Pipe installation method and system based on laser space matrix and digital twinning

Abstract

The application discloses a pipeline installation method and system based on laser space matrix and digital twinning, the method comprising: after the main structure is constructed to the bottom layer or the equipment layer and the template removal of the layer is completed, a laser space reference matrix composed of at least two vertical laser beams is established on the formed main structure of the layer; after the main structure is upwardly constructed to complete the concrete pouring and form removal of the floor where the first section of pipeline is located, and the external climbing frame is lifted to the layer to provide a working surface, the first section of pipeline unit is installed by using the working surface, the detachable intelligent auxiliary equipment is installed on the first section of pipeline, and the spatial coordinates thereof are recorded by machine vision measurement as an installation absolute reference; with the completion of form removal and the lifting of the external climbing frame to a new working layer for each layer of the main structure, the image acquisition and calculation of the installed pipeline are realized by periodically starting the machine vision acquisition device, the continuous stability monitoring after installation is realized, and intelligent early warning is performed on the displacement exceeding the threshold value.

Description

Technical Field

[0001] This application relates to the field of construction and building technology, specifically to a construction method and system that, during the construction phase of the main structure of a high-rise building, achieves synchronous high-precision installation of external wall pipes and the main structure, and enables self-correction throughout the entire process by constructing a laser spatial reference matrix, using machine vision and intelligent sensing for real-time data acquisition, and relying on a digital twin model to drive an adaptive actuator. Background Technology

[0002] The traditional method for installing exterior wall pipes (such as air conditioning condensate risers and rainwater pipes) in high-rise residential buildings is to use a suspended platform for later construction after the main structure is completed. This method has many problems, including difficulty in controlling verticality, low efficiency, high safety risks, and significant damage to the finished exterior wall.

[0003] Existing improved technologies attempt to install pipes simultaneously using external climbing scaffolding during the main structure construction phase, supplemented by laser plumb bobs to control verticality. However, this method still has inherent flaws: control relies on manual visual observation and adjustment, resulting in large quality fluctuations; process monitoring is lacking, and displacement cannot be detected after fixing; installation information is not digitized, making interaction with Building Information Modeling (BIM) impossible. Therefore, there is an urgent need for a synchronous installation method that can achieve full-process digital and intelligent control. Summary of the Invention

[0004] This specification provides a pipeline installation method and system based on laser spatial matrix and digital twin, which solves the problem of inaccurate installation verticality caused by manual observation throughout the process in the prior art.

[0005] The technical solutions provided in the embodiments of this specification are as follows: In a first aspect, embodiments of this application provide a pipeline installation method based on laser spatial matrix and digital twin. This method is implemented during the main structure construction phase of a high-rise building, utilizing the external climbing scaffolding system upon which the main structure construction depends as the sole pipeline installation operation platform. The method proceeds layer by layer in sync with the main structure construction progress, and includes the following steps: (S1) After the main structure is constructed to the bottom layer or equipment layer and the formwork of that layer is removed, a laser spatial reference matrix consisting of at least two vertical laser beams is established on the main structure of that layer. (S2) After the concrete pouring and formwork removal of the first section of the pipeline are completed on the floor where the main structure is located, and the external climbing frame is raised to the floor to provide a working surface, the first section of the pipeline unit is installed on the working surface. Detachable intelligent auxiliary equipment is installed on the first section of the pipeline, and its spatial coordinates are measured and recorded by machine vision as the absolute reference for installation. (S3) Subsequently, as each floor of the main structure is completed, the formwork is removed and the external climbing scaffold is lifted to a new working floor. On this new working floor, the following installation steps are performed in a cycle: (S3a) Hoist the previous section of the pipe unit to this floor and place it initially on the adaptive adjustment support; (S3b) The laser beam and the optical target on the pipe to be installed are simultaneously acquired by a machine vision acquisition device fixed on the external climbing frame; (S3c) The spatial position deviation of the optical target relative to the laser spatial reference matrix is ​​calculated in real time through image recognition and spatial calculation algorithms; (S3d) Based on the spatial position deviation, the pipeline is precisely positioned and fixed by an adaptive adjustment bracket with two-dimensional micro-motion adjustment capability; (S3e) After the pipeline is fixed, the system automatically records the final spatial coordinates and installation data of the pipeline segment, and completes digital archiving; (S4) During the entire period of continuous upward construction of the main structure, the machine vision acquisition device is periodically activated to acquire and process images of the installed pipeline, thereby achieving continuous stability monitoring after installation and providing intelligent early warning for displacements exceeding the threshold. (S5) After the pipeline is installed to the top floor along with the main structure and the main structure is capped, the overall verticality is checked and a digital twin as-built model containing all installation process data is generated.

[0006] Furthermore, the intelligent auxiliary device integrates an angle sensor and a gyroscope for monitoring the spatial attitude of the pipeline, and optical targets with unique identification codes are set at the top and bottom of the pipeline; the digital twin model simultaneously receives and fuses the spatial position deviation calculated by machine vision and the attitude data reported by the attitude sensor, and performs cross-validation and comprehensive judgment.

[0007] Furthermore, the digital twin model can perform predictive calculations in virtual space based on the real-time coordinates and attitude data of the installed pipeline to simulate the ideal installation position of the previous section of pipeline required to compensate for existing accumulated errors; and will drive the electric actuator of the adaptive adjustment bracket to perform automatic correction in the form of digital signals based on the adjustment commands generated based on the real-time calculation deviation.

[0008] Furthermore, the digital twin model will generate adjustment instructions based on real-time error calculation, and display them on a head-mounted display device or mobile terminal in a way that superimposes augmented reality graphics onto the real scene, so as to guide manual operation of the adaptive adjustment bracket.

[0009] Furthermore, the optical target is a highly reflective marker containing a QR code or a specific geometric pattern, and its code uniquely corresponds to the pipe segment number, enabling the system to simultaneously perform identity recognition and spatial positioning during image recognition.

[0010] Furthermore, the micro-adjustment range of the adaptive adjustment bracket is not less than ±10mm, and the adjustment accuracy is not less than 0.5mm. Its micro-motion is driven by a precision micro-adjustment screw or a micro stepper motor.

[0011] Furthermore, in step (S4), the intelligent early warning is a graded early warning mechanism, which triggers different levels of alarm information according to the magnitude and rate of change of displacement deviation, and accurately locates the specific problem pipe section number and floor.

[0012] Furthermore, at the points where the pipes penetrate the floor slab or air conditioning slab, the sealing work of fireproof capsules or elastic sealant is completed simultaneously before the external climbing frame is lifted, and a water spray test is conducted on that section.

[0013] Secondly, embodiments of this application provide an intelligent installation system for implementing the method, comprising: The laser emitting base is fixed to the underlying main structure and is used to establish a laser spatial reference matrix; The intelligent auxiliary equipment consists of an attitude sensing module integrated on it and an optical target set on the pipeline; The machine vision acquisition and processing unit includes an industrial camera fixed on an external climbing frame and an edge computing server for image processing; A digital twin guidance platform, deployed on a server, is used for model building, data fusion, decision-making, and visualization guidance. The adaptive adjustment bracket, installed on each layer of the main structure, is used to receive instructions and perform precise fine-tuning of the pipeline position.

[0014] Furthermore, the adaptive adjustment bracket includes a two-dimensional micro-motion platform driven by a fine-tuning screw or a micro stepper motor. This platform is connected to the pipe clamp and drives the pipe to make precise displacement in the horizontal plane. The system also includes a horizontal safety net and a vertical protective net deployed at the bottom of the external climbing frame, which are used to provide mobile finished protection for the installed pipe after the climbing frame is lifted.

[0015] The above-mentioned technical solutions adopted in this application embodiment can achieve the following beneficial effects: Intelligent closed-loop control is realized: a new construction model of "physical measurement - virtual decision-making - automatic execution" is created, transforming the "manual work" relying on human experience into a data-driven industrial process, ensuring stable and controllable quality. Installation accuracy is significantly improved: through machine vision sub-pixel calculation and precision execution mechanisms, vertical deviation is greatly reduced, far exceeding traditional standards. Construction efficiency is optimized to the extreme: the installation depth is integrated into the main structure construction cycle, avoiding secondary high-altitude operations and shortening the construction period. Core digital assets are constructed: the generated full-process installation big data is an important component of the building's digital twin, providing a precise base map for intelligent operation and maintenance. Inherent safety and proactive prevention and control: high safety is achieved when working inside the external climbing scaffold; the full-process intelligent early warning mechanism can proactively detect and locate problems, eliminating potential quality hazards at the outset. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 : A schematic diagram of the overall system architecture and construction process of this invention.

[0017] Figure 2 : Schematic diagram of laser spatial reference matrix establishment and machine vision recognition.

[0018] Figure 3 : This is a schematic diagram of the system structure.

[0019] Figure 4 : Intelligent auxiliary equipment and adaptive adjustment support structure and working principle diagram. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0022] This specification provides a pipeline installation method based on laser spatial matrix and digital twin. The method is implemented during the main structure construction phase of a high-rise building, utilizing the external climbing scaffolding system upon which the main structure construction depends as the sole pipeline installation operation platform. The installation is carried out layer by layer in sync with the main structure construction progress, and includes the following steps: (S1) After the main structure is constructed to the bottom layer or equipment layer and the formwork of that layer is removed, a laser spatial reference matrix consisting of at least two vertical laser beams is established on the main structure of that layer. (S2) After the concrete pouring and formwork removal of the first section of the pipeline are completed on the floor where the main structure is located, and the external climbing frame is raised to the floor to provide a working surface, the first section of the pipeline unit is installed on the working surface. Detachable intelligent auxiliary equipment is installed on the first section of the pipeline, and its spatial coordinates are measured and recorded by machine vision as the absolute reference for installation. (S3) Subsequently, as each floor of the main structure is completed, the formwork is removed and the external climbing scaffold is lifted to a new working floor. On this new working floor, the following installation steps are performed in a cycle: (S3a) Hoist the previous section of the pipe unit to this floor and place it initially on the adaptive adjustment support; (S3b) The laser beam and the optical target on the pipe to be installed are simultaneously acquired by a machine vision acquisition device fixed on the external climbing frame; (S3c) The spatial position deviation of the optical target relative to the laser spatial reference matrix is ​​calculated in real time through image recognition and spatial calculation algorithms; (S3d) Based on the spatial position deviation, the pipeline is precisely positioned and fixed by an adaptive adjustment bracket with two-dimensional micro-motion adjustment capability; (S3e) After the pipeline is fixed, the system automatically records the final spatial coordinates and installation data of the pipeline segment, and completes digital archiving; (S4) During the entire period of continuous upward construction of the main structure, the machine vision acquisition device is periodically activated to acquire and process images of the installed pipeline, thereby achieving continuous stability monitoring after installation and providing intelligent early warning for displacements exceeding the threshold. (S5) After the pipeline is installed to the top floor along with the main structure and the main structure is capped, the overall verticality is checked and a digital twin as-built model containing all installation process data is generated.

[0023] In a preferred embodiment, the intelligent auxiliary device integrates an angle sensor and a gyroscope for monitoring the spatial attitude of the pipeline, and optical targets with unique identification codes are set at the top and bottom of the pipeline; the digital twin model simultaneously receives and fuses the spatial position deviation calculated by machine vision and the attitude data reported by the attitude sensor, and performs cross-validation and comprehensive judgment.

[0024] In a preferred embodiment, the digital twin model can perform predictive calculations in virtual space based on the real-time coordinates and attitude data of the installed pipeline to simulate the ideal installation position of the previous section of pipeline required to compensate for existing accumulated errors; and will drive the electric actuator of the adaptive adjustment bracket to perform automatic correction in the form of digital signals based on the adjustment commands generated based on the real-time calculation deviation.

[0025] In a preferred embodiment, the digital twin model will generate adjustment instructions based on real-time error calculation and display them on a head-mounted display device or mobile terminal in the form of augmented reality graphics superimposed on the real scene to guide manual operation of the adaptive adjustment bracket.

[0026] In a preferred embodiment, the optical target is a highly reflective marker containing a QR code or a specific geometric pattern, whose code uniquely corresponds to the pipe segment number, enabling the system to simultaneously perform identity recognition and spatial positioning during image recognition.

[0027] In a preferred embodiment, the micro-adjustment range of the adaptive adjustment bracket is not less than ±10mm, and the adjustment accuracy is not less than 0.5mm. Its micro-adjustment is driven by a precision micro-adjustment screw or a micro stepper motor.

[0028] In a preferred embodiment, in step (S4), the intelligent early warning is a graded early warning mechanism that triggers alarm information of different levels according to the magnitude and rate of change of displacement deviation, and accurately locates the specific problem pipe section number and floor.

[0029] In a preferred embodiment, at the point where the pipe penetrates the floor slab or air conditioning slab, the sealing operation of the fireproof capsule or elastic sealant is completed simultaneously before the external climbing frame is raised, and a water spray test is conducted on that section.

[0030] In one possible implementation, a smart installation system for implementing the method is described in [reference needed]. Figure 3 As shown, it includes: a laser emitting base 1, fixed to the bottom main structure, used to establish a laser spatial reference matrix; an intelligent auxiliary device 2, consisting of an attitude sensing module integrated on it and an optical target set on the pipeline; a machine vision acquisition 3 and processing unit 4, including an industrial camera fixed to the external climbing frame and an edge computing server for image processing; a digital twin guidance platform 5, deployed on the server, used for model building, data fusion, decision-making, and visualization guidance; and an adaptive adjustment bracket 6, installed on each layer of the main structure, used to receive instructions and perform precise fine-tuning of the pipeline position. Please refer to [link to relevant documentation]. Figure 4As shown, the adaptive adjustment bracket 6 includes a two-dimensional micro-motion platform 61 driven by a fine-tuning screw or a micro stepper motor. This platform is connected to the pipe clamp 62, which drives the pipe to make precise displacement in the horizontal plane. The system also includes a horizontal safety net and a vertical protective net deployed at the bottom of the external climbing frame, which are used to form a mobile finished product protection for the installed pipe after the climbing frame is lifted. In use, the intelligent auxiliary device 2 is connected to the pipe through clamps or magnetic adhesive, etc., which are selected according to the specific needs. The adaptive adjustment bracket 6 is connected to the building through the connecting base at the bottom.

[0031] The following provides an application in a specific implementation. Example 1: Standard Floor Piping Installation in Fully Automated Mode like Figure 1-3 As shown, in a 150-meter-high super high-rise residential project, the standard floor height is 2.9 meters. During the main structure construction phase, this invention was used to install the external wall condensate riser.

[0032] 1. System initialization and baseline establishment: After the main structure was constructed to the L5 level and the formwork was removed, a multi-beam laser emitting base was immediately installed on the side wall of the core tube to establish a laser spatial reference matrix and calibrate it with the digital twin model.

[0033] 2. Initial pipeline installation and data link initiation: After the L6 layer structure is completed and the external climbing frame is raised, the first section of pipe, P6, will be installed. Intelligent auxiliary equipment (integrating tilt sensors, gyroscopes, and wireless transmission modules) will be installed on P6, and optical targets with the code "P06" will be affixed to the top and bottom of the pipe. Their spatial coordinates will be measured and recorded using machine vision as an absolute reference.

[0034] 3. Machine vision-guided layer-by-layer installation loop: The project is progressing at a pace of one floor every five days. Taking the installation of pipe P7 on floor L7 as an example: The P7 pipe was hoisted to the L7 level and initially placed on the adaptive adjustment bracket. Industrial cameras automatically acquire images containing laser beams and targets at the bottom of pipes. Figure 2 ) The system calculates the spatial position deviation in real time (ΔX=+3.2mm, ΔY=-0.8mm). The digital twin model drives the electric actuator of the adaptive adjustment bracket for automatic calibration. After the vision system has been reviewed and confirmed to have corrected the deviation to within the allowable range, the bracket is locked. After completing the fireproof sealing and sectional water spray tests, the system automatically archives the installation data. 4. Closed-loop verification and intelligent early warning throughout the entire process: During construction at floor L35, the system detected a displacement of ΔX = +2.5mm in the pipeline at floor L20 through periodic monitoring and immediately issued an early warning. Maintenance personnel accurately located the problem based on the warning information and promptly tightened the loose support bolts.

[0035] 5. Top-level verification and digital completion: When the main structure was capped, the pipeline installation was completed simultaneously. After verification, the maximum deviation of the verticality of the entire pipeline was found to be 1.5mm, and a complete digital twin as-built model was generated.

[0036] Example 2: Application of manual assistance mode at complex nodes During the construction of the equipment floor (4.5 meters high, complex structure) of a certain project, the pipe installation was completed using a manual-assisted method: 1. Operators wear AR smart safety helmets or hold tablets. 2. The machine vision system correctly calculates pipeline deviations. 3. The digital twin model will display adjustment commands in AR format on the terminal. 4. The operator manually adjusts the fine-tuning screw according to the 3D arrow guidance. 5. The AR interface displays the adjustment progress in real time until the deviation is eliminated. 6. This method ensures high-precision installation even under special circumstances. Example 3: Application of the system in ensuring finished product protection 1. Install a horizontal safety net at the bottom of the external climbing scaffold and a protective net on the facade. 2. A "moving protective cover" naturally forms during the lifting of the climbing scaffold. 3. Effectively prevents contamination from concrete slurry and material impact during upper-layer construction. 4. Eliminates the need for additional post-construction protective measures, saving costs. 5. It better maintains the neat appearance of the pipes.

[0037] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0038] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A pipeline installation method based on laser spatial matrix and digital twin, characterized in that, The method is implemented during the main structure construction phase of high-rise buildings, utilizing the external climbing scaffolding system upon which the main structure construction depends as the sole platform for pipe installation operations. It proceeds layer by layer in sync with the main structure construction progress, and includes the following steps: (S1) After the main structure is constructed to the bottom layer or equipment layer and the formwork of that layer is removed, a laser spatial reference matrix consisting of at least two vertical laser beams is established on the main structure of that layer. (S2) After the concrete pouring and formwork removal of the first section of the pipeline are completed on the floor where the main structure is located, and the external climbing frame is raised to the floor to provide a working surface, the first section of the pipeline unit is installed on the working surface. Detachable intelligent auxiliary equipment is installed on the first section of the pipeline, and its spatial coordinates are measured and recorded by machine vision as the absolute reference for installation. (S3) Subsequently, as each floor of the main structure is completed, the formwork is removed and the external climbing scaffold is lifted to a new working floor. On this new working floor, the following installation steps are performed in a cycle: (S3a) Hoist the previous section of the pipe unit to this floor and place it initially on the adaptive adjustment support; (S3b) The laser beam and the optical target on the pipe to be installed are simultaneously acquired by a machine vision acquisition device fixed on the external climbing frame; (S3c) The spatial position deviation of the optical target relative to the laser spatial reference matrix is ​​calculated in real time through image recognition and spatial calculation algorithms; (S3d) Based on the spatial position deviation, the pipeline is precisely positioned and fixed by an adaptive adjustment bracket with two-dimensional micro-motion adjustment capability; (S3e) After the pipeline is fixed, the system automatically records the final spatial coordinates and installation data of the pipeline segment, and completes digital archiving; (S4) During the entire period of continuous upward construction of the main structure, the machine vision acquisition device is periodically activated to acquire and process images of the installed pipeline, thereby achieving continuous stability monitoring after installation and providing intelligent early warning for displacements exceeding the threshold. (S5) After the pipeline is installed to the top floor along with the main structure and the main structure is capped, the overall verticality is checked and a digital twin as-built model containing all installation process data is generated.

2. The method according to claim 1, characterized in that, The intelligent auxiliary device integrates an angle sensor and a gyroscope for monitoring the spatial attitude of the pipeline, and optical targets with unique identification codes are set at the top and bottom of the pipeline; the digital twin model simultaneously receives and fuses the spatial position deviation calculated by machine vision and the attitude data reported by the attitude sensor, and performs cross-validation and comprehensive judgment.

3. The method according to claim 1, characterized in that, The digital twin model can perform predictive calculations in virtual space based on the real-time coordinates and attitude data of the installed pipeline, simulating the ideal installation position of the previous section of pipeline required to compensate for existing accumulated errors; and will drive the electric actuator of the adaptive adjustment bracket to perform automatic correction in the form of digital signals based on the adjustment commands generated based on the real-time calculation deviation.

4. The method according to claim 1, characterized in that, The digital twin model will generate adjustment instructions based on real-time error calculation, and display them on a head-mounted display device or mobile terminal in the form of augmented reality graphics superimposed on the real scene to guide manual operation of the adaptive adjustment bracket.

5. The method according to claim 1, characterized in that, The optical target is a highly reflective marker containing a QR code or a specific geometric pattern. Its code uniquely corresponds to the pipe segment number, enabling the system to simultaneously perform identity recognition and spatial positioning during image recognition.

6. The method according to claim 1, characterized in that, The micro-adjustment range of the adaptive adjustment bracket is no less than ±10mm, and the adjustment accuracy is no less than 0.5mm. Its micro-motion is driven by a precision micro-adjustment screw or a micro stepper motor.

7. The method according to claim 1, characterized in that, In step (S4), the intelligent early warning is a graded early warning mechanism. Based on the magnitude and rate of change of the displacement deviation, different levels of alarm information are triggered, and the specific problem pipe section number and floor are accurately located.

8. The method according to claim 1, characterized in that, At the point where the pipe penetrates the floor slab or air conditioning slab, the sealing work of fireproof capsules or elastic sealant shall be completed simultaneously before the external climbing frame is lifted, and a water spray test shall be carried out on that section.

9. An intelligent installation system for implementing the method of any one of claims 1 to 8, characterized in that, include: The laser emitting base is fixed to the underlying main structure and is used to establish a laser spatial reference matrix; The intelligent auxiliary equipment consists of an attitude sensing module integrated on it and an optical target set on the pipeline; The machine vision acquisition and processing unit includes an industrial camera fixed on an external climbing frame and an edge computing server for image processing; A digital twin guidance platform, deployed on a server, is used for model building, data fusion, decision-making, and visualization guidance. The adaptive adjustment bracket, installed on each layer of the main structure, is used to receive instructions and perform precise fine-tuning of the pipeline position.

10. The system according to claim 9, characterized in that, The adaptive adjustment bracket includes a two-dimensional micro-motion platform driven by a fine-tuning screw or a micro stepper motor. This platform is connected to the pipe clamp and drives the pipe to make precise displacement in the horizontal plane. The system also includes a horizontal safety net and a vertical protective net deployed at the bottom of the external climbing frame, which are used to provide mobile finished protection for the installed pipe after the climbing frame is lifted.

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