A method and system for mechanical and electrical pipeline conflict detection based on BIM

Abstract

The application discloses a kind of mechanical and electrical pipeline conflict detection method and system based on BIM, it is related to building construction technical field, the method comprises: loading the mechanical and electrical pipeline component set in target building information model and construction process knowledge graph, based on connection mode attribute and constraint relationship, the benchmark operation space threshold value corresponding to each mechanical and electrical pipeline component is matched, based on medium type attribute, installation stage attribute and constraint relationship, the dynamic correction coefficient of each mechanical and electrical pipeline component is calculated, based on benchmark operation space threshold value and dynamic correction coefficient, the dynamic soft collision detection threshold of each pair of adjacent mechanical and electrical pipeline component is generated, and combined with the geometric information of mechanical and electrical pipeline component set, soft collision detection is executed, and soft collision detection result is obtained.The technical problem that the prior art cannot adapt to the different connection mode, medium type and the differentiating space requirement of construction stage, resulting in missed detection, high false detection rate is solved.

Description

Technical Field

[0001] This application relates to the field of building construction technology, specifically to a BIM-based method and system for detecting conflicts in electromechanical pipelines. Background Technology

[0002] With the widespread application of Building Information Modeling (BIM) technology in electromechanical installation engineering, it has become a standard practice in the industry to identify spatial conflicts in advance during the pipeline integrated design phase. However, most existing conflict detection technologies only target hard collision detection between pipeline entities or use fixed net distance thresholds for soft collision detection, which cannot adapt to the differentiated needs of operating space for different connection methods, different media types, and different construction stages.

[0003] On the one hand, fixed thresholds cannot reflect the differences in space requirements of different construction processes, which can easily lead to missed detections of conflicts that actually require reserved operating space, or misjudgments of reasonable layouts that meet process requirements, leaving hidden dangers for on-site construction. On the other hand, existing detection methods do not take into account the space constraints of the entire life cycle, such as installation sequence, thermal expansion during operation, and maintenance needs, nor do they accurately distinguish collision types based on construction process knowledge, resulting in limited reference value of the detection results. This requires designers to repeatedly verify the results manually, reducing the efficiency of pipeline integrated design. Summary of the Invention

[0004] This application provides a BIM-based method and system for detecting conflicts in electromechanical pipelines, which solves the technical problem that existing technologies cannot adapt to the differentiated spatial requirements of different connection methods, media types and construction stages, resulting in high rates of missed detection and false detection.

[0005] The technical solution to the above-mentioned technical problems in this application is as follows:

[0006] Firstly, this application provides a BIM-based method for detecting conflicts in electromechanical pipelines, the method comprising:

[0007] Load the set of electromechanical pipeline components from the target building information model. Each electromechanical pipeline component includes connection method attributes, media type attributes, and installation stage attributes.

[0008] Load a construction process knowledge graph, which includes the constraint relationship between process operations and spatial requirements;

[0009] Based on the connection method attributes and the constraint relationship, the baseline operating space threshold corresponding to each electromechanical pipeline component is obtained by matching.

[0010] Based on the medium type attribute, the installation stage attribute, and the constraint relationship, calculate the dynamic correction coefficient for each electromechanical pipeline component;

[0011] Based on the baseline operating space threshold and the dynamic correction coefficient, a dynamic soft collision detection threshold is generated for each pair of adjacent electromechanical pipeline components.

[0012] Based on the dynamic soft collision detection threshold and the geometric information of the electromechanical pipeline component set, soft collision detection is performed to obtain soft collision detection results including collision location and collision type.

[0013] Secondly, this application provides a BIM-based electromechanical pipeline conflict detection system, including:

[0014] The initial information acquisition module is used to load the set of electromechanical pipeline components in the target building information model. Each electromechanical pipeline component includes connection method attributes, media type attributes, and installation stage attributes.

[0015] The knowledge graph loading module is used to load the construction process knowledge graph, which contains the constraint relationship between process operations and spatial requirements.

[0016] The reference operating space threshold matching module is used to match and obtain the reference operating space threshold corresponding to each electromechanical pipeline component based on the connection method attribute and the constraint relationship.

[0017] The correction factor calculation module is used to calculate the dynamic correction factor for each electromechanical pipeline component based on the medium type attribute, the installation stage attribute, and the constraint relationship.

[0018] The collision detection threshold acquisition module is used to generate a dynamic soft collision detection threshold for each pair of adjacent electromechanical pipeline components based on the reference operating space threshold and the dynamic correction coefficient.

[0019] The detection result output module is used to perform soft collision detection based on the dynamic soft collision detection threshold and the geometric information of the electromechanical pipeline component set, and obtain soft collision detection results including collision location and collision type.

[0020] This application provides one or more technical solutions, which have at least the following technical effects or advantages:

[0021] This application provides a BIM-based method and system for detecting conflicts in electromechanical pipelines. First, it matches baseline operating space thresholds for different construction processes based on connection methods, solving the problem that fixed thresholds cannot adapt to the spatial requirements of different processes, thus reducing missed and false detections. Second, it calculates dynamic correction coefficients based on medium type and installation stage, and generates multi-stage dynamic soft collision detection thresholds by combining operational thermal expansion, installation sequence, and maintenance requirements, satisfying differentiated spatial constraints throughout the entire lifecycle. Finally, it automatically labels collision types and iteratively updates manually adjusted obstacle avoidance schemes into the construction process knowledge graph, continuously optimizing subsequent detection accuracy, significantly reducing the workload of manual review, and improving the efficiency and accuracy of comprehensive pipeline conflict detection.

[0022] Through the above technical solutions, this application can achieve dynamic and accurate detection of integrated conflicts of electromechanical pipelines by combining the differentiated spatial requirements of construction processes, effectively reducing the missed detection rate and false detection rate. At the same time, the detection model can be continuously iterated and optimized by manual adjustment of experience to adapt to the process characteristics of different projects, providing reliable technical support for the integrated design of electromechanical pipelines. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart illustrating a BIM-based electromechanical pipeline conflict detection method provided in an embodiment of this application.

[0025] Figure 2 This is a flowchart illustrating the calculation of the dynamic correction coefficient for each electromechanical pipeline component in a BIM-based electromechanical pipeline conflict detection method provided in this application embodiment.

[0026] Figure 3 This is a flowchart illustrating the collision type determination process in a BIM-based electromechanical pipeline conflict detection method provided in this application embodiment.

[0027] Figure 4 This is a schematic diagram of a BIM-based electromechanical pipeline conflict detection system provided in an embodiment of this application.

[0028] The components represented by each number in the attached diagram are explained below:

[0029] The module includes: initial information acquisition module 11, knowledge graph loading module 12, baseline operation space threshold matching module 13, correction coefficient calculation module 14, collision detection threshold acquisition module 15, and detection result output module 16. Detailed Implementation

[0030] This application provides a BIM-based method and system for detecting conflicts in electromechanical pipelines, addressing the technical problem that existing technologies cannot adapt to the diverse spatial requirements of different connection methods, media types, and construction stages, resulting in high rates of missed or false detections.

[0031] Example 1, as Figure 1 As shown in the figure, this application provides a BIM-based method for detecting conflicts in electromechanical pipelines, including:

[0032] S10: Load the set of electromechanical pipeline components in the target building information model. Each electromechanical pipeline component includes connection method attributes, media type attributes, and installation stage attributes.

[0033] In this embodiment of the application, after loading the BIM file, the target building information model is loaded first, and the data in the industrial basic class format is structured and parsed. The connection method attributes, media type attributes and installation stage attributes that were originally stored separately are integrated into a unified electromechanical pipeline component dataset, which is convenient for direct calling in subsequent inspection processes.

[0034] The target building information model refers to the complete building information model to be used for integrated conflict detection of mechanical and electrical pipelines. It covers all design information of mechanical and electrical engineering and can export complete component data in IFC format.

[0035] Furthermore, loading the set of electromechanical pipeline components from the target building information model also includes:

[0036] The industrial base data file of the target building information model is parsed, and the cross-sectional shape, outer diameter, centerline path coordinates and spatial bounding box of the pipeline components are extracted and added to the geometric attributes.

[0037] Read the material name, wall thickness, and insulation layer thickness of the pipeline components and add them to the material properties;

[0038] Read the connection method code of the pipeline component. If it is empty, fill in the connection method attribute according to the type name and diameter range of the pipeline component through the preset connection method inference rule table.

[0039] Read the medium category identifier and operating temperature parameter of the pipeline component and add them to the medium type attribute;

[0040] Read the construction stage identifier or design stage identifier of the pipeline component and add it to the installation stage attribute.

[0041] In this embodiment of the application, firstly, the industrial basic data file of the target building information model is parsed, and the cross-sectional shape, outer diameter, centerline path coordinates and spatial bounding box of the pipeline components are extracted and uniformly organized into the geometric attributes of the pipeline components and stored in the structured dataset.

[0042] Secondly, the material name, wall thickness, and insulation layer thickness of the pipeline components are read and integrated into the data set as material attributes for subsequent similarity matching calculation of the baseline operation space threshold.

[0043] Next, the connection method code pre-marked on the pipeline component is read. If the connection method code is empty, the connection method attribute is completed according to the type name and diameter range of the pipeline component by using the preset connection method inference rule table. The preset connection method inference rule table consists of pre-compiled industry-standard rules. For example, water supply pipes with a diameter of DN100 and below use threaded connections by default, while water supply pipes with a diameter of DN100 and above use grooved or flanged connections by default. This ensures that the attributes of all components are complete and usable, avoiding interruptions to the detection process due to missing attributes. Then, the medium category identifier and operating temperature parameter of the pipeline component are read and added to the medium type attribute for subsequent calculation of dynamic correction coefficients and thermal expansion displacement.

[0044] Finally, the construction stage identifier or design stage identifier of the pipeline component is read and added to the installation stage attribute. This is used to select the appropriate applicable threshold based on the current inspection scenario. After all attribute extraction and completion are completed, a structured set of electromechanical pipeline components is obtained, and the next step of the process can be initiated.

[0045] S20: Load the construction process knowledge graph, which includes the constraint relationship between process operations and spatial requirements;

[0046] In this embodiment of the application, a construction process knowledge graph is loaded, including the constraint relationship between process operation and spatial requirements. The construction process knowledge graph is a structured knowledge network constructed with pipeline connection method, installation stage, influencing factors and spatial requirements as entities and constraint relationship as edges.

[0047] The constraint relationships include the influence weights of different entities on space requirements. The initial weights are pre-set by industry standards and construction experience and can be updated through subsequent manual adjustments based on experience. For example, flanged pipelines require more operating space to install bolts than threaded connections. Therefore, the weight value of the benchmark operating space threshold corresponding to flange connections is higher, such as 0.7. The construction process knowledge graph can be stored in the project data server in advance and can be directly imported during detection without rebuilding for the current project.

[0048] S30: Based on the connection method attribute and the constraint relationship, match and obtain the reference operating space threshold corresponding to each electromechanical pipeline component;

[0049] In this embodiment of the application, based on the connection method attribute of the pipeline component, the operating space reference value corresponding to the connection method is retrieved in the construction process knowledge graph, and the reference operating space threshold of the component is calculated by combining the outer diameter of the pipeline component and the thickness of the insulation layer.

[0050] Furthermore, the baseline operating space threshold corresponding to each electromechanical pipeline component is obtained through matching, including:

[0051] Collect flange connection type, welded connection type, threaded connection type and grooved connection type from the preset connection type set. For each connection type, query the constraint relationship associated with the corresponding connection type from the construction process knowledge graph, extract the minimum clear distance value in the space requirement entity pointed to by the constraint relationship, and set it as the benchmark operating space threshold of the corresponding connection type.

[0052] The connection method attribute of the target electromechanical pipeline component is matched with the preset connection method type set. If the match is successful, the corresponding baseline operation space threshold is directly used.

[0053] If the matching fails, the average value of the reference operating space thresholds of the three known components with the highest similarity to the target electromechanical pipeline component in terms of material properties and pipe diameter range is calculated based on the component similarity relationship in the construction process knowledge graph, and set as the reference operating space threshold of the current electromechanical pipeline component.

[0054] In this embodiment, firstly, preset connection types are collected, specifically including flange connection type, welded connection type, threaded connection type and grooved connection type. For each connection type, the constraint relationship associated with the corresponding connection type is queried from the construction process knowledge graph. The minimum clear distance value in the spatial requirement entity pointed to by the constraint relationship is extracted. That is, in the construction process knowledge graph, the minimum three-dimensional spatial distance required to complete a specific process operation is defined and set as the benchmark operation space threshold for the corresponding connection type to ensure that the reserved space meets the actual component size requirements.

[0055] Secondly, the connection method attributes of the target electromechanical pipeline component are matched with the preset connection method type set. If the match is successful, the corresponding benchmark operation space threshold calculated is directly used. If the match fails, the average value of the benchmark operation space thresholds of the three known components with the highest similarity to the target electromechanical pipeline component in terms of material attributes and pipe diameter range is calculated based on the component similarity relationship in the construction process knowledge graph. The average value is then set as the benchmark operation space threshold of the current electromechanical pipeline component.

[0056] Specifically, similarity calculation is achieved through the cosine similarity algorithm, which assigns different weights to material attributes and pipe diameter range. The weighted calculation result of the matching degree of material type and the proportion of pipe diameter difference is used as the final similarity value. The three known components with the highest values ​​are selected to complete the average calculation of the baseline threshold.

[0057] For example, similarity = w1Sm + w2Sd, where w1 is the material attribute weight, w2 is the pipe diameter range weight, w1 + w2 = 1, for example w1 = 0.6, w2 = 0.4, Sm is the material matching score, which is 1 for the same material, 0.6 for materials of the same type, and 0.1 for different types. Pipe diameter similarity Sd = 1 - |d1 - d2| / max(d1, d2), where d1 is the pipe diameter of the target component and d2 is the pipe diameter of the known component. Then, the three candidate components with the highest similarity are selected, and the arithmetic mean of the baseline operation space thresholds of the three components is calculated to obtain the baseline operation space threshold of the current target component.

[0058] S40: Calculate the dynamic correction coefficient for each electromechanical pipeline component based on the medium type attribute, the installation stage attribute, and the constraint relationship;

[0059] In this embodiment, different categories such as pressure pipelines, gravity pipelines, and thermal pipelines can be distinguished based on the medium type attribute. The installation stage, operation stage, and maintenance stage can be distinguished based on the installation stage attribute. Then, the constraint weights of the corresponding entities in the construction process knowledge graph are called to calculate the weighted correction results for different influencing factors, and finally the dynamic correction coefficient of the current pipeline component is obtained.

[0060] Specifically, such as Figure 2 As shown, the dynamic correction factor for each electromechanical pipeline component is calculated, including:

[0061] Collect the set of influencing factor entities associated with the medium type attribute in the construction process knowledge graph. The influencing factor entities include high temperature medium factor, high pressure medium factor, corrosive medium factor and fire protection medium factor.

[0062] Based on the medium type attribute of the target electromechanical pipeline component, at least one corresponding influencing factor entity is matched from the influencing factor entity set, and the weight coefficient of the constraint relationship between each influencing factor entity and the space requirement entity is extracted and set as the first set of weights.

[0063] Based on the installation stage attributes of the target electromechanical pipeline components, the weight coefficients of the constraint relationship between the installation stage entity and the space requirement entity are queried from the construction process knowledge graph and set as the second set of weights.

[0064] The weighted sum of the first set of weights and the second set of weights is set as the dynamic correction coefficient.

[0065] In this embodiment of the application, firstly, a set of influencing factor entities associated with the medium type attribute in the construction process knowledge graph is collected. The influencing factor entities specifically include high temperature medium factor, high pressure medium factor, corrosive medium factor and fire protection medium factor. The influencing factor entities used to correct the spatial threshold represent the additional risks brought about by the medium characteristics.

[0066] Specifically, different media factors correspond to different space requirement weights. For example, high-temperature media need to take into account the thermal expansion displacement during operation, so they have a higher weight; corrosive media need to reserve operating space for subsequent anti-corrosion maintenance; and fire-fighting media need to meet the larger maintenance clearance required by the specifications, so they are set with higher weight coefficients.

[0067] Specifically, high-temperature media factors correspond to pipelines such as steam and hot water, where high temperatures may cause thermal expansion, thicker insulation layers, or additional heat dissipation spacing; high-pressure media factors correspond to high-pressure gases or liquids, where high-pressure vibration or leakage risks require greater safety redundancy; corrosive media factors correspond to chemical pipelines such as acids and alkalis, where leaks may damage adjacent pipelines, requiring increased isolation spacing and reserved maintenance space; and fire-fighting media factors correspond to fire water pipes and sprinkler pipes, which, as critical safety facilities, require higher protection levels and operational accessibility.

[0068] Subsequently, based on the medium type attribute of the target electromechanical pipeline component, at least one corresponding influencing factor entity is matched from the influencing factor entity set, and the weight coefficient of the constraint relationship between each influencing factor entity and the space requirement entity is extracted and used as the first set of weights. For example, for pipelines that simultaneously carry high temperature and high pressure media, both high temperature media factor and high pressure media factor are matched to obtain two corresponding weight coefficients.

[0069] Next, based on the installation stage attributes of the target electromechanical pipeline components, the weight coefficients of the constraint relationship between the installation stage entity and the space requirement entity are queried from the construction process knowledge graph and used as the second set of weights.

[0070] For example, the installation and construction phase takes into account the docking operation requirements, so the weighting coefficient is the highest; the operation phase only needs to meet the structural and expansion requirements, so the weighting coefficient is the next highest; the maintenance and repair phase requires reserving space for disassembly and assembly operations, so the weighting coefficient is slightly higher than that of the operation phase.

[0071] Finally, the weight coefficients of the first group and the weight coefficients of the second group are weighted and summed. The sum is then set as the dynamic correction coefficient of the current electromechanical pipeline component, thus completing the calculation of the dynamic correction coefficient.

[0072] For example, during the installation and construction phase of a high-temperature thermal pipeline, the weighting coefficient of the high-temperature medium factor is matched to 0.25, and the weighting coefficient during the installation and construction phase is 0.8. After weighted summation, the dynamic correction coefficient is 0.25 + 0.8 = 1.05. If the pipeline is in the operation and testing phase, the weighting coefficient of the high-temperature medium factor remains at 0.25, and the weighting coefficient during the operation phase is 0.6. The final dynamic correction coefficient is 0.85, thus completing the coefficient adaptation under different scenarios.

[0073] S50: Based on the reference operating space threshold and the dynamic correction coefficient, generate a dynamic soft collision detection threshold for each pair of adjacent electromechanical pipeline components;

[0074] In this embodiment, based on the baseline operating space threshold and the dynamic correction coefficient, the installation stage threshold, the operation stage threshold, and the maintenance stage threshold are merged into a dynamic soft collision detection threshold. This threshold is used to determine whether there is an actual spatial conflict between adjacent pipelines, replacing the uniform and fixed detection threshold in the prior art, and adapting to the differentiated needs of the pipeline's own attributes and the current detection stage.

[0075] Specifically, the dynamic soft collision detection threshold for each pair of adjacent electromechanical pipeline components is generated, including:

[0076] For any pair of adjacent electromechanical pipeline components, designated as the first pipeline component and the second pipeline component, the first reference operating space threshold and the first dynamic correction coefficient of the first pipeline component, and the second reference operating space threshold and the second dynamic correction coefficient of the second pipeline component are obtained respectively.

[0077] The larger of the first reference operating space threshold and the second reference operating space threshold is determined as the baseline threshold value; the average of the first dynamic correction coefficient and the second dynamic correction coefficient is determined as the comprehensive correction coefficient; the product of the baseline threshold value and the comprehensive correction coefficient is calculated as the installation stage threshold.

[0078] Based on the operating temperature parameters in the medium type attributes of the first pipeline component and the second pipeline component, calculate the thermal expansion displacement of each component under operating conditions; determine the larger value of the thermal expansion displacement as the operating margin; calculate the sum of the installation stage threshold and the operating margin as the operating stage threshold.

[0079] Based on the connection method attributes of the first pipeline component and the second pipeline component, the maintenance passage width benchmark value is queried from the construction process knowledge graph, and the maintenance passage width benchmark value is multiplied by the preset maintenance redundancy coefficient to obtain the maintenance stage threshold.

[0080] The installation phase threshold, operation phase threshold, and maintenance phase threshold are combined into the dynamic soft collision detection threshold.

[0081] In this embodiment of the application, firstly, for any pair of adjacent electromechanical pipeline components, respectively designated as the first pipeline component and the second pipeline component, the first reference operating space threshold and the first dynamic correction coefficient of the first pipeline component, and the second reference operating space threshold and the second dynamic correction coefficient of the second pipeline component are obtained.

[0082] Specifically, the first reference operating space threshold, the first dynamic correction coefficient, the second reference operating space threshold, and the second dynamic correction coefficient are obtained according to the steps of S30 and S40 mentioned above, which will not be repeated here.

[0083] Secondly, the larger of the two baseline operating space thresholds is determined as the baseline threshold base value, and the average value calculated from the two dynamic correction coefficients is determined as the comprehensive correction coefficient. Multiplying the baseline threshold base value and the comprehensive correction coefficient yields the installation stage threshold.

[0084] For example, the first pipeline component is a DN100 flange-connected fire water pipe with a reference operating space threshold of 100mm and a dynamic correction coefficient of 1.15; the second pipeline component is a DN80 threaded-connected sewage pipe with a reference operating space threshold of 80mm and a dynamic correction coefficient of 0.95. Therefore, the basic value of the reference threshold is taken as 100mm, and the comprehensive correction coefficient is (1.15+0.95) / 2=1.05. The calculated threshold for the installation stage is 100×1.05=105mm.

[0085] Next, based on the operating temperature parameters in the medium type attributes of the first and second pipeline components, the thermal expansion displacement of the two components under operating conditions is calculated. The formula for calculating the thermal expansion displacement is as follows: Where α is the linear expansion coefficient of the pipeline material, L is the pipeline segment length, and ΔT is the difference between the installation temperature and the highest operating temperature. The larger of the two thermal expansion displacements is taken as the operating margin. The operating margin is added to the installation stage threshold to obtain the operating stage threshold.

[0086] For example, the DN100 fire water pipe is made of galvanized steel, with a linear expansion coefficient α = 1.2 × 10⁻⁵ / ℃, a segment length L = 6m, an installation temperature of 25℃, and a maximum operating temperature of 35℃. Therefore, ΔT = 10℃, and the calculated thermal expansion displacement is... The DN80 sewage pipe is made of UPVC with a linear expansion coefficient α = 8 × 10^-5 / ℃, a segment length L = 6 m, an installation temperature of 25 ℃, and a maximum operating temperature of 25 ℃. Therefore, ΔT = 0 ℃ and ΔL2 = 0. Thus, the operating margin is 0.72 mm, and the operating threshold is 105 + 0.72 = 105.72 mm.

[0087] Then, based on the connection method attributes of the two pipeline components, the corresponding maintenance passage width benchmark value is queried from the construction process knowledge graph. That is, in the construction process knowledge graph, for a specific connection method or equipment type, the minimum passage width defined to meet the manual maintenance operation is multiplied by the preset maintenance redundancy coefficient to calculate the maintenance stage threshold.

[0088] Finally, the thresholds from the three stages are combined to obtain the dynamic soft collision detection threshold for the pair of adjacent electromechanical pipeline components. The preset maintenance redundancy coefficient is pre-set by industry standards and stored in the construction process knowledge graph. It can be manually adjusted according to actual project needs; for example, it can be set to 1.2, reserving 20% ​​extra width to meet daily inspection and fault disassembly / reassembly requirements.

[0089] For example, the first pipeline component is a flange connection with a reference value of 150mm, and the second pipeline component is a threaded connection with a reference value of 80mm. The larger value of the two, 150mm, is taken and multiplied by a preset maintenance redundancy coefficient of 1.2 to obtain a maintenance stage threshold of 180mm. Finally, the three thresholds are combined to obtain the dynamic soft collision detection threshold of the current adjacent pipeline pair as [105, 105.72, 180]mm, thus completing the threshold generation.

[0090] S60: Based on the dynamic soft collision detection threshold and the geometric information of the electromechanical pipeline component set, perform soft collision detection to obtain soft collision detection results including collision location and collision type.

[0091] In this embodiment of the application, the geometric information of all electromechanical pipeline components in the BIM model is obtained, the actual spacing is compared with the preset tolerance deviation value, and it is determined whether there is a soft collision between the pair of adjacent electromechanical pipeline components at the corresponding stage. If there is, the component number, location information, and stage that does not meet the requirements are recorded in the soft collision detection result.

[0092] Specifically, such as Figure 3 As shown, soft collision detection is performed to obtain soft collision detection results containing collision location and collision type, including:

[0093] Calculate the shortest spatial distance between any pair of adjacent electromechanical pipeline components in the set of electromechanical pipeline components, and set it as the actual spacing;

[0094] Based on the design or construction stage corresponding to the current detection, select an applicable threshold from the dynamic soft collision detection thresholds;

[0095] When the actual distance is less than the applicable threshold and the difference is greater than the preset tolerance deviation value, a soft collision is determined to exist. The collision position is recorded as the midpoint of the line connecting the geometric centers of the pair of adjacent electromechanical pipeline components. The collision type is recorded as a soft collision. Key factor labels causing the collision are generated. The key factor labels include insufficient flange installation space, insufficient welding operation surface, insufficient maintenance passage width, and insufficient thermal expansion allowance.

[0096] In this embodiment of the application, firstly, the shortest spatial distance between any pair of adjacent electromechanical pipeline components in the computer electrical pipeline component set, i.e. the actual spacing, can be obtained directly through the geometric distance calculation interface provided by the BIM platform, or it can be calculated through the outer envelope coordinates of the pipeline components.

[0097] Then, based on the design or construction stage corresponding to the current detection, the applicable threshold for the corresponding stage is selected from the generated dynamic soft collision detection thresholds. Specifically, if the current stage is the construction detailed design stage, the installation stage threshold is selected as the detection basis; if the current stage is the operational safety verification stage, the operational stage threshold is selected as the detection basis; if the current stage is the maintenance plan verification stage, the maintenance stage threshold is selected as the detection basis.

[0098] Finally, the actual distance is compared with the selected applicable threshold. When the actual distance is less than the applicable threshold and the difference between the two is greater than the preset tolerance deviation value, it is determined that there is a soft collision between the pair of adjacent components. The collision position is recorded as the midpoint of the line connecting the geometric centers of the pair of adjacent electromechanical pipeline components. At the same time, the collision type is marked as a soft collision. Then, the corresponding key factor label is generated in combination with the scenario that does not meet the requirements.

[0099] The tolerance deviation value refers to the preset allowable error range in soft collision detection to allow for a small difference between the actual distance and the dynamic soft collision detection threshold. It is pre-configured by the project technical manager according to the project's accuracy requirements, and can be set to 5mm for example.

[0100] Furthermore, such as Figure 3 As shown, before performing soft collision detection, a topology analysis of the reachability space is performed on each pair of adjacent electromechanical pipeline components to construct a three-dimensional grid map with standard worker models or standard tool models as the walking units. Path planning and reachability judgment are performed in the three-dimensional grid map. If a complete operation path cannot be planned, even if the actual distance is greater than or equal to the applicable threshold, it is still determined that there is a soft collision, and the collision type is updated to operation path interruption collision.

[0101] In this embodiment of the application, before performing soft collision detection, a topology analysis is first performed on the reachable space between adjacent pipelines using a three-dimensional grid map. Using a standard worker operation model or a standard maintenance tool model as the traversal unit, all passable grids between adjacent pipeline components are traversed to complete the planning of the operation path and the determination of reachability. If a complete path that meets the operation requirements cannot be planned between adjacent pipeline components, it means that even if the actual spacing value of the pipeline meets the threshold requirement, it cannot meet the space requirements of the actual installation or maintenance operation. Therefore, it is still determined that there is a soft collision between the pair of adjacent components, and the corresponding collision type is updated to operation path interruption collision.

[0102] Furthermore, a BIM-based method for detecting conflicts in MEP (Mechanical, Electrical, and Plumbing) pipelines also includes:

[0103] Load the construction schedule and identify the construction procedures and time windows associated with the soft collision location;

[0104] When pipeline installation precedes the construction of adjacent structures, the dynamic soft collision detection threshold is automatically switched to the installation stage threshold, and the original dynamic soft collision detection threshold is restored after the structure construction is completed, generating a time-series constraint switching record.

[0105] In this embodiment of the application, firstly, the construction schedule data is loaded, and the construction procedures corresponding to all pipeline components and adjacent structures involved in the current soft collision location, as well as the construction time window corresponding to each procedure, are identified from the schedule data.

[0106] If the installation process of the target electromechanical pipeline component is detected to be earlier than the construction process of the adjacent structure, it means that the adjacent structure has not yet been constructed when the pipeline is installed, and will not occupy the operating space during pipeline installation. Therefore, the dynamic soft collision detection threshold currently used for detection is automatically switched to the installation stage threshold. After the adjacent structure is completed, the detection threshold is restored to the original dynamic soft collision detection threshold corresponding to the stage. At the same time, the process information and time window information of this threshold switch are recorded in the timing constraint switch record and stored in the detection result file. This avoids the space occupation caused by the subsequent construction structure being counted in advance, reduces a large number of invalid alarms, and makes the detection rules more in line with the actual project.

[0107] Furthermore, a BIM-based method for detecting conflicts in MEP (Mechanical, Electrical, and Plumbing) pipelines also includes:

[0108] Output the soft collision detection results, generate a visualized collision diagnosis report, and highlight the collision location in the target building information model;

[0109] Receive manual adjustment operations from external input, and extract the first pipeline component identifier, the second pipeline component identifier, and the description text of the final obstacle avoidance scheme corresponding to the manual adjustment operation;

[0110] Natural language processing is performed on the obstacle avoidance scheme description text to extract the scene feature vector and adjustment strategy triplet from the obstacle avoidance scheme. The adjustment strategy triplet is added as a new instance to the constraint relationship of the construction process knowledge graph, and the weight parameter of the corresponding constraint relationship is increased.

[0111] The adjustment strategy triple includes conflict scenario, adjustment action, and optimization result.

[0112] In this embodiment, firstly, the soft collision detection results are output, generating a visual conflict diagnosis report containing collision location, collision type, and key factor labels. The report is then associated with the BIM model, and all detected collision locations are directly highlighted in the target BIM model, facilitating quick location and viewing by designers or construction personnel.

[0113] Afterwards, the system receives manual adjustment operations input by designers or construction personnel, and automatically extracts the identifiers of the first pipeline component and the second pipeline component involved in the adjustment operation, as well as the obstacle avoidance scheme description text entered by the operator.

[0114] Secondly, natural language processing is performed on the obstacle avoidance scheme description text to extract the scene feature vectors corresponding to the conflict. This can transform the key information of the conflict scene into a machine-readable list of values. By comparing the similarity of the feature vectors of the old and new scenes, it can be determined whether the past obstacle avoidance scheme is applicable to the current problem.

[0115] Extract the adjustment strategy triplet consisting of conflict scenario, adjustment action, and optimization result. This triplet is used to transform manual adjustment experience into machine-learnable and reusable knowledge, which is then stored in the construction process knowledge graph.

[0116] Furthermore, the extracted adjustment strategy triples are added as new instances to the constraints of the pre-built construction process knowledge graph, and the weight parameters of the constraints are increased accordingly to complete the iterative update of the knowledge graph and continuously improve the accuracy of subsequent detection and solution recommendation. Specifically, the adjustment strategy triples are used to structurally record the knowledge units of obstacle avoidance solutions, with the format: conflict scenario, adjustment action, optimization result, such as "insufficient flange spacing, increase pipeline offset, flange offset distance meets standard".

[0117] In summary, compared to existing technologies, this application integrates pipeline component attributes, construction process requirements, and operational space specifications by constructing a construction process knowledge graph. It dynamically generates soft collision detection thresholds adapted to different construction and operation stages based on the actual attributes of adjacent pipelines. This solves the problem of numerous invalid alarms or missed detections under traditional fixed threshold detection methods, improving the accuracy of comprehensive collision detection for electromechanical pipelines. Simultaneously, it allows for continuous feedback of manual adjustment experience into the construction process knowledge graph, achieving iterative optimization of detection capabilities. This better adapts to the personalized engineering needs of different projects, reduces the workload of engineers in manual troubleshooting, and improves the efficiency of detailed design for electromechanical pipelines.

[0118] In summary, the embodiments of this application have at least the following technical effects:

[0119] This application provides a BIM-based method for detecting conflicts in electromechanical pipelines. First, it matches baseline operating space thresholds corresponding to different construction processes based on connection methods, solving the problem that fixed thresholds cannot adapt to the spatial requirements of different processes and reducing missed and false detections. Second, it calculates dynamic correction coefficients based on medium type and installation stage, and generates multi-stage dynamic soft collision detection thresholds by combining operational thermal expansion, installation sequence, and maintenance needs, satisfying differentiated spatial constraints throughout the entire lifecycle. Finally, it automatically labels collision types and iteratively updates manually adjusted obstacle avoidance schemes into the construction process knowledge graph, continuously optimizing subsequent detection accuracy, significantly reducing the workload of manual review, and improving the efficiency and accuracy of comprehensive pipeline conflict detection.

[0120] Through the above technical solutions, this application can achieve dynamic and accurate detection of integrated conflicts of electromechanical pipelines by combining the differentiated spatial requirements of construction processes, effectively reducing the missed detection rate and false detection rate. At the same time, the detection model can be continuously iterated and optimized by manual adjustment of experience to adapt to the process characteristics of different projects, providing reliable technical support for the integrated design of electromechanical pipelines.

[0121] Example 2, as Figure 4 As shown, based on the same inventive concept as the BIM-based electromechanical pipeline conflict detection method provided in Embodiment 1, this application also provides a BIM-based electromechanical pipeline conflict detection system, including:

[0122] The initial information acquisition module 11 is used to load the set of electromechanical pipeline components in the target building information model. Each electromechanical pipeline component includes connection method attributes, media type attributes, and installation stage attributes.

[0123] The knowledge graph loading module 12 is used to load the construction process knowledge graph, which contains the constraint relationship between process operation and spatial requirements.

[0124] The reference operating space threshold matching module 13 is used to match and obtain the reference operating space threshold corresponding to each electromechanical pipeline component based on the connection method attribute and the constraint relationship.

[0125] The correction coefficient calculation module 14 is used to calculate the dynamic correction coefficient of each electromechanical pipeline component based on the medium type attribute, the installation stage attribute and the constraint relationship.

[0126] The collision detection threshold acquisition module 15 is used to generate a dynamic soft collision detection threshold for each pair of adjacent electromechanical pipeline components based on the reference operating space threshold and the dynamic correction coefficient.

[0127] The detection result output module 16 is used to perform soft collision detection based on the dynamic soft collision detection threshold and the geometric information of the electromechanical pipeline component set, and obtain soft collision detection results including collision location and collision type.

[0128] Furthermore, loading the set of electromechanical pipeline components from the target building information model also includes:

[0129] The industrial base data file of the target building information model is parsed, and the cross-sectional shape, outer diameter, centerline path coordinates and spatial bounding box of the pipeline components are extracted and added to the geometric attributes.

[0130] Read the material name, wall thickness, and insulation layer thickness of the pipeline components and add them to the material properties;

[0131] Read the connection method code of the pipeline component. If it is empty, fill in the connection method attribute according to the type name and diameter range of the pipeline component through the preset connection method inference rule table.

[0132] Read the medium category identifier and operating temperature parameter of the pipeline component and add them to the medium type attribute;

[0133] Read the construction stage identifier or design stage identifier of the pipeline component and add it to the installation stage attribute.

[0134] Further, in one embodiment, matching and obtaining the reference operating space threshold corresponding to each electromechanical pipeline component includes:

[0135] Collect flange connection type, welded connection type, threaded connection type and grooved connection type from the preset connection type set. For each connection type, query the constraint relationship associated with the corresponding connection type from the construction process knowledge graph, extract the minimum clear distance value in the space requirement entity pointed to by the constraint relationship, and set it as the benchmark operating space threshold of the corresponding connection type.

[0136] The connection method attribute of the target electromechanical pipeline component is matched with the preset connection method type set. If the match is successful, the corresponding baseline operation space threshold is directly used.

[0137] If the matching fails, the average value of the reference operating space thresholds of the three known components with the highest similarity to the target electromechanical pipeline component in terms of material properties and pipe diameter range is calculated based on the component similarity relationship in the construction process knowledge graph, and set as the reference operating space threshold of the current electromechanical pipeline component.

[0138] Furthermore, the dynamic correction factor for each electromechanical pipeline component is calculated, including:

[0139] Collect the set of influencing factor entities associated with the medium type attribute in the construction process knowledge graph. The influencing factor entities include high temperature medium factor, high pressure medium factor, corrosive medium factor and fire protection medium factor.

[0140] Based on the medium type attribute of the target electromechanical pipeline component, at least one corresponding influencing factor entity is matched from the influencing factor entity set, and the weight coefficient of the constraint relationship between each influencing factor entity and the space requirement entity is extracted and set as the first set of weights.

[0141] Based on the installation stage attributes of the target electromechanical pipeline components, the weight coefficients of the constraint relationship between the installation stage entity and the space requirement entity are queried from the construction process knowledge graph and set as the second set of weights.

[0142] The weighted sum of the first set of weights and the second set of weights is set as the dynamic correction coefficient.

[0143] Furthermore, a dynamic soft collision detection threshold is generated for each pair of adjacent electromechanical pipeline components, including:

[0144] For any pair of adjacent electromechanical pipeline components, designated as the first pipeline component and the second pipeline component, the first reference operating space threshold and the first dynamic correction coefficient of the first pipeline component, and the second reference operating space threshold and the second dynamic correction coefficient of the second pipeline component are obtained respectively.

[0145] The larger of the first reference operating space threshold and the second reference operating space threshold is determined as the baseline threshold value; the average of the first dynamic correction coefficient and the second dynamic correction coefficient is determined as the comprehensive correction coefficient; the product of the baseline threshold value and the comprehensive correction coefficient is calculated as the installation stage threshold.

[0146] Based on the operating temperature parameters in the medium type attributes of the first pipeline component and the second pipeline component, calculate the thermal expansion displacement of each component under operating conditions; determine the larger value of the thermal expansion displacement as the operating margin; calculate the sum of the installation stage threshold and the operating margin as the operating stage threshold.

[0147] Based on the connection method attributes of the first pipeline component and the second pipeline component, the maintenance passage width benchmark value is queried from the construction process knowledge graph, and the maintenance passage width benchmark value is multiplied by the preset maintenance redundancy coefficient to obtain the maintenance stage threshold.

[0148] The installation phase threshold, operation phase threshold, and maintenance phase threshold are combined into the dynamic soft collision detection threshold.

[0149] Furthermore, in one embodiment of the application, soft collision detection is performed to obtain soft collision detection results including collision location and collision type, including:

[0150] Calculate the shortest spatial distance between any pair of adjacent electromechanical pipeline components in the set of electromechanical pipeline components, and set it as the actual spacing;

[0151] Based on the design or construction stage corresponding to the current detection, select an applicable threshold from the dynamic soft collision detection thresholds;

[0152] When the actual distance is less than the applicable threshold and the difference is greater than the preset tolerance deviation value, a soft collision is determined to exist. The collision position is recorded as the midpoint of the line connecting the geometric centers of the pair of adjacent electromechanical pipeline components. The collision type is recorded as a soft collision. Key factor labels causing the collision are generated. The key factor labels include insufficient flange installation space, insufficient welding operation surface, insufficient maintenance passage width, and insufficient thermal expansion allowance.

[0153] Furthermore, a BIM-based method for detecting conflicts in MEP (Mechanical, Electrical, and Plumbing) pipelines also includes:

[0154] Load the construction schedule and identify the construction procedures and time windows associated with the soft collision location;

[0155] When pipeline installation precedes the construction of adjacent structures, the dynamic soft collision detection threshold is automatically switched to the installation stage threshold, and the original dynamic soft collision detection threshold is restored after the structure construction is completed, generating a time-series constraint switching record.

[0156] Furthermore, a BIM-based method for detecting conflicts in MEP (Mechanical, Electrical, and Plumbing) pipelines also includes:

[0157] Before performing soft collision detection, reachability space topology analysis is performed on each pair of adjacent electromechanical pipeline components to construct a three-dimensional grid map with standard worker models or standard tool models as the walking units. Path planning and reachability judgment are performed in the three-dimensional grid map. If a complete operation path cannot be planned, even if the actual distance is greater than or equal to the applicable threshold, it is still determined that there is a soft collision, and the collision type is updated to operation path interruption collision.

[0158] Furthermore, a BIM-based method for detecting conflicts in MEP (Mechanical, Electrical, and Piping) systems also includes:

[0159] Output the soft collision detection results, generate a visualized collision diagnosis report, and highlight the collision location in the target building information model;

[0160] Receive manual adjustment operations from external input, and extract the first pipeline component identifier, the second pipeline component identifier, and the description text of the final obstacle avoidance scheme corresponding to the manual adjustment operation;

[0161] Natural language processing is performed on the obstacle avoidance scheme description text to extract the scene feature vector and adjustment strategy triplet from the obstacle avoidance scheme. The adjustment strategy triplet is added as a new instance to the constraint relationship of the construction process knowledge graph, and the weight parameter of the corresponding constraint relationship is increased.

[0162] Furthermore, a BIM-based method for detecting conflicts in electromechanical pipelines is characterized in that the adjustment strategy triple includes a conflict scenario, an adjustment action, and an optimization result.

Claims

1. A BIM-based method for detecting conflicts in electromechanical pipelines, characterized in that, include: Load the set of electromechanical pipeline components from the target building information model. Each electromechanical pipeline component includes connection method attributes, media type attributes, and installation stage attributes. Load a construction process knowledge graph, which includes the constraint relationship between process operations and spatial requirements; Based on the connection method attributes and the constraint relationship, the baseline operating space threshold corresponding to each electromechanical pipeline component is obtained by matching. Based on the medium type attribute, the installation stage attribute, and the constraint relationship, calculate the dynamic correction coefficient for each electromechanical pipeline component; Based on the baseline operating space threshold and the dynamic correction coefficient, a dynamic soft collision detection threshold is generated for each pair of adjacent electromechanical pipeline components. Based on the dynamic soft collision detection threshold and the geometric information of the electromechanical pipeline component set, soft collision detection is performed to obtain soft collision detection results including collision location and collision type.

2. The method as described in claim 1, characterized in that, Loading the set of MEP (Mechanical and Electrical) pipeline components from the target building information model also includes: The industrial base data file of the target building information model is parsed, and the cross-sectional shape, outer diameter, centerline path coordinates and spatial bounding box of the pipeline components are extracted and added to the geometric attributes. Read the material name, wall thickness, and insulation layer thickness of the pipeline components and add them to the material properties; Read the connection method code of the pipeline component. If it is empty, fill in the connection method attribute according to the type name and diameter range of the pipeline component through the preset connection method inference rule table. Read the medium category identifier and operating temperature parameter of the pipeline component and add them to the medium type attribute; Read the construction stage identifier or design stage identifier of the pipeline component and add it to the installation stage attribute.

3. The method as described in claim 1, characterized in that, Matching to obtain the baseline operating space threshold corresponding to each electromechanical pipeline component, including: Collect flange connection type, welded connection type, threaded connection type and grooved connection type from the preset connection type set. For each connection type, query the constraint relationship associated with the corresponding connection type from the construction process knowledge graph, extract the minimum clear distance value in the space requirement entity pointed to by the constraint relationship, and set it as the benchmark operating space threshold of the corresponding connection type. The connection method attribute of the target electromechanical pipeline component is matched with the preset connection method type set. If the match is successful, the corresponding baseline operation space threshold is directly used. If the matching fails, the average value of the reference operating space thresholds of the three known components with the highest similarity to the target electromechanical pipeline component in terms of material properties and pipe diameter range is calculated based on the component similarity relationship in the construction process knowledge graph, and set as the reference operating space threshold of the current electromechanical pipeline component.

4. The method as described in claim 1, characterized in that, Calculate the dynamic correction factor for each electromechanical pipeline component, including: Collect the set of influencing factor entities associated with the medium type attribute in the construction process knowledge graph. The influencing factor entities include high temperature medium factor, high pressure medium factor, corrosive medium factor and fire protection medium factor. Based on the medium type attribute of the target electromechanical pipeline component, at least one corresponding influencing factor entity is matched from the influencing factor entity set, and the weight coefficient of the constraint relationship between each influencing factor entity and the space requirement entity is extracted and set as the first set of weights. Based on the installation stage attributes of the target electromechanical pipeline components, the weight coefficients of the constraint relationship between the installation stage entity and the space requirement entity are queried from the construction process knowledge graph and set as the second set of weights. The weighted sum of the first set of weights and the second set of weights is set as the dynamic correction coefficient.

5. The method as described in claim 1, characterized in that, Generate dynamic soft collision detection thresholds for each pair of adjacent electromechanical pipeline components, including: For any pair of adjacent electromechanical pipeline components, designated as the first pipeline component and the second pipeline component, the first reference operating space threshold and the first dynamic correction coefficient of the first pipeline component, and the second reference operating space threshold and the second dynamic correction coefficient of the second pipeline component are obtained respectively. The larger of the first reference operating space threshold and the second reference operating space threshold is determined as the baseline threshold value; the average of the first dynamic correction coefficient and the second dynamic correction coefficient is determined as the comprehensive correction coefficient; the product of the baseline threshold value and the comprehensive correction coefficient is calculated as the installation stage threshold. Based on the operating temperature parameters in the medium type attributes of the first pipeline component and the second pipeline component, calculate the thermal expansion displacement of each component under operating conditions; determine the larger value of the thermal expansion displacement as the operating margin; calculate the sum of the installation stage threshold and the operating margin as the operating stage threshold. Based on the connection method attributes of the first pipeline component and the second pipeline component, the maintenance passage width benchmark value is queried from the construction process knowledge graph, and the maintenance passage width benchmark value is multiplied by the preset maintenance redundancy coefficient to obtain the maintenance stage threshold. The installation phase threshold, operation phase threshold, and maintenance phase threshold are combined into the dynamic soft collision detection threshold.

6. The method as described in claim 1, characterized in that, Perform soft collision detection to obtain soft collision detection results containing collision location and collision type, including: Calculate the shortest spatial distance between any pair of adjacent electromechanical pipeline components in the set of electromechanical pipeline components, and set it as the actual spacing; Based on the design or construction stage corresponding to the current detection, select an applicable threshold from the dynamic soft collision detection thresholds; When the actual distance is less than the applicable threshold and the difference is greater than the preset tolerance deviation value, a soft collision is determined to exist. The collision position is recorded as the midpoint of the line connecting the geometric centers of the pair of adjacent electromechanical pipeline components. The collision type is recorded as a soft collision. Key factor labels causing the collision are generated. The key factor labels include insufficient flange installation space, insufficient welding operation surface, insufficient maintenance passage width, and insufficient thermal expansion allowance.

7. The method as described in claim 1, characterized in that, Also includes: Load the construction schedule and identify the construction procedures and time windows associated with the soft collision location; When pipeline installation precedes the construction of adjacent structures, the dynamic soft collision detection threshold is automatically switched to the installation stage threshold, and the original dynamic soft collision detection threshold is restored after the structure construction is completed, generating a time-series constraint switching record.

8. The method as described in claim 1, characterized in that, Also includes: Before performing soft collision detection, reachability space topology analysis is performed on each pair of adjacent electromechanical pipeline components to construct a three-dimensional grid map with standard worker model or standard tool model as the walking unit, and path planning and reachability judgment are performed in the three-dimensional grid map. If a complete operation path cannot be planned, even if the actual distance is greater than or equal to the applicable threshold, it is still determined that a soft collision exists, and the collision type is updated to operation path interruption collision.

9. The method as described in claim 1, characterized in that, Also includes: Output the soft collision detection results, generate a visualized collision diagnosis report, and highlight the collision location in the target building information model; Receive manual adjustment operations from external input, and extract the first pipeline component identifier, the second pipeline component identifier, and the description text of the final obstacle avoidance scheme corresponding to the manual adjustment operation; Natural language processing is performed on the obstacle avoidance scheme description text to extract scene feature vectors and adjustment strategy triples from the obstacle avoidance scheme. The adjustment strategy triples are added as new instances to the constraint relationship of the construction process knowledge graph, and the weight parameters of the corresponding constraint relationship are increased. The adjustment strategy triples include conflict scenarios, adjustment actions, and optimization results.

10. A BIM-based electromechanical pipeline conflict detection system, characterized in that, A method for performing a BIM-based electromechanical pipeline conflict detection according to any one of claims 1-9 includes: The initial information acquisition module is used to load the set of electromechanical pipeline components in the target building information model. Each electromechanical pipeline component includes connection method attributes, media type attributes, and installation stage attributes. The knowledge graph loading module is used to load the construction process knowledge graph, which contains the constraint relationship between process operations and spatial requirements. The reference operating space threshold matching module is used to match and obtain the reference operating space threshold corresponding to each electromechanical pipeline component based on the connection method attribute and the constraint relationship. The correction factor calculation module is used to calculate the dynamic correction factor for each electromechanical pipeline component based on the medium type attribute, the installation stage attribute, and the constraint relationship. The collision detection threshold acquisition module is used to generate a dynamic soft collision detection threshold for each pair of adjacent electromechanical pipeline components based on the reference operating space threshold and the dynamic correction coefficient. The detection result output module is used to perform soft collision detection based on the dynamic soft collision detection threshold and the geometric information of the electromechanical pipeline component set, and obtain soft collision detection results including collision location and collision type.

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