Workshop pipeline automatic layout method and system based on friction resistance experiment and improved ant colony

Abstract

The invention discloses a workshop pipeline automatic layout method and system based on a friction resistance experiment and an improved ant colony, and relates to the technical field of workshop pipeline layout. The method comprises the following specific steps: preprocessing a pipeline workshop scene, including preprocessing irregular obstacles in a workshop and preprocessing pipe fittings of various specifications in the workshop; after preprocessing is completed, an initial pipeline layout result is generated through multiple iterations of an improved ant colony algorithm; counting unit standard straight pipe and elbow pipe quantity information contained in the initial pipeline layout result, analyzing the pipeline layout energy efficiency condition according to a pipeline evaluation function, and recording an optimal main pipe path; performing branch pipe node confirmation on the plurality of branch pipe end points based on a Steiner minimum tree for the optimal main pipe path; and carrying out obstacle judgment between the branch pipe node and the branch pipe end point, and iterating each branch path to obtain an optimal path result. According to the method, the traditional ant colony algorithm is improved, and rapid and reliable layout design of the workshop pipeline is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of workshop pipeline layout, and in particular to an automatic workshop pipeline layout method and system based on friction resistance experiment and improved ant colony. Background Art

[0002] Traditional pipeline layouts are mostly designed by designers based on CAD, CFD and other technologies. As the complexity of the pipeline layout environment increases, the computational complexity of designers in dealing with layout problems also increases exponentially. The following problems exist in the design of pipeline layouts in complex workshop environments: low efficiency and high cost of preliminary design of pipeline systems; low accuracy of layout design performance evaluation; irregular obstacles that easily interfere with the layout process, etc. Therefore, for those skilled in the art, how to achieve efficient automatic pipeline layout in complex workshop environments has become an urgent problem to be solved. Summary of the invention

[0003] The purpose of the present invention is to provide a method and system for automatic layout of workshop pipelines based on friction experiments and improved ant colonies, so as to solve the problems raised in the background technology and realize fast and reliable layout design of workshop pipelines.

[0004] To achieve the above object, the present invention provides the following solutions: On the one hand, a method for automatic layout of workshop pipelines based on friction test and improved ant colony is provided, and the specific steps include the following:

[0005] Preprocessing the pipeline workshop scene, including preprocessing irregular obstacles in the workshop and preprocessing pipes of various specifications in the workshop;

[0006] After the preprocessing is completed, the initial pipeline layout results that meet the workshop pipeline layout specifications are automatically generated through multiple iterations of the improved ant colony algorithm;

[0007] Counting the number of unit standard straight pipes and elbow fittings contained in the initial pipeline layout result, analyzing the pipeline layout energy efficiency according to the pipeline evaluation function and recording the optimal main pipe path;

[0008] According to the optimal main path, the branch pipe nodes are confirmed for each of the multiple branch pipe endpoints based on the Steiner minimum tree;

[0009] Obstacle judgment is performed between the branch pipe node and the branch pipe end point, and each branch path is iterated using a corresponding method according to the judgment result to obtain an optimal path result.

[0010] Preferably, the method further includes post-processing the optimal path result, the specific steps of which are:

[0011] Automatically identify and analyze the T-type three-way pipe fitting structure in the optimal path result layout, and replace the T-type three-way pipe fitting structure with a Y-type three-way structure.

[0012] Preferably, the process of pre-treating the pipes of various specifications in the workshop is: measuring the evaluation index coefficient of each pipe by friction test, and conducting a global pipeline path quality evaluation, and the specific steps are:

[0013] The actual friction data is measured by passing compressed air with specified process parameters through unit pipe components of different types and specifications;

[0014] The actual friction data is collected, a standard pressure loss scale of the evaluation model is drawn, the correlation coefficient of the evaluation function is determined according to the scale indicators, and a global evaluation of the global pipeline path quality is performed.

[0015] Preferably, the irregular obstacles in the workshop are preprocessed based on the AABB collision detection algorithm to remove the irregular three-dimensional obstacles in the workshop, and the specific steps are:

[0016] The pipeline layout workshop scene is rasterized and restored. The raster space consists of feasible areas and obstacle areas.

[0017] Extract information from irregular obstacle models in the scene and obtain the coordinates of each vertex of the obstacle model;

[0018] Regularize the irregular obstacle model in the scene, calculate the maximum length, width, and height of the obstacle parallel to any coordinate axis plane of the grid map based on the AABB collision detection algorithm, determine the coordinates of the new vertices and connect them in sequence to form a new regular cube obstacle;

[0019] The initial grid space is subtracted from the pre-processed obstacle model to obtain the feasible path area of ​​the pipeline in the space and record it.

[0020] Preferably, it also includes a path guidance information definition and a self-update mechanism based on the workshop pipeline layout specification.

[0021] Preferably, in the self-update mechanism, each round of iteration completes the automatic update of the pheromone concentration of the corresponding path, and the steps of the self-update mechanism are:

[0022] Attenuation: The pheromone results of the previous round of iterations are automatically weakened and reduced after an iteration cycle. The concentration of the next round of pheromone is calculated by adding the sum of the ant colony's path contribution during the previous round of iterations after one decay of the pheromone concentration;

[0023] Rewards and penalties: rewards and penalties are given to the best and worst paths respectively according to the results of this round of iteration paths;

[0024] Accumulation: All attenuation, reward and punishment coefficients are summarized;

[0025] Concentration correction: Set the upper and lower thresholds of pheromone concentration to control the pheromone concentration results.

[0026] Preferably, in the improved ant colony algorithm, the ants select the next node location to go to according to the ant colony state transfer equation, and the expression of the ant colony state transfer equation is:

[0027]

[0028] Among them, a is the node position where the current ant is located, and b is the node position where the ant adjacent to a may go. is the probability that the jth ant goes from point a to point b at time t, allowed is the set of nodes that the ant can choose, τ(t) is the pheromone concentration of the path at time t, η(t) is the heuristic function, α is the expected value of the pheromone, and β is the heuristic expected value.

[0029] On the other hand, a workshop pipeline automatic layout system based on friction experiment and improved ant colony is provided, including a preprocessing module, a pipeline layout module, a statistics module, a node confirmation module, and a branch path acquisition module; wherein,

[0030] The preprocessing module preprocesses the pipeline workshop scene, and the preprocessing includes preprocessing irregular obstacles in the workshop and preprocessing pipes of various specifications in the workshop;

[0031] The pipeline layout module is used to automatically generate an initial pipeline layout result that meets the workshop pipeline layout specification through multiple iterations of the improved ant colony algorithm after the preprocessing is completed;

[0032] The statistical module is used to count the number of unit standard straight pipes and elbow pipe fittings contained in the initial pipeline layout result, analyze the pipeline layout energy efficiency according to the pipeline evaluation function, and record the optimal main pipe path;

[0033] The node confirmation module is used to confirm the branch pipe nodes of multiple branch pipe endpoints based on the Steiner minimum tree for the optimal main pipe path;

[0034] The branch path acquisition module is used to judge obstacles between the branch pipe node and the branch pipe end point, and iterate each branch path using a corresponding method according to the judgment result to obtain the optimal path result.

[0035] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects: improving the traditional ant colony algorithm combined with the basic rules of workshop pipeline layout, iteratively selecting the optimal energy-efficient pipeline path in the workshop scenario, and providing pipeline layout designers with a reference method for quickly generating energy-saving and reliable workshop pipeline layout design; being able to efficiently perform automatic pipeline layout in a complex workshop environment, pre-processing irregular three-dimensional obstacles in the workshop based on the AABB collision detection algorithm, eliminating dead zones and poor-quality path spaces in the tracing space, and assisting in obtaining better automatic pipeline layout results in a complex environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0037] Figure 1 is a flow chart of the method of the present invention;

[0038] Figure 2 This is a diagram of a pipeline friction loss measurement device of the present invention;

[0039] Figure 3 This is a pipeline friction loss measurement flow chart of the present invention;

[0040] Figure 4 This is a flow chart of path static pheromone initialization of the present invention.

[0041] Among them, 1 is an air compressor, 2 is a throttle valve, 3 is a laboratory table, 4 is a straight pipe, 5 is an elbow, 6 is an air pressure sensor, 7 is a T-type tee, 8 is a gas tank, and 9 is a computer. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] The purpose of the present invention is to provide a method for automatic layout of workshop pipelines based on friction test and improved ant colony. Figure 1 As shown, the specific steps include the following:

[0044] S1. Preprocessing the pipeline workshop scene, including preprocessing irregular obstacles in the workshop and preprocessing pipes of various specifications in the workshop;

[0045] S2, after the preprocessing is completed, the initial pipeline layout result that meets the workshop pipeline layout specifications is automatically generated through multiple iterations of the improved ant colony algorithm;

[0046] S3, counting the number of unit standard straight pipes and elbow fittings contained in the initial pipeline layout results, analyzing the pipeline layout energy efficiency according to the pipeline evaluation function and recording the optimal main pipe path;

[0047] S4, for the optimal main path, confirm the branch pipe nodes for multiple branch pipe endpoints based on the Steiner minimum tree;

[0048] S5. Obstacle judgment is performed between the branch pipe node and the branch pipe end point, and each branch path is iterated to obtain the optimal path result.

[0049] Furthermore, in step S1, the process of pre-processing the pipes of various specifications in the workshop is as follows: measuring the evaluation index coefficient of each pipe through a friction test, performing a global pipeline path quality evaluation, and pre-processing irregular three-dimensional obstacles in the workshop based on the AABB collision detection algorithm.

[0050] Specifically, pipe fittings of various specifications required in the workshop environment are placed in the pipeline friction loss measuring device, such as Figure 2 As shown in Figure 2, compressed air loss data is measured by an air pressure sensor, such as Figure 3 As shown, the steps for workshop integrated pipeline measurement are:

[0051] S111, the air compressor outputs initial compressed air;

[0052] S112, the compressed air is controlled and adjusted through the pressure regulating valve to adjust the initial value of the output air pressure to align with the experimental measurement standard;

[0053] S113, compressed air flows through the air pressure sensor 6, the standard pipe to be measured (straight pipe, elbow), and the throttle valve 2 in sequence, and the sensor sends the real-time air pressure data results to the computer 9 to record and calculate the difference of each group of result data. Ten groups are measured in the same experiment, and the average value is the unit pressure loss of the pipe;

[0054] S114. The measurement results are tabulated, and the pressure loss of a 1-meter straight pipe is used as the unit standard. Pipes of various specifications and types are converted into a standard pressure loss scale of the evaluation model. The pipeline layout is disassembled and counted into the number of various types of pipes, and the weighted sum is calculated according to formula (1) to obtain the pipeline quality evaluation.

[0055]

[0056] Among them, Pipe i Indicates the evaluation coefficient of the pipe type measured in the friction test, ω i is the equivalent length.

[0057] Furthermore, the irregular three-dimensional obstacles in the workshop are preprocessed based on the AABB collision detection algorithm. By preprocessing the bounding box filling of the three-dimensional rasterized irregular obstacles, the dead zone and poor-quality path space in the tracing space are eliminated as much as possible, which helps to obtain better automatic pipeline layout results in complex environments. The specific steps are as follows:

[0058] S121. Perform rasterization and restoration processing (grid unit length: 10cm) on the pipeline layout workshop scene (size: 10m*20m*4m), and the scene node coordinate set covers (0,0,0)~(100,200,40). Use different colors to represent the target area, with the starting point in green, the end point in red, the pipeline path in blue, and the obstacle model in yellow. In the initial stage, the grid space consists of two parts: the feasible area and the obstacle area (purpose: to obtain the initial data of the global space).

[0059] S122, regularize the irregular obstacle model in the scene. Obtain the coordinates of each vertex of the obstacle model, calculate the maximum length, width, and height of the obstacle parallel to any coordinate axis plane of the grid map based on the AABB collision detection algorithm, derive and determine the coordinates of new vertices and connect them in sequence to form a new regular cube obstacle (purpose: 1. Eliminate dead zone interference; 2. Quickly reduce the traversal space; 3. Ensure the safety of the pipeline and obstacles).

[0060] S123, the initial grid space and the pre-processed obstacle model are subtracted to obtain the feasible path area of ​​the pipeline in the space and record and save it (purpose: to obtain the ant colony explorable space).

[0061] Taking into account the basic rules of workshop pipeline layout, space utilization in the pipeline layout design phase, safety and transmission efficiency in the operation phase, and accessibility in the maintenance phase, the workshop pipeline layout specifications are as follows:

[0062] 1) Arrange the pipeline along the support surface as much as possible, avoiding the main working area. 2) When the height allows, reserve enough space between the pipeline and obstacles to deal with thermal expansion, vibration, etc. 3) Arrange the pipeline in a location that can provide convenience for later maintenance. Therefore, it is necessary to initialize the static guidance weight (pheromone concentration) definition of the grid space pipeline guidance path combined with the layout rules. Figure 4As shown in Figure 1, the feasible area in step 2 is divided into high-quality layout area, low-quality layout area and ordinary layout area. The initial pheromone of the obstacle area and the wall is defined as 0, which means that pipelines cannot be laid in this area. The initial pheromone of the ordinary area is defined as 1. The paths in the remaining areas are initialized according to the corresponding rules. The higher the concentration, the higher the possibility that the tracing ants will lay pipelines in a single time.

[0063] Pheromone concentration initialization rule 1 (rule of maintaining a safe distance between running equipment): whether the shortest distance between the path in the feasible area and the nearest obstacle geometry is greater than 3 unit lengths. For paths greater than 3 unit lengths, the initial pheromone concentration is greater than or equal to 1 (refer to rule 2 for specific concentration values); for paths less than or equal to 3 unit lengths, the initial pheromone concentration is defined according to formula 2.

[0064] Pheromone concentration initialization rule 2 (better rule for paths close to the wall and with a certain gap): A path can participate in the judgment of rule 2 only if it meets the judgment condition of rule 1. The pheromone concentration value of the path whose shortest distance to the edge wall of the workshop scene space is greater than or equal to 1 unit length and less than or equal to 2 unit lengths is initialized according to formula 3.

[0065]

[0066] τ 0,L(a,b) =1+0.3*d min(L(a,b)→NS) ,1≤d min(L(a,b)→NS) ≤2; (3)

[0067] Among them, L(a,b) represents the path, NS: the nearest support surface, NO: the nearest obstacle, τ 0 : Initial pheromone concentration, d min : Shortest distance.

[0068] Furthermore, in step S2, the initial pipeline layout result that meets the workshop pipeline layout specification is automatically generated by multiple iterations of the improved ant colony algorithm, and the specific steps are as follows:

[0069] S21, initializing the number of ant colony path iterations X and the number of ants in the ant colony Y;

[0070] S22. Assume that the ant colony starts from the starting point Sp(3, 3, 3), and the end points include the main pipeline end point and the branch pipeline end point, which are Ep={Ep1, Ep2, ..., Epn} respectively, to explore the pipeline layout path, where the main pipeline end point is Ep1.

[0071] S23. The ants explore the path from Sp to Ep1 in parallel. There are six directly connected nodes at the node a where an ant is located. Assuming that the coordinate information of the next node to be visited is {b=(Xb,Yb,Zb)|x, y, z>0}, the ant selects the next node location according to the state transfer equation in formula 4. The pheromone concentration of the first path guiding the ant colony is defined by the workshop pipeline layout specification, and the subsequent concentration refers to the dynamic pheromone concentration matrix.

[0072] S24. Mark the path that each ant has traveled. The ant cannot travel through the marked path again. The above operation is performed after each state transition of the ant. Each time the ant adjusts the direction of the forward node, it moves forward at least 3 unit length grids until it reaches the end. Ants in the same batch repeat the above operation until all ants have completed the path exploration and recorded the path. Repeat k rounds of iterations.

[0073]

[0074] Where a: the node location of the current ant; b: the node location that the ants adjacent to a may go to; The probability that the jth ant goes from point a to point b at time t; allowed: the set of nodes that the ant can choose; τ(t): the pheromone concentration of the path at time t; η(t): heuristic function; α: pheromone expected value; β: heuristic expected value.

[0075] Formulas (5), (6), and (7) are used to obtain the heuristic function η(t).

[0076]

[0077] d b-Ep =|X b -X Ep |+|Y b -Y Ep |+|Z b -Z Ep |; (7)

[0078] Among them, d b-Ep : The Huffman distance from node b to the end point Ep, The angle between the node vectors a, b and the start and end point vectors Sp, Ep.

[0079] After the first round of iteration is completed, the best and worst paths are selected according to the quality evaluation results of step S1. A reward and punishment mechanism is used to give all sub-paths on the best path a 4-fold reward coefficient and all sub-paths on the worst path a 2-fold penalty coefficient. After each round of iteration, all sub-paths decay their pheromone concentrations according to the pheromone concentration decay equation, as shown in formulas 9 and 10. Set the upper and lower limits of the pheromone threshold, and perform a threshold test on the pheromone concentrations of all sub-paths. If the value is higher than the upper limit, the upper limit of the threshold is taken as the path pheromone concentration, and if the value is lower than the lower limit, the lower limit of the threshold is taken as the pheromone concentration. The global pheromone concentration matrix is ​​updated, as shown in formula 8. After each round of iteration, the ant colony repeats the above operation to update the pheromone concentration matrix to guide the subsequent spatial path exploration of the ant colony.

[0080]

[0081]

[0082] Among them, τ(t+1): pheromone concentration value at the next moment; τ max : Upper limit of pheromone concentration; τ min : lower limit of pheromone concentration; ρ: current attenuation coefficient of pheromone; ρ 0 : Initial attenuation coefficient of pheromone; i: current number of iterations; X: maximum number of iterations; Δτ(t,t+1): pheromone concentration increment from time t to time t+1; A: increment coefficient; length(j): length of the path traveled by the jth ant.

[0083] Furthermore, it also includes post-processing the optimal path result, and the specific steps are: automatically distinguishing and analyzing the T-type three-way pipe fitting structure in the optimal path result layout, and replacing the T-type three-way pipe fitting structure with a Y-type three-way structure.

[0084] On the other hand, a workshop pipeline automatic layout system based on friction experiment and improved ant colony is provided, including a preprocessing module, a pipeline layout module, a statistics module, a node confirmation module, and a branch path acquisition module; wherein,

[0085] The preprocessing module preprocesses the pipeline workshop scene, including the preprocessing of irregular obstacles in the workshop and the preprocessing of pipes of various specifications in the workshop;

[0086] The pipeline layout module is used to automatically generate the initial pipeline layout results that meet the workshop pipeline layout specifications through multiple iterations of the improved ant colony algorithm after preprocessing is completed;

[0087] The statistical module is used to count the number of standard straight pipes and elbow fittings contained in the initial pipeline layout results, analyze the energy efficiency of the pipeline layout according to the pipeline evaluation function, and record the optimal main pipe path;

[0088] A node confirmation module is used to confirm branch pipe nodes for multiple branch pipe endpoints based on the Steiner minimum tree for the optimal main pipe path;

[0089] The branch path acquisition module is used to judge the obstacles between the branch pipe node and the branch pipe end point, and iterate each branch path using a corresponding method according to the judgment result to obtain the optimal path result.

[0090] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for automatic layout of workshop pipelines based on friction test and improved ant colony, characterized in that: The specific steps include the following: Preprocessing the pipeline workshop scene, including preprocessing irregular obstacles in the workshop and preprocessing pipes of various specifications in the workshop; After the preprocessing is completed, the initial pipeline layout results that meet the workshop pipeline layout specifications are automatically generated through multiple iterations of the improved ant colony algorithm; Counting the number of unit standard straight pipes and elbow fittings contained in the initial pipeline layout result, analyzing the pipeline layout energy efficiency according to the pipeline evaluation function and recording the optimal main pipe path; According to the optimal main path, the branch pipe nodes are confirmed for each of the multiple branch pipe endpoints based on the Steiner minimum tree; Obstacle judgment is performed between the branch pipe node and the branch pipe end point, and each branch path is iterated using a corresponding method according to the judgment result to obtain an optimal path result.

2. The method for automatic layout of workshop pipelines based on friction test and improved ant colony according to claim 1 is characterized in that: The optimal path result is further processed, and the specific steps are as follows: Automatically identify and analyze the T-type three-way pipe fitting structure in the optimal path result layout, and replace the T-type three-way pipe fitting structure with a Y-type three-way structure.

3. The method for automatic layout of workshop pipelines based on friction test and improved ant colony according to claim 1 is characterized in that: The process of pre-processing pipes of various specifications in the workshop is: measuring the evaluation index coefficient of each pipe through friction test, and conducting global pipeline path quality evaluation. The specific steps are: The actual friction data is measured by passing compressed air with specified process parameters through unit pipe components of different types and specifications; The actual friction data is collected, a standard pressure loss scale of the evaluation model is drawn, the correlation coefficient of the evaluation function is determined according to the scale indicators, and a global evaluation of the global pipeline path quality is performed.

4. The method for automatic layout of workshop pipelines based on friction test and improved ant colony according to claim 1 is characterized in that: Based on the AABB collision detection algorithm, irregular obstacles in the workshop are preprocessed to remove irregular three-dimensional obstacles in the workshop. The specific steps are as follows: The pipeline layout workshop scene is rasterized and restored. The raster space consists of feasible areas and obstacle areas. Extract information from irregular obstacle models in the scene and obtain the coordinates of each vertex of the obstacle model; Regularize the irregular obstacle model in the scene, calculate the maximum length, width, and height of the obstacle parallel to any coordinate axis plane of the grid map based on the AABB collision detection algorithm, determine the coordinates of the new vertices and connect them in sequence to form a new regular cube obstacle; The initial grid space is subtracted from the pre-processed obstacle model to obtain the feasible path area of ​​the pipeline in the space and record it.

5. The method for automatic layout of workshop pipelines based on friction test and improved ant colony according to claim 1 is characterized in that: It also includes a path guidance information definition and a self-update mechanism based on the workshop pipeline layout specification.

6. The method for automatic layout of workshop pipelines based on friction test and improved ant colony according to claim 5 is characterized in that: In the self-update mechanism, each round of iteration completes the automatic update of the pheromone concentration of the corresponding path, and the steps of the self-update mechanism are: Attenuation: The pheromone results of the previous round of iterations are automatically weakened and reduced after an iteration cycle. The concentration of the next round of pheromone is calculated by adding the sum of the ant colony's path contribution during the previous round of iterations after one decay of the pheromone concentration; Rewards and penalties: rewards and penalties are given to the best and worst paths respectively according to the results of this round of iteration paths; Accumulation: All attenuation, reward and punishment coefficients are summarized; Concentration correction: Set the upper and lower thresholds of pheromone concentration to control the pheromone concentration results.

7. The method for automatic layout of workshop pipelines based on friction test and improved ant colony according to claim 1 is characterized in that: In the improved ant colony algorithm, ants select the next node location to go to according to the ant colony state transfer equation, and the expression of the ant colony state transfer equation is: Among them, a is the node position where the current ant is located, and b is the node position where the ant adjacent to a may go. is the probability that the jth ant goes from point a to point b at time t, allowed is the set of nodes that the ant can choose, τ(t) is the pheromone concentration of the path at time t, η(t) is the heuristic function, α is the expected value of the pheromone, and β is the heuristic expected value.

8. A workshop pipeline automatic layout system based on friction experiment and improved ant colony, characterized in that: It includes preprocessing module, pipeline layout module, statistics module, node confirmation module and branch path acquisition module; among them, The preprocessing module preprocesses the pipeline workshop scene, and the preprocessing includes preprocessing irregular obstacles in the workshop and preprocessing pipes of various specifications in the workshop; The pipeline layout module is used to automatically generate an initial pipeline layout result that meets the workshop pipeline layout specification through multiple iterations of the improved ant colony algorithm after the preprocessing is completed; The statistical module is used to count the number of unit standard straight pipes and elbow pipe fittings contained in the initial pipeline layout result, analyze the pipeline layout energy efficiency according to the pipeline evaluation function, and record the optimal main pipe path; The node confirmation module is used to confirm the branch pipe nodes of multiple branch pipe endpoints based on the Steiner minimum tree for the optimal main pipe path; The branch path acquisition module is used to judge obstacles between the branch pipe node and the branch pipe end point, and iterate each branch path using a corresponding method according to the judgment result to obtain the optimal path result.

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