80 results about "Collision checking" patented technology

The invention relates to the field of unmanned aerial vehicle route acquisition, in particular to an unmanned aerial vehicle dynamic inspection route acquisition method and system based on laser point cloud. The method comprises the steps of comprehensive processing of three-dimensional point cloud data, marking of equipment inspection point positions to generate waypoints, safe distance collision inspection of the waypoints, position adjustment of the waypoints, planning of inspection paths and the like, through comprehensive processing of the three-dimensional point cloud data, including denoising, classification and thinning, the quality of the point cloud data can be remarkably improved, and by means of the laser point cloud technology, the quality of the three-dimensional point cloud data is improved. The terrain and equipment characteristics of the to-be-inspected area can be accurately captured, so that the accuracy and reliability of inspection are improved. The steps of waypoint safe distance collision inspection and waypoint position adjustment further enhance the autonomous flight ability of the unmanned aerial vehicle, and ensure the safety and stability of the inspection process. When the routing inspection path is planned, an optimal safe path algorithm is adopted, the path between two waypoints is searched, a local route is generated, and finally the local route is connected to form a complete route, so that the high efficiency and integrity of routing inspection are ensured.

The invention discloses a multi-robot path planning system and method based on sampling, and belongs to the technical field of robot path planning, and the system comprises a route map initialization module, a scanning volume calculation module, a collision inspection module, a path expansion module and a reconnection module. A space is explored and planned in a random sampling mode, the method is suitable for dynamically changing industrial scenes, in addition, compared with a traditional method, the method pays more attention to improving the planning efficiency instead of an absolute optimal path, the collision detection process is optimized by pre-calculating the sweeping volume, the calculation overhead in the search process is reduced, and the search efficiency is improved. The problem of mutual interference among multiple machines is solved through a deadlock strategy, unnecessary calculation is reduced through a simplified updating strategy, and the efficiency of multi-robot path planning is remarkably improved while the effect of a solution is kept.

The invention discloses an unmanned aerial vehicle cluster trajectory planning method and system under unreliable communication, and the method comprises the steps: firstly building and updating a three-dimensional map based on an airborne sensor of an unmanned aerial vehicle, then building a local map based on the data of the sensor at the current moment, and recognizing an idle area and an occupied area; generating a track for avoiding an obstacle by combining time and space constraints; the track and environment information are shared through communication, and collision is avoided through coordination; an MPC module is used to predict a trajectory when trajectory information is lacked, and collision check is performed. And in the feasible trajectory execution process, environment changes are coped with through timing collision detection, and safe navigation is ensured. According to the method, collision of the unmanned aerial vehicles due to absence of cluster real-time trajectory information for a long time is avoided by optimizing a communication network and an MPC prediction trajectory; and an MPC module is added to generate a prediction track when the interaction track information is lost so as to check whether the newly generated track is collided or not.

The invention relates to the technical field of machining control, in particular to an intelligent planning system and method for a multi-axis linkage numerical control machining path, and the system comprises a data collection unit which is used for obtaining the form attribute parameter information of a machined workpiece and the axial motion attribute parameter information of a multi-axis machining unit; and the initial division unit is used for performing initial division on a workpiece machining range according to the morphological attribute parameter information and the axial motion attribute parameter information to obtain an initial segmentation result and an initial trajectory planning result of the machining range, and the initial trajectory planning result comprises coordinate information of each trajectory segment. The collision condition between the motion path of the cutting tool and the feature range of the workpiece can be checked in real time through the collision checking unit, and the path is automatically adjusted through the collision avoidance unit, so that possible machining errors and equipment damage are avoided, and the machining safety and stability are greatly improved through intelligent collision avoidance.

The invention relates to a collision early warning method based on a laser radar in a non-structural environment, belongs to the technical field of vehicle driving safety, and solves the technical problem of low accuracy and effectiveness of collision early warning in the non-structural environment. Comprising the following steps: in a vehicle body coordinate system, collecting point cloud data in a non-structural environment by using a laser radar, estimating a vehicle motion pose by using the point cloud data, and obtaining a real-time pose and speed of a vehicle; generating a vehicle motion prediction trajectory based on the motion pose and speed of the vehicle, and performing ground point cloud filtering and obstacle clustering detection on the point cloud data in the vehicle prediction driving area to obtain an obstacle clustering result; carrying out obstacle geometric collision check based on an obstacle clustering result, determining an obstacle vertex closest to the vehicle in a vehicle prediction trajectory range area, estimating the movement speed of the obstacle vertex, and calculating an RSS distance; if the RSS distance is smaller than the preset safety distance threshold value, collision early warning is triggered, and accurate early warning in the non-structural environment is achieved.

The invention provides a BIM (Building Information Modeling)-based engineering electromechanical installation method. The method comprises the following steps: establishing an engineering electromechanical BIM model; carrying out model collision check and optimization; construction simulation and scheme making are carried out; field installation and implementation; and installation acceptance and model filing. According to the method, the geometric and attribute integrated BIM model is constructed through data collection and digital drawing review, full-dimensional collision detection is carried out, key pipeline specification requirements are preferably guaranteed, model data reliability is guaranteed, construction disjunction caused by drawing errors is avoided, the problem of pipeline collision is solved in advance, and the construction efficiency is improved. Material waste and construction period delay of dismantling and reassembling in the construction stage are reduced, meanwhile, the risk of illegal acceptance of key pipelines is reduced, and the limited space utilization rate is increased.

The invention discloses a robot grabbing pose generation method and device, and the method comprises the steps: obtaining a natural language grabbing task instruction, and carrying out the analysis based on a large language model, and generating a structured task parameter containing target object identification information and grabbing constraint information; performing open vocabulary target detection on the image based on the identification information, and obtaining a target area mask in combination with pixel-level segmentation; generating a target point cloud based on the mask, the depth map and the camera internal reference, carrying out depth completion or denoising, outlier elimination and threshold confirmation filtering, inputting the processed target point cloud into a grabbing pose prediction network, outputting a plurality of candidate six-degree-of-freedom grabbing poses, carrying out constraint screening according to grabbing constraints, and carrying out collision detection; and selecting the candidate with the optimal confidence coefficient from the collision-free candidates as the optimal grabbing pose to be output. Task constraints penetrate through a target extraction process, a point cloud construction process and a pose screening process, and point cloud processing and collision verification are combined, so that an executable six-degree-of-freedom grabbing pose which meets the constraints is output.

The invention discloses a BIM (Building Information Modeling)-based suspended ceiling advanced accurate positioning and trepanning construction method, which comprises the following steps of: S1, establishing a construction model of each specialty in a suspended ceiling, performing collision inspection, and adjusting the construction model; s2, establishing a three-dimensional model including suspenders, keels and the like by utilizing BIM software; s3, comprehensive collision inspection is carried out, and the ceiling structure is prevented from conflicting with other professional equipment; s4, generating a construction drawing and organizing field implementation according to comprehensive suspended ceiling deepening typesetting; s5, a trepanning positioning plate is manufactured, and the trepanning positioning plate is used for accurately positioning the trepanning point position of the veneer plate on site; s6, paying off the trepanning point, confirming a central point and implementing accurate trepanning; and S7, after trepanning is completed, point location installation is conducted on facility equipment needing to be installed in advance. Advanced coordination of the keel in the suspended ceiling and various equipment point positions can be achieved, precise positioning of suspended ceiling trepanning is achieved, disassembly and rework are reduced, and the construction precision and efficiency are improved.

The invention relates to a BIM technology-based converter station valve hall steel roof truss structure design method and system, and the method comprises the following steps: determining valve hall equipment information and pipeline information through multi-specialty cooperation, and building a valve hall size and an equipment pipeline positioning reference; a steel roof truss space supporting structure and pipeline track separation scheme is generated based on equipment plane and facade arrangement; a multi-specialty refined three-dimensional model is constructed on a BIM platform, and spatial positioning of a steel roof truss framework and pipelines is achieved through parametric modeling; executing collision check and iteratively optimizing the three-dimensional model to ensure that no conflict exists between the pipeline and the structure; and uploading the verified three-dimensional model to a digital management platform.

The invention provides a vector tracking-based steel reinforced concrete three-dimensional seven-phase mesoscopic model construction method, and a steel reinforced concrete three-dimensional seven-phase mesoscopic model comprises mortar, coarse aggregate, a coarse aggregate-mortar interface layer, reinforcing steel bars, a mortar-reinforcing steel bar bonding interface layer, profile steel and a profile steel-mortar bonding interface layer. Generating a cuboid matrix according to given height, length and width; generating section steel and a bonding layer between the section steel and mortar according to a given shape and size; reinforcing steel bars are generated according to the given position and size, and an interface layer between the reinforcing steel bars and mortar is generated; generating coarse aggregate according to a given shape and gradation, and generating an interface layer between the aggregate and mortar; aggregate is sequentially doped into a base body, and collision inspection is carried out on the aggregate and reinforcing steel bars, section steel and between the aggregate and the aggregate based on a vector tracking algorithm. Simulation precision is improved, interface layer description is perfected, rapid model generation is achieved, and the application capability of the model is enhanced.

In order to plan automatically collision-free motions of robot manipulators and to automatically execute the motions accordingly planned it is proposed that (i) collision-free motions are planned (pln) by creating (crt) a motion plan (MPP) for a robot manipulator (RM) controlled by a robot control device (RCD) (ii) a motion planner (CIT, PRC, PRC, MPC) realized preferably on the robot control device and based on a set of motion primitives (SoMP, LoMP) is provided with a model (MD) of the robot manipulator's (RM) kinematics and geometry and a work environment (WE) of the robot manipulator, an initial configuration of the robot manipulator (SPT, MPSD) and a goal configuration of the robot manipulator (TPT, MPTD), (iii) the motion planner will use by selection (slt) a predetermined set of motion primitives (PMP, PMP', SMP, SMP'), also called as local planners or steering functions, to create by collision check (COL, dtc, chk, chk') a hypothetical continuous motion (HCM) from the start configuration (SPT, MPSD) to the goal configuration(TPT, MPTD), (iv) the hypothetical motion is checked for the collisions (COL) using the model (MD) of the robot manipulator's (RM) kinematics and geometry and the work environment (WE) of the robot manipulator and if no collision occurs, the motion plan (MPP) for a robot manipulator (RM) is created.

The invention provides a motion parameter generation method and device. The method comprises the following steps: importing three-dimensional models of a to-be-detected shell, a tool turret and a gooseneck tool in a collision inspection application; based on first input of a user, determining a tool turret center point of the tool turret in the three-dimensional model of the tool turret, and determining a tool nose position in the three-dimensional model of the first gooseneck tool; based on the actual pose information of the first gooseneck tool, the pose of the three-dimensional model of the first gooseneck tool is adjusted; receiving first coordinate information input by a user; based on the first coordinate information, controlling the three-dimensional model of the first gooseneck tool to move relative to the three-dimensional model of the to-be-detected shell according to a motion path corresponding to the first coordinate information, so as to carry out interference detection, and generating a first interference detection result; and under the condition that the first interference detection result represents that the three-dimensional model of the first gooseneck tool does not interfere in the process of moving relative to the to-be-detected shell, motion parameters of the three-dimensional model of the first gooseneck tool are output.

The invention relates to the field of civil engineering intelligent construction, in particular to an unmanned site equipment group path planning method and system based on an RRT * algorithm. The method comprises the following steps: obtaining information of the number, the starting point, the ending point, the advancing step length, the task emergency degree, the energy consumption efficiency and the obstacle area of unmanned site equipment; according to the information, determining a priority order of the equipment in path planning; determining the shortest path of the equipment with the highest priority under the multi-obstacle condition based on the priority ranking; based on the shortest path, carrying out collision check on a multi-device advancing path and a rotating path; and realizing multi-element obstacle avoidance global path collaborative planning of the equipment group through a collision check result. According to the method, the equipment priority is determined, so that the equipment advancing time is shortened, and the overall construction efficiency is improved; by fusing the advancing rotation obstacle avoidance strategy and the static-dynamic obstacle avoidance strategy, the limitation that only advancing obstacle avoidance is considered is avoided, and the applicability and precision of path planning are improved.

The invention discloses a cable penetration assembly structure trepanning inspection method, device and program based on AM software, and the method comprises the steps: carrying out the collision inspection of a cable penetration assembly model and a hull structure, giving out an alarm prompt if there is interference, or obtaining the position coordinate and direction information of a cable penetration assembly, establishing a virtual cable penetration assembly based on the obtained coordinate and direction information, and then extending the section of the virtual penetration assembly; performing collision inspection on the extended virtual penetration assembly and the ship body structure, and if no interference exists between the extended virtual penetration assembly and the ship body structure, giving an alarm prompt; if interference exists, tapping is normal. And finally, based on the names of the structural grillages, the assembly names and the plate materials of the structural grillages are called, the assembly flow direction codes of the structural grillages are obtained through the assembly names, and installation stage matching and material matching are carried out. According to the invention, the cable penetration piece structure can be subjected to rapid trepanning inspection, and the working efficiency is greatly improved.

The invention discloses a tool matching method, device and equipment for numerical control machining parts and a storage medium, and the method comprises the steps: screening tools in to-be-matched tool library information according to the tool size, tool type and tool machining type obtained by explaining an initial numerical control machining program to obtain a first target tool list; according to the cutter list and the geometric information of the corresponding cutter holder and the to-be-machined part, the machining, collision inspection and overcut inspection processes of the target cutter on the to-be-machined part are simulated, and the effective length of the cutter and the extension length of the cutter are obtained; and according to the effective length of the cutter, the extension length of the cutter, the target cutter and the corresponding cutter holder, a corresponding cutter is selected from the offline cutter library to obtain a matched cutter. According to the method, the problem that the processing efficiency of a machine tool is affected due to the fact that an on-site operator for part processing needs to download and analyze part processing information made by programmers, the information acquisition process is long, tool preparation work is delayed, and the processing efficiency of the machine tool is further affected is solved.

The invention relates to the field of engineering construction, and discloses a water plant pool wall construction simulation method, device and equipment and a storage medium, the method comprises the following steps: carrying out collision check on a structure model, a building model, a process model, a deodorization pipeline model and a scaffold model in a BIM model to obtain collision points in the BIM model; obtaining collision information corresponding to the collision point, in the collision information, obtaining a pipeline colliding with the wall body in the BIM model, adjusting the position or path of the pipeline, obtaining a pipeline bypassing the wall body, replacing the pipeline colliding with the wall body with the pipeline bypassing the wall body, and selecting the BIM model using the pipeline bypassing the wall body as a modified BIM model; and in the modified BIM model, obtaining a planar graph, a profile graph or an elevation graph of the water plant pool wall, selecting the planar graph, the profile graph or the elevation graph of the water plant pool wall as a target graph of the water plant pool wall, and selecting the target graph added with the construction information as a construction graph of the water plant pool wall. The overall process is simplified, and the construction efficiency is improved.

The invention provides a virtual simulation method and system for combined hoisting operation. The method comprises the following steps: simulating a combined hoisting operation system to construct a six-degree-of-freedom combined hoisting model; instruction parameters of the crane are obtained, and simulation data of combined hoisting operation are generated according to the instruction parameters and safety detection; and correcting the simulation data according to the target task data, and outputting a target simulation result of the combined hoisting operation. According to the method, the virtual simulation process at any time point in the combined hoisting operation process is visually output through the six-degree-of-freedom combined hoisting model, problems existing in a combined hoisting operation system are researched based on collision inspection and simulation correction, and a solution required by research is provided for the heavy lift vessel in the combined hoisting operation field.

The invention discloses an automatic emergency steering control method considering driver comfort. The method comprises the steps that a vehicle-mounted sensor obtains vehicle information, and a camera, a millimeter wave radar and an angle radar sensor obtain dangerous target information of three lanes in front; judging the dangerous target with the minimum TTC, the minimum relative longitudinal distance or the minimum relative transverse distance as a main dangerous target according to the dangerous target information arbitration, and outputting the information of the main dangerous target; planning a path cluster according to the position of the vehicle by combining a quintic polynomial and a scattering point method, and screening out an optimal path through collision inspection; according to the vehicle information, longitudinal speed planning is carried out, and an optimal longitudinal speed curve is planned; for the optimal path, far and near preview points are adopted, steady-state yaw velocity gain processing is adopted for the far point, PID control is adopted for the near point, and a final steering wheel turning angle is obtained through superposition; and aiming at the optimal longitudinal speed planning curve, calculating by adopting a feedforward and feedback combined method to obtain a final expected acceleration.

A method for collision checking of a machining process is disclosed. A process-specific cycle is provided for the machining process. Multiple machining components are moved relative to one another with at least one machine axis on a machine tool. The machining components have at least one workpiece and one tool. The workpiece rotates about a workpiece axis and the tool rotates about a tool axis. At least one checking position is identified and corresponds to a relative position of the machining components set with the at least one machine axis. In order to check a respective checking position for collisions, a substitute machining component is used during the reproducing, which is a replica of the corresponding machining component.

The invention discloses an automatic driving decision control method and system and related equipment, and belongs to the technical field of automatic driving. The method comprises the following steps: generating an initial behavior decision tree by adopting a Markov algorithm according to a vehicle state; pruning and reconstructing the initial behavior decision tree according to human driving characteristics to obtain a pre-screened behavior decision tree; pruning and rejecting the unsafe behavior decision sequence through an RSS model, and iteratively generating a vehicle candidate trajectory in combination with a vehicle kinematic model and a behavior decision tree; performing trajectory generation on the vehicle candidate trajectory sequence to obtain a predicted trajectory; performing safety speed check and collision check on the predicted trajectory, and rejecting behavior sequences which do not meet requirements to obtain a pre-selected trajectory; and calculating the total cost of each pre-selected track, and taking the behavior sequence with the minimum total cost as an optimal vehicle decision result and outputting the optimal vehicle decision result. According to the invention, through multi-level screening and optimization of the decision sequence, the safety and rationality of the automatic driving decision are improved.

The invention provides an unmanned aerial vehicle path planning method and system based on a wind field and artificial potential field coupling method, and belongs to the technical field of unmanned aerial vehicle path planning. Constructing a two-dimensional grid chart for the target area, calculating the gradient of grid point air pressure based on air pressure data to obtain a simulated wind field, and initializing a sampling space based on environmental data and establishing an artificial potential field; random sampling is carried out in the sampling space, the growth direction of next expansion of a random tree is controlled based on the coupling force of the simulated wind field and the artificial potential field, and new nodes are generated in the direction of the random tree; performing collision inspection on the generated new nodes; and backtracking from the last sampling point around the target point to the starting point to determine a path, and pruning and smoothing to complete path planning. The sampling direction is guided through coupling of a wind field and an artificial potential field, so that the consumption of flight energy is reduced.

The invention discloses a three-dimensional design collision check report generation method and device, electronic equipment and a medium, relates to the technical field of three-dimensional modeling design and application, and aims to automatically generate a report file with a model screenshot, so that a designer can visually see a collision position and can visually see the severity of collision, and the design efficiency is improved. Collision details do not need to be verified by manually executing a large amount of repeated work, and the efficiency and accuracy of three-dimensional design are improved. The method comprises the steps of obtaining collision inspection parameters in response to a collision inspection request, and determining a plurality of to-be-inspected models; according to the collision inspection parameters, performing collision inspection on the plurality of to-be-inspected models, and determining at least one collision position point where collision occurs in the plurality of to-be-inspected models; and intercepting a model three-dimensional view related to each collision position point, and generating and outputting a collision check report based on the model three-dimensional view related to each collision position point.

The application discloses a collision checking preview method and system based on a BIM model, and the method comprises the following steps: obtaining an input instruction for selecting a collision point, and selecting a model collision point based on the input instruction; loading a collision detection plug-in in the BIM model to perform collision pre-detection on the model according to the collision point, obtaining a collision report, and storing the collision report in a set directory; loading a Revit plug-in in the BIM model, reading a component ID number in the Revit plug-in, setting a working mode of a collision checking system, reading the collision report in the set directory in any working mode, selecting a collided component, and cutting out the collided component by using a selection box, and previewing and displaying the collided component according to a set time. The program is run in the Revit software by using a shortcut key set in the program, the program automatically reads the collision report, selects the collided component, and cuts out the collided component by using the selection box, so that observation is facilitated. After adjustment, the next collision point is modified.

To provide an object interference check technique using a height map for a machine tool and other applications.SOLUTION: The CAD model of the workpiece or other obstacle is converted into a height map that defines the obstacle height above the plane of the reference coordinate system for each cell of the grid. The tool center point path is then transformed into the same reference coordinate system. The interference check is performed by comparing the height coordinates of each transformed tool path check point with the values of the height map of the corresponding grid cell. The detected interference is handled by defining a new path point with an increased height coordinate to replace the interference critical path point. The interference of the entire tool can be checked by creating a bottom-to-top height map of the tool and comparing each pixel of the tool height map with the corresponding grid cell of the obstacle height map.SELECTED DRAWING: Figure 2

The invention provides a steel bar collision checking and automatic deviation rectifying method based on a three-dimensional graphic platform, and relates to the technical field of constructional engineering, the method comprises the following steps: obtaining a target position of a reserved truss steel bar in a lower prefabricated slab of a prefabricated composite floor slab and an initial arrangement scheme of a bidirectional steel bar in an upper cast-in-place layer; setting the target position to avoid hard constraint, performing reinforcement collision detection on the two-way reinforcement in the initial arrangement scheme and the reserved truss reinforcement through a constraint model, and extracting position information of the two-way reinforcement related to the collision after the collision is detected; generating a path avoiding scheme according to the position information; iterating the avoidance path scheme through a constraint model to generate a target avoidance path meeting a constraint condition; and according to the target avoiding path, the initial arrangement scheme is adjusted, and a target arrangement scheme of the two-way steel bars in the upper cast-in-place layer of the prefabricated composite floor slab is generated. The technical effect of the invention is that misjudgment of collision detection is reduced.

This invention provides a method, system, and storage medium for automated and high-precision batch soft and hard collision verification of transmission line insulator string attachment points based on GIM models. It relates to the field of tension insulator string collision verification technology and includes: identifying all tension insulator string tower attachment points to be tested and their corresponding hardware components from the model; constructing a refined model library; completing the initial import and placement of the refined model; achieving precise alignment of the hardware components with the refined tower attachment point model in spatial position and orientation; driving the refined model from a static installation state to a dynamic spatial state under specific operating conditions; and performing hard collision checks on each inspection unit in the dynamic spatial state. This invention liberates designers from tedious and repetitive work, resulting in an order-of-magnitude improvement in verification efficiency.

The invention discloses a front support type grouting steel pipe positioning and arranging construction method in a building support construction system based on a BIM technology. A foundation building component model and a front support steel pipe model are assembled; after mold closing is completed, the conflict positions of the front supporting steel pipes and the foundation building components and the conflict position condition between the front supporting steel pipes can be found, and according to a collision check result, positioning arrangement of the conflict positions of the front supporting steel pipes is optimized and adjusted to form an optimized BIM three-dimensional model; and the front supporting steel pipes are horizontally moved or the tail parts of the front supporting steel pipes are rotationally adjusted at a small angle to avoid the positions of structural beams, frame columns, pile foundations, bearing platforms or other front supporting steel pipes, so that the interference phenomenon of the front supporting steel pipes is avoided. By means of the construction method, the problem of collision in arrangement of the front supporting steel pipes is solved, the cost of construction measures is reduced, the construction quality and the structural stability are improved, and convenience is provided for follow-up construction operation.

The application discloses a body-in-white interface matching inspection method and system, comprising collecting data required for inspection of the body-in-white and other systems, creating a standard database comprising a structure tree and physical three-dimensional data; making an interface matching table: performing a collision inspection, automatically obtaining matching information, and making the matching conditions between the body-in-white and other system parts into the interface matching table; making an interface matching inspection table: on the basis of the interface matching table, further verifying the interface matching conditions, recording the information of non-matching, and creating the interface matching inspection table. The application improves the development efficiency in the virtual design stage by automatically inspecting the body-in-white interface matching, avoids false detection, reduces the probability of subsequent real vehicle installation errors, thereby reducing the modification cost, and ensures that the automobile project can be put into production on time.

An object interference checking technique using collision maps. A CAD model of a workpiece is converted to an obstacle height map defining obstacle height above a reference plane for each cell of a grid. A CAD model of a tool is used to construct a tool height map. The obstacle height map and the tool height map are used to generate a collision map defining a collision-free tool height above each grid cell of the collision map. The collision map is generated by scanning the tool height map over the obstacle height map and, for each scan point, determining a height of the tool height map which results in no interferences between any pixel of the tool height map and a corresponding pixel of the obstacle height map. A collision check of a tool trajectory is then performed by comparing trajectory check points to grid cells of the collision map.

The invention discloses a WebGL-based two-dimensional and three-dimensional cooperative collision inspection method and system, and relates to the field of CAD design, and the method comprises the steps: responding to an input signal of a plane drawing transmitted by CAD software, and based on a three-dimensional parameterized entity with BIM semantics in the plane drawing, generating a three-dimensional model of n pipe comprehensive components; dividing an export range of the plane drawing, determining a spatial range of an export model based on the export range and a preset reference point coordinate, and generating n proxy model files based on the spatial range and the three-dimensional model of the n pipe comprehensive components; starting a lightweight browser, and adding n proxy model files in the lightweight browser to generate an assembly model; in the lightweight browser, carrying out collision check on the assembly model to obtain a collision result; and based on the collision result, generating annotation data of the export model, and synchronizing the annotation data in CAD software. According to the method, the design efficiency can be effectively improved, and the problem of'graph-model non-uniformity 'is solved.