Method, system and terminal for automatic path finding of single pipe of process pipeline in nuclear power plant

Abstract

The present invention relates to a method, system and terminal for automatic path finding of a single pipe of a process pipeline of a nuclear power plant, comprising the following steps: obtaining input data; the input data includes: a plant layout scene model, an equipment obstacle model and a room obstacle model; performing global space path finding according to the plant layout scene model to obtain a room path through which the pipeline passes; obtaining a room to be traversed according to the determined room path through which the pipeline passes; performing local space path identification on the room to be traversed to obtain a local space path finding grid; performing path finding based on the local space path finding grid to obtain a path of the pipeline in a single room. The present invention adopts an automatic path finding method to overcome the problems existing in the traditional nuclear power process pipeline design method, such as high design difficulty, large workload, easy human error, high cost of iterative design solutions, and further reduce the design and construction costs of nuclear power engineering projects by improving the level of automation and intelligence of nuclear power process pipeline design.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional layout design, and more specifically, to a method, a system and a terminal for automatically routing a single pipe of process pipelines in a nuclear power plant. Background Art

[0002] The layout design of process pipelines in a nuclear power plant is extremely laborious, and a large amount of design manpower needs to be invested in each project. Currently, it accounts for about 40% of the entire design work. Among them, the single-pipe design is the basis of the layout design of nuclear power process pipelines. For safety considerations, nuclear power plants are all concentrated in a solid concrete building, with a compact space and a very high density of pipelines, making the layout design extremely difficult. Engineers need to spend a lot of time designing pipelines that meet the design specifications of nuclear power plants. Whether the pipeline design is reasonable has a great impact on the quality and cost of nuclear power plants.

[0003] Traditional nuclear power engineering design mainly relies on manual drawing of engineering drawings and statistical material lists. With the development of computer-aided design (CAD) technology, CAD has become an indispensable tool and means for nuclear power design. Currently, engineering drawings and material lists have been popularly generated from CAD software, and the design efficiency of pipeline layout has been greatly improved compared with the manual drawing method. However, in the design process, it still mainly relies on designers to observe the model and drawings and make preliminary conceptual plans in their minds, and finally complete the work by combining design specifications and experience.

[0004] The manual design process often requires multiple iterations to form the final design plan. In the process of design iteration, the professionals involved need to repeatedly carry out tasks such as providing and receiving information, discussing plans, and drawing, which greatly increases the design cost. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a method, a system and a terminal for automatically routing a single pipe of process pipelines in a nuclear power plant in view of the defects of the prior art.

[0006] The technical solution adopted by the present invention to solve its technical problems is to construct a method for automatically routing a single pipe of process pipelines in a nuclear power plant, including the following steps:

[0007] Obtain input data; the input data includes: a plant layout scene model, an equipment obstacle model, and a room obstacle model;

[0008] Perform global space routing according to the plant layout scene model to obtain the room path through which the pipeline passes;

[0009] Obtain the rooms to be passed through according to the determined room path through which the pipeline passes;

[0010] Perform local space path recognition on the room to be traversed to obtain a local space routing grid;

[0011] Perform routing based on the local space routing grid to obtain the path of the pipeline within a single room.

[0012] In the single-pipe automatic routing method for nuclear power plant process pipelines according to the present invention, the global space routing according to the plant layout scene model to obtain the room path through which the pipeline passes includes:

[0013] Obtain the vertex data of each room in the plant according to the plant layout scene model;

[0014] Process the vertex data to generate a plant topology lattice;

[0015] According to the plant topology lattice, perform space routing using a first preset routing algorithm to obtain the room path through which the pipeline passes.

[0016] In the single-pipe automatic routing method for nuclear power plant process pipelines according to the present invention, the first preset routing algorithm includes: Dijkstra's algorithm;

[0017] The performing space routing using a first preset routing algorithm according to the plant topology lattice to obtain the room path through which the pipeline passes includes:

[0018] Process the plant topology lattice to form an undirected graph;

[0019] Perform the shortest path search using Dijkstra's algorithm in the undirected graph to obtain the room path through which the pipeline passes.

[0020] In the single-pipe automatic routing method for nuclear power plant process pipelines according to the present invention, the performing local space path recognition on the room to be traversed to obtain a local space routing grid includes:

[0021] Perform grid division on the room to be traversed to obtain a plurality of cubic grids;

[0022] Obtain the three-dimensional model of the room to be traversed;

[0023] Based on the three-dimensional model and the plurality of cubic grids, identify the obstacles in the room to be traversed and generate the local space routing grid.

[0024] In the single-pipe automatic routing method for nuclear power plant process pipelines according to the present invention, the obtaining the three-dimensional model of the room to be traversed includes:

[0025] Traverse the room to be traversed according to the equipment obstacle model and the room obstacle model to obtain the three-dimensional model.

[0026] In the single-pipe automatic pathfinding method for the process pipelines of a nuclear power plant according to the present invention, the step of identifying the obstacles in the room to be traversed based on the three-dimensional model and the multiple cubic grids and generating the local space pathfinding grid includes:

[0027] Traverse all the three-dimensional models in the room to be traversed to extract the axial bounding box and the oriented bounding box of all the three-dimensional models;

[0028] Perform intersection detection between the axial bounding box and the multiple cubic grids and perform intersection detection between the oriented bounding box and the multiple cubic grids to obtain the obstacles in the room to be traversed;

[0029] Generate the local space pathfinding grid according to the determined obstacles in the room to be traversed.

[0030] In the single-pipe automatic pathfinding method for the process pipelines of a nuclear power plant according to the present invention, the step of performing pathfinding based on the local space pathfinding grid to obtain the path of the pipeline in a single room includes:

[0031] Obtain the nuclear power pipeline design rules;

[0032] Fuse the nuclear power pipeline design rules and a second preset pathfinding algorithm to obtain a nuclear power single-pipe pathfinding algorithm;

[0033] Use the nuclear power single-pipe pathfinding algorithm to perform pathfinding on the local space pathfinding grid to obtain the path of the pipeline in a single room.

[0034] In the single-pipe automatic pathfinding method for the process pipelines of a nuclear power plant according to the present invention, the nuclear power pipeline design rules include: the objectives of the nuclear power pipeline layout design and the constraint conditions of the nuclear power pipeline layout design;

[0035] The objectives of the nuclear power pipeline layout design include: connecting equipment or pipelines by the pipeline according to the specified starting point, ending point and direction, arranging the pipeline in an orthogonal direction as much as possible, minimizing the total length of the pipeline as much as possible, minimizing the number of elbows or bends, and keeping a distance required by the specification from obstacles such as walls, plates, equipment, and other pipelines;

[0036] The constraint conditions of the nuclear power pipeline layout design include: the pipeline path bypasses obstacles, channels and operating spaces, the minimum distance between two elbows cannot be less than a specified value, and the pipeline path must pass through a specified point set in advance.

[0037] In the single-pipe automatic pathfinding method for the process pipelines of a nuclear power plant according to the present invention, the second preset pathfinding algorithm includes: an improved A* algorithm; the improved A* algorithm includes: an A* algorithm for reconstructing the cost function and improving the heuristic function.

[0038] In the single-pipe automatic path finding method for the process pipelines of a nuclear power plant according to the present invention, the reconstruction cost function satisfies:

[0039] G(n)=C L (n)+C B (n)-C C (n);

[0040] Wherein, C L (n), C B (n), C C (n) are respectively the true distance cost, elbow cost, and wall-adjacent cost from the starting point to node n.

[0041] In the single-pipe automatic path finding method for the process pipelines of a nuclear power plant according to the present invention, the improved heuristic function includes:

[0042] Adding a weight factor to the original heuristic function;

[0043] Adjusting the proportion of the original heuristic function in the entire evaluation function through the weight factor to obtain the improved heuristic function.

[0044] In the single-pipe automatic path finding method for the process pipelines of a nuclear power plant according to the present invention, the weight factor changes according to the distance change between the current position and the target node.

[0045] The present invention also provides a single-pipe automatic path finding system for the process pipelines of a nuclear power plant, including:

[0046] An acquisition unit for acquiring input data; the input data includes: a plant layout scene model, an equipment obstacle model, and a room obstacle model;

[0047] A global path finding unit for performing global space path finding according to the plant layout scene model to obtain the room path through which the pipeline passes;

[0048] A determination unit for obtaining the room to be passed through according to the determined room path through which the pipeline passes;

[0049] A local path finding unit for performing local space path recognition on the room to be passed through to obtain a local space path finding grid;

[0050] A path finding unit for performing path finding based on the local space path finding grid to obtain the path of the pipeline within a single room.

[0051] The present invention also provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above-mentioned method are implemented.

[0052] The present invention also provides a terminal, including at least one processor; and a memory communicatively connected to the at least one processor;

[0053] Wherein, the memory stores instructions executable by the at least one processor, and the instructions are configured to execute the above-mentioned method.

[0054] Implementing the single-pipe automatic pathfinding method, system and terminal for nuclear power plant process pipelines of the present invention has the following beneficial effects: including the following steps: obtaining input data; the input data includes: a plant layout scenario model, an equipment obstacle model, and a room obstacle model; performing global space pathfinding according to the plant layout scenario model to obtain the room path through which the pipeline passes; according to the determined room path through which the pipeline passes, obtaining the room to be passed through; performing local space path recognition on the room to be passed through to obtain a local space pathfinding grid; and performing pathfinding based on the local space pathfinding grid to obtain the path of the pipeline within a single room. The present invention adopts an automatic pathfinding method, which can overcome the problems existing in the traditional nuclear power process pipeline design method, such as large design difficulty, large workload, easy occurrence of human error, and high iteration cost of the design scheme. By improving the automation and intelligence level of nuclear power process pipeline design, the design and construction costs of nuclear power engineering projects are further reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The present invention will be further described below in conjunction with the drawings and embodiments. In the drawings:

[0056] Figure 1 is a schematic flowchart of the single-pipe automatic pathfinding method for nuclear power plant process pipelines provided by the present invention;

[0057] Figure 2 is a schematic structural diagram of the plant topology lattice provided by the present invention;

[0058] Figure 3 is a schematic diagram of the merger of plant topology points provided by the present invention;

[0059] Figures 4 to 6 is a schematic comparison diagram between the original A* algorithm and the improved A* algorithm integrating design rules provided by the present invention;

[0060] Figure 7 is a schematic structural diagram of the single-pipe automatic pathfinding system for nuclear power plant process pipelines provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0061] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0062] To solve the problem of automatic single-pipe layout in the three-dimensional space of a nuclear power plant and improve the efficiency of pipeline layout design, the present invention proposes a pipeline automatic layout method that combines the Dijkstra algorithm (Dijkstra's algorithm, which is an algorithm for finding the shortest paths from a vertex to the remaining vertices and is used to solve the shortest path problem in a weighted graph) in the global space and an improved A* algorithm (the A* algorithm is one of the most effective direct search methods for finding the shortest path in a static road network) in the local space.

[0063] Nuclear power plants cover a vast area and have a huge internal space. Currently, the path search algorithms cannot handle such large-scale problems within a limited time. Therefore, the present invention first uses a global space pathfinding algorithm to determine the rooms through which the pipeline passes, thereby significantly reducing the problem scale and saving calculation time. Then, the specific path within the room is determined by the local space pathfinding algorithm. Among them, global space pathfinding refers to the topological occupancy matrix used when the pipeline finds a path between different rooms in the plant. Local space pathfinding refers to the three-dimensional space used when the pipeline finds a path in a single room. For details, reference can be made to Figure 1 , Figure 1 which is a schematic flowchart of an optional embodiment of the nuclear power plant process pipeline automatic pathfinding method provided by the present invention.

[0064] As Figure 1 shown, the single-pipe automatic pathfinding method for the nuclear power plant process pipeline includes the following steps:

[0065] Step S101, obtain input data. Among them, the input data includes: the plant layout scene model, the equipment obstacle model, and the room obstacle model. It can be understood that in the embodiments of the present invention, the input data can be obtained in any conventional manner, and the present invention does not make specific limitations.

[0066] Step S102, perform global space pathfinding according to the plant layout scene model to obtain the room path through which the pipeline passes.

[0067] In this step, performing global space pathfinding according to the plant layout scene model to obtain the room path through which the pipeline passes includes: obtaining the vertex data of each room in the plant according to the plant layout scene model; processing the vertex data to generate a plant topology lattice; and performing space pathfinding using a first preset pathfinding algorithm according to the plant topology lattice to obtain the room path through which the pipeline passes.

[0068] Among them, the first preset pathfinding algorithm includes: Dijkstra's algorithm. Therefore, in some embodiments, according to the plant topology lattice, the first preset pathfinding algorithm is used for spatial pathfinding, and the room path through which the pipeline passes is obtained as follows: processing the plant topology lattice to form an undirected graph; using Dijkstra's algorithm in the undirected graph to perform the shortest path search to obtain the room path through which the pipeline passes.

[0069] Specifically, as Figure 2 shown in the schematic diagram of the topology lattice of the plant model. First, the vertices of each room in the plant are obtained according to the plant model, and then the redundant vertices and edges are merged or deleted according to the data filtering rules to form the plant topology lattice (as Figure 3 shown). Then, the plant topology lattice is processed to form an undirected graph. Among them, the undirected graph can be expressed as graph G = {V, E}, then the vertex set can be expressed as V = {P 1 (x 1 , y 1 , z 1 ),..., P i (x i , y i , z i ),..., P n (x n , y n , z n )}, where P i (x i , y i , z i ) is the three-dimensional space coordinate value of vertex P i ; the set of edges is expressed as E = {(P 1 , P 2 ), (P 2 , P 3 )... (P m-1 , P m ), (P m , P 1 )}. Finally, the shortest path search can be performed in graph G using Dijkstra's algorithm to determine the room path through which the pipeline passes.

[0070] Step S103: Obtain the rooms to be passed through according to the determined room path through which the pipeline passes.

[0071] In this step, after obtaining the room path through which the pipeline passes in step S102, the rooms to be passed through can be quickly determined according to the determined room path.

[0072] Step S104: Perform local space path recognition on the rooms to be passed through to obtain a local space pathfinding grid.

[0073] In this step, local spatial path recognition is performed on the room to be traversed, and the local spatial pathfinding grid is obtained, including: dividing the room to be traversed into grids to obtain a plurality of cubic grids; obtaining the three-dimensional model of the room to be traversed; based on the three-dimensional model and the plurality of cubic grids, identifying the obstacles in the room to be traversed, and generating the local spatial pathfinding grid.

[0074] Among them, the three-dimensional model of the room to be traversed can be obtained by traversing the room to be traversed according to the equipment obstacle model and the room obstacle model. Optionally, in the embodiments of the present invention, the three-dimensional model refers to the three-dimensional models of various specialties in the factory building, and may include, but is not limited to, wall models, equipment models, pipeline models, etc.

[0075] In some embodiments, identifying the obstacles in the room to be traversed based on the three-dimensional model and the plurality of cubic grids and generating the local spatial pathfinding grid includes: traversing all the three-dimensional models in the room to be traversed to extract the axis-aligned bounding box and the oriented bounding box of all the three-dimensional models; performing intersection detection between the axis-aligned bounding box and the plurality of cubic grids and performing intersection detection between the oriented bounding box and the plurality of cubic grids to obtain the obstacles in the room to be traversed; generating the local spatial pathfinding grid according to the determined obstacles in the room to be traversed.

[0076] In this step, the specific path of the pipeline in each room can be determined by using the local spatial pathfinding method. Specifically, first, the room is divided into grids, and the three-dimensional space of the room area is divided into cubic grids of the same size according to the grid definition. Then, the three-dimensional models in the room area are traversed, and the axis-aligned bounding box and the oriented bounding box of the models are extracted. Finally, through the intersection detection between the axis-aligned bounding box and the grid and the intersection detection of the oriented bounding box and the separating axis detection algorithm of the grid, the obstacles in the room are identified, and the local spatial pathfinding grid is generated.

[0077] Among them, the axis-aligned bounding box is a cuboid in which each face is perpendicular to a coordinate axis, and its size can just completely enclose a certain three-dimensional model, which can be used to simplify the geometric shape of the three-dimensional model. The oriented bounding box is the smallest box that encloses the model, and its size and direction are determined according to the geometric shape of the model, without being perpendicular to the coordinate axis, and the direction is arbitrary. The oriented bounding box can more accurately enclose the three-dimensional model, but the data structure is more complex.

[0078] Step S105: Perform pathfinding based on the local spatial pathfinding grid to obtain the path of the pipeline in a single room.

[0079] In this step, pathfinding is performed based on the local space pathfinding grid to obtain the path of the pipeline in a single room, including: obtaining the nuclear power pipeline design rules; fusing the nuclear power pipeline design rules and the second preset pathfinding algorithm to obtain the nuclear power single-pipeline pathfinding algorithm; using the nuclear power single-pipeline pathfinding algorithm to perform pathfinding on the local space pathfinding grid to obtain the path of the pipeline in a single room.

[0080] Among them, the nuclear power pipeline design rules include: the objectives of nuclear power pipeline layout design and the constraint conditions of nuclear power pipeline layout design.

[0081] Optionally, in the embodiments of the present invention, the objectives of nuclear power pipeline layout design include: the pipeline connects equipment or pipelines according to the specified starting point, ending point and direction, the pipeline is arranged in an orthogonal direction as much as possible, the total length of the pipeline is reduced as much as possible, the number of elbows or bends is reduced as much as possible, and a distance meeting the specification requirements is maintained from obstacles such as walls, plates, equipment, and other pipelines.

[0082] The constraint conditions of nuclear power pipeline layout design include: the pipeline path bypasses obstacles, channels and operation spaces, the minimum distance between two elbows cannot be less than the specified value, and the pipeline path must pass through the preset specified points.

[0083] Optionally, in the embodiments of the present invention, the second preset pathfinding algorithm includes: the improved A* algorithm; the improved A* algorithm includes: the A* algorithm for reconstructing the cost function and improving the heuristic function.

[0084] Among them, the reconstructed cost function satisfies:

[0085] G(n)=C L (n)+C B (n)-C C (n) (1)

[0086] Among them, C L (n), C B (n), C C (n) are respectively the true distance cost, elbow cost and wall-adjacent cost from the starting point to node n. Here, the cost refers to the weight of the edge representing the nodes in the graph, and can be considered as the cost of moving from one node to another node in the A* algorithm.

[0087] Each cost function can be defined as:

[0088] C L (n)=w×[|X n −X s |+ |Y n −Y s | + |Z n −Z s |] (2)

[0089] (3)

[0090] (4)

[0091] In (2), X n , Y n , Z n , X s , Y s , Z s respectively represent the three - dimensional coordinate components from the current node (subscript n) to the starting point (subscript s). In equations (3) and (4), w is the distance cost coefficient, w > 0; b is the elbow cost coefficient; c is the wall - leaning cost coefficient.

[0092] In the embodiment of the present invention, the improved heuristic function can be obtained in the following way: adding a weight factor to the original heuristic function; adjusting the proportion of the original heuristic function in the entire evaluation function through the weight factor to obtain the improved heuristic function. Among them, the weight factor changes according to the distance between the current position and the target node. Specifically, when the distance between the node and the target node is very far, the estimated distance is much smaller than the real distance. Therefore, the weight function value should be larger to accelerate the speed of searching for the near - target point. When approaching the target point, the estimated distance is close to the real distance, and the weight function value is close to 1. The heuristic function H'(n) with the added weight factor is defined as:

[0093] H'(n) = ln{[(X n -X t ) 2 + (Y n -Y t ) 2 + (Z n -Z t ) 2 ) 0.5 +1}×H(n) (5)

[0094] In equation (5), X t , Y t , Z t represent the three - dimensional coordinate components of the target node; H(n) represents the heuristic function of the original A* algorithm.

[0095] To sum up, the evaluation function F(n) of the A* algorithm integrating constraint conditions can be defined as:

[0096] F(n)=C L (n)+C B (n)+C C (n)+w×[|X n −X t | + |Y n −Y t|+ |Z n −Z t |],

[0097] 0 ≤ b ≤ 1, 0 ≤ c ≤ 1, w > 0 (6)

[0098] Therefore, based on the improved A* algorithm, the problem of integrating design rules can be effectively solved. Specifically, as Figures 4 to 6 shown, Figures 4 to 6 in the left side of, A0 represents the schematic diagram of the search path of the original A* algorithm, Figures 4 to 6 in which A1 represents the schematic diagram of the search path of the improved A* algorithm. Among them, Figure 4 in A1, the elbows are constrained with as few as possible, Figure 5 in which A1 is constrained by the reliable wall, Figure 6 in which A1 is constrained by the shortest distance between elbows.

[0099] Of course, it can be understood that in some other embodiments, the running performance of the single-pipe pathfinding algorithm can also be significantly improved by adopting improvement measures such as optimizing the open list with a priority queue, optimizing the closed list with a three-dimensional array, and constructing a complex nuclear power three-dimensional model into a hierarchical bounding volume tree.

[0100] Refer to Figure 7 , which is the structural schematic diagram of an optional embodiment of the single-pipe automatic pathfinding system for nuclear power plant process pipelines provided by the present invention. This single-pipe automatic pathfinding system for nuclear power plant process pipelines can be used to implement the single-pipe automatic pathfinding method for nuclear power plant process pipelines disclosed in the embodiments of the present invention.

[0101] Specifically, as Figure 7 shown, this single-pipe automatic pathfinding system for nuclear power plant process pipelines includes:

[0102] An acquisition unit 701, configured to acquire input data; the input data includes: a plant layout scene model, an equipment obstacle model, and a room obstacle model.

[0103] A global pathfinding unit 702, configured to perform global space pathfinding according to the plant layout scene model to obtain the room path through which the pipeline passes.

[0104] A determination unit 703, configured to obtain the room to be passed through according to the determined room path through which the pipeline passes.

[0105] A local pathfinding unit 704, configured to perform local space path recognition on the room to be passed through to obtain a local space pathfinding grid.

[0106] A pathfinding unit 705, configured to perform pathfinding based on the local space pathfinding grid to obtain the path of the pipeline in a single room.

[0107] The present invention also provides a storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the single-pipe automatic path finding method for the process pipelines of a nuclear power plant as disclosed in the embodiments of the present invention are implemented.

[0108] The present invention also provides a terminal, including at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are configured to execute the above-mentioned single-pipe automatic path finding method for the process pipelines of a nuclear power plant.

[0109] In the description of this specification, the embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For the relevant parts, reference can be made to the description in the method part.

[0110] Those skilled in the art can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this article can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described according to their functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0111] The steps of the method or algorithm described in combination with the embodiments disclosed in this article can be directly implemented by hardware, a software module executed by a processor, or a combination of the two. The software module can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, register, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field.

[0112] The above embodiments are only used to illustrate the technical concept and features of the present invention, and their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and cannot limit the protection scope of the present invention. All equivalent changes and modifications made to the scope of the claims of the present invention shall fall within the scope covered by the claims of the present invention.

Claims

1. A method for automatically finding the path of a single pipe in a nuclear power plant process pipeline, characterized in that: The following steps are involved: Obtaining input data; the input data includes: a plant layout scene model, an equipment obstacle model, and a room obstacle model; According to the plant layout scene model, vertex data of each room in the plant is obtained; Processing the vertex data to generate a plant topology lattice; Processing the plant topology lattice to form an undirected graph; Using Dijkstra algorithm to search for the shortest path in the undirected graph, to obtain the room path through which the pipeline passes; According to the determined room path that the pipeline crosses, the room to be crossed is obtained; Dividing the room to be traversed into grids to obtain a plurality of cubic grids; Traversing the room to be traversed according to the device obstacle model and the room obstacle model to obtain a three-dimensional model of the room to be traversed; Traversing all three-dimensional models in the room to be traversed to extract axial bounding boxes and directed bounding boxes of all three-dimensional models; Obstacles in the room to be traversed are obtained by performing intersection detection between the axial bounding box and the multiple cubic grids and by performing intersection detection between the directed bounding box and the multiple cubic grids; Generate a local spatial path-finding grid according to the determined obstacles in the room to be traversed; Obtain nuclear power pipeline design rules; Based on the fusion of the nuclear power pipeline design rule and the second preset path finding algorithm, a nuclear power single pipe path finding algorithm is obtained; the second preset path finding algorithm includes: an improved A* algorithm; the improved A* algorithm includes: an A* algorithm of a reconstruction cost function and an improved heuristic function; The nuclear power single-pipe routing algorithm is used to perform routing on the local space routing grid to obtain the path of the pipeline in a single room.

2. The method for automatically finding the path of a single pipe in a nuclear power plant process pipeline according to claim 1, characterized in that: The nuclear power pipeline design rules include: objectives of nuclear power pipeline layout design and constraints of nuclear power pipeline layout design; The objectives of nuclear power pipeline layout design include: pipelines are connected to equipment or pipelines at designated starting points, end points and directions, pipelines are arranged in orthogonal directions as much as possible, the total length of pipelines is minimized, the number of elbows or bends is minimized, and the distances from walls, panels, equipment and other pipelines are kept as required by regulations; The constraints of the nuclear power pipeline layout design include: the pipeline path bypasses obstacles, channels and operating spaces, the minimum distance between two elbows cannot be less than a specified value, and the pipeline path must pass through a pre-set specified point.

3. The method for automatically finding the path of a single pipe in a nuclear power plant process pipeline according to claim 1, characterized in that: The reconstruction cost function satisfies: G(n)=C L (n)+C B (n)-C C (n); Among them, C L (n), C B (n), C C (n) are the actual distance cost, elbow cost and wall cost from the starting point to node n.

4. The method for automatically finding the path of a single pipe in a nuclear power plant process pipeline according to claim 1, characterized in that: The improved heuristic function includes: Add weight factor to the original heuristic function; The improved heuristic function is obtained by adjusting the proportion of the original heuristic function in the entire evaluation function through the weight factor.

5. The method for automatically finding the path of a single pipe in a nuclear power plant process pipeline according to claim 4, characterized in that: The weight factor changes according to the distance between the current position and the target node.

6. A single-pipe automatic path finding system for process pipelines in nuclear power plants, characterized in that: include: An acquisition unit, used to acquire input data; the input data includes: a plant layout scene model, an equipment obstacle model, and a room obstacle model; A global path finding unit, used for obtaining vertex data of each room in the factory building according to the factory building layout scene model; Processing the vertex data to generate a plant topology lattice; Processing the plant topology lattice to form an undirected graph; Using Dijkstra algorithm to search for the shortest path in the undirected graph, to obtain the room path through which the pipeline passes; A determination unit, used for obtaining a room to be traversed according to the determined room path traversed by the pipeline; A local path finding unit, used for dividing the room to be traversed into grids to obtain a plurality of cubic grids; Traversing the room to be traversed according to the device obstacle model and the room obstacle model to obtain a three-dimensional model of the room to be traversed; Traversing all three-dimensional models in the room to be traversed to extract axial bounding boxes and directed bounding boxes of all three-dimensional models; Obstacles in the room to be traversed are obtained by performing intersection detection between the axial bounding box and the multiple cubic grids and by performing intersection detection between the directed bounding box and the multiple cubic grids; Generate a local spatial path-finding grid according to the determined obstacles in the room to be traversed; Path finding unit, used to obtain nuclear power pipeline design rules; Based on the fusion of the nuclear power pipeline design rule and the second preset path finding algorithm, a nuclear power single pipe path finding algorithm is obtained; the second preset path finding algorithm includes: an improved A* algorithm; the improved A* algorithm includes: an A* algorithm of a reconstruction cost function and an improved heuristic function; The nuclear power single-pipe routing algorithm is used to perform routing on the local space routing grid to obtain the path of the pipeline in a single room.

7. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A terminal, characterized in that: comprising at least one processor; and a memory communicatively connected to the at least one processor; The memory stores instructions executable by the at least one processor, and the instructions are configured to execute the method according to any one of claims 1 to 5.

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