Method for planning the distance between a line and an item
By determining the actual distance and arrangement length between the pipeline and the item in a complex environment, and calculating the potential energy value and the predetermined value, the problems of large calculation amount and low efficiency in the prior art are solved, and the method of quickly and accurately determining the distance between the pipeline and the item in a complex environment is realized, and the efficiency and rationality of the pipeline layout are improved.
Patent Information
- Application Number
- CN202411813250.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-10
- Publication Date
- 2025-03-25
AI Technical Summary
The prior art checks the distance between pipelines and items in complex environments with high calculation and low efficiency, especially in high dynamic obstacle environments or high-precision paths are required.
A method is provided to calculate the potential energy value and a predetermined value by determining the theoretical distance between the pipeline and the item by determining the actual distance and arrangement length between the pipeline and the item. This method does not require grid calculation, it has small calculation volume, fast speed and is convenient to operate.
Compared with conventional discrete methods, this method has a small calculation amount and fast speed, and can accurately and quickly determine the distance between the pipeline and the item in a complex environment, thereby improving the efficiency and rationality of pipeline layout.
Smart Images
Figure CN119691946A_ABST
Abstract
Description
Technical Field
[0001] Embodiments of the present application relate to the field of three-dimensional design technology, and in particular to a method for planning the distance between a pipeline and an item. Background Art
[0002] The statements herein merely provide background information related to the present application and do not necessarily constitute prior art.
[0003] In the scenario of three-dimensional space design, it is particularly important to determine the layout distance between pipelines and equipment, walls and other items in the space. For example, for the pipeline layout of a nuclear power plant, it is necessary not only to follow strict safety standards and specifications, but also to consider the rationality and economy of the pipeline layout. However, with the complexity of application scenarios, the current methods for checking the distance between pipelines and items have many limitations. Summary of the invention
[0004] A brief overview of the present application is provided below in order to provide a basic understanding of certain aspects of the present application. It should be understood that this overview is not an exhaustive overview of the present application. It is not intended to identify the key or important parts of the present application, nor is it intended to limit the scope of the present application. Its purpose is merely to present certain concepts in a simplified form as a prelude to a more detailed description discussed later.
[0005] An embodiment of the present application provides a method for planning the distance between a pipeline and an item, which includes the following steps: S1, determining the actual distance between the pipeline and the item and the actual length of the pipeline arranged along the item; S2, determining a potential energy value based on the actual distance and the actual length determined in step S1, the potential energy value being used to indicate whether the actual distance is within a predetermined distance range; S3, determining a predetermined value based on the potential energy value determined in step S2 and the actual length determined in step S1; S4, determining a theoretical distance between the pipeline and the item based on the predetermined value determined in step S3.
[0006] The planning method provided in the embodiment of the present application can determine the potential energy value based on the actual distance between the pipeline and the item obtained in the continuous space and the actual length of the pipeline arranged along the item, and then determine the predetermined value based on the potential energy value and the actual length to determine the theoretical distance between the pipeline and the item according to the predetermined value. Compared with the conventional discrete method, this planning method does not require grid calculation, so the calculation amount is relatively small and the calculation speed is faster, and the operation is relatively convenient.
[0007] These and other advantages of the present application will become more apparent through the following detailed description of the preferred embodiments of the present application in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0008] In order to further illustrate the above and other advantages and features of the present application, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. The accompanying drawings together with the following detailed description are included in this specification and form a part of this specification. Elements with the same function and structure are represented by the same reference numerals. It should be understood that these drawings only describe typical examples of the present application and should not be regarded as limiting the scope of the present application.
[0009] Figure 1 is a schematic flow chart of a method for planning the distance between a pipeline and an item according to an embodiment of the present application;
[0010] Figure 2 is a schematic diagram of a thickness vector of an item in its thickness direction according to an embodiment of the present application;
[0011] Figure 3 is a schematic diagram of a potential energy value function corresponding to a potential energy value according to an embodiment of the present application;
[0012] Figure 4 is a schematic diagram of planning the distance between a pipeline and an item based on a predetermined value according to an embodiment of the present application;
[0013] Figure 5 is a schematic diagram of planning the distance between a pipeline and an item based on a predetermined value according to another embodiment of the present application;
[0014] Figure 6 This is a schematic diagram of planning the distance between a pipeline and an item based on a predetermined value according to yet another embodiment of the present application.
[0015] It should be noted that the drawings are not necessarily drawn to scale, but are merely shown in a schematic manner that does not affect the reader's understanding.
[0016] Description of reference numerals:
[0017] 10. Continuous space; 11. First tube group; 12. Objects; 13. Second tube group; 14. Third tube group. DETAILED DESCRIPTION
[0018] Exemplary embodiments of the present application will be described below in conjunction with the accompanying drawings. For the sake of clarity and conciseness, not all features of the actual implementation are described in the specification. However, it should be understood that many implementation-specific decisions must be made in the process of developing any such actual implementation in order to achieve the developer's specific goals, such as meeting those constraints related to the system and business, and these constraints may vary from implementation to implementation. In addition, it should be understood that although the development work may be very complex and time-consuming, it is only a routine task for those skilled in the art who benefit from the content of this application.
[0019] It is also necessary to explain here that, in order to avoid obscuring the present application due to unnecessary details, only the device structure and / or processing steps closely related to the scheme according to the present application are shown in the accompanying drawings, while other details that are not very relevant to the present application are omitted.
[0020] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in this application should have the common meanings understood by persons with ordinary skills in the field to which this application belongs.
[0021] In the description of the embodiments of the present application, “plurality” means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0022] In related technologies, the method of discretizing continuous space into spatial nodes and assigning energy values to them is usually used to check the distance between pipelines and items, so as to determine the rationality of the pipeline layout plan. The discrete method is simple, intuitive and easy to implement, but it is only applicable to some simple environments and scenarios. In complex environments, due to the limitations of grid resolution and path search, current discrete methods may encounter difficulties. For example, in highly dynamic obstacle environments or when high-precision paths are required, the grid accuracy is high and the number of grids is large, which will lead to problems such as large amount of calculation and low calculation efficiency.
[0023] In response to the above technical problems, an embodiment of the present application provides a method for planning the distance between a pipeline and an item (hereinafter referred to as the planning method).
[0024] In some embodiments, items include, but are not limited to, walls, corridors, etc.
[0025] The planning method of the embodiment of the present application is applicable to orthogonal pipelines, and its application fields include but are not limited to: cable tray layout, ventilation pipeline layout, fire equipment cooling water pipeline layout, process pipeline layout, oil or natural gas transmission pipeline layout, chemical pipeline layout, ship pipeline layout, etc. The orthogonal pipelines in the embodiment of the present application are all pipelines parallel to the coordinate axis, and each edge of the pre-processed items in the following embodiment is also parallel to the coordinate axis.
[0026] Figure 1 is a schematic flow chart of a method for planning the distance between a pipeline and an item according to an embodiment of the present application, such as Figure 1 As shown, the planning method includes the following steps S1 to S4.
[0027] S1. Determine the actual distance between the pipeline and the item and the actual length of the pipeline along the item.
[0028] S2. Determine a potential energy value according to the actual distance and the actual length determined in step S1, where the potential energy value is used to indicate whether the actual distance is within a predetermined distance range.
[0029] S3. Determine a predetermined value according to the potential energy value determined in step S2 and the actual length determined in step S1.
[0030] S4. Determine the theoretical distance between the pipeline and the item according to the predetermined value determined in step S3.
[0031] The planning method provided in the embodiment of the present application can determine the potential energy value based on the actual distance between the pipeline and the item obtained in the continuous space and the actual length of the pipeline arranged along the item, and then determine the predetermined value based on the potential energy value and the actual length to determine the theoretical distance between the pipeline and the item according to the predetermined value. Compared with the conventional discrete method, this planning method does not require grid calculation, so the calculation amount is relatively small and the calculation speed is faster, and the operation is relatively convenient.
[0032] In some embodiments, before executing steps S1 to S4, the pipelines and items in the continuous space may be preprocessed to ensure that the subsequently generated pipeline layout plan will not interfere with the items in the continuous space after being applied to the actual scene. The preprocessing includes: using the envelope rectangle method to approximate the shape of the actual items in the continuous space; and expanding the processed items.
[0033] In some embodiments, during the expansion process of the processed item, the expansion size of the item is determined according to the outer diameter of the pipeline to be arranged, and after the pipeline arrangement is completed, the wall thickness and outer diameter of the pipeline are restored to the original design state.
[0034] In some embodiments, the pipeline includes pipelines in multiple directions, and step S1 includes: S11, determining the pipelines in each of the multiple directions and the number of pipelines; S12, determining whether the pipeline can be arranged along the items adjacent to it based on the interference relationship between the pipeline and the items; S13, when the pipeline can be arranged along the items adjacent to it, determining the actual distance between the pipeline and the items and the actual length of the pipeline arranged along the items.
[0035] The planning method provided in the embodiment of the present application can determine whether the pipelines in each direction can be arranged along the items adjacent to them based on the pipelines in each direction and their number. The planning method can be used to arrange each pipeline separately, thereby facilitating reasonable planning of the pipeline layout.
[0036] In some embodiments, a three-dimensional rectangular coordinate system is established in the continuous space, and the different directions are the directions of the x-axis, y-axis, and z-axis in the three-dimensional rectangular coordinate system.
[0037] In some embodiments, in step S11, when determining pipelines in different directions and the number of pipelines, a pipeline group sequence D may be represented by a row vector, each pipeline group includes one or more pipelines, and different pipeline groups correspond to different pipeline sequences D.
[0038] In such an embodiment, taking three different directions as an example, the elements of the row vector in the pipe group sequence D include letters x', y', and z', which respectively represent pipes in three different directions. For example, x' represents a pipe along a first direction, y' represents a pipe along a second direction, and z' represents a pipe along a third direction.
[0039] Figure 2 is a schematic diagram of a thickness vector of an item in its thickness direction according to an embodiment of the present application, such as Figure 2 As shown, if the item is a wall, the thickness direction of the item can be understood as the thickness direction of the wall.
[0040] In some embodiments, the thickness vector w of an item in its thickness direction may form an n*3 matrix WA. The number of rows of the matrix WA represents the number of items, and the element n of each row is (1,0,0), (0,1,0) or (0,0,1), respectively indicating that the direction of the thickness vector w of an item in its thickness direction is the first direction, the second direction or the third direction.
[0041] In some embodiments, if the thickness vector w of an item in the thickness direction is (1, 0, 0), the pipeline along the first direction cannot be arranged along the wall of the item.
[0042] In some embodiments, if the thickness vector w of an item in its thickness direction is (0, 1, 0), the pipeline along the second direction cannot be arranged along the wall of the item.
[0043] In some embodiments, if the thickness vector w of an item in its thickness direction is (0, 0, 1), the pipeline along the third direction cannot be arranged along the wall of the item.
[0044] In some embodiments, if a thickness vector w of an item in the thickness direction thereof is (1, 0, 0), a pipeline along a first direction may pass through the item in the thickness direction of the item.
[0045] In some embodiments, if the thickness vector w of an item in the thickness direction thereof is (0, 1, 0), the pipeline along the second direction may pass through the item in the thickness direction of the item.
[0046] In some embodiments, if the thickness vector w of an item in the thickness direction thereof is (0, 0, 1), then the pipeline along the third direction may pass through the item in the thickness direction of the item.
[0047] In some embodiments, the multiple directions include a first direction. In step S12, the interference relationship between the pipeline and the item along the first direction on the coordinate axis corresponding to the first direction and the starting point coordinate value, the end point coordinate value, the small corner point coordinate value, and the large corner point coordinate value of the pipeline on the coordinate axis corresponding to the first direction satisfy the following expressions (1) and (2):
[0048] A=P 1min -W 1max (1);
[0049] A'=P 1max -W 1min (2).
[0050] Wherein, A represents the first judgment value; P 1min Indicates the starting point coordinate value of the pipeline in the first direction; W 1max represents the coordinate value of the large corner point of the item in the first direction, wherein the large corner point is the corner point whose coordinate values corresponding to each coordinate axis are the maximum among all the corner points of the item; A' represents the second judgment value; P 1max Indicates the coordinate value of the end point of the pipeline in the first direction; W 1min Represents the coordinate value of a small corner point of the item in the first direction, wherein the small corner point is the corner point whose coordinate values corresponding to each coordinate axis are the minimum among all the corner points of the item.
[0051] The planning method provided by the embodiment of the present application can relatively accurately determine the interference relationship between pipelines and items in multiple directions with high efficiency.
[0052] It can be understood that if the item is on the negative semi-axis of the three-dimensional rectangular coordinate system, then the coordinate value of the large corner point is the coordinate value of the corner point in the item that is closest to the origin of the coordinate system.
[0053] In some embodiments, the first direction is any one of the directions of the x-axis, y-axis, and z-axis. In the following embodiments, the second direction or the third direction is the direction of other coordinate axes different from the coordinate axis corresponding to the first direction. For ease of description and understanding, the following takes the first direction as the direction of the x-axis (hereinafter referred to as the x-direction), the second direction as the direction of the y-axis (hereinafter referred to as the y-direction), and the third direction as the direction of the z-axis (hereinafter referred to as the z-direction) as an example for explanation.
[0054] In some embodiments, the interference relationship between the pipeline and the item on the x-axis along the x-direction and the starting point coordinate value, the end point coordinate value, the small corner point coordinate value and the large corner point coordinate value of the pipeline on the x-axis satisfy the following expressions (3) and (4):
[0055] A1=P xmin -W xmax (3);
[0056] A1'=P xmax -W xmin (4).
[0057] Wherein, A1 represents the first judgment value; P xmin Indicates the starting point coordinate value of the pipeline in the x direction; W xmax represents the coordinate value of the large corner point of the item in the x direction; A1' represents the second judgment value; P xmax Indicates the coordinate value of the end point of the pipeline in the x direction; W xmin Indicates the coordinate value of the small corner point of the item in the x direction.
[0058] In some embodiments, the interference relationship between the pipeline and the item on the x-axis along the y-direction and the starting point coordinate value, the end point coordinate value, the small corner point coordinate value and the large corner point coordinate value of the pipeline on the y-axis satisfy the following expressions (5) and (6):
[0059] A2=P ymin -W ymax (5);
[0060] A2'=P ymax -W ymin (6).
[0061] Wherein, A2 represents the first judgment value; P ymin Indicates the starting point coordinate value of the pipeline in the y direction; W ymax represents the coordinate value of the large corner point of the item in the y direction; A2' represents the second judgment value; Pymax Indicates the end point coordinate value of the pipeline in the y direction; W ymin Indicates the coordinate value of the small corner point of the item in the y direction.
[0062] In some embodiments, the interference relationship between the pipeline and the item on the x-axis along the z-direction and the starting point coordinate value, the end point coordinate value, the small corner point coordinate value and the large corner point coordinate value of the pipeline on the z-axis satisfy the following expressions (7) and (8):
[0063] A3=P zmin -W zmax (7);
[0064] A3'=P zmax -W zmin (8).
[0065] Wherein, A3 represents the first judgment value; P zmin Indicates the starting point coordinate value of the pipeline in the z direction; W zmax represents the coordinate value of the large corner point of the item in the z direction; A3' represents the second judgment value; P zmax Indicates the coordinate value of the end point of the pipeline in the z direction; W zmin Indicates the coordinate value of the small corner point of the item in the z direction.
[0066] In some embodiments, in step S12, if A is less than 0 and A' is greater than 0, it is determined that the pipeline and the item along the first direction interfere with each other on the coordinate axis corresponding to the first direction, and the reliability is high.
[0067] In some embodiments, if A1 is less than 0 and A1' is greater than 0, it is determined that the pipeline and the item interfere in the x-axis along the x-direction.
[0068] In some embodiments, if A2 is less than 0 and A2' is greater than 0, it is determined that the pipeline and the item interfere in the y-axis along the y-direction.
[0069] In some embodiments, if A3 is less than 0 and A3' is greater than 0, it is determined that the pipeline and the item interfere in the z-axis along the z direction.
[0070] In some embodiments, the multiple directions further include a second direction and a third direction, wherein any two of the first direction, the second direction and the third direction are perpendicular to each other and together constitute a spatial coordinate system of a continuous space where the pipeline and the item are located; in step S12, the interference relationship between the pipeline and the item along the first direction on the coordinate axes corresponding to the second direction and the third direction respectively and the starting point coordinate value, the end point coordinate value, the small corner point coordinate value and the large corner point coordinate value of the pipeline on the corresponding coordinate axis satisfy the following expressions (9) and (10):
[0071] B=(P 12 -W2min )*(P 12 -W 2max ) (9);
[0072] B'=(P 13 -W 3min )*(P 13 -W 3max ) (10).
[0073] Wherein, B represents the third judgment value; P 12 W represents the coordinate values of the starting point and the end point of the pipeline on the coordinate axis corresponding to the second direction; 2min W represents the coordinate value of the small corner point of the item in the second direction; 2max represents the coordinate value of the large corner point of the item in the second direction; B' represents the fourth judgment value; P 13 Indicates the coordinate values of the starting point and end point of the pipeline on the coordinate axis corresponding to the third direction; W 3min Indicates the coordinate value of the small corner point of the item in the third direction; W 3max Indicates the coordinate value of the largest corner point of the item in the third direction.
[0074] The method provided in the embodiment of the present application utilizes the above expressions (9) and (10) to determine the interference relationship between the pipeline and the item in the other two directions through the starting point coordinate value, the end point coordinate value, the small corner coordinate value and the large corner coordinate value on the coordinate axis corresponding to the current direction of the pipeline. The determined result is relatively reliable and does not require complicated calculations in the process, so the efficiency is relatively high.
[0075] In some embodiments, the interference relationship between the pipeline and the item along the x direction on the corresponding coordinate axes in the y direction and the z direction and the starting point coordinate value, the end point coordinate value, the small corner point coordinate value and the large corner point coordinate value of the pipeline on the corresponding coordinate axis satisfy the following expressions (11) and (12):
[0076] B1=(P xy -W ymin )*(P xy -W ymax ) (11);
[0077] B1'=(P xz -W zmin )*(P xz -W zmax ) (12).
[0078] Wherein, B1 represents the third judgment value; P xy Indicates the coordinate values of the starting point and end point of the pipeline on the coordinate axis corresponding to the y direction; W ymin Indicates the coordinate value of the small corner point of the item in the y direction; W ymaxrepresents the coordinate value of the large corner point of the item in the y direction; B1' represents the fourth judgment value; P xz Indicates the coordinate values of the starting point and end point of the pipeline on the coordinate axis corresponding to the z direction; W zmin Indicates the coordinate value of the small corner point of the item in the z direction; W zmax Indicates the coordinate value of the largest corner point of the item in the z direction.
[0079] In some embodiments, the interference relationship between the pipeline and the item along the y direction on the corresponding coordinate axes in the x direction and the z direction and the starting point coordinate value, the end point coordinate value, the small corner point coordinate value and the large corner point coordinate value of the pipeline on the corresponding coordinate axis satisfy the following expressions (13) and (14):
[0080] B2=(P yx -W xmin )*(P yx -W xmax ) (13);
[0081] B2'=(P yz -W zmin )*(P yz -W zmax ) (14).
[0082] Wherein, B2 represents the third judgment value; P yx Indicates the coordinate values of the starting point and end point of the pipeline on the coordinate axis corresponding to the x direction; W xmin Indicates the coordinate value of the small corner point of the item in the x direction; W xmax represents the coordinate value of the large corner point of the item in the x direction; B2' represents the fourth judgment value; P yz Indicates the coordinate values of the starting point and end point of the pipeline on the coordinate axis corresponding to the z direction; W zmin Indicates the coordinate value of the small corner point of the item in the z direction; W zmax Indicates the coordinate value of the largest corner point of the item in the z direction.
[0083] In some embodiments, the interference relationship between the pipeline and the item along the z direction on the coordinate axes corresponding to each other in the x direction and the y direction and the starting point coordinate value, the end point coordinate value, the small corner point coordinate value and the large corner point coordinate value of the pipeline on the corresponding coordinate axis satisfy the following expressions (15) and (16):
[0084] B3=(P zx -W xmin )*(P zx -W xmax ) (15);
[0085] B3'=(P zy -W ymin )*(P zy-W ymax ) (16).
[0086] Wherein, B3 represents the third judgment value; P zx Indicates the coordinate values of the starting point and end point of the pipeline on the coordinate axis corresponding to the x direction; W xmin Indicates the coordinate value of the small corner point of the item in the x direction; W xmax represents the coordinate value of the large corner point of the item in the x direction; B3' represents the fourth judgment value; P zy Indicates the coordinate values of the starting point and end point of the pipeline on the coordinate axis corresponding to the y direction; W ymin Indicates the coordinate value of the small corner point of the item in the y direction; W ymax Indicates the coordinate value of the item's largest corner point in the y direction.
[0087] In some embodiments, in step S12, it is determined whether the pipeline can be arranged along the items adjacent to it, including: if B is less than 0 and B' is greater than 0, then it is determined that the pipeline and items along the first direction interfere with each other in the second direction; if B is greater than 0 and B' is less than 0, then it is determined that the pipeline and items along the first direction interfere with each other in the third direction.
[0088] The method provided in the embodiments of the present application can quickly and accurately determine the interference relationship between the pipeline and the item through the relationship between the first judgment value and the second judgment value, the relationship between the third judgment value and the fourth judgment value, and the relationship between the four judgment values, thereby determining the layout of the pipeline along the item.
[0089] In some embodiments, if B1 is less than 0 and B1' is greater than 0, it is determined that the pipeline and items along the x direction interfere with each other in the y direction; if B1 is greater than 0 and B1' is less than 0, it is determined that the pipeline and items along the x direction interfere with each other in the z direction.
[0090] In some embodiments, if B2 is less than 0 and B2' is greater than 0, it is determined that the pipelines and items along the y direction interfere with each other in the x direction; if B2 is greater than 0 and B2' is less than 0, it is determined that the pipelines and items along the y direction interfere with each other in the z direction.
[0091] In some embodiments, if B3 is less than 0 and B3' is greater than 0, it is determined that the pipeline and items along the z direction interfere with each other in the x direction; if B3 is greater than 0 and B3' is less than 0, it is determined that the pipeline and items along the z direction interfere with each other in the y direction.
[0092] In some embodiments, if A1 is less than 0 and A1' is greater than 0, B1 is less than 0 and B1' is greater than 0, then it is determined that the pipeline along the x direction can be arranged along the wall perpendicular to the unit vector (0,0,1) in the item; if the two terms on the left and right of B1' are greater than 0, then it is determined that the pipeline along the x direction can be arranged along the wall perpendicular to the unit vector (0,0,1) and containing the large corner point of the item; if the two terms on the left and right of B1' are negative values, then it is determined that the pipeline along the x direction can be arranged along the wall perpendicular to the unit vector (0,0,1) and containing the small corner point of the item.
[0093] In some embodiments, if A1 is less than 0 and A1' is greater than 0, B1 is greater than 0 and B1' is less than 0, then it is determined that the pipeline along the x direction can be arranged along the wall in the item that is perpendicular to the unit vector (0,1,0); if the two terms on the left and right of B1' are greater than 0, then it is determined that the pipeline along the x direction can be arranged along the wall that is perpendicular to the unit vector (0,1,0) and contains the large corner point of the item; if the two terms on the left and right of B1' are negative values, then it is determined that the pipeline along the x direction can be arranged along the wall that is perpendicular to the unit vector (0,1,0) and contains the small corner point of the item.
[0094] In some embodiments, if A2 is less than 0 and A2' is greater than 0, B2 is less than 0 and B2' is greater than 0, then it is determined that the pipeline along the y direction can be arranged along the wall perpendicular to the unit vector (0,0,1) in the item; if the two terms on the left and right of B2' are greater than 0, then it is determined that the pipeline along the y direction can be arranged along the wall perpendicular to the unit vector (0,0,1) and containing the large corner point of the item; if the two terms on the left and right of B2' are negative values, then it is determined that the pipeline along the y direction can be arranged along the wall perpendicular to the unit vector (0,0,1) and containing the small corner point of the item.
[0095] In some embodiments, if A2 is less than 0 and A2' is greater than 0, B2 is less than 0 and B2' is greater than 0, then it is determined that the pipeline along the y direction can be arranged along the wall perpendicular to the unit vector (1,0,0) in the item; if the two terms on the left and right of B2' are greater than 0, then it is determined that the pipeline along the y direction can be arranged along the wall perpendicular to the unit vector (1,0,0) and containing the large corner point of the item; if the two terms on the left and right of B2' are negative values, then it is determined that the pipeline along the y direction can be arranged along the wall perpendicular to the unit vector (1,0,0) and containing the small corner point of the item.
[0096] In some embodiments, if A3 is less than 0 and A3' is greater than 0, B3 is less than 0 and B3' is greater than 0, then it is determined that the pipeline along the z direction can be arranged along the wall perpendicular to the unit vector (0,1,0) in the item; if the two terms on the left and right of B3' are greater than 0, then it is determined that the pipeline along the z direction can be arranged along the wall perpendicular to the unit vector (0,1,0) and containing the large corner point of the item; if the two terms on the left and right of B3' are negative values, then it is determined that the pipeline along the z direction can be arranged along the wall perpendicular to the unit vector (0,1,0) and containing the small corner point of the item.
[0097] In some embodiments, if A3 is less than 0 and A3' is greater than 0, B3 is less than 0 and B3' is greater than 0, then it is determined that the pipeline along the z direction can be arranged along the wall perpendicular to the unit vector (1,0,0) in the item; if the two terms on the left and right of B3' are greater than 0, then it is determined that the pipeline along the z direction can be arranged along the wall perpendicular to the unit vector (1,0,0) and containing the large corner point of the item; if the two terms on the left and right of B3' are negative values, then it is determined that the pipeline along the z direction can be arranged along the wall perpendicular to the unit vector (1,0,0) and containing the small corner point of the item.
[0098] In some embodiments, in step S1, determining the collision length between the pipeline and the item includes: in any direction, the actual length of the pipeline arranged along the item satisfies the following expressions (17) and (18):
[0099] C=P nmin -W nmin (17);
[0100] C'=P nmax -W nmax (18).
[0101] If C<0∩C'<0, then L n =P nmax -W nmin ; If C>0∩C'>0, then L n =W nmax -P nmin ; If C<0∩C'>0, then L n =W nmax -W nmin ; If C>0∩C'<0, then L n =P nmax -P nmin .
[0102] Wherein, C represents the fifth judgment value; C' represents the sixth judgment value; n=1, 2, 3, respectively representing the first direction, the second direction, and the third direction, P nmin Indicates the starting point coordinate value of the pipeline in any direction; P nmaxIndicates the coordinate value of the end point of the pipeline in any direction; W nmin Indicates the coordinate value of the small corner point of the item in any direction; W nmax Indicates the coordinate value of the largest corner point of the item in any direction; L n Represents the actual length of the piping arranged along the item in either direction.
[0103] The embodiments of the present application can determine the actual length of the pipeline arranged along the item in any direction more accurately and quickly through the above-mentioned expressions (17), (18) and the size relationship between the fifth judgment value and the sixth judgment value, thereby improving the efficiency of judging the theoretical distance between the pipeline and the item, and further improving the efficiency and rationality of the pipeline layout.
[0104] In some embodiments, in the x-direction, the actual length of the pipeline arranged along the item satisfies the following expressions (19) and (20):
[0105] C1=P xmin -W xmin (19);
[0106] C1'=P xmax -W xmax (20).
[0107] If C1<0∩C1'<0, then L x =P xmax -W xmin ; If C1>0∩C1'>0, then L x =W xmax -P xmin ; If C1<0∩C1'>0, then L x =W xmax -W xmin ; If C1>0∩C1'<0, then L x =P xmax -P xmin .
[0108] Wherein, C1 represents the fifth judgment value; C1' represents the sixth judgment value; L x Indicates the actual length of the pipeline along the item in the x direction.
[0109] In some embodiments, in the y direction, the actual length of the pipeline arranged along the item satisfies the following expressions (21) and (22):
[0110] C2=P ymin -W ymin (twenty one);
[0111] C2'=P ymax -W ymax(twenty two).
[0112] If C2<0∩C2'<0, then L y =P ymax -W ymin ; If C2>0∩C2'>0, then L y =W ymax -P ymin ; If C2<0∩C2'>0, then L y =W ymax -W ymin ; If C2>0∩C2'<0, then L y =P ymax -P ymin .
[0113] Wherein, C2 represents the fifth judgment value; C2' represents the sixth judgment value; L y Indicates the actual length of the pipeline along the item in the y direction.
[0114] In some embodiments, in the z direction, the actual length of the pipeline arranged along the item satisfies the following expressions (23) and (24):
[0115] C3=P zmin -W zmin (twenty three);
[0116] C3'=P zmax -W zmax (twenty four).
[0117] If C3<0∩C3'<0, then L z =P zmax -W zmin ; If C3>0∩C3'>0, then L z =W zmax -P zmin ; If C3<0∩C3'>0, then L z =W zmax -W zmin ; If C3>0∩C3'<0, then L z =P zmax -P zmin .
[0118] Wherein, C3 represents the fifth judgment value; C3' represents the sixth judgment value; L z Indicates the actual length of the pipeline arranged along the item in the z direction.
[0119] In some embodiments, the potential energy value may be determined by the actual distance between the pipeline and the item and the actual length of the pipeline arranged along the item. Figure 3is a schematic diagram of a potential energy value function corresponding to a potential energy value according to an embodiment of the present application, such as Figure 3 As shown, the x-axis of the potential energy value function represents the distance between the pipeline and the item, and the y-axis represents the magnitude of the potential energy value. The potential energy value function is a piecewise function, wherein the first segment a of the piecewise function is a constant function, the second segment b is a monotonically increasing function, and the third segment c is a constant function.
[0120] In the embodiment of the present application, the second segment b constructs a linear function. It can be understood that the second segment b of the piecewise function can also be constructed as other functions, such as an exponential function.
[0121] exist Figure 3 In the embodiment shown, the origin of the coordinate is the wall surface that can attract a certain item of a certain pipeline, and the range from 0 to x1 represents the minimum safe distance range between the pipeline and the item. The pipeline cannot be arranged within this range, and the corresponding potential energy value E max is the maximum potential energy value, the wall of the item has no attraction to the pipeline; the range from x1 to x2 represents the optimal range in which the pipeline can be arranged along the wall of the item, and the pipeline can be arranged within this range; the range from x2 to x3 (which can also be understood as the inspection range exceeding the control range of x2) indicates that the item has no attraction to the pipeline, and the maximum potential energy value is the function value at point x2.
[0122] In some embodiments, in step S3, the predetermined value, the potential energy value, and the actual length satisfy the following expression (25):
[0123]
[0124] Wherein, R represents a predetermined value; n1 represents the number of pipelines in the first direction; n2 represents the number of pipelines in the second direction; n3 represents the number of pipelines in the third direction; i represents the i-th pipeline; represents the minimum potential energy value corresponding to the i-th pipeline along the first direction; represents the minimum potential energy value corresponding to the i-th pipeline along the second direction, and the minimum potential energy value is the potential energy value corresponding to the minimum theoretical distance between the pipeline and the item; represents the minimum potential energy value corresponding to the i-th pipeline along the third direction; represents the actual length of the i-th pipeline arranged along the item in the first direction; represents the actual length of the i-th pipeline along the second direction arranged along the item; Indicates the actual length of the i-th pipeline along the third direction along the item; represents the length of the i-th pipeline along the first direction; represents the length of the i-th pipeline along the second direction; represents the length of the i-th pipeline along the third direction.
[0125] The planning method provided in the embodiment of the present application determines the predetermined value through the above expression (25), and can take into account the actual length of the pipeline when it is arranged along the item in the process of determining the predetermined value, thereby avoiding the situation where the distance between the pipeline and the item is appropriate but the length does not meet the requirements of the item or pipeline layout, thereby ensuring the rationality of the pipeline layout.
[0126] Figure 4 is a schematic diagram of planning the distance between a pipeline and an item based on a predetermined value according to an embodiment of the present application, such as Figure 4 As shown, in the continuous space 10, when planning the distance between each pipeline in the first pipeline group 11 and the item 12, the length of each pipeline in the first pipeline group 11 arranged along the wall of the item 12 is taken into consideration.
[0127] In some embodiments, in step S3, the predetermined value, the potential energy value, and the actual length satisfy the following expression (26):
[0128]
[0129] Wherein, R represents a predetermined value; n1 represents the number of pipelines in the first direction; n2 represents the number of pipelines in the second direction; n3 represents the number of pipelines in the third direction; i represents the i-th pipeline; represents the minimum potential energy value corresponding to the i-th pipeline along the first direction, and the minimum potential energy value is the potential energy value corresponding to the minimum theoretical distance between the pipeline and the item; represents the minimum potential energy value corresponding to the i-th pipeline along the second direction; represents the minimum potential energy value corresponding to the i-th pipeline along the third direction; represents the actual length of the i-th pipeline arranged along the item in the first direction; represents the actual length of the i-th pipeline along the second direction arranged along the item; Indicates the actual length of the i-th pipeline along the third direction along the item; represents the length of the i-th pipeline along the first direction; represents the length of the i-th pipeline along the second direction; represents the length of the i-th pipeline along the third direction.
[0130] The planning method provided in the embodiment of the present application determines the predetermined value through the above expression (26), and can take into account the actual length of the pipeline when it is arranged along the item as much as possible during the process of determining the predetermined value, thereby avoiding the situation where the distance between the pipeline and the item is appropriate but the length does not meet the layout requirements, thereby ensuring the rationality of the pipeline layout.
[0131] Figure 5 is a schematic diagram of planning the distance between a pipeline and an item based on a predetermined value according to another embodiment of the present application, such as Figure 5 As shown, in the continuous space 10, when planning the distance between each pipeline in the second pipeline group 13 and the item 12, the wall-attached length of each pipeline in the second pipeline group 13 along the x direction, the y direction and the z direction is taken into consideration.
[0132] In some embodiments, in step S3, the predetermined value and the potential energy value satisfy the following expression (27):
[0133]
[0134] Wherein, R represents a predetermined value; n1 represents the number of pipelines in the first direction; n2 represents the number of pipelines in the second direction; n3 represents the number of pipelines in the third direction; i represents the i-th pipeline; represents the minimum potential energy value corresponding to the i-th pipeline along the first direction, and the minimum potential energy value is the potential energy value corresponding to the minimum theoretical distance between the pipeline and the item; represents the minimum potential energy value corresponding to the i-th pipeline along the second direction; Indicates the minimum potential energy value corresponding to the i-th pipeline along the third direction.
[0135] The planning method provided in the embodiment of the present application determines the predetermined value through the above expression (27), has high calculation efficiency, and is conducive to improving the efficiency of pipeline layout.
[0136] Figure 6 is a schematic diagram of planning the distance between a pipeline and an item based on a predetermined value according to another embodiment of the present application, such as Figure 6 As shown, in the continuous space 10, when planning the distance between each pipeline in the third pipeline group 14 and the item 12, the number of each pipeline in the third pipeline group 14 arranged against the wall is taken into consideration.
[0137] Regarding the embodiments of the present application, it should also be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other to obtain new embodiments.
[0138] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. The protection scope of the present application shall be based on the protection scope of the claims.
Claims
1. A method for planning the distance between a pipeline and an item, characterized in that: It includes the following steps: S1. Determine the actual distance between the pipeline and the item and the actual length of the pipeline arranged along the item; S2. Determine a potential energy value according to the actual distance and the actual length determined in step S1, wherein the potential energy value is used to indicate whether the actual distance is within a predetermined distance range; S3, determining a predetermined value according to the potential energy value determined in step S2 and the actual length determined in step S1; S4. Determine a theoretical distance between the pipeline and the item according to the predetermined value determined in step S3.
2. The method according to claim 1, characterized in that The pipeline includes pipelines in multiple directions, and the step S1 includes: S11, determining the pipelines in each of the multiple directions and the number of the pipelines; S12, determining whether the pipeline can be arranged along the item adjacent to the pipeline according to the interference relationship between the pipeline and the item; S13. When the pipeline can be arranged along the item adjacent to the pipeline, determine the actual distance between the pipeline and the item and the actual length of the pipeline arranged along the item.
3. The method according to claim 2, characterized in that The plurality of directions include a first direction, In the step S12, the interference relationship between the pipeline and the item along the first direction on the coordinate axis corresponding to the first direction and the starting point coordinate value, the end point coordinate value, the small corner point coordinate value and the large corner point coordinate value of the pipeline on the coordinate axis corresponding to the first direction satisfy the following expression: A=P 1min -W 1max ; A'=P 1max -W 1min ; Wherein, A represents the first judgment value; P 1min represents the starting point coordinate value of the pipeline in the first direction; W 1max represents the coordinate value of the large corner point of the item in the first direction, wherein the large corner point is the corner point whose coordinate values corresponding to each coordinate axis are the maximum among all the corner points of the item; A' represents the second judgment value; P 1max represents the coordinate value of the end point of the pipeline in the first direction; W 1min Represents the coordinate value of a small corner point of the item in the first direction, wherein the small corner point is a corner point whose coordinate values corresponding to each coordinate axis are all minimum values among all corner points of the item.
4. The method according to claim 3, characterized in that In the step S12, If A is less than 0 and A' is greater than 0, it is determined that the pipeline and the item interfere with each other along the first direction on the coordinate axis corresponding to the first direction.
5. The method according to claim 3, characterized in that: The multiple directions further include a second direction and a third direction, wherein any two of the first direction, the second direction and the third direction are perpendicular to each other and together constitute a spatial coordinate system of the continuous space where the pipeline and the item are located; In the step S12, the interference relationship between the pipeline and the item along the first direction on the coordinate axes corresponding to the second direction and the third direction respectively and the starting point coordinate value, the end point coordinate value, the small corner point coordinate value and the large corner point coordinate value of the pipeline on the corresponding coordinate axis satisfy the following expression: B=(P 12 -W 2min )*(P 12 -W 2max ); B'=(P 13 -W 3min )*(P 13 -W 3max ); Wherein, B represents the third judgment value; P 12 represents the coordinate values of the starting point and the end point of the pipeline on the coordinate axis corresponding to the second direction; W 2min represents the coordinate value of the small corner point of the item in the second direction; W 2max represents the coordinate value of the large corner point of the item in the second direction; B' represents the fourth judgment value; P 13 represents the coordinate values of the starting point and the end point of the pipeline on the coordinate axis corresponding to the third direction; W 3min W represents the coordinate value of the small corner point of the item in the third direction; 3max Indicates the coordinate value of the largest corner point of the item in the third direction.
6. The method according to claim 5, characterized in that In the step S12, determining whether the pipeline can be arranged along the item adjacent thereto includes: If B is less than 0 and B' is greater than 0, it is determined that the pipeline along the first direction and the item interfere with each other in the second direction; If B is greater than 0 and B' is less than 0, it is determined that the pipeline along the first direction and the item interfere with each other in the third direction.
7. The method according to claim 5, characterized in that In the step S1, determining the collision length between the pipeline and the item includes: In either direction, the actual length of the pipeline arranged along the item satisfies the following expression: C=P nmin -W nmin ; C'=P nmax -W nmax ; If C<0∩C'<0, then L n =P nmax -W nmin ; If C>0∩C'>0, then L n =W nmax -P nmin ; If C<0∩C'>0, then L n =W nmax -W nmin ; If C>0∩C'<0, then L n =P nmax -P nmin ; Wherein, C represents the fifth judgment value; C' represents the sixth judgment value; n=1, 2, 3, representing the first direction, the second direction, and the third direction, respectively; P nmin represents the starting point coordinate value of the pipeline in any direction; nmax W represents the coordinate value of the end point of the pipeline in any direction; nmin W represents the coordinate value of the small corner point of the item in any direction; nmax Indicates the coordinate value of the largest corner point of the item in any direction; L n It represents the actual length of the pipeline arranged along the item in any direction.
8. The method according to claim 7, characterized in that In the step S3, the predetermined value, the potential energy value, and the actual length satisfy the following expression: Wherein, R represents the predetermined value; n1 represents the number of pipelines in the first direction; n2 represents the number of pipelines in the second direction; n3 represents the number of pipelines in the third direction; i represents the i-th pipeline; represents the minimum potential energy value corresponding to the i-th pipeline along the first direction; represents the minimum potential energy value corresponding to the i-th pipeline along the second direction, the minimum potential energy value being the potential energy value corresponding to the minimum theoretical distance between the pipeline and the item; represents the minimum potential energy value corresponding to the i-th pipeline along the third direction; represents the actual length of the i-th pipeline along the first direction arranged along the item; represents the actual length of the i-th pipeline along the second direction arranged along the item; represents the actual length of the i-th pipeline along the third direction arranged along the item; represents the length of the i-th pipeline along the first direction; represents the length of the i-th pipeline along the second direction; represents the length of the i-th pipeline along the third direction.
9. The method according to claim 7, characterized in that: In the step S3, the predetermined value, the potential energy value, and the actual length satisfy the following expression: Wherein, R represents the predetermined value; n1 represents the number of pipelines in the first direction; n2 represents the number of pipelines in the second direction; n3 represents the number of pipelines in the third direction; i represents the i-th pipeline; represents the minimum potential energy value corresponding to the i-th pipeline along the first direction, the minimum potential energy value being the potential energy value corresponding to the minimum theoretical distance between the pipeline and the item; represents the minimum potential energy value corresponding to the i-th pipeline along the second direction; represents the minimum potential energy value corresponding to the i-th pipeline along the third direction; represents the actual length of the i-th pipeline along the first direction arranged along the item; represents the actual length of the i-th pipeline along the second direction arranged along the item; represents the actual length of the i-th pipeline along the third direction arranged along the item; represents the length of the i-th pipeline along the first direction; represents the length of the i-th pipeline along the second direction; represents the length of the i-th pipeline along the third direction.
10. The method according to claim 7, characterized in that In the step S3, the predetermined value and the potential energy value satisfy the following expression: Wherein, R represents the predetermined value; n1 represents the number of pipelines in the first direction; n2 represents the number of pipelines in the second direction; n3 represents the number of pipelines in the third direction; i represents the i-th pipeline; represents the minimum potential energy value corresponding to the i-th pipeline along the first direction, the minimum potential energy value being the potential energy value corresponding to the minimum theoretical distance between the pipeline and the item; represents the minimum potential energy value corresponding to the i-th pipeline along the second direction; represents the minimum potential energy value corresponding to the i-th pipeline along the third direction.