Pipeline optimal path planning system based on three-dimensional model
Through the pipeline optimal path planning system based on three-dimensional model, the problems of low pipeline planning efficiency and inoptimal paths in the existing technology are solved, and efficient and optimal pipeline path planning is achieved, reducing pipeline waste.
Patent Information
- Application Number
- CN202411705517.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-26
- Publication Date
- 2025-03-14
AI Technical Summary
Existing pipeline planning techniques are inefficient and difficult to ensure the optimality of the path, especially when dealing with large or long pipelines.
The pipeline optimal path planning system based on three-dimensional model is adopted to generate the optimal pipeline path through data acquisition modules, space division modules, pipeline generation modules and pipeline planning modules.
Improve the efficiency of pipeline planning, ensure the optimal path, and select the optimal path according to the purpose of the pipeline, reducing pipeline waste.
Smart Images
Figure CN119623279A_ABST
Abstract
Description
Technical Field
[0001] The present application belongs to the technical field of pipeline planning, and relates to pipeline planning technology, specifically a pipeline optimal path planning system based on a three-dimensional model. Background Art
[0002] Pipeline planning plays a vital role in modern urban planning and architectural design. It involves the layout and design of various pipelines such as water supply and drainage, electricity, communications, and gas. It is the infrastructure for the normal operation of cities and buildings.
[0003] Existing pipeline planning usually relies on the experience of relevant personnel to plan pipelines in the corresponding area. When planning pipelines manually, pipelines are often laid only in areas where pipelines cannot be laid. When planning a large number of pipelines or pipelines of long length, this method will not only lead to low efficiency, but also make it difficult to ensure the optimality of the planned path; therefore, a pipeline optimal path planning system based on a three-dimensional model is needed. Summary of the invention
[0004] The present application aims to solve at least one of the technical problems existing in the prior art; to this end, the present application proposes a pipeline optimal path planning system based on a three-dimensional model to solve the technical problem of low comprehensive efficiency of existing pipeline planning technology.
[0005] To achieve the above-mentioned purpose, the first aspect of the present application provides a pipeline optimal path planning system based on a three-dimensional model, comprising: a data acquisition module, a space division module, a pipeline generation module, a pipeline planning module and a database;
[0006] The data acquisition module is used to acquire pipeline planning data and several obstacle data;
[0007] The space division module: establishes a three-dimensional planning space map according to the planning space in the pipeline planning data; establishes an obstacle space in the three-dimensional space planning map according to the obstacle data; generates a free space according to the obstacle space and the three-dimensional space planning map;
[0008] The pipeline generation module extracts the pipeline diameter from the pipeline planning data and generates a number of plannable pipeline paths in free space according to the pipeline diameter.
[0009] The pipeline planning module generates an optimal planned pipeline path according to the plannable pipeline paths and pipeline usage.
[0010] The present application obtains pipeline planning data and some obstacle data; establishes a three-dimensional planning space map according to the planning space in the pipeline planning data; establishes an obstacle space in the three-dimensional space planning map according to the obstacle data; generates a free space according to the obstacle space and the three-dimensional space planning map; generates a number of plannable pipeline paths in the free space according to the pipeline diameter; generates the optimal planned pipeline path according to the plannable pipeline paths and the pipeline purpose; realizes the pipeline path planning in the three-dimensional space, and improves the efficiency of pipeline planning; at the same time, according to the pipeline purpose, screens out the optimal planned pipeline path to reduce pipeline waste.
[0011] Preferably, the step of establishing a three-dimensional planning space diagram according to the planning space in the pipeline planning data includes:
[0012] Obtain the pipeline starting point, pipeline end point, and planning space in the pipeline planning data; construct a three-dimensional coordinate system with the pipeline starting point as the coordinate origin; mark the pipeline end point in the three-dimensional coordinate system according to the positional relationship between the pipeline end point and the pipeline starting point; map the planning space to the three-dimensional coordinate system to generate a three-dimensional planning space according to the positional relationship between the planning space and the pipeline starting point and the pipeline end point.
[0013] Preferably, the step of establishing an obstacle space in a three-dimensional space planning map according to the obstacle data includes:
[0014] The obstacle position, obstacle shape and obstacle size are extracted from each obstacle data; the obstacle position is the position of the obstacle in the planning space; each obstacle is mapped into the three-dimensional planning space according to the obstacle position, obstacle shape and obstacle size, and the area where each obstacle is located is set as the obstacle space; and several edge points of the obstacle space are integrated into the corresponding obstacle edge point set.
[0015] Preferably, generating the free space according to the obstacle space and the three-dimensional space planning diagram includes:
[0016] The area connecting the pipeline starting point to the pipeline end point in the three-dimensional planning space except the obstacle space is set as free space.
[0017] Preferably, the generating of a plurality of plannable pipeline paths in free space according to the pipeline diameter comprises the following steps:
[0018] Step 1: Take the pipeline starting point as the initial point and the pipeline end point as the target point;
[0019] Step 2: Perform random sampling in free space according to the set step size to obtain sampling points;
[0020] Step 3: Determine whether the sampling point meets the set sampling point restriction conditions; if yes, mark the corresponding sampling point as a path node; if no, proceed to step 2;
[0021] Step 4: Get several path nodes between the initial point and the target point, and connect them into a path in sequence to determine whether the path meets the set path restriction conditions; if yes, record it as a plannable pipeline path; if not, record it as an unplannable pipeline path.
[0022] The sampling point restrictions are:
[0023]
[0024] Where, (Cx, Cy, Cz) are the coordinates of the sampling points; (Zxmn, Zymn, Zzmn) are the coordinates of the point numbered n in the obstacle edge point set corresponding to the obstacle numbered m; GD is the pipeline diameter;
[0025] The path constraints are:
[0026]
[0027] Among them, (Lxi,Lyi,Lzi) is the point numbered i on the path.
[0028] Preferably, the generating of the optimal planned pipeline path according to the plannable pipeline paths and the pipeline usage includes:
[0029] Inputting pipeline usage into a pipeline selection model to obtain optional pipeline types and corresponding pipeline characteristic data; obtaining a pipeline curvature limit value in the pipeline characteristic data; the pipeline selection model is obtained by training an artificial intelligence model;
[0030] Obtain the maximum curvature of each plannable pipeline path, and determine whether the maximum curvature is less than the pipeline curvature limit; if yes, record the corresponding plannable pipeline path as an available path of the corresponding optional pipeline type; if no, record the corresponding plannable pipeline path as an unavailable path of the corresponding optional pipeline type;
[0031] Obtain available paths for each pipeline type, obtain the preferred score for each available path, and mark the path with the largest preferred score as the optimal planned pipeline path for the corresponding pipeline type.
[0032] Preferably, the pipeline selection model is obtained by training an artificial intelligence model, including:
[0033] Acquire several pipeline uses, and corresponding optional pipeline types and pipeline characteristic data through a database; the optional pipeline type is a pipeline type that can be used for the corresponding pipeline use; the pipeline characteristic data is the characteristics of the corresponding pipeline type, including a pipeline curvature limit value of the corresponding pipeline; the pipeline uses, and the corresponding optional pipeline types and pipeline characteristic data are integrated into several training data and test data;
[0034] The artificial intelligence model is trained using training data, and the trained artificial intelligence model is tested using pipeline data, ultimately obtaining a pipeline selection model whose input is pipeline usage and whose output is the corresponding optional pipeline type and pipeline characteristic data; wherein the artificial intelligence model includes a BP neural network model and an RBF neural network model.
[0035] Preferably, the preferred score of the available paths is obtained by:
[0036] Get the curvature of each point of the available path and mark it as QLi; get the path length of the available path and mark it as LC;
[0037] By formula The preferred score of the corresponding available path is calculated, where α1 and α2 are weight coefficients; QLX is the pipeline curvature limit of the corresponding pipeline type; LCZ is the straight-line distance from the pipeline start point to the pipeline end point; i = 1, 2, ..., I; I is the total number of points on the available path.
[0038] Compared with the prior art, the beneficial effects of this application are:
[0039] 1. This application obtains pipeline planning data and some obstacle data; establishes a three-dimensional planning space map according to the planning space in the pipeline planning data; establishes an obstacle space in the three-dimensional space planning map according to the obstacle data; generates a free space according to the obstacle space and the three-dimensional space planning map; generates several plannable pipeline paths in the free space according to the pipeline diameter; generates the optimal planned pipeline path according to the plannable pipeline path and the pipeline purpose; realizes pipeline path planning in three-dimensional space, improves the efficiency of pipeline planning; at the same time, according to the pipeline purpose, screens out the optimal planned pipeline path to reduce pipeline waste. BRIEF DESCRIPTION OF THE DRAWINGS
[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0041] Figure 1 This is a schematic diagram of the principle of the pipeline optimal path planning system in this application;
[0042] Figure 2 This is a diagram of the implementation steps of the pipeline optimal path planning system in this application. DETAILED DESCRIPTION
[0043] The technical solution of the present application will be described clearly and completely below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.
[0044] See also Figure 1-Figure 2 , a first aspect of the present application provides a pipeline optimal path planning system based on a three-dimensional model, comprising: a data acquisition module, a space division module, a pipeline generation module, a pipeline planning module and a database;
[0045] Data acquisition module: obtain pipeline planning data and several obstacle data; pipeline planning data and several obstacle data can be obtained by manual input or detection of relevant equipment; pipeline planning data includes pipeline starting point, pipeline end point, planning space and pipeline purpose; pipeline starting point is the starting point of pipeline planning, pipeline end point is the end point of pipeline planning, and planning space is the space where pipeline installation can be carried out; pipeline purpose is the purpose of corresponding pipeline, including laying electric wires, laying water pipes and laying optical fibers, etc.; obstacle data is the obstacle position, obstacle shape and obstacle size corresponding to the obstacle in the planning space;
[0046] Space division module: establish a three-dimensional planning space map according to the planning space in the pipeline planning data; the three-dimensional planning space map is a three-dimensional map that maps the planning space into the three-dimensional space; establish an obstacle space in the three-dimensional space planning map according to the obstacle data; the obstacle space is the area where obstacles are mapped to obstacles in the three-dimensional planning space map according to the relationship between obstacles and planning space; generate free space according to the obstacle space and the three-dimensional space planning map; the self-use space is the connected area between the pipeline starting point and the pipeline end point in the three-dimensional planning space map except the obstacle space;
[0047] Pipeline generation module: extracts pipeline diameters from pipeline planning data, and generates several plannable pipeline paths in free space based on the pipeline diameters; the plannable pipeline paths are pipeline paths that meet the planning pipeline restriction conditions;
[0048] Pipeline planning module: Generates the optimal planned pipeline path based on the plannable pipeline paths and pipeline usage.
[0049] This embodiment obtains pipeline planning data and some obstacle data; establishes a three-dimensional planning space map according to the planning space in the pipeline planning data; establishes an obstacle space in the three-dimensional space planning map according to the obstacle data; generates a free space according to the obstacle space and the three-dimensional space planning map; generates a number of plannable pipeline paths in the free space according to the pipeline diameter; generates the optimal planned pipeline path according to the plannable pipeline paths and the pipeline purpose; realizes pipeline path planning in three-dimensional space, improves the efficiency of pipeline planning; at the same time, according to the pipeline purpose, screens out the optimal planned pipeline path to reduce pipeline waste.
[0050] A three-dimensional planning space diagram is established according to the planning space in the pipeline planning data, including: obtaining the pipeline starting point and pipeline end point in the pipeline planning data, and the planning space; constructing a three-dimensional coordinate system with the pipeline starting point as the coordinate origin; marking the pipeline end point in the three-dimensional coordinate system according to the positional relationship between the pipeline end point and the pipeline starting point; and mapping the planning space to the three-dimensional coordinate system to generate the three-dimensional planning space according to the positional relationship between the planning space and the pipeline starting point and the pipeline end point.
[0051] This embodiment constructs a three-dimensional planning space to facilitate the subsequent planning and selection of pipeline paths.
[0052] An obstacle space is established in a three-dimensional space planning map according to obstacle data, including: extracting obstacle positions, obstacle shapes and obstacle sizes from each obstacle data; the obstacle position is the position of the obstacle in the planning space; mapping each obstacle into the three-dimensional planning space according to the obstacle position, obstacle shape and obstacle size, and setting the area where each obstacle is located as the obstacle space; and integrating several edge points of the obstacle space into a corresponding obstacle edge point set; the obstacle edge point set is a surface point set of the area occupied by the obstacle in the three-dimensional space. By setting the obstacle edge point set, the subsequent calculation amount is greatly reduced.
[0053] Free space is generated according to the obstacle space and the three-dimensional space planning diagram, including: setting the area connected from the pipeline starting point to the pipeline end point in the three-dimensional planning space except the obstacle space as free space; when there is a space surrounded by multiple obstacles in the three-dimensional planning space, which cannot connect the pipeline starting point to the pipeline end point, the space is not a free space. By setting the free space in the above manner, when the pipeline planning is carried out subsequently, the space where the pipeline cannot be arranged is excluded, thereby improving the efficiency of pipeline planning.
[0054] Generate several plannable pipeline paths in free space according to the pipeline diameter, including the following steps:
[0055] Step 1: Take the pipeline starting point as the initial point and the pipeline end point as the target point;
[0056] Step 2: Random sampling is performed in free space according to the set step length to obtain sampling points; the step length is set based on experience. The shorter the step length is, the higher the corresponding trajectory accuracy and the larger the data processing volume; the step length is generally set to be smaller than the pipeline diameter;
[0057] Step 3: Determine whether the sampling point meets the set sampling point restriction conditions; if yes, mark the corresponding sampling point as a path node; if no, proceed to step 2; when the randomly generated sampling point meets the sampling point restriction conditions, it means that the corresponding sampling point can be used for path planning; when it does not meet the sampling point restriction conditions, it means that the corresponding sampling point is too close to the obstacle. When laying the pipeline, the pipeline will contact the obstacle and cannot be used for pipeline planning;
[0058] Step 4: Get several path nodes between the initial point and the target point, and connect them into a path in sequence, that is, according to the generation order of the path nodes; determine whether the path meets the set path restriction conditions; if yes, record it as a plannable pipeline path; if not, record it as an unplannable pipeline path; when the path meets the path restriction conditions, it means that the corresponding path can be used for pipeline laying, and when it does not meet the path restriction conditions, it means that there is a part in the corresponding path that intersects with the obstacle. When laying the pipeline in this part, the pipeline will contact the obstacle, so the corresponding path cannot be used for pipeline laying.
[0059] The sampling point restrictions are:
[0060]
[0061] Among them, (Cx, Cy, Cz) are the coordinates of the sampling point; (Zxmn, Zymn, Zzmn) are the coordinates of the point numbered n in the obstacle edge point set corresponding to the obstacle numbered m; GD is the pipeline diameter; the above formula gives the minimum distance between the sampling point and each point in the edge point set corresponding to each obstacle. When the minimum distance is less than the radius of the pipeline, the outer edge of the pipeline will contact the obstacle, causing problems in pipeline laying.
[0062] The path constraints are:
[0063]
[0064] Among them, (Lxi,Lyi,Lzi) is the point numbered i on the path; the above formula gives the minimum distance between the path and each point in the edge point set corresponding to each obstacle. If the minimum distance is less than the radius of the pipeline, the outer edge of the pipeline will contact the obstacle, causing problems in pipeline laying.
[0065] Generate an optimal planned pipeline path according to the plannable pipeline paths and pipeline uses, including: inputting the pipeline use into the pipeline selection model to obtain the optional pipeline type and the corresponding pipeline characteristic data; obtain the pipeline curvature limit in the pipeline characteristic data; the pipeline curvature limit is the maximum degree of bending of the corresponding pipeline under the condition of ensuring the pipeline strength; the pipeline selection model is obtained by training the artificial intelligence model;
[0066] Obtain the maximum curvature of each plannable pipeline path, and determine whether the maximum curvature is less than the pipeline curvature limit; if yes, record the corresponding plannable pipeline path as an available path of the corresponding optional pipeline type; if no, record the corresponding plannable pipeline path as an unavailable path of the corresponding optional pipeline type; when there is a portion in the plannable pipeline path with a curvature greater than the pipeline curvature limit, laying the pipeline according to the plannable pipeline path will reduce the life of the corresponding pipeline and increase the subsequent maintenance costs; therefore, set the corresponding plannable pipeline path as an unavailable path;
[0067] Obtain available paths for each pipeline type, obtain the preferred score for each available path, and mark the path with the largest preferred score as the optimal planned pipeline path for the corresponding pipeline type.
[0068] The pipeline selection model is obtained through artificial intelligence model training, including:
[0069] Acquire several pipeline uses, and corresponding optional pipeline types and pipeline characteristic data through a database; the optional pipeline type is a pipeline type that can be used for the corresponding pipeline use; the pipeline characteristic data is the characteristics of the corresponding pipeline type, including a pipeline curvature limit value of the corresponding pipeline; the pipeline uses, and the corresponding optional pipeline types and pipeline characteristic data are integrated into several training data and test data;
[0070] The artificial intelligence model is trained using training data, and the trained artificial intelligence model is tested using pipeline data, ultimately obtaining a pipeline selection model whose input is pipeline usage and whose output is the corresponding optional pipeline type and pipeline characteristic data; wherein the artificial intelligence model includes a BP neural network model and an RBF neural network model.
[0071] In another embodiment, the corresponding pipeline type may be selected based on the pipeline purpose according to the experience of relevant personnel, and then the pipeline characteristic data of the pipeline type may be obtained to carry out subsequent work.
[0072] The preferred score of the available path is obtained by: obtaining the curvature of each point of the available path and marking it as QLi; obtaining the path length of the available path and marking it as LC;
[0073] By formula The preferred score of the corresponding available path is calculated, where α1 and α2 are weight coefficients; QLX is the pipeline curvature limit of the corresponding pipeline type; LCZ is the straight-line distance from the pipeline start point to the pipeline end point; i = 1, 2, ..., I; I is the total number of points on the available path;
[0074] This embodiment calculates the preferred score of each available path through the above formula. When the curvature of each point of the available path is larger, the pipeline is more curved when it is laid. The more points with non-zero curvature, the more curved parts of the pipeline are when it is laid. This will increase the difficulty of laying the pipeline and reduce the service life of the pipeline. Therefore, the corresponding preferred score is set to be smaller; when the corresponding path length is longer, the length of the pipeline used is longer and the corresponding cost is higher, so the corresponding preferred score is set to be smaller; at the same time, this embodiment sets appropriate weight coefficients to adjust the weights between the two items. When the budget is sufficient, the weight coefficient of the former item can be set to be larger, and when the budget is insufficient, the weight coefficient of the latter item can be set to be larger; it can also be set based on comprehensive considerations based on the experience of experts.
[0075] Part of the data in the above formula is calculated by removing the dimension and taking its numerical value. The formula is a formula closest to the actual situation obtained by software simulation of a large amount of collected data; the preset parameters and preset thresholds in the formula are set by technical personnel in this field according to actual conditions or obtained through simulation of a large amount of data.
[0076] How this application works:
[0077] The present application obtains pipeline planning data and some obstacle data; establishes a three-dimensional planning space map according to the planning space in the pipeline planning data; establishes an obstacle space in the three-dimensional space planning map according to the obstacle data; generates a free space according to the obstacle space and the three-dimensional space planning map; generates a number of plannable pipeline paths in the free space according to the pipeline diameter; generates the optimal planned pipeline path according to the plannable pipeline paths and the pipeline purpose; realizes the pipeline path planning in the three-dimensional space, and improves the efficiency of pipeline planning; at the same time, according to the pipeline purpose, screens out the optimal planned pipeline path to reduce pipeline waste.
[0078] The above embodiments are only used to illustrate the technical method of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the preferred embodiments, a person of ordinary skill in the art should understand that the technical method of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present application.
Claims
1. A pipeline optimal path planning system based on a three-dimensional model, comprising: Data acquisition module, space division module, pipeline generation module, pipeline planning module and database; characterized in that, The data acquisition module is used to acquire pipeline planning data and several obstacle data; The space division module: establishes a three-dimensional planning space map according to the planning space in the pipeline planning data; establishes an obstacle space in the three-dimensional space planning map according to the obstacle data; generates a free space according to the obstacle space and the three-dimensional space planning map; The pipeline generation module extracts the pipeline diameter from the pipeline planning data and generates a number of plannable pipeline paths in free space according to the pipeline diameter. The pipeline planning module generates an optimal planned pipeline path according to the plannable pipeline paths and pipeline usage.
2. The pipeline optimal path planning system based on a three-dimensional model according to claim 1, characterized in that: The step of establishing a three-dimensional planning space diagram according to the planning space in the pipeline planning data includes: Obtain the pipeline starting point, pipeline end point, and planning space in the pipeline planning data; construct a three-dimensional coordinate system with the pipeline starting point as the coordinate origin; mark the pipeline end point in the three-dimensional coordinate system according to the positional relationship between the pipeline end point and the pipeline starting point; map the planning space to the three-dimensional coordinate system to generate a three-dimensional planning space according to the positional relationship between the planning space and the pipeline starting point and the pipeline end point.
3. The pipeline optimal path planning system based on a three-dimensional model according to claim 1, characterized in that: The step of establishing an obstacle space in a three-dimensional space planning map according to the obstacle data includes: The obstacle position, obstacle shape and obstacle size are extracted from each obstacle data; each obstacle is mapped into the three-dimensional planning space according to the obstacle position, obstacle shape and obstacle size, and the area where each obstacle is located is set as the obstacle space; and several edge points of the obstacle space are integrated into a corresponding obstacle edge point set.
4. The pipeline optimal path planning system based on a three-dimensional model according to claim 1, characterized in that: The generating of the free space according to the obstacle space and the three-dimensional space planning diagram comprises: The area connecting the pipeline starting point to the pipeline end point in the three-dimensional planning space except the obstacle space is set as the free space.
5. The pipeline optimal path planning system based on a three-dimensional model according to claim 3, characterized in that: The method of generating a plurality of plannable pipeline paths in free space according to the pipeline diameter comprises the following steps: Step 1: Take the pipeline starting point as the initial point and the pipeline end point as the target point; Step 2: Perform random sampling in free space according to the set step size to obtain sampling points; Step 3: Determine whether the sampling point meets the set sampling point restriction conditions; if yes, mark the corresponding sampling point as a path node; if no, proceed to step 2; The sampling point restrictions are: Where, (Cx, Cy, Cz) are the coordinates of the sampling points; (Zxmn, Zymn, Zzmn) are the coordinates of the point numbered n in the obstacle edge point set corresponding to the obstacle numbered m; GD is the pipeline diameter; Step 4: Get several path nodes between the initial point and the target point, and connect them into a path in order, and judge whether the path meets the set path restriction conditions; if yes, record it as a plannable pipeline path; if no, record it as an unplannable pipeline path; The path constraints are: Among them, (Lxi,Lyi,Lzi) is the point numbered i on the path.
6. The pipeline optimal path planning system based on a three-dimensional model according to claim 1, characterized in that: The generating of the optimal planned pipeline path according to the plannable pipeline paths and the pipeline usage includes: Inputting pipeline usage into a pipeline selection model to obtain optional pipeline types and corresponding pipeline characteristic data; obtaining a pipeline curvature limit value in the pipeline characteristic data; the pipeline selection model is obtained by training an artificial intelligence model; Obtain the maximum curvature of each plannable pipeline path, and determine whether the maximum curvature is less than the pipeline curvature limit; if yes, record the corresponding plannable pipeline path as an available path of the corresponding optional pipeline type; if no, record the corresponding plannable pipeline path as an unavailable path of the corresponding optional pipeline type; Obtain available paths for each pipeline type, obtain the preferred score for each available path, and mark the path with the largest preferred score as the optimal planned pipeline path for the corresponding pipeline type.
7. The pipeline optimal path planning system based on a three-dimensional model according to claim 6, characterized in that: The pipeline selection model is obtained through artificial intelligence model training, including: Acquire a number of pipeline uses, and corresponding optional pipeline types and pipeline characteristic data through a database; integrate the pipeline uses, and corresponding optional pipeline types and pipeline characteristic data into a number of training data and test data; The artificial intelligence model is trained using training data, and the trained artificial intelligence model is tested using pipeline data, ultimately obtaining a pipeline selection model whose input is pipeline usage and whose output is the corresponding optional pipeline type and pipeline characteristic data; wherein the artificial intelligence model includes a BP neural network model and an RBF neural network model.
8. The pipeline optimal path planning system based on a three-dimensional model according to claim 6, characterized in that: The preferred scores of available paths are obtained by, among other things: Get the curvature of each point of the available path and mark it as QLi; get the path length of the available path and mark it as LC; By formula The preferred score of the corresponding available path is calculated, where α1 and α2 are weight coefficients; QLX is the pipeline curvature limit of the corresponding pipeline type; LCZ is the straight-line distance from the pipeline start point to the pipeline end point; i = 1, 2, ..., I; I is the total number of points on the available path.