data, achieving dynamic consistency between the virtual model and the actual construction.

2. The method for laying out and positioning pipelines based on BIM and AR according to claim 1, characterized in that, In step S1, the layout data for pipeline installation is generated based on the BIM model. Specifically, this includes using BIM software to extract the three-dimensional coordinates of the pipeline centerline, pipe diameter specifications, slope requirements, and spatial relationship with surrounding components. Based on the centerline discretization algorithm, spatial constraint detection algorithm, and slope optimization algorithm, the layout reference point sequence and precise coordinates of connection points that conform to the construction specifications are automatically calculated and generated.

3. The method for laying out and positioning pipelines based on BIM and AR according to claim 1, characterized in that, In step S3, spatial positioning technology is used to align the BIM model with the site environment. Specifically, a real-time positioning and mapping algorithm is combined with pre-set site reference points. The AR device's built-in sensors match the site point cloud data with the BIM model coordinate system in real time, achieving millimeter-level spatial registration accuracy. The real-time positioning and mapping algorithm includes: Step S31: Point cloud acquisition and preprocessing: Collect point cloud data of the construction site through the depth camera of the AR device, and perform noise filtering and sparsification processing. Step S32: Feature extraction: Extract geometric feature points from the site point cloud and BIM model, including pipe inflection points, component edges and reference point locations; Step S33: Initial Registration: The Iterative Closest Point (ICP) algorithm is used to initially align the BIM model with the site point cloud; Step S34: Error optimization: Combining on-site benchmark constraints, the BIM model coordinate system is updated iteratively through nonlinear least squares optimization to control the registration error to the millimeter level; Step S35: Dynamic Update: During construction, new point cloud data is collected in real time to update and fine-tune the BIM model online, achieving continuous alignment between virtual and real data and accurate layout.

4. The method for laying out and positioning pipelines based on BIM and AR according to claim 1, characterized in that, In step S4, virtual layout marks are projected in real time on the AR display interface, including displaying the pipeline route guide line, the three-dimensional outline of the pipe fitting installation position and the direction indicator arrows of key connection points with bright colors, and the projection angle and scaling ratio can be dynamically adjusted according to the operator's perspective. By tracking the operator's head position and line of sight, the projection angle, scaling ratio, and perspective effect of the markers are adjusted in real time to ensure that the virtual markers match the actual construction environment. Based on the BIM model and on-site point cloud data, the spatial interference between the pipeline layout position and surrounding components is detected in real time. When potential collisions or illegal installation risks occur, the AR interface will automatically highlight warnings and provide adjustment suggestions. The color, shape, and flashing frequency of virtual markers are dynamically changed according to different pipe diameters, slopes, or types of critical connection points to enhance operators' attention to key points and achieve more accurate and safer pipeline laying operations. The location data of installed pipelines is overlaid on the virtual layout markers in real time, creating a dynamic visualization effect of construction, which makes it easier for operators to refer to the previous installation and adjust the subsequent layout strategy.

5. A method for laying out and positioning pipelines based on BIM and AR according to claim 1, characterized in that, In step S5, the installation position deviation is monitored in real time by capturing the position of the installed pipe with the depth camera of the AR device and comparing it with the theoretical position of the BIM model in real time. When the deviation exceeds the preset threshold, an audio-visual warning is triggered and a deviation vector image is superimposed on the AR interface.

6. A method for laying out and positioning pipelines based on BIM and AR according to claim 5, characterized in that, In step S5, the layout parameters are automatically optimized based on feedback data, including dynamically adjusting the coordinate compensation values ​​of subsequent layout points according to historical installation deviation data, updating the spatial coordinates of virtual layout marks in real time, and generating deviation correction logs that are synchronized to the cloud database.

7. A wire-laying and positioning device for implementing the method according to any one of claims 1-6, characterized in that, include: BIM data processing system, used to parse building information models and generate pipeline layout coordinate datasets; The AR core processing system is integrated into the head-mounted display device, with a built-in environmental perception sensor group and spatial computing chip; The alignment system uses multi-sensor fusion technology to achieve real-time spatial mapping between the BIM model and the physical environment. The dynamic projection system precisely overlays virtual markings onto the operator's field of vision using optical waveguide lenses; The deviation monitoring system uses computer vision algorithms to compare the spatial position of the actual installed components with the BIM model; The parameter optimization controller automatically iterates the stakeout parameters and drives the model update interface based on the deviation analysis results.

8. A BIM and AR-based layout and positioning device for pipeline installation according to claim 7, characterized in that, The BIM data processing system includes: The model parsing unit is used to read building information model files and extract geometric and attribute data such as pipe centerline, pipe diameter, slope, connection points, and spatial relationship with surrounding components; The coordinate generation unit is used to calculate the three-dimensional coordinates of the pipeline layout points based on analytical data using a centerline discretization algorithm and a spatial constraint detection algorithm, forming a layout coordinate dataset. The data optimization unit is used to dynamically compensate and correct the layout coordinates based on historical installation deviation data, and outputs the corrected coordinate dataset to the AR core processing system.

9. A BIM and AR-based layout and positioning device for pipeline installation according to claim 7, characterized in that, The AR core processing system includes: The image rendering engine unit is used to project virtual layout marks in real time in the AR display interface, including pipe routing guide lines with highlighted colors, three-dimensional outlines of pipe fitting installation positions, and directional arrows indicating key connection points. A depth vision sensor, integrated into a head-mounted display device, is used to capture the actual location of an installed pipe using a depth camera; The data processing unit, with a built-in spatial computing chip, is used to perform real-time comparative analysis with the theoretical location in the BIM model. When the deviation exceeds a preset threshold, it triggers an audio-visual warning and displays a deviation vector map overlaid on the AR interface. The feedback optimization unit is used to dynamically adjust the coordinate compensation values ​​of subsequent layout points based on historical installation deviation data, update the spatial coordinates of virtual layout marks in real time, and generate deviation correction logs that are synchronized to the cloud database.

10. A BIM and AR-based layout and positioning device for pipeline installation according to claim 7, characterized in that, The dynamic projection system includes: The laser projection unit is used to generate high-brightness virtual layout marks through optical waveguide lenses, including pipeline routing guide lines, three-dimensional outlines of pipe fitting installation positions, and direction indicator arrows. The viewpoint adaptive unit is used to adjust the projection angle and scaling ratio in real time according to the operator's head movement to ensure that the markings accurately match the physical environment. The feedback calibration interface is used to receive spatial mapping data from the alignment system and optimize the coordinate accuracy of the virtual markers. The synchronization controller is used to interact with the projection data and the AR core processing system in real time to enable dynamic updates of the markers.

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