CN116128290A - Intelligent evaluation digital twin system for urban built-up area shield method construction environment risk - Google Patents
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Abstract
The invention discloses an intelligent evaluation digital twin system for the construction environment risk of a shield method in an urban built-up area. The system comprises: the system comprises an environment information sensing module, a construction influence information sensing module, a digital twin simulation deduction module, a risk loss evaluation module and a risk assessment and countermeasure module. The invention can improve the scientificity of the environmental risk assessment, realize the visualization and quantification of the risk assessment, make real-time decisions aiming at different risk grades, and reduce the safety risk problem caused by the damage of the existing building in the construction process.
Description
Technical Field
The invention relates to the technical field of shield tunnel construction, in particular to an intelligent evaluation digital twin system for environment risk of shield construction in an urban built-up area.
Background
With the development of the economic level and the urbanization process of China, the traffic pressure rises year by year, and tunnels are widely used as important solutions for urban traffic. Due to the limitation of urban underground space, more and more tunnel engineering is constructed in close range underground for efficient space utilization, and parallel, overlapping (overlapping up and down in close range) and ultra-shallow buried tunnel projects are continuously emerging. At the same time, however, disturbance of dense tunnel excavation to stratum is also geometrically multiplied, and thus risks of road collapse, underground pipeline bursting and house collapse caused by the disturbance are frequent.
In particular, in urban built-up area tunnels, because of certain gradient limit of vehicle climbing, the earth covering layer on the tunnels constructed in a limited space is often shallow, which presents great challenges for controlling surface subsidence and also brings extremely high risk to the surrounding environment. In order to ensure the safety of social personnel and environment, the method needs to perform sufficient risk identification and assessment before and during construction, performs reasonable early warning and targeted establishment of risk countermeasures for high risk projects, performs evaluation and assessment on each risk loss, and ensures that the risk loss is within the bearing range of enterprises.
The method aims at risk evaluation and loss evaluation of the urban built-up area tunnel shield method excavation construction environment: 1. identifying environmental risk categories caused by tunnel construction; 2. estimating the risk probability of each environmental risk category; 3. evaluating risk losses for each environmental risk category; 4. and determining the risk level of each risk category and providing a coping method for different risk levels.
The environment risk assessment is an indispensable important link of shield tunnel construction, and scientific and reasonable risk assessment work can avoid unnecessary significant loss and social negative effects in a construction period. In an urban built-up area, existing building structures are covered on tunnels: the earth surface building, the road and the pipeline are very complicated in arrangement, the tunnel is often shallow due to the use requirement, the excavation of the shield tunnel is inevitably carried out to the stratum, the stratum is disturbed and is caused to sink, and the normal use function and even the damage of the existing overlying building structure are further affected. Therefore, it is necessary to identify, evaluate, pre-warn and formulate a targeted plan for risk loss before and during tunnel engineering construction. However, because of the complexity of underground rock and soil properties and distribution, the seasonal mobility of underground water and the uncertainty of shield excavation parameters, the conventional environmental risk assessment method cannot well combine the construction process to perform quantitative assessment, often relies on risk inspection tables and expert engineering experience to perform assessment, is qualitative, empirical and timed, is easy to cause environmental risk assessment leakage, cannot pertinently provide accurate risk avoidance measures, causes construction risks, increases civil property compensation amount, or is too conservative, and causes construction resource waste.
Disclosure of Invention
The invention aims to provide an intelligent evaluation digital twin system for environment risk of shield method construction in an urban built-up area, which is used for improving the scientificity of environment risk evaluation, realizing visualization and quantification of risk evaluation, and aiming at time decision making of different risk grades, reducing the safety risk problem caused by damage of an existing building in the construction process.
In order to achieve the above object, the present invention provides the following solutions:
an urban built-up area shield method construction environment risk intelligent evaluation digital twin system, comprising:
the environment information sensing module is used for acquiring environment information in the construction influence range of the shield tunnel through environment information sensing equipment;
the construction information sensing module is used for acquiring construction information of the shield machine in the construction process of the shield tunnel through construction information sensing equipment;
the construction influence information sensing module is used for acquiring construction influence information of the construction information on environment occurrence matters in the construction process of the shield tunnel through construction influence sensing equipment;
the digital twin simulation deduction module is used for constructing a digital twin simulation deduction model according to the environmental information; based on the construction information and the construction influence information, adopting the digital twin simulation deduction model to simulate and deduct deformation information of environmental occurrence before and after construction;
a risk loss evaluation module for determining a risk loss based on the deformation information;
and the risk assessment and countermeasure module is used for carrying out risk assessment based on the risk loss and determining countermeasures according to the risk assessment result.
Optionally, the environmental information sensing device comprises an unmanned plane, a total station, a geotome, a ground penetrating radar, a GPS measurement positioning instrument, a three-dimensional laser scanner and an inclinometer.
Optionally, the construction information sensing device comprises a sensor group for monitoring the total construction information; the full construction information includes: the total thrust of a shield machine propulsion cylinder, the average propulsion speed, the rotating speed of a cutter head, the torque of the cutter head, the incision pressure, the penetration degree, the slurry inlet flow, the slurry outlet flow, the slurry inlet specific gravity, the slurry outlet specific gravity, the synchronous gradual pressure, the synchronous grouting amount, the secondary grouting amount and the secondary grouting pressure.
Optionally, the construction influence information sensing device comprises a total station, a vernier caliper, a strain gauge, a side inclined tube, an unmanned aerial vehicle and a three-dimensional laser scanner.
The invention also provides an intelligent evaluation method for the construction environment risk of the shield method in the urban built-up area, which comprises the following steps:
collecting environment information in the construction influence range of the shield tunnel; the environment information includes: geometric information and physical information of stratum, road, pipeline and building structures;
collecting construction information of a shield machine in the construction process of a shield tunnel;
acquiring construction influence information of the construction information on environmental occurrence in the construction process of the shield tunnel;
constructing a digital twin simulation deduction model based on the environmental information;
based on the construction information and the construction influence information, adopting the digital twin simulation deduction model to simulate and deduct the deformation information of the environment occurrence before and after construction;
determining a risk loss based on the deformation information;
and performing risk assessment based on the risk loss.
Optionally, the determining risk loss based on the deformation information specifically includes:
and carrying out weighted summation according to the risk loss corresponding to each type of deformation information, and determining the risk loss corresponding to the risk probability P.
Optionally, performing risk assessment based on the risk loss specifically includes:
performing risk assessment by applying a formula r=f (P, L) to obtain a risk level; wherein R is a risk level, P is a risk probability, L is a risk loss, and F (·) is a risk assessment function.
Optionally, after performing risk assessment based on the risk loss, further comprising:
different countermeasures are determined from the risk countermeasure database according to different risk levels.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the invention, a digital twin simulation deduction model is constructed through perceived environment information in the construction influence range of the tunnel shield in the urban built-up area, deformation information of environmental occurences before and after construction is deduced through the digital twin simulation deduction model according to perceived construction information and construction influence information, the risk recognition, evaluation and risk loss evaluation of the whole construction process are realized, risk avoidance measures are intelligently determined through a risk countermeasure database, resource waste and social environment risks caused by ambiguity in the traditional construction environment risk evaluation are avoided, and the safety in shield construction and the intelligent level of supporting facilities are further improved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of an intelligent evaluation digital twin system for risk of construction environment of a shield method in an urban built-up area according to an embodiment of the invention;
fig. 2 is a flowchart of an intelligent evaluation method for risk of construction environment of a shield method in a built-up area of a city according to a second embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide an intelligent evaluation digital twin system for environment risk of shield method construction in an urban built-up area, which is used for improving the scientificity of environment risk evaluation, realizing visualization and quantification of risk evaluation, and aiming at time decision making of different risk grades, reducing the safety risk problem caused by damage of an existing building in the construction process.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1
The intelligent evaluation digital twin system for the urban built-up area shield method construction environment risk comprises two parts, namely hardware and software. The hardware part comprises a system host, environment information sensing equipment, construction information sensing equipment arranged on the shield tunneling machine and construction influence information sensing equipment arranged on road surfaces, underground, buildings and pipelines. The system host computer software comprises an environment information sensing module, a construction influence information sensing module, a digital twin simulation deduction module, a risk loss evaluation module and a risk evaluation and countermeasure module, wherein the modules are linked through a data interface.
As shown in fig. 1, the system includes:
the environment information sensing module is used for collecting environment information in the construction influence range of the shield tunnel through environment information sensing equipment. The environment information sensing equipment comprises an unmanned plane, a total station, a geotome, a ground penetrating radar, a GPS measuring and positioning instrument, a three-dimensional laser scanner and an inclinometer. The environment information sensing equipment is used for carrying out structure investigation and exploration, finding out the property, distribution and occurrence state of underground rock and soil, finding out the structure, size and physical and mechanical state of the existing building structure, road and existing pipeline, and sensing the geometric and physical information of stratum, road, pipeline and building structure.
The construction information sensing module is used for acquiring construction information of the shield machine in the construction process of the shield tunnel through construction information sensing equipment. The construction information sensing equipment comprises a series of sensors which can monitor the total thrust of a shield machine propulsion cylinder, the average propulsion speed, the revolving speed of a cutterhead, the torque of the cutterhead, the incision pressure, the penetration degree, the slurry inlet flow, the slurry outlet flow, the slurry inlet specific gravity, the slurry outlet specific gravity, the synchronous gradual pressure, the synchronous grouting amount, the secondary grouting amount and the secondary grouting pressure of the whole construction information, and the construction information sensing equipment is linked with a construction information sensing module in a system host computer through a data interface.
The construction influence information sensing module is used for acquiring construction influence information of the construction information on environment occurrence matters in the construction process of the shield tunnel through construction influence sensing equipment. The construction influence information sensing equipment comprises a total station, a vernier caliper, a strain gauge, a side inclined tube, an unmanned aerial vehicle and a three-dimensional laser scanner. And sensing the influence of the shield construction on the surrounding environment by using construction influence information sensing equipment. The method comprises the steps of house inclination, settlement, crack width, road settlement, crack width, stratum settlement change, deformation condition of underground pipelines and the like caused by shield construction.
The digital twin simulation deduction module is used for constructing a digital twin simulation deduction model according to the environmental information; and based on the construction information and the construction influence information, adopting the digital twin simulation deduction model to simulate and deduct the deformation information of the environmental presets before and after construction.
Before the formal construction of the shield tunnel, the risk assessment stage is carried out before the construction. Based on the construction scheme in the design file, the corresponding stratum loss under a certain probability P is obtained based on case statistics, and is input into a digital twin simulation deduction module to induce stratum settlement in the model so as to induce environmental risk. The existing building structures and other environmental occurrence objects are cracked, inclined and even collapsed.
In the shield construction process, the method is in a risk assessment stage in construction. Firstly, carrying out digital twin simulation deduction model correction based on information in a construction influence information sensing module, applying environmental influence caused by the construction in advance to the model, and endowing the model with actual measurement displacement, cracks and the like corresponding to environmental occurrence such as a building and the like, wherein the corrected model is used as an initial model for analysis in the stage. Based on the information obtained by the construction information sensing module and the construction influence information sensing module in the preamble construction, the Bi-LSTM model is applied to predict stratum loss possibly caused by subsequent construction and the corresponding probability P. And finally, inputting the stratum loss under a certain probability P into a digital twin simulation deduction module, and triggering stratum settlement in the model so as to trigger environmental risks. The existing building structures and other environmental occurrence objects are cracked, inclined and even collapsed, so that the environmental occurrence object deformation data information is generated. And (5) completing simulation deduction of the influence of the construction environment in the construction cycle.
And the risk loss evaluation module is used for determining risk loss based on the deformation information.
The risk loss evaluation module reads deformation data information in the digital twin simulation deduction module under a certain probability P through a data interface, wherein the deformation data information comprises cracking, tilting and damage information of stratum, roads, pipelines and building structures (environment occurrence) in the construction pre-construction risk deduction and the construction risk deduction. And carrying out weighted summation according to the risk loss corresponding to each type of damage information, and determining the risk loss corresponding to a certain risk probability P. The risk loss evaluation comprises total environmental loss costs such as building cracking repair compensation cost, building inclination repair compensation cost, road cracking repair cost, building collapse loss cost, disassembly cost, casualty loss cost, error work cost, engineering loss cost, social influence loss cost and the like. The environmental loss cost of the module is the risk loss L input parameter of the subsequent risk assessment and countermeasure module.
And the risk assessment and countermeasure module is used for carrying out risk assessment based on the risk loss and determining countermeasures according to the risk assessment result.
The risk loss L and the risk probability P are input into a risk assessment and countermeasure module, a formula R=F (P, L) is applied to carry out risk assessment calculation, an environmental risk grade is obtained, and an environmental occurrence individual is subjected to risk grade assessment. Where R is the Risk (Risk) class, P is the Risk probability (RiskProbability), L is the Risk Loss (Risk Loss), and F (-) is the Risk assessment function.
And depending on the risk coping measure database, the system invokes the risk coping measure and outputs the corresponding economic investment of the countermeasure measure for construction unit reference according to the construction environment risk levels of the different environment areas. For example, the construction unit selects 500 ten thousand yuan to pre-reinforce to avoid the risk of damage caused by construction, wherein the economic compensation is 1000 ten thousand yuan for the construction of a building with a higher risk level.
The risk countermeasures adopted are returned to the digital twin simulation deduction module, the risk grade after countermeasures are adopted is automatically calculated by adopting the same risk deduction flow, and subsequent construction can be carried out after the risk grade and the risk are acceptable.
Compared with the prior art, the invention establishes a set of digital twin simulation deduction module as a core risk management system, can carry out risk deduction aiming at different risk probabilities and actual construction parameters, has the characteristics of high visibility and strong data support, can quantify the risk grade and risk loss after taking risk countermeasure measures, and provides strong support for engineering construction related personnel.
Example two
As shown in fig. 2, the method for intelligently evaluating the risk of the shield method construction environment of the urban built-up area provided by the invention comprises the following steps:
step 101: collecting environment information in the construction influence range of the shield tunnel; the environment information includes: geometric information and physical information of strata, roads, pipelines and building structures.
The environment information sensing equipment is used for sensing the environment in the construction influence range (3-5 times of tunnel hole diameter) of the shield tunnel, and the unmanned plane, the binocular camera, the laser scanning, the deep exploratory hole, the geological radar and the like are used for fully sensing and collecting geometric information and physical information of stratum, groundwater, underground pipelines, underground building structures, roads and earth surface building structures from bottom to top, and the data are used as initial values for constructing a follow-up digital twin simulation deduction model.
Step 102: and collecting construction information of the shield machine in the shield tunnel construction process.
The construction information sensing equipment arranged on the shield machine is used for obtaining, and full construction information including total thrust of a shield machine thrust cylinder, average thrust speed, cutter head rotating speed, cutter head torque, incision pressure, penetration, slurry inlet flow, slurry outlet flow, slurry inlet specific gravity, slurry outlet specific gravity, synchronous gradual pressure, synchronous grouting amount, secondary grouting amount and secondary grouting pressure is recorded.
Step 103: and acquiring construction influence information of the construction information on environmental occurrence in the construction process of the shield tunnel.
And the construction influence sensing equipment is used for acquiring the construction influence of the construction information on the environment occurrence, and comprises crack monitoring equipment, inclination monitoring equipment, deformation monitoring equipment, pipeline flow monitoring equipment and the like of a building structure, a road and a stratum.
Step 104: and constructing a digital twin simulation deduction model based on the environment information.
And (3) cutting, simplifying, positioning and endowing the oblique photographic model with material structure properties by using an automatic modeling technology, mapping environment information into finite element numerical simulation software and a physical engine, and finally reserving tunnel positions according to a design construction path. The model end effect is a visual, three-dimensional model that is capable of reflecting environmental geometry and physical information.
The model can be calculated in advance before construction, and can also be calculated in prediction during construction. Because the tunnel is a linear long and large structure, the construction information and construction influence information of the front part tunnel can be applied to the prediction of the construction environment response of the rear part tunnel.
Step 105: based on the construction information and the construction influence information, the digital twin simulation deduction model is adopted to simulate and deduct the deformation information of the environment occurrence before and after construction.
Deformation data such as cracking, tilting, collapse and the like of environmental occurrence can be generated no matter whether the construction is carried out before deduction or the prediction of the subsequent working section in the construction.
Before construction, based on statistics of established engineering cases, determining stratum loss corresponding to a certain probability, and carrying out construction risk deduction calculation on environmental risks caused by stratum loss with different probabilities. The environment-occupiant deformation is observed, and the deformation is subjected to two stages, namely a small deformation stage and a large deformation stage, which correspond to a high probability and a low probability respectively. Under the condition of high probability, the occurrence is in a small deformation stage, the stage mainly comprises small-amplitude inclination, cracking and deformation, the precision requirement is high, and finite element software is adopted for calculation; under the condition of low probability, along with the influence of tunnel construction, deformation further develops into a large deformation stage, and the stage is mainly used for exploring the collapse damage range of the environment, defining the collision influence between existing building structures, having lower requirements on precision and higher requirements on calculation efficiency, and adopting physical engine software for calculation. The probability values in this step are obtained from engineering case statistics. The calculated data statistics of the cracking, deformation and collapse of the existing building structure in the step are input as parameters for risk loss evaluation, and are used for estimating risk loss caused by tunnel construction.
In construction, the construction information and the construction influence information can be imported into a model, and model physical mechanical response calculation is performed on the basis of the existing environmental influence of the preamble construction, so that the environmental influence and the environmental risk possibly caused by the preset shield machine construction parameters in the follow-up construction can be predicted. In the shield construction process, the method is in a risk assessment stage in construction. Firstly, carrying out digital twin simulation deduction model correction based on construction influence information, applying environmental influence caused by the construction in advance to the model, and endowing the model with actual measurement displacement, cracks and the like corresponding to environmental occurrence such as a building structure and the like, wherein the correction model is used as an initial model for analysis in the stage. Based on construction information and construction influence information in the preamble construction, the Bi-LSTM model is applied to predict stratum loss possibly caused by subsequent construction and corresponding probability P. And finally, inputting the stratum loss under a certain probability P into a digital twin simulation deduction model, and triggering stratum settlement in the model so as to trigger environmental risks. The existing building structures and other environmental occurrence objects are cracked, inclined and even collapsed, so that the environmental occurrence object deformation data information is generated. And (5) completing simulation deduction of the influence of the construction environment in the construction cycle.
Step 106: and determining risk loss based on the deformation information.
Deformation information includes cracking, tilting, and destruction information of strata, roads, pipelines, and structures (environmental occurences) in pre-construction risk deduction and in-construction risk deduction. And carrying out weighted summation according to the risk loss corresponding to each type of damage information, and determining the risk loss corresponding to a certain risk probability P. The risk loss evaluation comprises total environmental loss costs such as building cracking repair compensation cost, building inclination repair compensation cost, road cracking repair cost, building collapse loss cost, disassembly cost, casualty loss cost, error work cost, engineering loss cost, social influence loss cost and the like.
Step 107: and performing risk assessment based on the risk loss.
Based on risk loss and risk occurrence probability as risk assessment calculation basis, construction risk can be regarded as a function of risk probability and risk loss, and a quantification formula can be expressed as follows: r=f (P, L). Where R is the Risk (Risk) class, P is the Risk Probability (Risk Probability), L is the Risk Loss (Risk Loss), and F (-) is the Risk assessment function.
And building a risk countermeasure database by means of long-term accumulated engineering experience, correspondingly different risk grades, calling the risk countermeasure and outputting the measure economic investment for construction unit reference. And the risk countermeasures adopted in response are returned to the digital twin simulation deduction model, the risk level after countermeasures are adopted is automatically calculated by adopting the same flow, and subsequent construction can be carried out after the risk level and economic investment which are automatically obtained are acceptable.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, which are intended to be only illustrative of the methods and concepts underlying the invention, and not all examples are intended to be within the scope of the invention as defined by the appended claims.
Claims (8)
1. An urban built-up area shield method construction environment risk intelligent evaluation digital twin system, comprising:
the environment information sensing module is used for acquiring environment information in the construction influence range of the shield tunnel through environment information sensing equipment;
the construction information sensing module is used for acquiring construction information of the shield machine in the construction process of the shield tunnel through construction information sensing equipment;
the construction influence information sensing module is used for acquiring construction influence information of the construction information on environment occurrence matters in the construction process of the shield tunnel through construction influence sensing equipment;
the digital twin simulation deduction module is used for constructing a digital twin simulation deduction model according to the environmental information; based on the construction information and the construction influence information, adopting the digital twin simulation deduction model to simulate and deduct deformation information of environmental occurrence before and after construction;
a risk loss evaluation module for determining a risk loss based on the deformation information;
and the risk assessment and countermeasure module is used for carrying out risk assessment based on the risk loss and determining countermeasures according to the risk assessment result.
2. The digital twin system for intelligent assessment of environmental risk in shield construction in urban as-built areas according to claim 1, wherein the environmental information sensing equipment comprises unmanned aerial vehicles, total stations, soil pick-up devices, ground penetrating radars, GPS measurement positioners, three-dimensional laser scanners and inclinometers.
3. The urban built-up area shield method construction environment risk intelligent evaluation digital twin system according to claim 1, wherein the construction information sensing equipment comprises a sensor group for monitoring the total construction information; the full construction information includes: the total thrust of a shield machine propulsion cylinder, the average propulsion speed, the rotating speed of a cutter head, the torque of the cutter head, the incision pressure, the penetration degree, the slurry inlet flow, the slurry outlet flow, the slurry inlet specific gravity, the slurry outlet specific gravity, the synchronous gradual pressure, the synchronous grouting amount, the secondary grouting amount and the secondary grouting pressure.
4. The digital twin system for intelligently evaluating the environmental risk of shield-method construction in an urban built-up area according to claim 1, wherein the construction influence information sensing equipment comprises a total station, a vernier caliper, a strain gauge, a side inclined tube, an unmanned aerial vehicle and a three-dimensional laser scanner.
5. An intelligent evaluation method for the risk of a shield method construction environment of an urban built-up area is characterized by comprising the following steps:
collecting environment information in the construction influence range of the shield tunnel; the environment information includes: geometric information and physical information of stratum, road, pipeline and building structures;
collecting construction information of a shield machine in the construction process of a shield tunnel;
acquiring construction influence information of the construction information on environmental occurrence in the construction process of the shield tunnel;
constructing a digital twin simulation deduction model based on the environmental information;
based on the construction information and the construction influence information, adopting the digital twin simulation deduction model to simulate and deduct deformation information of environmental occurrence before and after construction;
determining a risk loss based on the deformation information;
and performing risk assessment based on the risk loss.
6. The method for intelligently evaluating the risk of the shield-method construction environment of the urban built-up area according to claim 5, wherein the determining the risk loss based on the deformation information comprises the following steps:
and carrying out weighted summation according to the risk loss corresponding to each type of deformation information, and determining the risk loss corresponding to the risk probability P.
7. The intelligent risk assessment method for the urban built-up area shield construction environment according to claim 5, wherein the risk assessment is performed based on the risk loss, and specifically comprises the following steps:
performing risk assessment by applying a formula r=f (P, L) to obtain a risk level; wherein R is a risk level, P is a risk probability, L is a risk loss, and F (degree) is a risk assessment function.
8. The intelligent risk assessment method for urban built-up area shield construction environment according to claim 5, further comprising, after risk assessment based on the risk loss:
different countermeasures are determined from the risk countermeasure database according to different risk levels.
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| CN116977122A (en) * | 2023-07-06 | 2023-10-31 | 双龙软创(深圳)科技有限公司 | Remote automatic monitoring method for dangerous rooms based on digital twin technology |
| CN116977122B (en) * | 2023-07-06 | 2024-04-19 | 双龙软创(深圳)科技有限公司 | Remote automatic monitoring method for dangerous rooms based on digital twin technology |
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