Municipal pipeline conflict detection and intelligent avoidance method and system based on Internet of Things

Abstract

The invention relates to the technical field of intelligent municipal construction, in particular to a municipal pipeline conflict detection and intelligent avoidance method and system based on the Internet of Things, and the method comprises the steps: obtaining initial pipeline information based on a pipeline construction scheme, and obtaining peripheral pipeline coordinates and peripheral pipeline types based on an initial pipeline position and an Internet of Things detection unit; the method comprises the steps of obtaining an initial extension direction based on a tail pipeline position, carrying out visualization processing on a conflict solution based on a visualization generation unit and a pipeline model, obtaining an optimal extension direction based on an updated construction path, carrying out pipeline laying based on the optimal extension direction and initial pipeline information, and obtaining an optimal pipeline path based on avoidance pipeline information. And obtaining an updated pipeline model based on the optimal pipeline path and a visualization generation unit. According to the invention, the accuracy of municipal pipeline conflict detection and the efficiency of intelligent avoidance can be improved.

Description

Technical Field

[0001] This invention relates to the field of smart municipal construction technology, and in particular to a method and system for detecting and intelligently avoiding conflicts in municipal pipelines based on the Internet of Things. Background Technology

[0002] In modern municipal engineering construction, underground pipeline networks are becoming increasingly complex, posing significant challenges to construction. To avoid damage to existing pipelines during construction, intelligent conflict detection and avoidance technologies have emerged. These technologies aim to dynamically perceive the spatial location of pipelines and provide early warnings of conflicts by collecting underground environmental data in real time and combining it with pipeline design models, thereby guiding construction to avoid such situations.

[0003] However, existing collision detection methods are often limited to simple geometric collision analysis, failing to deeply integrate pipeline type, operational load, and other factors, resulting in high false alarm rates or missed alarms. After a collision is detected, the generation of avoidance schemes relies heavily on human experience, lacking automated decision-making capabilities based on explicit rules and optimization algorithms, making it difficult to quickly generate scientific and economical optimal avoidance paths. Therefore, there is an urgent need to build a closed-loop intelligent avoidance system that integrates real-time perception, intelligent early warning, autonomous decision-making, and continuous evolution. Summary of the Invention

[0004] This invention provides a method and system for conflict detection and intelligent avoidance of municipal pipelines based on the Internet of Things, the main purpose of which is to improve the accuracy of conflict detection and the efficiency of intelligent avoidance of municipal pipelines.

[0005] To achieve the above objectives, the present invention provides a method for conflict detection and intelligent avoidance of municipal pipelines based on the Internet of Things, comprising: Obtain a pipeline intelligent avoidance command, and confirm the pipeline intelligent avoidance environment based on the pipeline intelligent avoidance command. The pipeline intelligent avoidance environment includes a pipeline intelligent avoidance system and a pipeline model. The pipeline intelligent avoidance system includes an Internet of Things detection unit, a conflict early warning unit, a conflict analysis unit, and a visualization generation unit. Obtain a pipeline construction plan for pipeline construction, and obtain initial pipeline information based on the pipeline construction plan. The initial pipeline information includes the initial pipeline location and initial pipeline type. Obtain the coordinates and types of surrounding pipelines based on the initial pipeline location and the Internet of Things detection unit. The location of the end pipe is obtained based on the pipeline construction plan, and the initial extension direction is obtained based on the location of the end pipe. Based on the conflict warning unit, initial pipeline information, initial extension direction and surrounding pipeline coordinates, conflict prediction is performed to obtain conflict results, which include pipeline conflict and pipeline non-conflict. If the conflict result is a pipeline conflict, a conflict solution is obtained based on the conflict analysis unit, the surrounding pipeline types, and the preset pipeline conflict rules. The conflict solution is then visualized based on the visualization generation unit and the pipeline model to obtain an updated construction path. The optimal extension direction is obtained based on the updated construction path, and the pipeline is laid based on the optimal extension direction and the initial pipeline information to obtain pipeline avoidance information. The optimal pipeline path is obtained based on the pipeline avoidance information. An updated pipeline model is obtained based on the optimal pipeline path and the visualization generation unit. The municipal pipeline conflict detection and intelligent avoidance are realized based on the optimal pipeline path and the updated pipeline model.

[0006] Optionally, obtaining the coordinates and types of surrounding pipelines based on the initial pipeline location and the IoT detection unit includes: Obtain the pipeline detection distance, and based on the pipeline detection distance and the initial pipeline position, obtain the pipeline detection range; Based on the pipeline detection range and the IoT detection unit, the surrounding pipelines are detected at the initial pipeline position to obtain a set of surrounding pipelines and a set of pipeline distances. The set of surrounding pipelines includes j surrounding pipelines. A spatial rectangular coordinate system is established based on the initial pipeline position, wherein the origin of the spatial rectangular coordinate system is the initial pipeline position. The coordinates of the surrounding pipelines are determined in the spatial rectangular coordinate system using the set of surrounding pipelines and the set of pipeline distances. The coordinates of the surrounding pipes are mapped in the pipe model according to a preset mapping ratio to obtain the coordinates of the surrounding pipes in the model. Based on the coordinates of the surrounding pipes in the model, the pipe type is confirmed in the pipe model to obtain the surrounding pipe type.

[0007] Optionally, obtaining the initial extension direction based on the position of the end pipe includes: The spatial coordinates of the end pipe are obtained based on the aforementioned spatial rectangular coordinate system and the position of the end pipe. Using the spatial coordinates of the end pipe, the origin of the spatial coordinates, and the spatial rectangular coordinate system, parametric equations are established to obtain the pipe extension parametric equations; The initial direction vector is obtained using the pipeline extension parametric equation, and the direction of the initial direction vector is confirmed as the initial extension direction.

[0008] Optionally, the conflict prediction based on the conflict early warning unit, initial pipeline information, initial extension direction, and coordinates of surrounding pipelines, to obtain the conflict result, includes: Obtain the pipe length for pipe extension, and extend the pipe within the pipe detection range and in the initial extension direction based on the pipe length and initial pipe information to obtain a secondary extension pipe set, wherein the secondary extension pipe set includes i secondary extension pipes. Based on the secondary extended pipeline set, the surrounding pipeline set, the coordinates of the surrounding pipelines and the spatial rectangular coordinate system, the minimum spatial distance set and the direction angle set are obtained, wherein the minimum spatial distance set includes i·j minimum spatial distances and the direction angle set includes i·j direction angles. The compatibility coefficients of the surrounding pipe types and the initial pipe type are queried in a preset compatibility database to obtain a set of compatibility coefficients, wherein the set of compatibility coefficients includes i·j compatibility coefficients. Based on the aforementioned conflict warning unit, minimum spatial distance set, orientation angle set, and compatibility coefficient set, conflict probability is calculated to obtain a conflict probability set, wherein the conflict probability set includes i·j conflict probabilities, and the calculation formula for the conflict probability is as follows:

[0009] in, Indicates the probability of conflict. Indicates pipe assembly markings, Indicates the minimum spatial distance. Indicates the angle of approach. Indicates the compatibility factor. , and Indicates the weighting coefficient. It is a tiny positive number; If the conflict probability set is compared with a preset conflict probability threshold, and there is a conflict probability in the conflict probability set that is greater than the conflict probability threshold, then the conflict result is confirmed as a pipeline conflict.

[0010] Optionally, obtaining the minimum spatial distance set and the direction angle set based on the secondary extended pipe set, the surrounding pipe set, the coordinates of the surrounding pipes, and the spatial rectangular coordinate system includes: Based on the set of secondary extension pipes and the set of surrounding pipes, a pipe combination set is obtained by matching and combining them. The pipe combination set includes i·j combined pipes, and each combined pipe includes one secondary extension pipe and one surrounding pipe. The following operation is performed on each combined pipe in the pipe combination set: The starting coordinates and ending coordinates of the secondary extension pipe are obtained based on the spatial rectangular coordinate system. The starting coordinates and ending coordinates of the surrounding pipes are obtained based on the coordinates of the surrounding pipes and the spatial rectangular coordinate system. The minimum spatial distance is calculated based on the starting coordinates of the secondary extension pipe, the ending coordinates of the secondary extension pipe, the starting coordinates of the surrounding pipes, and the ending coordinates of the surrounding pipes. Based on the starting coordinates of the secondary extension pipe, the ending coordinates of the secondary extension pipe, and the starting coordinates and ending coordinates of the surrounding pipes, the direction vectors of the secondary extension pipe and the surrounding pipes are obtained. The directional angle is then calculated using the direction vectors of the secondary extension pipe and the surrounding pipes, as shown in the following formula:

[0011] in, Indicates the angle of approach. This represents the direction vector of the secondary extension pipe. Indicates the direction vector of the surrounding pipes; By summing up the minimum spatial distance and the directional angle, we obtain the minimum spatial distance set and the directional angle set.

[0012] Optionally, obtaining a conflict solution based on the conflict analysis unit, surrounding pipeline types, and preset pipeline conflict rules includes: Based on the conflict probability set and the surrounding pipe set, the pipes that are in conflict are identified to obtain a conflict pipe set, wherein the conflict pipe set includes one or more conflict pipes. Perform the following operations on each conflicting pipe in the conflicting pipe set: Based on the matching and confirmation of the conflicting pipes and surrounding pipe types, the conflicting pipe types are obtained; Three-dimensional collision localization is performed based on the spatial rectangular coordinate system and the conflict pipeline to obtain the conflict point; the conflict analysis unit is used to perform conflict analysis on the conflict point to obtain the conflict type, wherein the conflict type includes parallel proximity conflict and spatial intersection conflict. If the conflict type is a spatial intersection conflict, the conflicting pipeline type, the initial pipeline type, and the pipeline conflict rules are compared and analyzed to obtain the main pipeline to be avoided. Based on the main pipeline to be avoided, a local path fine-tuning is performed to obtain a local fine-tuning path. If the conflict type is a parallel proximity conflict, the conflicting pipe type, the initial pipe type and the pipe conflict rules are compared and analyzed to obtain the main pipe to be avoided. Based on the main pipe to be avoided and the minimum spatial distance set, the safety distance is calculated to obtain the local adjustment offset. Based on the conflict analysis unit, the local fine-tuning path, local adjustment offset, and conflict pipeline are summarized to obtain the conflict solution.

[0013] Optionally, the step of visualizing the conflict solution based on the visualization generation unit and the pipeline model to obtain an updated construction path includes: Based on the pipeline construction plan, an initial construction path is constructed on the pipeline model to obtain the initial construction path model. Based on the conflict solution, a local fine-tuning path set and a local adjustment offset set are obtained. The initial construction path model is then adjusted using the local fine-tuning path set, the local adjustment offset set, and the visualization generation unit to obtain an adjusted pipeline model. Based on the adjusted pipeline model, multiple pipeline coordinates and multiple direction vectors were identified, resulting in an adjusted pipeline coordinate set and an adjusted direction vector set. The updated construction path is obtained based on the adjusted pipeline coordinate set and the adjusted direction vector set.

[0014] Optionally, obtaining the optimal extension direction based on the updated construction path, and laying the pipeline based on the optimal extension direction and initial pipeline information to obtain pipeline avoidance information includes: The updated construction path is analyzed to obtain the optimal extension direction; Based on the optimal extension direction, pipeline inspection range, and conflict resolution, pipelines are laid to avoid collisions. Obtain the type of the avoidance pipe, locate the position of the avoidance pipe using a spatial rectangular coordinate system, and obtain the end position of the avoidance pipe; By summarizing the types of avoidable pipelines and the end locations of the avoidable pipelines, the avoidable pipeline information is obtained.

[0015] Optionally, obtaining the optimal pipeline path based on the pipeline avoidance information, and obtaining an updated pipeline model based on the optimal pipeline path and the visualization generation unit, includes: The avoidance pipeline information is used as the initial pipeline information, and the step of obtaining the coordinates and types of surrounding pipelines based on the initial pipeline position and the IoT detection unit is returned until the end position of the avoidance pipeline is the end pipeline position, then the avoidance pipeline is confirmed as the best pipeline path. Pipeline modeling is performed using the visualization generation unit and the optimal pipeline path to obtain the optimal pipeline path model. The optimal pipeline path model is then embedded into the fine-tuned pipeline model to obtain the updated pipeline model.

[0016] To achieve the above objectives, the present invention also provides an Internet of Things-based municipal pipeline conflict detection and intelligent avoidance system, comprising: The environment confirmation module is used to obtain pipeline intelligent avoidance instructions and confirm the pipeline intelligent avoidance environment based on the pipeline intelligent avoidance instructions. The pipeline intelligent avoidance environment includes a pipeline intelligent avoidance system and a pipeline model. The pipeline intelligent avoidance system includes an Internet of Things detection unit, a conflict early warning unit, a conflict analysis unit, and a visualization generation unit. The conflict prediction module is used to obtain a pipeline construction plan for pipeline construction, obtain initial pipeline information based on the pipeline construction plan, wherein the initial pipeline information includes the initial pipeline location and the initial pipeline type, and obtain the coordinates and types of surrounding pipelines based on the initial pipeline location and the Internet of Things detection unit. The location of the end pipe is obtained based on the pipeline construction plan, and the initial extension direction is obtained based on the location of the end pipe. Based on the conflict warning unit, initial pipeline information, initial extension direction and surrounding pipeline coordinates, conflict prediction is performed to obtain conflict results, which include pipeline conflict and pipeline non-conflict. The solution generation module is used to obtain a conflict solution based on the conflict analysis unit, surrounding pipeline types and preset pipeline conflict rules if the conflict result is a pipeline conflict. The conflict solution is then visualized based on the visualization generation unit and pipeline model to obtain an updated construction path. The optimal extension direction is obtained based on the updated construction path, and the pipeline is laid based on the optimal extension direction and the initial pipeline information to obtain pipeline avoidance information. The model update module is used to obtain the optimal pipeline path based on the pipeline avoidance information, obtain an updated pipeline model based on the optimal pipeline path and the visualization generation unit, and realize municipal pipeline conflict detection and intelligent avoidance based on the optimal pipeline path and the updated pipeline model.

[0017] To address the above problems, the present invention also provides an electronic device, the electronic device comprising: Memory, storing at least one instruction; The processor executes the instructions stored in the memory to implement the above-described method for conflict detection and intelligent avoidance of municipal pipelines based on the Internet of Things.

[0018] To address the aforementioned issues, the present invention also provides a computer-readable storage medium storing at least one instruction, which is executed by a processor in an electronic device to implement the aforementioned Internet of Things-based municipal pipeline conflict detection and intelligent avoidance method.

[0019] To address the problems described in the background art, this invention obtains intelligent pipeline avoidance commands, confirms the intelligent pipeline avoidance environment based on these commands, and defines the intelligent pipeline avoidance environment as a pipeline intelligent avoidance system and a pipeline model. The intelligent pipeline avoidance system includes an IoT detection unit, a conflict early warning unit, a conflict analysis unit, and a visualization generation unit. This invention considers potential conflicts in complex underground environments during municipal pipeline construction. Therefore, by confirming the intelligent avoidance environment, the system can integrate IoT data and model support in real time, providing a reliable foundation for subsequent conflict detection and thus improving the overall safety of municipal pipeline planning. The invention also obtains a pipeline construction plan for pipeline construction, and acquires initial pipeline information based on this plan. This initial pipeline information includes the initial pipeline location and type. Based on the initial pipeline location and the IoT detection unit, the coordinates and types of surrounding pipelines are acquired. This invention utilizes the IoT detection unit to dynamically collect surrounding information at the initial stage, avoiding the errors and delays of traditional manual surveying, thus laying a data foundation for accurately identifying potential conflicts. Finally, the invention obtains the location of the end pipeline based on the pipeline construction plan, and obtains the initial extension direction based on the location of the end pipeline. This demonstrates that this invention... The initial extension direction is analyzed at the end position, enabling preliminary planning of the pipeline path and reducing the risk of blind construction. Conflict prediction is performed based on the conflict warning unit, initial pipeline information, initial extension direction, and surrounding pipeline coordinates to obtain conflict results, including pipeline conflicts and non-conflicts. This embodiment of the invention introduces a conflict warning unit for early prediction, timely identification of potential conflicts, and thus avoids construction interruptions or safety accidents, improving the efficiency and reliability of pipeline construction. If the conflict result is a pipeline conflict, a conflict solution is obtained based on the conflict analysis unit, surrounding pipeline types, and preset pipeline conflict rules. The conflict solution is then visualized using the visualization generation unit and pipeline model to obtain an updated construction path. This invention generates solutions by combining the conflict analysis unit with preset rules when conflicts occur, and uses the visualization generation unit for modeling, making the solutions intuitive and operable, thereby optimizing the process of formulating avoidance strategies. The optimal extension direction is obtained based on the updated construction path, and pipeline laying is performed based on the optimal extension direction and initial pipeline information to obtain avoidance pipeline information. This invention further achieves intelligent laying through the optimal extension direction, ensuring the optimization of the avoidance path and reducing resource waste.Based on the pipeline avoidance information, the optimal pipeline path is obtained. Based on the optimal pipeline path and the visualization generation unit, an updated pipeline model is obtained. Based on the optimal pipeline path and the updated pipeline model, municipal pipeline conflict detection and intelligent avoidance are achieved. It is evident that this embodiment of the invention, in the final path generation, incorporates a dynamically updated model to achieve closed-loop control of municipal pipelines. Furthermore, visualization enhances decision-making transparency. Therefore, this invention can improve the accuracy of municipal pipeline conflict detection and the efficiency of intelligent avoidance. Attached Figure Description

[0020] Figure 1 This is a flowchart illustrating an embodiment of the Internet of Things-based municipal pipeline conflict detection and intelligent avoidance method provided by the present invention. Figure 2 A functional block diagram of an Internet of Things-based municipal pipeline conflict detection and intelligent avoidance system provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of an electronic device that implements the Internet of Things-based municipal pipeline conflict detection and intelligent avoidance method according to an embodiment of the present invention.

[0021] Explanation of reference numerals in the attached figures: 10. Electronic device; 11. Processor; 12. Memory; 13. Bus.

[0022] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0023] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0024] This application provides an IoT-based method for municipal pipeline conflict detection and intelligent avoidance. The executing entity of this IoT-based method includes, but is not limited to, at least one of the following electronic devices that can be configured to execute the method provided in this application: a server, a terminal, etc. In other words, the IoT-based method for municipal pipeline conflict detection and intelligent avoidance can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cloud server cluster.

[0025] Reference Figure 1 The diagram shown is a flowchart illustrating an IoT-based municipal pipeline conflict detection and intelligent avoidance method according to an embodiment of the present invention. In this embodiment, the IoT-based municipal pipeline conflict detection and intelligent avoidance method includes: S1. Obtain pipeline intelligent avoidance instructions, and confirm the pipeline intelligent avoidance environment based on the pipeline intelligent avoidance instructions. The pipeline intelligent avoidance environment includes a pipeline intelligent avoidance system and a pipeline model. The pipeline intelligent avoidance system includes an Internet of Things detection unit, a conflict early warning unit, a conflict analysis unit, and a visualization generation unit.

[0026] It should be explained that the intelligent pipeline avoidance command refers to the command issued by the personnel who want to achieve intelligent pipeline avoidance. The intelligent pipeline avoidance environment refers to the necessary environment for achieving pipeline avoidance. The intelligent pipeline avoidance system refers to a system or app that can achieve pipeline avoidance, wherein the intelligent pipeline avoidance system includes an IoT detection unit, a conflict early warning unit, a conflict analysis unit, and a visualization generation unit. For a detailed explanation of the specific units, please refer to the following embodiments. The pipeline model refers to a pre-built BIM model, which contains 3D models of various underground pipelines and labels the types (such as gas pipelines, sewage pipelines) and dimensions of various types of pipelines. The pipeline model is updated in real time after each pipeline construction. For a detailed update process, please refer to the following embodiments. The main purpose of this invention is to enable intelligent pipeline avoidance and selection of the optimal pipeline path during underground pipeline laying through the intelligent pipeline avoidance system.

[0027] For example, Zhang is a construction worker at a construction site. In order to determine the optimal pipeline path and achieve intelligent avoidance when laying pipelines, Zhang initiates a pipeline intelligent avoidance command and determines the pipeline intelligent avoidance environment.

[0028] S2. Obtain a pipeline construction plan for pipeline construction, and obtain initial pipeline information based on the pipeline construction plan. The initial pipeline information includes the initial pipeline location and the initial pipeline type. Obtain the coordinates and types of surrounding pipelines based on the initial pipeline location and the IoT detection unit.

[0029] Furthermore, the method for obtaining initial pipeline information for pipeline construction refers to determining the initial pipeline information for pipeline construction using a pipeline construction plan. The pipeline construction plan refers to a document used for planning pipeline construction, including the type of pipeline to be constructed and its specific starting and ending locations. The initial pipeline information includes the initial pipeline location and the initial pipeline type. The initial pipeline location refers to the pre-planned starting location for pipeline construction in the pipeline construction plan; the initial pipeline type refers to the type of pipeline to be laid (such as gas pipelines, sewage pipelines, large pipelines, and small pipelines).

[0030] It should be understood that obtaining the coordinates and types of surrounding pipelines based on the initial pipeline location and the IoT detection unit includes: Obtain the pipeline detection distance, and based on the pipeline detection distance and the initial pipeline position, obtain the pipeline detection range; Based on the pipeline detection range and the IoT detection unit, the surrounding pipelines are detected at the initial pipeline position to obtain a set of surrounding pipelines and a set of pipeline distances. The set of surrounding pipelines includes j surrounding pipelines. A spatial rectangular coordinate system is established based on the initial pipeline position, wherein the origin of the spatial rectangular coordinate system is the initial pipeline position. The coordinates of the surrounding pipelines are determined in the spatial rectangular coordinate system using the set of surrounding pipelines and the set of pipeline distances. The coordinates of the surrounding pipes are mapped in the pipe model according to a preset mapping ratio to obtain the coordinates of the surrounding pipes in the model. Based on the coordinates of the surrounding pipes in the model, the pipe type is confirmed in the pipe model to obtain the surrounding pipe type.

[0031] It should be explained that the pipeline detection distance refers to the length used to define the range, and the specific length of the pipeline detection distance is the sum of the subsequent pipeline length and the preset redundant length. The redundant length can be 50m, or it can be limited by the construction environment. The method of obtaining the pipeline detection range refers to dividing a sphere with the pipeline detection distance as the radius and the initial pipeline position as the center. The range of the sphere is the pipeline detection range. For example, if the pipeline detection distance is 100m, then a pipeline detection range with a radius of 100m and a spherical shape is divided with the pipeline detection distance as the radius and the initial pipeline position as the center. The method of detecting surrounding pipelines at the initial pipeline position refers to using an IoT detection unit to detect the pipelines within the pipeline detection range and the distance of the pipelines from the initial pipeline position within the detection range. The IoT detection unit refers to a device deployed at the construction site for identifying surrounding pipelines and measuring pipeline distances, and capable of transmitting data via the Internet of Things. Optionally, the IoT detection unit can be constructed using ground-penetrating radar or a 3D laser scanner. The surrounding pipeline set refers to the recorded surrounding pipelines, including j surrounding pipelines, where j is a natural number. Optionally, various identifiers (such as combinations of characters) can be used to represent surrounding pipelines, and these surrounding pipelines refer to those detected within the pipeline detection range. The pipeline distance set refers to the set of vectors representing the shortest distances between surrounding pipelines and the initial pipeline position, which can be measured using ultrasonic positioning via an IoT detection unit.

[0032] Furthermore, the method of establishing a spatial rectangular coordinate system based on the initial pipe position refers to establishing a spatial rectangular coordinate system with the initial pipe position as the origin. This spatial rectangular coordinate system has an X-axis, a Y-axis, and a Z-axis, and the plane formed by the X-axis and Y-axis is parallel to the plane containing the ground. The method of determining the coordinates of surrounding pipes in the spatial rectangular coordinate system refers to using an IoT detection unit to locate the starting and ending points of each pipe in the surrounding pipe set within the pipe detection range. The starting and ending points refer to the connection points, turning points, or intersection points of the two ends of the surrounding pipes within the pipe detection range, respectively. The coordinates of the starting and ending points are obtained using the spatial rectangular coordinate system, and these coordinates are confirmed as the starting and ending coordinates, respectively. The summation of these starting and ending coordinates yields the coordinates of the surrounding pipes. The starting and ending coordinates refer to the coordinates of the starting and ending points of the pipes in the spatial rectangular coordinate system. The surrounding pipe coordinates refer to the set of coordinates of the pipes confirmed in the spatial rectangular coordinate system.

[0033] It should be understood that mapping the coordinates of the surrounding pipes in the pipe model means establishing a model space rectangular coordinate system in the pipe model, and using the starting coordinates, ending coordinates, and nearest pipe coordinates to determine the corresponding vectors in the model space rectangular coordinate system. Based on the mapping ratio, the magnitude of the corresponding vectors is scaled to determine the coordinates of the surrounding pipes in the pipe model. The model space rectangular coordinate system refers to the spatial rectangular coordinate system in the pipe model obtained by mapping the spatial rectangular coordinate system according to the mapping ratio. Similarly, the coordinates of the surrounding pipes in the model refer to the coordinates of the surrounding pipes in the pipe model obtained by mapping according to the mapping ratio. Furthermore, the model pipe coordinates refer to the coordinates in the pipe model mapped from the coordinates of surrounding pipes according to a certain ratio. The mapping ratio refers to the proportion by which the coordinates of surrounding pipes are mapped to the coordinates of the model's surrounding pipes. For example, if the mapping ratio is 10 (unit: m):1 (model unit), and the nearest pipe coordinate in the surrounding pipe coordinates is (60, 20, 40) (unit: m), then the coordinates (6, 2, 4) (unit: model unit) can be obtained through the mapping ratio. The model unit is the unified unit used to construct the model. The pipe type confirmation in the pipe model refers to using the model's surrounding coordinates to confirm the specific model corresponding to the pipe, and then confirming the recorded corresponding pipe type. The surrounding pipe type refers to the type of the surrounding pipes.

[0034] S3. Obtain the position of the end pipe based on the pipeline construction plan, and obtain the initial extension direction based on the position of the end pipe.

[0035] It should be explained that the method for obtaining the location of the end pipe refers to obtaining the final construction location of the pipe based on the information recorded in the pipe construction plan. This location is the location of the end pipe, and the location of the end pipe refers to the location when the pipe construction is finally completed.

[0036] Furthermore, obtaining the initial extension direction based on the position of the end pipe includes: The spatial coordinates of the end pipe are obtained based on the aforementioned spatial rectangular coordinate system and the position of the end pipe. Using the spatial coordinates of the end pipe, the origin of the spatial coordinates, and the spatial rectangular coordinate system, parametric equations are established to obtain the pipe extension parametric equations; The initial direction vector is obtained using the pipeline extension parametric equation, and the direction of the initial direction vector is confirmed as the initial extension direction.

[0037] It should be understood that the method for obtaining the spatial coordinates of the end pipe refers to locating the end pipe's position using the spatial rectangular coordinate system, thereby obtaining the end pipe's coordinates, where the end pipe coordinates refer to the coordinates of the end pipe's position in the spatial rectangular coordinate system. The method for establishing the parametric equation refers to establishing a parametric equation in the spatial rectangular coordinate system that passes through the origin of the spatial coordinate system and the spatial coordinates of the end pipe. The pipe extension parametric equation refers to the established parametric equation used to simulate the pipe's direction. The method for obtaining the initial direction vector refers to extracting a vector representing the pipe's extension trend from the pipe extension parametric equation. The initial direction vector refers to the vector representing the pipe's extension trend extracted from the parametric equation. For example, given that the initial pipe coordinates are the origin (0,0,0), and the measured coordinates of the end pipe are (m,n,p), the parametric equations x = m · t; y = n · t; z = p · t (t is a real parameter) can be determined based on these two points, i.e., (x,y,z) = t(m,n,p), where (m,n,p) is the direction vector, i.e., the initial direction vector to be extracted. The initial extension direction refers to the direction used to determine the specific direction of the pipe from the initial pipe position, i.e., the direction of the initial direction vector.

[0038] S4. Based on the conflict warning unit, initial pipeline information, initial extension direction and surrounding pipeline coordinates, perform conflict prediction to obtain conflict results, wherein the conflict results include pipeline conflict and pipeline non-conflict.

[0039] It should be explained that the conflict prediction based on the conflict early warning unit, initial pipeline information, initial extension direction, and coordinates of surrounding pipelines, to obtain the conflict result, includes: Obtain the pipe length for pipe extension, and extend the pipe within the pipe detection range and in the initial extension direction based on the pipe length and initial pipe information to obtain a secondary extension pipe set, wherein the secondary extension pipe set includes i secondary extension pipes. Based on the secondary extended pipeline set, the surrounding pipeline set, the coordinates of the surrounding pipelines and the spatial rectangular coordinate system, the minimum spatial distance set and the direction angle set are obtained, wherein the minimum spatial distance set includes i·j minimum spatial distances and the direction angle set includes i·j direction angles. The compatibility coefficients of the surrounding pipe types and the initial pipe type are queried in a preset compatibility database to obtain a set of compatibility coefficients, wherein the set of compatibility coefficients includes i·j compatibility coefficients. Based on the aforementioned conflict warning unit, minimum spatial distance set, orientation angle set, and compatibility coefficient set, conflict probability is calculated to obtain a conflict probability set, wherein the conflict probability set includes i·j conflict probabilities, and the calculation formula for the conflict probability is as follows:

[0040] in, Indicates the probability of conflict. Indicates pipe assembly markings, Indicates the minimum spatial distance. Indicates the angle of approach. Indicates the compatibility factor. , and Indicates the weighting coefficient. It is a tiny positive number; If the conflict probability set is compared with a preset conflict probability threshold, and there is a conflict probability in the conflict probability set that is greater than the conflict probability threshold, then the conflict result is confirmed as a pipeline conflict.

[0041] Furthermore, the pipe length refers to a fixed length used for pipe extension. Based on this pipe length, a single pipe can be divided into multiple secondary extension pipes, facilitating subsequent conflict analysis of various local areas along the entire pipe. Optionally, the pipe length is 10m. The pipe extension is simulated for predictive analysis; the application of the aforementioned pipe length is only applicable to pipes that can be assembled in practice, and the pipe length can be set in conjunction with the actual pipe length. The method of extending the pipe within the pipe detection range and in the initial extension direction refers to extending the pipe using the pipe length, starting from the initial pipe position and extending in the initial direction. The set of secondary extension pipes refers to the set of i fixed-length pipes on the pipe extended by the aforementioned pipe length, where i is a non-zero natural number.

[0042] It should be understood that the method of querying compatibility coefficients in the preset compatibility database refers to using the initial pipe type as the query condition to query the compatibility coefficients of different surrounding pipe types and the initial pipe type in the compatibility database. The compatibility database is a preset database used to record the compatibility coefficients between different types of pipes. The compatibility coefficient is a coefficient used to characterize the degree of compatibility between two different types of pipes. The compatibility coefficient is obtained by combining the probability of different types of pipes experiencing risks in historical accident data. For example, if historical data shows 100 installation records of pipe a and pipe b installed adjacent to each other, and pipe b experiences 20 accidents due to the influence of pipe a, then the compatibility coefficient between pipe a and pipe b is 0.8 by subtracting the number of accidents from the number of installation records and then dividing by the number of installation records. The compatibility coefficient set refers to the set of compatibility coefficients between i secondary extension pipes and j surrounding pipes obtained through the query.

[0043] It should be explained that the conflict early warning unit refers to a functional module used to calculate the conflict probability between i secondary extension pipes and j surrounding pipes and to make conflict judgments. The conflict probability refers to the probability of determining whether a certain secondary extension pipe and a certain surrounding pipe will affect each other. For example, secondary extension pipe a and surrounding pipe b may have compatibility issues, or they may overlap or cross due to spatial location issues. The conflict probability set refers to the set of conflict probabilities calculated between i secondary extension pipes and j surrounding pipes. The combination flag refers to the index used to indicate which secondary extension pipe and surrounding pipe a different parameter belongs to. For example, if the combination flag is (2, 3), then P(2, 3) represents the conflict probability between the 2nd secondary extension pipe and the 3rd secondary surrounding pipe. The weighting coefficient refers to a preset coefficient used to control the weight ratio of different parameters, and the small positive number refers to a preset positive number used to prevent the denominator from being zero.

[0044] Furthermore, the comparison with the preset conflict probability threshold means sequentially comparing the conflict probabilities in the conflict probability set with the preset conflict probability threshold. If a conflict probability greater than the threshold exists, a conflict is determined to occur. The preset conflict threshold is a preset probability number used to determine whether the conflict probability meets the conflict criteria. The conflict result refers to the determination result obtained after the comparison operation, including pipeline conflict and pipeline non-conflict. If a conflict probability greater than the conflict probability threshold exists in the conflict probability set, it indicates that the secondary extension pipeline will conflict with surrounding pipelines. If no conflict probability greater than the conflict probability threshold exists in the conflict probability set, pipeline construction can proceed directly along the initial extension direction.

[0045] It should be understood that obtaining the minimum spatial distance set and the direction angle set based on the secondary extended pipe set, the surrounding pipe set, the coordinates of the surrounding pipes, and the spatial rectangular coordinate system includes: Based on the set of secondary extension pipes and the set of surrounding pipes, a pipe combination set is obtained by matching and combining them. The pipe combination set includes i·j combined pipes, and each combined pipe includes one secondary extension pipe and one surrounding pipe. The following operation is performed on each combined pipe in the pipe combination set: The starting coordinates and ending coordinates of the secondary extension pipe are obtained based on the spatial rectangular coordinate system. The starting coordinates and ending coordinates of the surrounding pipes are obtained based on the coordinates of the surrounding pipes and the spatial rectangular coordinate system. The minimum spatial distance is calculated based on the starting coordinates of the secondary extension pipe, the ending coordinates of the secondary extension pipe, the starting coordinates of the surrounding pipes, and the ending coordinates of the surrounding pipes. Based on the starting coordinates of the secondary extension pipe, the ending coordinates of the secondary extension pipe, and the starting coordinates and ending coordinates of the surrounding pipes, the direction vectors of the secondary extension pipe and the surrounding pipes are obtained. The directional angle is then calculated using the direction vectors of the secondary extension pipe and the surrounding pipes, as shown in the following formula:

[0046] in, Indicates the angle of approach. This represents the direction vector of the secondary extension pipe. Indicates the direction vector of the surrounding pipes; By summing up the minimum spatial distance and the directional angle, we obtain the minimum spatial distance set and the directional angle set.

[0047] It should be explained that the method of matching and combining based on the set of secondary extension pipes and the set of surrounding pipes refers to pairing i secondary extension pipes in the secondary extension pipes with j surrounding pipes in the set of surrounding pipes; and the matching and combination set refers to the set of combined pipes obtained after the matching and combination operation, and the combined pipe refers to the set of pipes composed of one secondary extension pipe and one surrounding pipe. The method of obtaining the starting coordinates and ending coordinates of the secondary extension pipes refers to calculating the starting coordinates and ending coordinates of the starting point and ending point of each secondary extension pipe in the spatial rectangular coordinate system based on the initial pipe position and initial extension direction, combined with the pipe length; the method of obtaining the starting coordinates and ending coordinates of the surrounding pipes refers to directly extracting the starting coordinates and ending coordinates of each surrounding pipe in the spatial rectangular coordinate system from the surrounding pipe coordinates. The starting coordinates, ending coordinates, starting coordinates, and ending coordinates of the secondary extension pipes, the surrounding pipes, and the surrounding pipes are respectively the starting coordinates and ending coordinates of the corresponding pipes in the spatial rectangular coordinate system and the pipes within the specified detection range. The method for calculating the minimum spatial distance involves establishing two parametric equations in a Cartesian coordinate system using the starting coordinates of the secondary extension pipe, the starting coordinates of the secondary extension pipe, and the ending coordinates of the surrounding pipes. The minimum spatial distance is then calculated using a geometric algorithm that calculates the shortest distance between straight lines in space. This geometric algorithm is generally accepted and will not be elaborated upon here. The minimum spatial distance refers to the shortest distance between two pipe segments. Obtaining the direction vectors of the secondary extension pipe and the surrounding pipes involves extracting the direction vectors of the two straight lines and using the direction vectors of the equations as the direction vectors of the secondary extension pipe and the surrounding pipes, respectively. These direction vectors represent the extension directions of the secondary extension pipe and the surrounding pipes in three-dimensional space, and the method for obtaining the initial extension direction is the same. The method for calculating the orientation angle involves using the direction vectors of the secondary extension pipe and the surrounding pipes, along with the calculation formula, to calculate the orientation angle. This orientation angle refers to the angle between the parametric equations corresponding to the secondary extension pipe and the surrounding pipes in a Cartesian coordinate system, which can be approximated as the angle between the secondary extension pipe and the surrounding pipes.

[0048] Furthermore, the summarization of the minimum spatial distance and the direction angle refers to summarizing the calculated i·j minimum spatial distances and direction angles into a minimum spatial distance set and a direction angle set, respectively. The minimum spatial distance set and the direction angle set represent the set of i·j minimum spatial distances and direction angles. For example, if i is 5 and j is 4, then the value of i·j is 20, and the symbol "·" is multiplication in mathematical operations.

[0049] S5. If the conflict result is a pipeline conflict, then obtain a conflict solution based on the conflict analysis unit, the surrounding pipeline types and the preset pipeline conflict rules, and perform visualization processing on the conflict solution based on the visualization generation unit and the pipeline model to obtain an updated construction path.

[0050] It should be explained that the process of obtaining a conflict solution based on the conflict analysis unit, the surrounding pipeline types, and preset pipeline conflict rules includes: Based on the conflict probability set and the surrounding pipe set, the pipes that are in conflict are identified to obtain a conflict pipe set, wherein the conflict pipe set includes one or more conflict pipes. Perform the following operations on each conflicting pipe in the conflicting pipe set: Based on the matching and confirmation of the conflicting pipes and surrounding pipe types, the conflicting pipe types are obtained; Three-dimensional collision localization is performed based on the spatial rectangular coordinate system and the conflict pipeline to obtain the conflict point; the conflict analysis unit is used to perform conflict analysis on the conflict point to obtain the conflict type, wherein the conflict type includes parallel proximity conflict and spatial intersection conflict. If the conflict type is a spatial intersection conflict, the conflicting pipeline type, the initial pipeline type, and the pipeline conflict rules are compared and analyzed to obtain the main pipeline to be avoided. Based on the main pipeline to be avoided, a local path fine-tuning is performed to obtain a local fine-tuning path. If the conflict type is a parallel proximity conflict, the conflicting pipe type, the initial pipe type and the pipe conflict rules are compared and analyzed to obtain the main pipe to be avoided. Based on the main pipe to be avoided and the minimum spatial distance set, the safety distance is calculated to obtain the local adjustment offset. Based on the conflict analysis unit, the local fine-tuning path, local adjustment offset, and conflict pipeline are summarized to obtain the conflict solution.

[0051] Furthermore, the conflict analysis unit refers to a functional module used to analyze conflict types and generate solutions. Optionally, the conflict analysis unit can be constructed using a bounding box-based hierarchical collision detection algorithm and a sampling-based path planning algorithm. The pipeline conflict rules refer to a set of preset rules used to guide different types of pipeline avoidance. For example, pressure pipes avoid gravity pipes, and small pipes avoid large pipes. The pipeline avoidance rules can be set by construction personnel in conjunction with construction standards, or existing standards can be adopted.

[0052] It should be understood that the method of identifying conflicting pipes based on the conflict probability set and the surrounding pipe set refers to extracting probabilities greater than the conflict probability threshold from the conflict probability set and mapping them to the relevant surrounding pipes to obtain the conflicting pipe set, and the conflicting pipe set refers to the set of surrounding pipes that are determined to conflict with secondary extension pipes.

[0053] It should be explained that the method for obtaining the conflict pipe type refers to identifying the surrounding pipes corresponding to the surrounding pipe set based on the conflict pipe set, and then identifying the specific type of the conflict pipe (such as a gas pipe) through the surrounding pipes; the method for obtaining the conflict point by performing three-dimensional collision positioning based on the spatial rectangular coordinate system and the conflict pipes refers to determining the intersection point of the conflict pipe and the secondary extension pipe or the closest point between the two pipes in the spatial rectangular coordinate system as the conflict point, and the conflict point refers to the position coordinates of the secondary extension pipe and the surrounding pipes where there is a conflict; the method for obtaining the conflict type by performing conflict analysis on the conflict point using the conflict analysis unit refers to using the conflict analysis unit to determine the geometric relationship of the surrounding pipes or secondary extension pipes corresponding to the conflict point to determine whether it is a parallel proximity conflict (the pipes are parallel and too close) or a spatial intersection conflict (the pipes intersect).

[0054] Furthermore, if the conflict type is a spatial intersection conflict, the method for obtaining the avoidance main pipeline by comparing and analyzing the conflicting pipeline type, the initial pipeline type, and the pipeline conflict rules refers to determining which pipeline needs to be avoided according to the pipeline conflict rules, thus obtaining the avoidance main pipeline. The avoidance main pipeline refers to the pipeline that requires avoidance operations (such as finding an alternative path or making offset adjustments). The method for obtaining the local fine-tuning path refers to offsetting the avoidance main pipeline by θ degrees from its starting or ending point, and the value of θ should not be too large, but should be as small as possible according to the actual situation. The local fine-tuning path refers to the path obtained again after the avoidance main pipeline has been adjusted.

[0055] It should be understood that if the conflict type is a parallel proximity conflict, the method for determining the avoidance main pipe by comparing and analyzing the conflict pipe type, the initial pipe type, and the pipe conflict rules is similar to that for spatial intersection conflicts, where the avoidance main pipe is determined according to the rules. The method for obtaining the local adjustment offset refers to offsetting the two colliding pipes in a certain direction based on the actual situation, and then re-obtaining the minimum spatial distance between the two pipes using the method for calculating the minimum distance. If the minimum spatial distance is greater than a preset minimum distance threshold, then the above offset adjustment operation and the offset direction and offset distance of the avoidance main pipe in the operation are integrated as the local adjustment offset. The local adjustment offset refers to the operation of offsetting the avoidance main pipe using a verified feasible offset direction and offset distance.

[0056] It should be explained that the method of obtaining a conflict solution refers to integrating the fine-tuning paths and adjustment offsets of all conflict pipelines into a complete solution; the conflict solution refers to a set of avoidance strategies for conflict pipelines, including local fine-tuning paths and local adjustment offsets, and each conflict pipeline in the solution has a corresponding local fine-tuning path or local adjustment offset.

[0057] Furthermore, the step of visualizing the conflict solution based on the visualization generation unit and the pipeline model to obtain an updated construction path includes: Based on the pipeline construction plan, an initial construction path is constructed on the pipeline model to obtain the initial construction path model. Based on the conflict solution, a local fine-tuning path set and a local adjustment offset set are obtained. The initial construction path model is then adjusted using the local fine-tuning path set, the local adjustment offset set, and the visualization generation unit to obtain an adjusted pipeline model. Based on the adjusted pipeline model, multiple pipeline coordinates and multiple direction vectors were identified, resulting in an adjusted pipeline coordinate set and an adjusted direction vector set. The updated construction path is obtained based on the adjusted pipeline coordinate set and the adjusted direction vector set.

[0058] It should be understood that the visualization generation unit refers to a functional module used to visualize path adjustments on the pipeline model. Optionally, the visualization generation unit can be constructed through a BIM software interface. The method of obtaining the initial construction path model refers to constructing a pipeline path model on the pipeline model according to the pipeline construction plan, and the initial construction path model may intersect or overlap with the original pipeline model.

[0059] It should be explained that the method of obtaining the local fine-tuning path set and the local adjustment offset set based on the conflict solution refers to extracting all fine-tuning paths and adjustment offsets from the conflict solution and summarizing them into a set; the method of obtaining the adjusted pipeline model refers to applying the adjustments corresponding to the local fine-tuning path set and the local adjustment offset set to the initial construction path model using a visualization generation unit, thereby obtaining the adjusted model, and the adjusted pipeline model refers to the pipeline model that has already been adjusted.

[0060] Furthermore, the method for obtaining the set of adjusted pipe coordinates and the set of adjusted direction vectors based on the adjusted pipe model involves uniformly identifying multiple positions from the start to the end of the initial construction path model within the adjusted pipe model, according to a preset length. The coordinates of each position and the direction vectors between different coordinates are obtained using the model's spatial coordinate system. This yields multiple coordinates and direction vectors in the model's pipe spatial coordinate system. Then, using a mapping ratio, these multiple coordinates and direction vectors are mapped to multiple coordinates and direction vectors in a Cartesian spatial coordinate system. Summarizing these Cartesian coordinates and direction vectors yields the set of pipe coordinates and the set of adjusted direction vectors. The adjusted pipe coordinates and direction vectors refer to the coordinates and direction vectors in the Cartesian spatial coordinate system identified through the adjusted pipe model, and these coordinates and direction vectors can be used to subsequently construct and update the construction path. The method for obtaining an updated construction path based on the set of adjusted pipe lengths and the set of adjusted direction vectors involves identifying a new construction path according to the pipe coordinates and adjusted direction vectors in the pipe coordinate set. Furthermore, the updated construction path refers to the path obtained after the visualization process, which ensures that no conflicts will occur during pipeline construction.

[0061] For example, assuming the conflict result is a pipeline conflict, two conflicting pipelines are identified, and the conflict types are spatial intersection conflict and parallel proximity conflict. The analysis shows that the pipeline to be avoided is the initial pipeline. Local path fine-tuning and local adjustment offset are performed and summarized into a conflict solution. An initial construction path model is built on the pipeline model, and the solution is applied to adjust the pipeline model to obtain an adjusted pipeline model. The coordinate set of the adjusted pipeline and the adjustment direction vector set are extracted from it to generate an updated construction path.

[0062] S6. Obtain the optimal extension direction based on the updated construction path, and lay the pipeline based on the optimal extension direction and the initial pipeline information to obtain pipeline avoidance information.

[0063] It should be understood that obtaining the optimal extension direction based on the updated construction path, laying pipelines based on the optimal extension direction and initial pipeline information, and obtaining pipeline avoidance information includes: The updated construction path is analyzed to obtain the optimal extension direction; Based on the optimal extension direction, pipeline inspection range, and conflict resolution, pipelines are laid to avoid collisions. Obtain the type of the avoidance pipe, locate the position of the avoidance pipe using a spatial rectangular coordinate system, and obtain the end position of the avoidance pipe; By summarizing the types of avoidable pipelines and the end locations of the avoidable pipelines, the avoidable pipeline information is obtained.

[0064] It should be explained that the method of obtaining the optimal extension direction based on the updated construction path refers to obtaining a direction that will not conflict during pipeline construction by updating the direction in the construction path; and the optimal extension direction refers to the direction extracted from the updated construction path that, with local minor adjustments on the initial construction path, will not cause pipeline conflicts and will consume the least energy based on actual conditions. The method of obtaining the avoidance pipeline refers to constructing the pipeline in the optimal extension direction and within the pipeline detection range to obtain a pipeline that will not conflict with surrounding pipelines, and also making corresponding adjustments to surrounding pipelines according to the conflict resolution method during pipeline construction. The avoidance pipeline refers to a pipeline that has been constructed within the pipeline detection range and has not caused any conflicts.

[0065] Furthermore, the "avoided pipeline type" refers to the type of pipeline to which the avoidance pipeline is located. Since the pipeline type generally does not change during construction, the avoided pipeline type is the same as the initial pipeline type. Locating the pipeline position of the avoidance pipeline refers to confirming the position of the endpoint of the avoidance pipeline within the pipeline detection range and in its extension direction using an IoT detection unit. The endpoint position of the avoidance pipeline refers to the endpoint of the avoidance pipeline's extension. The avoidance pipeline information refers to the set of the avoidance pipeline type and the endpoint position of the avoidance pipeline.

[0066] S7. Obtain the optimal pipeline path based on the pipeline avoidance information, obtain an updated pipeline model based on the optimal pipeline path and the visualization generation unit, and realize municipal pipeline conflict detection and intelligent avoidance based on the optimal pipeline path and the updated pipeline model.

[0067] It should be understood that obtaining the optimal pipeline path based on the pipeline avoidance information, and obtaining the updated pipeline model based on the optimal pipeline path and the visualization generation unit, includes: The avoidance pipeline information is used as the initial pipeline information, and the step of obtaining the coordinates and types of surrounding pipelines based on the initial pipeline position and the IoT detection unit is returned until the end position of the avoidance pipeline is the end pipeline position, then the avoidance pipeline is confirmed as the best pipeline path. Pipeline modeling is performed using the visualization generation unit and the optimal pipeline path to obtain the optimal pipeline path model. The optimal pipeline path model is then embedded into the fine-tuned pipeline model to obtain the updated pipeline model.

[0068] It needs to be explained that using the avoided pipeline information as the initial pipeline information means using the avoided pipeline type and the endpoint position of the avoided pipeline as the initial pipeline position. The purpose of returning to the step of obtaining the coordinates and types of surrounding pipelines based on the initial pipeline position and the IoT detection unit is to re-delineate a pipeline detection range and repeat the above process within the pipeline detection range until the endpoint position of the avoided pipeline is the end pipeline position, at which point it can be determined that the pipeline construction is complete and the construction is finished. The optimal pipeline path refers to the pipeline that has been constructed and connects the initial pipeline position and the end pipeline position as described in the pipeline construction plan. The pipeline modeling using the visualization generation unit and the optimal pipeline path refers to using the visualization unit to model the optimal pipeline path, and the optimal pipeline path model refers to a model of the optimal pipeline path modeled according to the mapping ratio. The method of embedding the optimal pipeline path model into the fine-tuning pipeline model means importing the optimal pipeline path model into the fine-tuning pipeline model, making it a part of the fine-tuning pipeline model. The updated pipeline model refers to a fine-tuned pipeline model that has already imported the optimal pipeline path model, and the updated pipeline model can be used as a pipeline model in subsequent pipeline construction.

[0069] To address the problems described in the background art, this invention obtains intelligent pipeline avoidance commands, confirms the intelligent pipeline avoidance environment based on these commands, and defines the intelligent pipeline avoidance environment as a pipeline intelligent avoidance system and a pipeline model. The intelligent pipeline avoidance system includes an IoT detection unit, a conflict early warning unit, a conflict analysis unit, and a visualization generation unit. This invention considers potential conflicts in complex underground environments during municipal pipeline construction. Therefore, by confirming the intelligent avoidance environment, the system can integrate IoT data and model support in real time, providing a reliable foundation for subsequent conflict detection and thus improving the overall safety of municipal pipeline planning. The invention also obtains a pipeline construction plan for pipeline construction, and acquires initial pipeline information based on this plan. This initial pipeline information includes the initial pipeline location and type. Based on the initial pipeline location and the IoT detection unit, the coordinates and types of surrounding pipelines are acquired. This invention utilizes the IoT detection unit to dynamically collect surrounding information at the initial stage, avoiding the errors and delays of traditional manual surveying, thus laying a data foundation for accurately identifying potential conflicts. Finally, the invention obtains the location of the end pipeline based on the pipeline construction plan, and obtains the initial extension direction based on the location of the end pipeline. This demonstrates that this invention... The initial extension direction is analyzed at the end position, enabling preliminary planning of the pipeline path and reducing the risk of blind construction. Conflict prediction is performed based on the conflict warning unit, initial pipeline information, initial extension direction, and surrounding pipeline coordinates to obtain conflict results, including pipeline conflicts and non-conflicts. This embodiment of the invention introduces a conflict warning unit for early prediction, timely identification of potential conflicts, and thus avoids construction interruptions or safety accidents, improving the efficiency and reliability of pipeline construction. If the conflict result is a pipeline conflict, a conflict solution is obtained based on the conflict analysis unit, surrounding pipeline types, and preset pipeline conflict rules. The conflict solution is then visualized using the visualization generation unit and pipeline model to obtain an updated construction path. This invention generates solutions by combining the conflict analysis unit with preset rules when conflicts occur, and uses the visualization generation unit for modeling, making the solutions intuitive and operable, thereby optimizing the process of formulating avoidance strategies. The optimal extension direction is obtained based on the updated construction path, and pipeline laying is performed based on the optimal extension direction and initial pipeline information to obtain avoidance pipeline information. This invention further achieves intelligent laying through the optimal extension direction, ensuring the optimization of the avoidance path and reducing resource waste.Based on the pipeline avoidance information, the optimal pipeline path is obtained. Based on the optimal pipeline path and the visualization generation unit, an updated pipeline model is obtained. Based on the optimal pipeline path and the updated pipeline model, municipal pipeline conflict detection and intelligent avoidance are achieved. It is evident that this embodiment of the invention, in the final path generation, incorporates a dynamically updated model to achieve closed-loop control of municipal pipelines. Furthermore, visualization enhances decision-making transparency. Therefore, this invention can improve the accuracy of municipal pipeline conflict detection and the efficiency of intelligent avoidance.

[0070] like Figure 2 The diagram shown is a functional block diagram of an Internet of Things-based municipal pipeline conflict detection and intelligent avoidance system provided in an embodiment of the present invention.

[0071] The IoT-based municipal pipeline conflict detection and intelligent avoidance system 100 described in this invention can be installed in an electronic device. Depending on the functions implemented, the IoT-based municipal pipeline conflict detection and intelligent avoidance system 100 may include an environment verification module 101, a conflict prediction module 102, a solution generation module 103, and a model update module 104. The module described in this invention can also be called a unit, which refers to a series of computer program segments that can be executed by the processor of an electronic device and can perform a fixed function, and are stored in the memory of the electronic device.

[0072] The environment confirmation module 101 is used to obtain pipeline intelligent avoidance instructions and confirm the pipeline intelligent avoidance environment based on the pipeline intelligent avoidance instructions. The pipeline intelligent avoidance environment includes a pipeline intelligent avoidance system and a pipeline model. The pipeline intelligent avoidance system includes an Internet of Things detection unit, a conflict early warning unit, a conflict analysis unit and a visualization generation unit. The conflict prediction module 102 is used to obtain a pipeline construction plan for pipeline construction, obtain initial pipeline information based on the pipeline construction plan, wherein the initial pipeline information includes the initial pipeline location and the initial pipeline type, and obtain the coordinates and types of surrounding pipelines based on the initial pipeline location and the Internet of Things detection unit. The location of the end pipe is obtained based on the pipeline construction plan, and the initial extension direction is obtained based on the location of the end pipe. Based on the conflict warning unit, initial pipeline information, initial extension direction and surrounding pipeline coordinates, conflict prediction is performed to obtain conflict results, which include pipeline conflict and pipeline non-conflict. The solution generation module 103 is used to obtain a conflict solution based on the conflict analysis unit, the surrounding pipeline types and the preset pipeline conflict rules if the conflict result is a pipeline conflict, and to perform visualization processing on the conflict solution based on the visualization generation unit and the pipeline model to obtain an updated construction path. The optimal extension direction is obtained based on the updated construction path, and the pipeline is laid based on the optimal extension direction and the initial pipeline information to obtain pipeline avoidance information. The model update module 104 is used to obtain the optimal pipeline path based on the pipeline avoidance information, obtain an updated pipeline model based on the optimal pipeline path and the visualization generation unit, and realize municipal pipeline conflict detection and intelligent avoidance based on the optimal pipeline path and the updated pipeline model.

[0073] In detail, the modules in the IoT-based municipal pipeline conflict detection and intelligent avoidance system 100 described in this embodiment of the invention employ the same methods as described above. Figure 1 The method used is the same as the IoT-based municipal pipeline conflict detection and intelligent avoidance method described above, and can produce the same technical effect, so it will not be repeated here.

[0074] like Figure 3 The diagram shown is a structural schematic of an electronic device for implementing an Internet of Things-based municipal pipeline conflict detection and intelligent avoidance method according to an embodiment of the present invention.

[0075] The electronic device 1 may include a processor 10, a memory 11 and a bus 12, and may also include a computer program stored in the memory 11 and capable of running on the processor 10, such as a method program for detecting and intelligently avoiding conflicts in municipal pipelines based on the Internet of Things.

[0076] The memory 11 includes at least one type of readable storage medium, such as flash memory, portable hard drive, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 11 can be an internal storage unit of the electronic device 1, such as the portable hard drive of the electronic device 1. In other embodiments, the memory 11 can be an external storage device of the electronic device 1, such as a plug-in portable hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the electronic device 1. Furthermore, the memory 11 includes both internal storage units and external storage devices of the electronic device 1. The memory 11 can be used not only to store application software and various types of data installed on the electronic device 1, such as the code of a municipal pipeline conflict detection and intelligent avoidance method program based on the Internet of Things, but also to temporarily store data that has been output or will be output.

[0077] In some embodiments, the processor 10 may be composed of integrated circuits, such as a single packaged integrated circuit or multiple integrated circuits with the same or different functions, including combinations of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The processor 10 is the control unit of the electronic device, connecting various components of the entire electronic device through various interfaces and lines. It executes programs or modules stored in the memory 11 (e.g., a method for detecting and intelligently avoiding conflicts in municipal pipelines based on the Internet of Things) and calls data stored in the memory 11 to perform various functions of the electronic device 1 and process data.

[0078] The bus 12 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus 12 can be divided into an address bus, a data bus, a control bus, etc. The bus 12 is configured to realize the connection and communication between the memory 11 and at least one processor 10, etc.

[0079] Figure 3 Only electronic devices with components are shown; it will be understood by those skilled in the art that... Figure 3 The structure shown does not constitute a limitation on the electronic device 1, and may include fewer or more components than shown, or combine certain components, or have different component arrangements.

[0080] For example, although not shown, the electronic device 1 may also include a power supply (such as a battery) to power the various components. Preferably, the power supply can be logically connected to the at least one processor 10 through a power management device, thereby enabling functions such as charging management, discharging management, and power consumption management. The power supply may also include one or more DC or AC power supplies, recharging devices, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components. The electronic device 1 may also include various sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be described in detail here.

[0081] Furthermore, the electronic device 1 may also include a network interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a Wi-Fi interface, a Bluetooth interface, etc.), which is typically used to establish communication connections between the electronic device 1 and other electronic devices.

[0082] Optionally, the electronic device 1 may further include a user interface, which may be a display, an input unit (such as a keyboard), and optionally, a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen, etc. The display may also be appropriately referred to as a screen or display unit, used to display information processed in the electronic device 1 and to display a visual user interface.

[0083] The IoT-based municipal pipeline conflict detection and intelligent avoidance method program stored in the memory 11 of the electronic device 1 is a combination of multiple instructions. When run in the processor 10, it can achieve the following: Obtain a pipeline intelligent avoidance command, and confirm the pipeline intelligent avoidance environment based on the pipeline intelligent avoidance command. The pipeline intelligent avoidance environment includes a pipeline intelligent avoidance system and a pipeline model. The pipeline intelligent avoidance system includes an Internet of Things detection unit, a conflict early warning unit, a conflict analysis unit, and a visualization generation unit. Obtain a pipeline construction plan for pipeline construction, and obtain initial pipeline information based on the pipeline construction plan. The initial pipeline information includes the initial pipeline location and initial pipeline type. Obtain the coordinates and types of surrounding pipelines based on the initial pipeline location and the Internet of Things detection unit. The location of the end pipe is obtained based on the pipeline construction plan, and the initial extension direction is obtained based on the location of the end pipe. Based on the conflict warning unit, initial pipeline information, initial extension direction and surrounding pipeline coordinates, conflict prediction is performed to obtain conflict results, which include pipeline conflict and pipeline non-conflict. If the conflict result is a pipeline conflict, a conflict solution is obtained based on the conflict analysis unit, the surrounding pipeline types, and the preset pipeline conflict rules. The conflict solution is then visualized based on the visualization generation unit and the pipeline model to obtain an updated construction path. The optimal extension direction is obtained based on the updated construction path, and the pipeline is laid based on the optimal extension direction and the initial pipeline information to obtain pipeline avoidance information. The optimal pipeline path is obtained based on the pipeline avoidance information. An updated pipeline model is obtained based on the optimal pipeline path and the visualization generation unit. The municipal pipeline conflict detection and intelligent avoidance are realized based on the optimal pipeline path and the updated pipeline model.

[0084] Specifically, the processor 10's implementation method for the above instructions can be found in [reference needed]. Figures 1 to 3 The descriptions of the relevant steps in the corresponding embodiments are not repeated here.

[0085] Furthermore, if the modules / units integrated in the electronic device 1 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, or a read-only memory (ROM).

[0086] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor of an electronic device, can perform the following: Obtain a pipeline intelligent avoidance command, and confirm the pipeline intelligent avoidance environment based on the pipeline intelligent avoidance command. The pipeline intelligent avoidance environment includes a pipeline intelligent avoidance system and a pipeline model. The pipeline intelligent avoidance system includes an Internet of Things detection unit, a conflict early warning unit, a conflict analysis unit, and a visualization generation unit. Obtain a pipeline construction plan for pipeline construction, and obtain initial pipeline information based on the pipeline construction plan. The initial pipeline information includes the initial pipeline location and initial pipeline type. Obtain the coordinates and types of surrounding pipelines based on the initial pipeline location and the Internet of Things detection unit. The location of the end pipe is obtained based on the pipeline construction plan, and the initial extension direction is obtained based on the location of the end pipe. Based on the conflict warning unit, initial pipeline information, initial extension direction and surrounding pipeline coordinates, conflict prediction is performed to obtain conflict results, which include pipeline conflict and pipeline non-conflict. If the conflict result is a pipeline conflict, a conflict solution is obtained based on the conflict analysis unit, the surrounding pipeline types, and the preset pipeline conflict rules. The conflict solution is then visualized based on the visualization generation unit and the pipeline model to obtain an updated construction path. The optimal extension direction is obtained based on the updated construction path, and the pipeline is laid based on the optimal extension direction and the initial pipeline information to obtain pipeline avoidance information. The optimal pipeline path is obtained based on the pipeline avoidance information. An updated pipeline model is obtained based on the optimal pipeline path and the visualization generation unit. The municipal pipeline conflict detection and intelligent avoidance are realized based on the optimal pipeline path and the updated pipeline model.

[0087] In the embodiments provided by this invention, it should be understood that the disclosed devices, systems, and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative, and actual implementations may have other classification methods.

[0088] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0089] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0090] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for conflict detection and intelligent avoidance of municipal pipelines based on the Internet of Things, characterized in that, The method includes: Obtain a pipeline intelligent avoidance command, and confirm the pipeline intelligent avoidance environment based on the pipeline intelligent avoidance command. The pipeline intelligent avoidance environment includes a pipeline intelligent avoidance system and a pipeline model. The pipeline intelligent avoidance system includes an Internet of Things detection unit, a conflict early warning unit, a conflict analysis unit, and a visualization generation unit. Obtain a pipeline construction plan for pipeline construction, and obtain initial pipeline information based on the pipeline construction plan. The initial pipeline information includes the initial pipeline location and initial pipeline type. Obtain the coordinates and types of surrounding pipelines based on the initial pipeline location and the Internet of Things detection unit. The location of the end pipe is obtained based on the pipeline construction plan, and the initial extension direction is obtained based on the location of the end pipe. Based on the conflict warning unit, initial pipeline information, initial extension direction and surrounding pipeline coordinates, conflict prediction is performed to obtain conflict results, which include pipeline conflict and pipeline non-conflict. If the conflict result is a pipeline conflict, a conflict solution is obtained based on the conflict analysis unit, the surrounding pipeline types, and the preset pipeline conflict rules. The conflict solution is then visualized based on the visualization generation unit and the pipeline model to obtain an updated construction path. The optimal extension direction is obtained based on the updated construction path, and the pipeline is laid based on the optimal extension direction and the initial pipeline information to obtain pipeline avoidance information. The optimal pipeline path is obtained based on the pipeline avoidance information. An updated pipeline model is obtained based on the optimal pipeline path and the visualization generation unit. The municipal pipeline conflict detection and intelligent avoidance are realized based on the optimal pipeline path and the updated pipeline model.

2. The method for conflict detection and intelligent avoidance of municipal pipelines based on the Internet of Things as described in claim 1, characterized in that, The step of obtaining the coordinates and types of surrounding pipelines based on the initial pipeline location and the IoT detection unit includes: Obtain the pipeline detection distance, and based on the pipeline detection distance and the initial pipeline position, obtain the pipeline detection range; Based on the pipeline detection range and the IoT detection unit, the surrounding pipelines are detected at the initial pipeline position to obtain a set of surrounding pipelines and a set of pipeline distances. The set of surrounding pipelines includes j surrounding pipelines. A spatial rectangular coordinate system is established based on the initial pipeline position, wherein the origin of the spatial rectangular coordinate system is the initial pipeline position. The coordinates of the surrounding pipelines are determined in the spatial rectangular coordinate system using the set of surrounding pipelines and the set of pipeline distances. The coordinates of the surrounding pipes are mapped in the pipe model according to a preset mapping ratio to obtain the coordinates of the surrounding pipes in the model. Based on the coordinates of the surrounding pipes in the model, the pipe type is confirmed in the pipe model to obtain the surrounding pipe type.

3. The method for conflict detection and intelligent avoidance of municipal pipelines based on the Internet of Things as described in claim 2, characterized in that, The step of obtaining the initial extension direction based on the position of the end pipe includes: The spatial coordinates of the end pipe are obtained based on the aforementioned spatial rectangular coordinate system and the position of the end pipe. Using the spatial coordinates of the end pipe, the origin of the spatial coordinates, and the spatial rectangular coordinate system, parametric equations are established to obtain the pipe extension parametric equations; The initial direction vector is obtained using the pipeline extension parametric equation, and the direction of the initial direction vector is confirmed as the initial extension direction.

4. The method for conflict detection and intelligent avoidance of municipal pipelines based on the Internet of Things as described in claim 3, characterized in that, The conflict prediction based on the conflict early warning unit, initial pipeline information, initial extension direction, and coordinates of surrounding pipelines yields conflict results, including: Obtain the pipe length for pipe extension, and extend the pipe within the pipe detection range and in the initial extension direction based on the pipe length and initial pipe information to obtain a secondary extension pipe set, wherein the secondary extension pipe set includes i secondary extension pipes. Based on the secondary extended pipeline set, the surrounding pipeline set, the coordinates of the surrounding pipelines and the spatial rectangular coordinate system, the minimum spatial distance set and the direction angle set are obtained, wherein the minimum spatial distance set includes i·j minimum spatial distances and the direction angle set includes i·j direction angles. The compatibility coefficients of the surrounding pipe types and the initial pipe type are queried in a preset compatibility database to obtain a set of compatibility coefficients, wherein the set of compatibility coefficients includes i·j compatibility coefficients. Based on the aforementioned conflict warning unit, minimum spatial distance set, orientation angle set, and compatibility coefficient set, conflict probability is calculated to obtain a conflict probability set, wherein the conflict probability set includes i·j conflict probabilities, and the calculation formula for the conflict probability is as follows: in, Indicates the probability of conflict. Indicates pipe assembly markings, Indicates the minimum spatial distance. Indicates the angle of approach. Indicates the compatibility factor. , and Indicates the weighting coefficient. It is a tiny positive number; If the conflict probability set is compared with a preset conflict probability threshold, and there is a conflict probability in the conflict probability set that is greater than the conflict probability threshold, then the conflict result is confirmed as a pipeline conflict.

5. The method for conflict detection and intelligent avoidance of municipal pipelines based on the Internet of Things as described in claim 4, characterized in that, The process of obtaining the minimum spatial distance set and the direction angle set based on the secondary extended pipe set, the surrounding pipe set, the coordinates of the surrounding pipes, and the spatial rectangular coordinate system includes: Based on the set of secondary extension pipes and the set of surrounding pipes, a pipe combination set is obtained by matching and combining them. The pipe combination set includes i·j combined pipes, and each combined pipe includes one secondary extension pipe and one surrounding pipe. The following operation is performed on each combined pipe in the pipe combination set: The starting coordinates and ending coordinates of the secondary extension pipe are obtained based on the spatial rectangular coordinate system. The starting coordinates and ending coordinates of the surrounding pipes are obtained based on the coordinates of the surrounding pipes and the spatial rectangular coordinate system. The minimum spatial distance is calculated based on the starting coordinates of the secondary extension pipe, the ending coordinates of the secondary extension pipe, the starting coordinates of the surrounding pipes, and the ending coordinates of the surrounding pipes. Based on the starting coordinates of the secondary extension pipe, the ending coordinates of the secondary extension pipe, and the starting coordinates and ending coordinates of the surrounding pipes, the direction vectors of the secondary extension pipe and the surrounding pipes are obtained. The directional angle is then calculated using the direction vectors of the secondary extension pipe and the surrounding pipes, as shown in the following formula: in, Indicates the angle of approach. This represents the direction vector of the secondary extension pipe. Indicates the direction vector of the surrounding pipes; By summing up the minimum spatial distance and the directional angle, we obtain the minimum spatial distance set and the directional angle set.

6. The method for conflict detection and intelligent avoidance of municipal pipelines based on the Internet of Things as described in claim 5, characterized in that, The process of obtaining conflict solutions based on the conflict analysis unit, surrounding pipeline types, and preset pipeline conflict rules includes: Based on the conflict probability set and the surrounding pipe set, the pipes that are in conflict are identified to obtain a conflict pipe set, wherein the conflict pipe set includes one or more conflict pipes. Perform the following operations on each conflicting pipe in the conflicting pipe set: Based on the matching and confirmation of the conflicting pipes and surrounding pipe types, the conflicting pipe types are obtained; Three-dimensional collision localization is performed based on the spatial rectangular coordinate system and the conflict pipeline to obtain the conflict point; the conflict analysis unit is used to perform conflict analysis on the conflict point to obtain the conflict type, wherein the conflict type includes parallel proximity conflict and spatial intersection conflict. If the conflict type is a spatial intersection conflict, the conflicting pipeline type, the initial pipeline type, and the pipeline conflict rules are compared and analyzed to obtain the main pipeline to be avoided. Based on the main pipeline to be avoided, a local path fine-tuning is performed to obtain a local fine-tuning path. If the conflict type is a parallel proximity conflict, the conflicting pipe type, the initial pipe type and the pipe conflict rules are compared and analyzed to obtain the main pipe to be avoided. Based on the main pipe to be avoided and the minimum spatial distance set, the safety distance is calculated to obtain the local adjustment offset. Based on the conflict analysis unit, the local fine-tuning path, local adjustment offset, and conflict pipeline are summarized to obtain the conflict solution.

7. The method for conflict detection and intelligent avoidance of municipal pipelines based on the Internet of Things as described in claim 6, characterized in that, The process of visualizing the conflict solution based on the visualization generation unit and pipeline model to obtain an updated construction path includes: Based on the pipeline construction plan, an initial construction path is constructed on the pipeline model to obtain the initial construction path model. Based on the conflict solution, a local fine-tuning path set and a local adjustment offset set are obtained. The initial construction path model is then adjusted using the local fine-tuning path set, the local adjustment offset set, and the visualization generation unit to obtain an adjusted pipeline model. Based on the adjusted pipeline model, multiple pipeline coordinates and multiple direction vectors were identified, resulting in an adjusted pipeline coordinate set and an adjusted direction vector set. The updated construction path is obtained based on the adjusted pipeline coordinate set and the adjusted direction vector set.

8. The method for conflict detection and intelligent avoidance of municipal pipelines based on the Internet of Things as described in claim 7, characterized in that, The process of obtaining the optimal extension direction based on the updated construction path, laying pipelines based on the optimal extension direction and initial pipeline information, and obtaining pipeline avoidance information includes: The updated construction path is analyzed to obtain the optimal extension direction; Based on the optimal extension direction, pipeline inspection range, and conflict resolution, pipelines are laid to avoid collisions. Obtain the type of the avoidance pipe, locate the position of the avoidance pipe using a spatial rectangular coordinate system, and obtain the end position of the avoidance pipe; By summarizing the types of avoidable pipelines and the end locations of the avoidable pipelines, the avoidable pipeline information is obtained.

9. The method for conflict detection and intelligent avoidance of municipal pipelines based on the Internet of Things as described in claim 8, characterized in that, The process of obtaining the optimal pipeline path based on the pipeline avoidance information, and obtaining an updated pipeline model based on the optimal pipeline path and the visualization generation unit, includes: The avoidance pipeline information is used as the initial pipeline information, and the step of obtaining the coordinates and types of surrounding pipelines based on the initial pipeline position and the IoT detection unit is returned until the end position of the avoidance pipeline is the end pipeline position, then the avoidance pipeline is confirmed as the best pipeline path. Pipeline modeling is performed using the visualization generation unit and the optimal pipeline path to obtain the optimal pipeline path model. The optimal pipeline path model is then embedded into the fine-tuned pipeline model to obtain the updated pipeline model.

10. A municipal pipeline conflict detection and intelligent avoidance system based on the Internet of Things, characterized in that, The device includes: The environment confirmation module is used to obtain pipeline intelligent avoidance instructions and confirm the pipeline intelligent avoidance environment based on the pipeline intelligent avoidance instructions. The pipeline intelligent avoidance environment includes a pipeline intelligent avoidance system and a pipeline model. The pipeline intelligent avoidance system includes an Internet of Things detection unit, a conflict early warning unit, a conflict analysis unit, and a visualization generation unit. The conflict prediction module is used to obtain a pipeline construction plan for pipeline construction, obtain initial pipeline information based on the pipeline construction plan, wherein the initial pipeline information includes the initial pipeline location and the initial pipeline type, and obtain the coordinates and types of surrounding pipelines based on the initial pipeline location and the Internet of Things detection unit. The location of the end pipe is obtained based on the pipeline construction plan, and the initial extension direction is obtained based on the location of the end pipe. Based on the conflict warning unit, initial pipeline information, initial extension direction and surrounding pipeline coordinates, conflict prediction is performed to obtain conflict results, which include pipeline conflict and pipeline non-conflict. The solution generation module is used to obtain a conflict solution based on the conflict analysis unit, surrounding pipeline types and preset pipeline conflict rules if the conflict result is a pipeline conflict. The conflict solution is then visualized based on the visualization generation unit and pipeline model to obtain an updated construction path. The optimal extension direction is obtained based on the updated construction path, and the pipeline is laid based on the optimal extension direction and the initial pipeline information to obtain pipeline avoidance information. The model update module is used to obtain the optimal pipeline path based on the pipeline avoidance information, obtain an updated pipeline model based on the optimal pipeline path and the visualization generation unit, and realize municipal pipeline conflict detection and intelligent avoidance based on the optimal pipeline path and the updated pipeline model.

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