BIM-based mechanical and electrical system pipeline and equipment integration device and construction method thereof

Abstract

The application discloses a kind of based on BIM electromechanical system pipeline and equipment integrated device and its construction method.The integrated device includes an installation base integrated with multi-professional pipeline and equipment component, and a set of intelligent adjustment system including sensor, internet of things module and actuator.The method includes: prefabricating the device based on BIM;Intelligent transportation is carried out using mobile robot;And starting the intelligent adjustment system, so that actuator automatically levels and positions installation base according to the adjustment instruction issued under BIM platform.The application highly integrates multi-professional system in prefabricated module with mechanical fine-tuning structure, and realizes automatic installation using robot technology and closed-loop intelligent control system, solves the technical problems of low integration, poor site adaptability, installation process relies on manual work and difficult to guarantee precision in the prior art, breaks through the digital closed loop of design and construction, and significantly improves the efficiency and quality of electromechanical installation.

Description

Technical Field

Background Art

[0003] First, in terms of the physical integration of the device and on-site adaptability, the existing prefabrication schemes have obvious deficiencies. On the one hand, the prefabricated units are mostly limited to a single specialty, lacking a standardized installation base that can carry pipelines and equipment components of multiple specialties such as water supply and drainage, heating, ventilation, and electricity, resulting in the coordination problem of multiple specialty interfaces still being left at the construction site. On the other hand, the prefabricated modules generally lack effective mechanical fine-tuning capabilities. When facing the inevitable construction deviations of the building main body, on-site secondary processing is often required, which not only sacrifices the installation accuracy but also goes against the original intention of prefabricated construction.

[0004] Second, in terms of the automation and intelligence of the installation process, the existing construction methods are lagging. In the key logistics transportation link, it still relies on manual labor or simple machinery, lacking the transformation and use of cutting-edge intelligent technologies such as robots and the Internet of Things, resulting in low efficiency. In the core installation positioning link, it completely relies on manual measurement and manual adjustment, which not only has a large labor intensity, low efficiency, but also the accuracy consistency is difficult to guarantee. Fundamentally speaking, there is a process breakpoint between digital design and physical construction in the prior art.

Summary of the Invention

[0006] The present invention is realized by the following technical solutions: An integrated device for mechanical and electrical system pipelines and equipment based on BIM, comprising: An installation base provided with strip-shaped adjustment holes thereon; A support member adjustably installed on the installation base through the strip-shaped adjustment holes; And multi-specialty pipeline and equipment components integrally installed on the support member, the multi-specialty pipeline and equipment components including at least one of a water supply and drainage unit, a heating and ventilation unit, and an electrical unit; Multiple adjustable suspension devices are used to connect the mounting base to the building body; An intelligent adjustment system, comprising multiple sensors mounted on the mounting base for real-time monitoring of the position and orientation of the mounting base; An Internet of Things (IoT) module is located in the electrical unit and is communicatively connected to the BIM platform and multiple sensors. It is used to upload the pose status data to the BIM platform and receive adjustment commands issued by the BIM platform. An actuator is used to automatically level and position the mounting base according to the adjustment command.

[0007] As described above, a BIM-based electromechanical system pipeline and equipment integration device includes a support member comprising two L-shaped blocks arranged opposite each other. One side of each L-shaped block is provided with a first groove that is bolted to the strip-shaped adjustment hole, and the other side is provided with a second groove. A fixing member for installing the multi-disciplinary pipeline and equipment components is sandwiched between the two L-shaped blocks. The fixing member is provided with a third groove that is bolted to the second groove.

[0008] As described above, in a BIM-based electromechanical system pipeline and equipment integration device, the sensors include an inclination sensor for monitoring levelness and / or a displacement sensor for monitoring spatial position.

[0009] As described above, in a BIM-based electromechanical system pipeline and equipment integration device, the intelligent control system further includes a PLC controller located in the electrical unit, and the PLC controller is communicatively connected to the Internet of Things module.

[0010] As described above, in a BIM-based electromechanical system pipeline and equipment integration device, the actuator is a plurality of hydraulic lifting mechanisms, and a plurality of lifting contact points are provided on the bottom surface of the mounting base to cooperate with the actuating ends of the plurality of hydraulic lifting mechanisms, for receiving the adjustment force applied by the hydraulic lifting mechanisms during installation.

[0011] As described above, in a BIM-based electromechanical system pipeline and equipment integration device, the suspension device includes a hanger rod connected to the main building structure, and a connecting seat is provided between the hanger rod and the mounting base to adjust the distance between them.

[0012] A construction method includes the following steps: S1. Digital Design and Prefabrication: Based on BIM, the electromechanical system is modeled in detail and modularly decomposed, and the BIM-based electromechanical system pipeline and equipment integration device as described above is prefabricated in the factory; S2. Intelligent transportation: Using mobile robots, the BIM-based electromechanical system pipelines and equipment integration devices are transported to the predetermined installation positions within the building structure according to a preset navigation path; S3. Automated Installation: Activate the intelligent adjustment system of the BIM-based electromechanical system pipeline and equipment integration device. The sensors in the intelligent adjustment system collect the current pose of the electromechanical system pipeline and equipment integration device in real time and compare it with the target pose in the BIM platform. The BIM platform generates adjustment instructions and drives the actuator to perform automatic leveling and positioning until the deviation between the current pose and the target pose of the device is less than a preset threshold.

[0013] In the construction method described above, the intelligent transportation step S2 specifically includes: A high-precision navigation map is generated by fusing a 3D reality model of the construction site obtained by point cloud scanning with a BIM design model. The mobile robot loads the high-precision navigation map and uses real-time positioning and map building algorithms to achieve autonomous positioning and path planning in order to complete the transportation task.

[0014] In the construction method described above, the automatic leveling and positioning in the automated high-precision installation step S3 is a closed-loop iterative process, which specifically includes: after each fine-tuning action is completed by the actuator, returning to the step of real-time acquisition of the current pose state until the deviation is less than the preset threshold.

[0015] As described above, the construction method further includes a digital twin calibration step S4 after the automated high-precision installation step S3 is completed. Step S4 includes: The integrated device after installation is scanned using a point cloud scanning device to generate an as-built model. The as-built reality model is overlaid and compared with the design model in the BIM platform, and the component status and precise location data in the BIM model are automatically updated based on the comparison results.

[0016] Compared with the prior art, the present invention has the following advantages: 1. This invention integrates and prefabricates pipelines and equipment from multiple disciplines, such as water supply and drainage, HVAC, and electrical systems, in a factory environment by setting a unified installation base and support components. This fundamentally solves the problems of interface coordination and spatial conflicts between multiple disciplines. By setting strip-shaped adjustment holes on the installation base and cooperating with adjustable support components, the device itself is given mechanical fine-tuning capabilities at the physical level. This allows it to easily adapt to construction deviations of the main building structure on site, avoiding secondary processing on-site and significantly improving installation efficiency and quality.

[0017] 2. This invention introduces robotics and IoT intelligent control technology into the field of electromechanical installation. By utilizing mobile robots for autonomous navigation and transportation, inefficient manual handling is replaced. Especially in the installation and positioning stage, through the onboard intelligent adjustment system, the collaborative work of sensors, IoT modules, actuators, and the BIM platform achieves automated, high-precision closed-loop leveling and positioning of the integrated device, greatly reducing reliance on manual measurement and adjustment, resulting in a qualitative leap in installation accuracy and consistency.

[0018] 3. This invention establishes a closed-loop control system that seamlessly transfers the digital accuracy of the BIM model to the physical installation site. Target parameters issued by the BIM platform can be directly used as input commands for automated installation, while physical data from on-site sensors can be fed back to the control system in real time for calibration. [Attached Image Description] To more clearly illustrate the technical solutions in the embodiments of the invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0020] Figure 1 This is a schematic diagram of the three-dimensional structure of Example 1. Figure 1 ; Figure 2 This is a schematic diagram of the three-dimensional structure of Example 1. Figure 2 ; Figure 3 This is a schematic diagram of the three-dimensional structure of Example 1. Figure 3 ; Figure 4 This is a schematic diagram of the exploded structure of Example 1; Figure 5 This is a schematic diagram of a partial connection structure between the support member and the mounting base in Example 1; Figure 6 for Figure 5 A schematic diagram of the decomposition process; Figure 7 This is a flowchart of the overall construction steps for Example 2; Figure 8 This is a diagram illustrating the collaborative control logic architecture of the overall construction method in Example 2. Figure 9 This is a schematic diagram of the step-by-step S32 closed-loop iterative automatic leveling process in step 3 of Example 2.

Detailed Implementation Methods

[0022] Example 1: Please refer to the appendix Figures 1 to 6 ,and Figure 8 This embodiment proposes a BIM-based electromechanical system pipeline and equipment integration device. Its core is an electromechanical module prefabricated in a factory and integrating an intelligent adjustment and positioning system. The integrated device includes a mounting base 1, which is preferably a steel frame structure with sufficient rigidity constructed from Q235 steel profiles through welding or bolting.

[0023] A support member 2 is provided on the mounting base 1 to support the multi-disciplinary pipelines and equipment components above. To compensate for possible cumulative errors during on-site construction, strip-shaped adjustment holes 11 are pre-machined on the mounting base 1. The length of the strip-shaped adjustment holes 11 is 6-8cm, preferably 8cm. The support member 2 is adjustablely mounted on the mounting base 1 through these strip-shaped adjustment holes 11.

[0024] The multi-disciplinary pipeline and equipment components are the load-bearing objects of the mounting base 1 in this embodiment. They pre-integrate multiple professional system equipment components, which traditionally require dispersed installation on-site, onto the support component 2 in a factory environment. The multi-disciplinary pipeline and equipment components may include: The water supply and drainage unit 21 may specifically include fire sprinkler pipes, water supply pipes, valves, etc. The HVAC unit 22 may specifically include ventilation ducts, air conditioning water pipes, air conditioning circulating fan units, etc. Electrical unit 23 may specifically include high and low voltage cable trays, power conduits, lighting junction boxes, integrated control boxes, etc.

[0025] In a preferred embodiment, these different professional pipelines and equipment components are also painted with color markings that are completely consistent with the BIM model information, facilitating rapid identification and assembly on site.

[0026] In order to install the entire device in a building, the device also includes multiple adjustable suspension devices 3 for connecting the mounting base 1 to the building structure, such as the building roof.

[0027] Furthermore, as a preferred embodiment, the specific structure of the support member 2 can be as follows: Figure 5 , Figure 6As shown, it includes two L-shaped blocks 24 arranged opposite each other. The horizontal side of each L-shaped block 24 has a first groove 241, which is connected to a strip-shaped adjustment hole 11 on the mounting base 1 by high-strength bolts. By tightening or loosening the bolts, the support member 2 can be adjusted in the first dimension, i.e., the left-right direction, on the mounting base 1. The vertical side of each L-shaped block 24 has a second groove 242. Between the two opposing L-shaped blocks 24, a fixing member 25 is sandwiched. This fixing member 25 is a crossbeam or support platform that directly supports multi-disciplinary pipelines and equipment components, preferably a C-shaped steel or angle steel crossbeam. This fixing member 25 also has a third groove 251, which is connected to the second groove 242 by bolts. By adjusting the relative position of the bolts within the second groove 242 and the third groove 251, the fixing member 25 can be adjusted relative to the L-shaped blocks 24 in the second dimension, i.e., the up-down direction. This two-dimensional adjustable mechanical structure improves the fault tolerance and accuracy of on-site installation. This design allows for independent secondary fine-tuning of the position of individual professional pipelines or equipment even after the overall module has been hoisted.

[0028] Furthermore, to achieve connection with the building roof slab, the integrated device is equipped with multiple adjustable suspension devices 3. Preferably, the suspension device 3 includes a hanger 31 whose upper end is connected to an embedded part of the building roof slab, and a connecting seat 32 whose lower end is connected to the mounting base 1. The hanger 31 and the connecting seat 32 can be connected by a turnbuckle or a double nut locking structure. By rotating the sleeve or nut, the suspension height of the entire module can be easily adjusted, achieving coarse adjustment in the vertical direction.

[0029] The core innovation of this embodiment lies in the fact that the integrated device incorporates an intelligent adjustment system (not shown in the figure). This intelligent adjustment system enables automated, high-precision leveling and positioning of the device installation process.

[0030] Furthermore, the intelligent adjustment system (not shown in the figure) includes multiple sensors (not shown in the figure), an Internet of Things module (not shown in the figure), a device-side PLC controller (not shown in the figure), and an actuator (not shown in the figure).

[0031] The sensors are installed at the four corners and key support points of the mounting base 1. These key support points include the midpoints of each long side of the mounting base 1 and the corresponding locations of the suspension device 3 described earlier. The multiple sensors may include high-precision MEMS tilt sensors for real-time monitoring of the tilt angle of the mounting base 1 in two horizontal axes, with an accuracy of up to 0.01°, and / or high-precision displacement sensors for real-time monitoring of the module's three-dimensional spatial position. More specifically, the displacement sensors are preferably laser displacement sensors or wire-type displacement sensors, which monitor the precise spatial position of each key point on the mounting base 1 relative to a reference surface such as the ground or a laser reference line. These sensors collectively constitute the sensing terminals of the intelligent adjustment system, providing real-time feedback on the position and orientation of the electromechanical system pipelines and integrated equipment, forming the basis for achieving closed-loop control.

[0032] The IoT module (not shown in the figure) and the device-side PLC controller (not shown in the figure) are preferably housed within the integrated control box (not shown in the figure) of the electrical unit 23 for power supply, protection, and maintenance. The device-side PLC controller (not shown in the figure) is a compact or modular programmable logic controller, serving as the control core of the integrated device. It directly connects to all sensor electrical signals and is responsible for executing real-time, high-frequency closed-loop control algorithms. The IoT module is an industrial-grade IoT gateway, connected to the device-side PLC controller via an industrial Ethernet network. It is responsible for securely uploading the data collected and processed by the PLC to the cloud-based BIM platform via the on-site 5G or industrial Wi-Fi network using standard IoT protocols such as MQTT. Simultaneously, it is also responsible for receiving advanced instructions such as target pose parameters from the BIM platform and transmitting them to the device-side PLC controller. Preferably, a touchscreen human-machine interface can also be installed on the panel of the integrated control box (not shown in the figure) for on-site engineers to monitor system status, manually debug, and diagnose faults.

[0033] Furthermore, as a specific implementation, the actuator (not shown in the figure) exists independently as an installation aid and includes multiple hydraulic actuators (not shown in the figure). To cooperate with these external hydraulic actuators (not shown in the figure), multiple lifting contact points (not shown in the figure) that cooperate with the actuating ends of the hydraulic actuators are pre-set on the bottom surface of the mounting base 1. During installation, the lifting platform equipped with these hydraulic actuators will press against these contact points, and after completing data interaction with the device-side PLC controller, its own platform-side PLC controller will take the lead in applying precise adjustment force to complete the final automatic leveling and positioning.

[0034] The actuator (not shown in the figure) is not permanently fixed to the electromechanical system integration device, but exists as a separate, reusable, intelligent installation aid. More specifically, this installation aid can be an electro-hydraulic lifting platform vehicle (not shown in the figure).

[0035] This electric hydraulic lifting platform vehicle constitutes a complete, self-driving intelligent system, which may further include: The vehicle-mounted hydraulic power unit (HPU) is a compact hydraulic power unit integrated on the chassis of the lifting platform. This unit includes a motor, a high-pressure gear pump, an oil tank with filtration and cooling functions, and a pressure relief valve to ensure system safety. It provides a continuous supply of high-pressure hydraulic energy throughout the leveling process. A precision hydraulic cylinder array is provided, in which multiple double-acting precision hydraulic cylinders are vertically mounted in a matrix on the upper worktable of the lifting platform vehicle. The piston rod tip is preferably a spherical or saddle-shaped contact head with a universal joint, to better accommodate minor unevenness on the bottom surface of the mounting base 1 during initial contact. Optionally, some hydraulic cylinders may also incorporate high-precision displacement sensors for auxiliary measurement and closed-loop control. The vehicle-mounted control system includes an industrial-grade control cabinet integrated with the lifting platform. This cabinet houses a platform-side PLC controller for performing installation and adjustment tasks, and is equipped with corresponding input / output (I / O) modules and a power supply unit. It should be noted that in this embodiment, the platform-side PLC controller exists as part of the actuator (not shown in the figure), which differs from the device-side PLC controller described earlier, which is permanently integrated into the electrical unit 23 of the installed device for daily operation control. An electro-hydraulic control valve assembly, integrated into the on-board control system of the lifting platform vehicle, is preferably an electro-hydraulic proportional valve assembly, used to receive precise control signals from the platform-side PLC.

[0036] The connection and cooperative operation between the electromechanical system integration device and the actuator (not shown in the figure) in this embodiment are as follows: First, on the bottom surface of the mounting base 1 of the integrated device, at the key load-bearing nodes, multiple lifting contact points made of high-strength wear-resistant steel are pre-installed. These contact points constitute the physical interface for the mechanical transmission between the integrated device and the actuator.

[0037] At the installation site, the electric hydraulic lifting platform vehicle drove under the integrated device, and through the onboard guidance system, it achieved precise alignment of its hydraulic cylinder array with the lifting contact point on the bottom surface of the base.

[0038] In a preferred embodiment, the docking process can be completed using a machine vision guidance system. Specifically, multiple visual identification marks with unique codes, such as high-contrast QR codes, are pre-attached or sprayed around each lifting contact point on the bottom surface of the mounting base 1.

[0039] Correspondingly, at least one upward-facing industrial camera is installed on the electric hydraulic lifting platform vehicle. The platform vehicle's onboard control system (platform-side PLC controller) integrates an image recognition algorithm. When the platform vehicle drives under the module, the industrial camera begins to capture images of visual recognition marks on the bottom surface of the base.

[0040] The image recognition algorithm calculates the position, angle, and size of the visual recognition marker in the camera's field of view, enabling real-time calculation of the precise deviations between the platform vehicle and the mounting base 1 in terms of planar position (X and Y axes) and rotation angle (θ). Based on this deviation, the platform-side PLC controller sends fine-tuning commands to the platform vehicle's drive wheels, controlling the platform vehicle to perform millimeter-level translation and rotation until the visual guidance system confirms that the platform vehicle's hydraulic cylinder array is perfectly aligned with the lifting contact point of the base, with the alignment error less than a preset threshold (e.g., ±5mm).

[0041] After alignment, a temporary data communication link is established between the lifting platform vehicle and the integrated device. The platform-side PLC controller mounted on the platform vehicle interacts with the device-side PLC controller in the electrical unit 23 of the integrated device via the on-site industrial wireless network. Specifically, during the interaction, the device-side PLC controller sends the target pose parameters received from the cloud-based BIM platform, as well as the initial real-time pose data collected by the device's own sensors, to the platform-side PLC controller.

[0042] After receiving the target pose parameters and initial real-time pose data, the platform-side PLC controller acts as the main controller for the leveling phase, executing the leveling algorithm. The output of the leveling algorithm is a precise control signal for the electro-hydraulic control valve group, preferably a pulse width modulation (PWM) signal. The platform-side PLC controller sends this control signal to the electro-hydraulic proportional valves within the electro-hydraulic control valve group. Each proportional valve, according to the control signal, precisely adjusts the flow rate, velocity, and direction of the high-pressure hydraulic oil from the on-board hydraulic power unit into the corresponding hydraulic cylinder, thereby driving the piston rod of each hydraulic cylinder to perform independent, high-precision extension and retraction movements. This process is controlled in a closed loop based on data feedback from sensors on the device, until the real-time pose of the electromechanical system integration device coincides with the target pose. Simultaneously, pressure sensors in the hydraulic lines also feed back the load pressure data of each hydraulic cylinder to the platform-side PLC controller to achieve dynamic load balancing control, ensuring the safety and stability of the adjustment process.

[0043] In summary, this embodiment separates the installation function from the product body by deploying the hydraulic actuator on an independent electric hydraulic lifting platform vehicle and pre-setting a physical interface (lifting contact point) and a data interface (via an IoT module) on the installed electromechanical system integration device. This design reduces the complexity and manufacturing cost of individual integrated devices while improving the reusability and specialization of installation tools, providing a technical foundation for standardized, efficient, and automated construction.

[0044] Example 2: Please refer to Figures 7 to 9 This embodiment provides a construction method for a BIM-based integrated electromechanical system pipeline and equipment device. This method deeply integrates digital design, factory prefabrication, robotics, and IoT intelligent control, aiming to improve the installation efficiency and accuracy of electromechanical systems in large buildings. This method uses the BIM-based integrated electromechanical system pipeline and equipment device described in Embodiment 1 (hereinafter referred to as "this integrated device") as the implementation carrier.

[0045] The complete process of this method can be divided into the following four core steps: S1. Digital design and factory prefabrication, specifically including the following steps: S11. Refined Collaborative Design: Multi-disciplinary collaborative work is conducted on a unified BIM collaborative platform, which can be built based on mainstream BIM software such as Autodesk Revit or Bentley. Designers from various disciplines, including architecture, structure, plumbing, HVAC, and electrical engineering, collaboratively create BIM models of the electromechanical systems on this platform. The level of detail (LOD) is required to reach LOD400, meaning that the components in the BIM model not only contain precise geometric dimensions and spatial location information, but also detailed non-geometric information such as model number, material, and supplier.

[0046] S12. Virtual Construction and Analysis: In the BIM environment, digital clash detection is first performed to eliminate potential hard collisions during the design phase, such as conflicts between pipes and structural beams, as well as soft collisions, such as insufficient on-site maintenance space. Subsequently, based on the building structure and construction flow, the complex electromechanical systems of the entire construction area are rationally modularized within the BIM model. For each modularly integrated unit, detailed structural strength and stiffness analyses are performed using finite element analysis software such as ANSYS or Solidworks, with particular simulation of the stress conditions during hoisting and transportation to optimize the material selection and structural design of its mounting base 1, ensuring lightweight construction while meeting load-bearing requirements.

[0047] S13. Intelligent Prefabrication and Coding: After analysis, the BIM platform automatically generates detailed processing drawings and a Bill of Materials (BOM) for each integrated device and transmits them to the prefabrication plant. On the standardized assembly line in the plant, workers, according to the drawings, use the two-dimensional adjustable structure consisting of L-shaped blocks 24 and fasteners 25 described in Example 1 to precisely assemble various professional pipelines, equipment, and support components 2 onto the mounting base 1. As a preferred embodiment of this example, each independent component and even the entire integrated device is assigned a unique identifier associated with the BIM database. This identifier can be a QR code, RFID tag, or other electronic tag. Simultaneously, the surface of the integrated device is painted with different color markings based on the professional or system information in the BIM model, such as red for fire hydrants and blue for air conditioning ducts, facilitating rapid on-site identification and traceability management.

[0048] S2. Intelligent transportation and entry, specifically including the following steps: S21. On-site Environment Modeling: Before the integrated device arrives on site, a complete real-scene scan of the construction floor is performed using a ground-based 3D laser scanner and other point cloud scanning equipment, generating a 3D real-scene model with centimeter-level precision containing hundreds of millions of data points. This 3D real-scene model will be imported into the BIM collaboration platform and precisely aligned and fused with the building's BIM design model to generate a high-precision navigation map for the robot.

[0049] S22. Task Assignment and Autonomous Navigation: The BIM platform, acting as a centralized management and scheduling center for the construction process, issues transportation tasks to the mobile robot based on the overall construction schedule. Task information includes the identity ID of the integrated device to be transported and the precise 3D coordinates of the target installation position. Upon receiving the task, the mobile robot loads a high-precision navigation map into its control system. Furthermore, utilizing its onboard multi-sensor fusion system, including a multi-line LiDAR and an inertial measurement unit (IMU), the mobile robot employs a laser SLAM (Simultaneous Localization and Mapping) algorithm to achieve autonomous, high-precision real-time positioning and path planning in complex construction environments. During transportation, the mobile robot can also dynamically perceive and avoid temporary obstacles, ultimately transporting the integrated device smoothly and accurately to the designated installation position directly beneath it.

[0050] S3. Automated high-precision installation, specifically including the following steps: S31. Module Lifting and Coarse Positioning: After the mobile robot delivers the integrated device to its designated position, an electric hydraulic lifting platform truck, serving as an independent installation auxiliary tool, moves beneath it. Multiple hydraulic cylinders mounted on the platform truck, acting as hydraulic actuators, extend upwards and precisely align with the lifting contact points at the bottom of the integrated device's mounting base 1. Subsequently, the lifting platform truck lifts the entire integrated device to a position close to its designed installation height, completing the coarse positioning.

[0051] S32. Closed-Loop Iterative Automatic Leveling: At this time, the intelligent adjustment system installed on this integrated device is activated. The collaborative control system, composed of this intelligent adjustment system, the vehicle-mounted control system on the electric hydraulic lifting platform vehicle (which serves as an installation aid), and the remote BIM platform, then enters a high-speed, fully automatic closed-loop iterative leveling process. Specifically, the tilt sensor and displacement sensor installed on the base 1 begin to collect the current real-time pose data of this integrated device at a high frequency. This data is first collected by the device-side PLC controller in the electrical unit 23 of this integrated device, and then sent to the platform-side PLC controller on the electric hydraulic lifting platform vehicle via the Internet of Things module, along with the target pose parameters received from the cloud BIM platform.

[0052] The platform-side PLC controller, acting as the main controller in this stage, executes the leveling algorithm, comparing the real-time pose with the target pose and calculating the deviation vector. If the deviation exceeds the limit, the algorithm immediately calculates the precise fine-tuning amount required for each hydraulic actuator. This instruction drives the electro-hydraulic proportional valve group on the lifting platform vehicle to precisely control the flow of hydraulic oil, enabling the hydraulic cylinders to complete fine extension and retraction movements. This "sensing-calculating-executing-re-sensing" process cycles at a high frequency until the actual pose of this integrated device completely coincides with the target pose in the BIM model, with the deviation less than preset millimeter-level and angle-level thresholds. For example, when the positional deviation is <3mm and the angle deviation is <0.1°, leveling is complete.

[0053] S33. Mechanical Error Compensation and Final Locking: After automatic leveling, installers perform final connection and locking. As an important auxiliary method, the strip-shaped adjustment holes 11 pre-installed on the mounting base 1 and support 2 of this integrated device can be used for final mechanical fine-tuning compensation. Workers can observe the scale at the connection points or use a laser alignment device to perform final millimeter-level position correction within the adjustment holes using adjusting bolts to eliminate cumulative errors caused by deviations in the main building structure itself. After correction, high-strength bolts are used to finally lock all connection points, especially the key connection points with the suspension device 3.

[0054] S4. Global calibration and digital twin delivery, specifically including the following steps: S41. As-built data acquisition: After the integrated device is installed and fixed in the entire construction area, the area is scanned again using a point cloud scanning device to generate the final, high-precision as-built point cloud model.

[0055] S42. Model Comparison and Update: The BIM platform automatically aligns and overlays the received as-built point cloud model with the design model in its database. Subsequently, the BIM platform's built-in error analysis module automatically calculates the 3D spatial deviation between the actual installation position and the design position of each component, generating a visualized deviation report. This report is preferably presented as a heatmap of the deviation values ​​rendered in different colors. The BIM platform automatically updates its database with verified as-built data, ensuring that the position, status, and other information of each component in the BIM model are completely consistent with the physical entity. This updated BIM model serves as an accurate as-built digital archive, providing a reliable data foundation for the operation, maintenance, repair, and future renovation of this integrated device throughout the building's entire lifecycle.

[0056] The above are implementation methods provided in conjunction with specific content, and it is not intended that the specific implementation of this application is limited to these descriptions. Any methods or structures that are similar to those of this application, or any technical deductions or substitutions made based on the concept of this application, should be considered within the scope of protection of this application.

Claims

1. A BIM-based electromechanical system pipeline and equipment integration device, characterized in that, include: A mounting base (1) is provided with a strip adjustment hole (11); A support (2) is adjustablely mounted on the mounting base (1) via the strip-shaped adjustment hole (11); And multi-disciplinary pipelines and equipment components integrated and installed on the support (2), the multi-disciplinary pipelines and equipment components including at least one of water supply and drainage unit (21), heating and ventilation unit (22) and electrical unit (23); Multiple adjustable suspension devices (3) are used to connect the mounting base (1) to the building body; The intelligent adjustment system includes multiple sensors installed on the mounting base (1) for real-time monitoring of the position and orientation of the mounting base (1); The Internet of Things (IoT) module is located in the electrical unit (23) and is connected to the BIM platform and multiple sensors for uploading the pose status data to the BIM platform and receiving adjustment instructions issued by the BIM platform. An actuator is used to automatically level and position the mounting base (1) according to the adjustment command.

2. The BIM-based electromechanical system pipeline and equipment integration device according to claim 1, characterized in that, The support member (2) includes two L-shaped blocks (24) arranged opposite to each other. One side of the L-shaped block (24) is provided with a first groove (241) that is bolted to the strip-shaped adjustment hole (11), and the other side is provided with a second groove (242). A fastener (25) for installing the multi-professional pipelines and equipment components is sandwiched between the two L-shaped blocks (24). The fastener (25) is provided with a third groove (251) that is bolted to the second groove (242).

3. The BIM-based electromechanical system pipeline and equipment integration device according to claim 1, characterized in that, The sensors include tilt sensors for monitoring levelness and / or displacement sensors for monitoring spatial position.

4. The BIM-based electromechanical system pipeline and equipment integration device according to claim 1, characterized in that, The intelligent adjustment system also includes a PLC controller located in the electrical unit (23), which is communicatively connected to the Internet of Things module.

5. The BIM-based electromechanical system pipeline and equipment integration device according to claim 4, characterized in that, The actuator is a plurality of hydraulic lifting mechanisms, and a plurality of lifting contact points are provided on the bottom surface of the mounting base (1) to cooperate with the actuating ends of the plurality of hydraulic lifting mechanisms, for receiving the adjustment force applied by the hydraulic lifting mechanisms during installation.

6. A BIM-based electromechanical system pipeline and equipment integration device according to any one of claims 1-5, characterized in that, The suspension device (3) includes a hanger (31) connected to the main building, and a connecting seat (32) is provided between the hanger and the mounting base (1) to adjust the distance between them.

7. A construction method, characterized in that, Includes the following steps: S1. Digital design and prefabrication: Based on BIM, the electromechanical system is modeled in detail and modularly decomposed, and the BIM-based electromechanical system pipeline and equipment integration device as described in any one of claims 1-6 is prefabricated in the factory; S2. Intelligent transportation: Using mobile robots, the BIM-based electromechanical system pipelines and equipment integration devices are transported to the predetermined installation positions within the building structure according to a preset navigation path; S3. Automated High-Precision Installation: The intelligent adjustment system of the BIM-based electromechanical system pipeline and equipment integration device is activated. The sensors in the intelligent adjustment system collect the current pose of the electromechanical system pipeline and equipment integration device in real time and compare it with the target pose in the BIM platform. The BIM platform generates adjustment commands and drives the actuator to perform automatic leveling and positioning until the deviation between the current pose and the target pose of the device is less than a preset threshold.

8. A construction method according to claim 7, characterized in that, The intelligent transportation step S2 specifically includes: A high-precision navigation map is generated by fusing a 3D reality model of the construction site obtained by point cloud scanning with a BIM design model. The mobile robot loads the high-precision navigation map and uses real-time positioning and map building algorithms to achieve autonomous positioning and path planning in order to complete the transportation task.

9. A construction method according to claim 8, characterized in that, The automatic leveling and positioning in the automated high-precision installation step S3 is a closed-loop iterative process, which specifically includes: after each fine-tuning action is completed by the actuator, returning to the step of real-time acquisition of the current pose state until the deviation is less than the preset threshold.

10. A construction method according to any one of claims 7-9, characterized in that, After the automated high-precision installation step S3 is completed, a digital twin calibration step S4 is also included, which includes: The integrated device after installation is scanned using a point cloud scanning device to generate an as-built model. The as-built reality model is overlaid and compared with the design model in the BIM platform, and the component status and precise location data in the BIM model are automatically updated based on the comparison results.

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