Method for checking a collision between a line and an item

Abstract

The embodiment of the invention relates to the technical field of three-dimensional design, in particular to a method for checking collision between a pipeline and an item, and the item comprises a one-way penetrable item and a basic item. The method comprises the following steps that S1, the collision length and the collision depth between a pipeline and items in a continuous space and the numerical value of one-way penetrable items in the items are determined; s2, determining a preset value according to the collision length, the collision depth and the numerical value of the one-way penetrable item determined in the step S1; and S3, according to the preset value, the collision degree between the pipeline and the basic item and the one-way penetrable item is determined. Compared with a conventional grid obstacle avoidance method, the inspection method provided by the embodiment of the invention does not need grid calculation, so that the calculation amount is relatively small, the calculation speed is relatively high, and the operation is relatively convenient.

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 checking collision between a pipeline and an object. 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 collision relationship between pipelines and equipment, walls and other items in the space. For example, for the pipeline layout of a nuclear power plant building, it is necessary not only to follow strict safety standards and specifications, but also to consider the accuracy and economy of the layout. However, with the complexity of application scenarios, the current collision detection methods 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 checking collisions between pipelines and items, wherein the items include one-way wearable items and basic items, and the method includes the following steps: S1, determining a collision length, a collision depth, and a numerical value of one-way wearable items in the items between the pipeline and the items in a continuous space; S2, determining a predetermined value based on the collision length, the collision depth, and the numerical value of the one-way wearable items determined in step S1; S3, determining a degree of collision between the pipeline and the basic items and the one-way wearable items based on the predetermined value.

[0006] The inspection method provided in the embodiment of the present application can determine a predetermined value based on the collision length, collision depth and numerical value of the one-way wearable item obtained in a continuous space, and then determine the degree of collision between the pipeline and the basic items and the one-way wearable item based on the predetermined value. Compared with the conventional grid obstacle avoidance method, this inspection method does not require grid calculation, so that 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 checking a collision between a pipeline and an item according to an embodiment of the present application;

[0010] Figure 2 is a schematic diagram of pipelines and items in a continuous space after pretreatment according to an embodiment of the present application;

[0011] Figure 3 is a schematic diagram of a thickness vector of a one-way wearable item in its thickness direction according to an embodiment of the present application;

[0012] Figure 4 It is a schematic diagram of the interference relationship between pipelines and items according to an embodiment of the present application.

[0013] 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.

[0014] Description of reference numerals:

[0015] 20. Continuous space; 21. Pipeline; 22. Object. DETAILED DESCRIPTION

[0016] 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.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] In the related art, the grid obstacle avoidance method is usually used to check the collision relationship between the pipeline and the item. The grid obstacle avoidance 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, the current grid obstacle avoidance method may encounter difficulties. For example, in a highly dynamic obstacle environment or when a high-precision path is 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.

[0021] In view of the above technical problems, an embodiment of the present application provides a method for checking the collision between a pipeline and an item. The item includes a one-way wearable item and a basic item.

[0022] In some embodiments, the one-way wearable items include walls, and the basic items include obstacles such as equipment.

[0023] The inspection 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 embodiments is also parallel to the coordinate axis.

[0024] Figure 1 is a schematic flow chart of a method for checking a collision between a pipeline and an item (hereinafter referred to as the checking method) according to an embodiment of the present application, such as Figure 1 As shown, the inspection method includes the following steps S1 to S3.

[0025] S1. Determine the collision length and collision depth between the pipeline and the item in the continuous space, as well as the value of the one-way penetrable items in the item.

[0026] S2. Determine a predetermined value according to the collision length, collision depth and the value of the one-way wearable item determined in step S1.

[0027] S3. Determine the degree of collision between the pipeline and the basic items and the one-way wearable items according to the predetermined value.

[0028] The inspection method provided in the embodiment of the present application can determine a predetermined value based on the collision length, collision depth and numerical value of the one-way wearable item obtained in a continuous space, and then determine the degree of collision between the pipeline and the basic items and the one-way wearable item based on the predetermined value. Compared with the conventional grid obstacle avoidance method, this inspection method does not require grid calculation, so that the calculation amount is relatively small and the calculation speed is faster, and the operation is relatively convenient.

[0029] In some embodiments, the collision length between the pipeline and the item is the length corresponding to the portion of the pipeline that contacts the item.

[0030] In some embodiments, the collision depth between the pipe and the item is the depth of depression of the outer wall of the pipe relative to the axis of the pipe.

[0031] In some embodiments, the value of the one-way wearable item in the item is the value corresponding to the wall in the continuous space.

[0032] In some embodiments, Figure 2 is a schematic diagram of a pipeline 21 and an item 22 in a continuous space 20 after pretreatment according to an embodiment of the present application, such as Figure 2 As shown, before executing steps S1 to S3, the pipeline 21 and the item 22 in the continuous space 20 may be preprocessed to ensure that the subsequently generated pipeline layout plan will not interfere with the item 22 in the continuous space 20 after being applied to the actual scene. The preprocessing includes: using the envelope rectangle method to approximate the shape of the actual item in the continuous space 20; and expanding the processed item 22.

[0033] In some embodiments, step S1 includes: S11, determining the pipelines in different directions and the number of pipelines; S12, determining the thickness vector of the one-way wearable item in its thickness direction; S13, determining the interference relationship between the pipelines and items in each direction based on the pipelines in different directions and the number of pipelines determined in step S11 and the thickness vector determined in step S12; S14, determining the collision length, collision depth of the pipeline and the number of one-way wearable items based on the interference relationship.

[0034] The method provided in the embodiments of the present application can determine the interference relationship between pipelines and items in each direction based on pipelines in different directions and their numbers, as well as the thickness vector of the one-way wearable item in its thickness direction, thereby determining the collision length and collision depth of the pipeline and the number of one-way wearable items. This inspection method can be used to inspect each pipeline separately to determine the interference relationship between each pipeline and the item, thereby facilitating reasonable planning of the pipeline layout.

[0035] In some embodiments, a three-dimensional rectangular coordinate system is established in the continuous space 20, and the different directions are the directions of the x-axis, y-axis and z-axis in the three-dimensional rectangular coordinate system.

[0036] In some embodiments, Figure 3 is a schematic diagram of a thickness vector of a one-way wearable item in its thickness direction according to an embodiment of the present application, such as Figure 3 As shown, the thickness direction of the one-way wearable item can be understood as the thickness direction of the wall.

[0037] In some embodiments, in step S11, when determining pipelines in different directions and the number of pipelines, a pipe segment sequence D may be represented by a row vector, each pipeline includes one or more pipe segments, and different pipelines correspond to different pipe segment sequences D.

[0038] In such an embodiment, taking three different directions as an example, the elements of the row vector in the pipe segment sequence D include letters x', y', and z', which respectively represent pipe segments in three different directions. For example, x' represents a pipe segment along a first direction, y' represents a pipe segment along a second direction, and z' represents a pipe segment along a third direction.

[0039] In some embodiments, the thickness vector w of the unidirectional wearable item in its thickness direction may constitute a matrix W. The number of rows of the matrix W represents the number of unidirectional wearable items, and the elements of each row are (1,0,0), (0,1,0) or (0,0,1), respectively indicating that the direction of the thickness vector w of a unidirectional wearable item in its thickness direction is the first direction, the second direction or the third direction.

[0040] In some embodiments, the interference relationship includes, but is not limited to, a length at which a collision occurs, a depth at which a collision occurs, and no interference occurs. Figure 4 is a schematic diagram of the interference relationship between the pipeline and the item according to the embodiment of the present application, such as Figure 4 As shown, (a), (c) and (d) respectively indicate that the pipeline collides with the item, and the collision depth is shown by the dotted line; (b) indicates that the pipeline passes through the item (the current item is a one-way penetrable item).

[0041] In some embodiments, the different 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):

[0042] A=P 1min -O 1max (1);

[0043] A'=P1max -O 1min (2).

[0044] Wherein, A represents the first judgment value; P 1min Indicates the starting point coordinate value of the pipeline in the first direction; 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; 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.

[0045] The method provided by the embodiment of the present application can determine the interference relationship between pipelines and items in different directions relatively accurately and with high efficiency.

[0046] 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.

[0047] 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.

[0048] 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):

[0049] A1=P xmin -O xmax (3);

[0050] A1'=P xmax -O xmin (4).

[0051] Wherein, A1 represents the first judgment value; P xmin Indicates the starting point coordinate value of the pipeline in the x direction; 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 end point coordinate value of the pipeline in the x direction;xmin Indicates the coordinate value of the small corner point of the item in the x direction.

[0052] 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):

[0053] A2=P ymin -O ymax (5);

[0054] A2'=P ymax -O ymin (6).

[0055] Wherein, A2 represents the first judgment value; P ymin Indicates the starting point coordinate value of the pipeline in the y direction; ymax represents the coordinate value of the large corner point of the item in the y direction; A2' represents the second judgment value; P ymax Indicates the end point coordinate value of the pipeline in the y direction; ymin Indicates the coordinate value of the small corner point of the item in the y direction.

[0056] 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):

[0057] A3=P zmin -O zmax (7);

[0058] A3'=P zmax -O zmin (8).

[0059] Wherein, A3 represents the first judgment value; P zmin Indicates the starting point coordinate value of the pipeline in the z direction; 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 end point coordinate value of the pipeline in the z direction; zmin Indicates the coordinate value of the small corner point of the item in the z direction.

[0060] In some embodiments, in step S12, if A is less than 0 and A' is greater than 0, it is determined that the pipeline along the first direction and the coordinate axis corresponding to the item in the first direction interfere with each other, and the reliability is high.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] In some embodiments, the different 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 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):

[0065] B=(P 12 -O 2min )*(P 12 -O 2max ) (9);

[0066] B'=(P 13 -O 3min )*(P 13 -O 3max ) (10).

[0067] 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; 2min 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; 3min Indicates 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.

[0068] 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.

[0069] 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):

[0070] B1=(P xy -O ymin )*(P xy -O ymax ) (11);

[0071] B1'=(P xz -O zmin )*(P xz -O zmax ) (12).

[0072] 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; ymin Indicates the coordinate value of the small corner point of the item in the y direction; ymax represents 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; zmin Represents the coordinate value of the small corner point of the item in the z direction; zmax Indicates the coordinate value of the largest corner point of the item in the z direction.

[0073] 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):

[0074] B2=(P yx -O xmin )*(P yx -O xmax ) (13);

[0075] B2'=(P yz -O zmin )*(P yz -O zmax ) (14).

[0076] 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; xmin Indicates the coordinate value of the small corner point of the item in the x direction; xmaxrepresents 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; zmin Represents the coordinate value of the small corner point of the item in the z direction; zmax Indicates the coordinate value of the largest corner point of the item in the z direction.

[0077] 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):

[0078] B3=(P zx -O xmin )*(P zx -O xmax ) (15);

[0079] B3'=(P zy -O ymin )*(P zy -O ymax ) (16).

[0080] 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; xmin Indicates the coordinate value of the small corner point of the item in the x direction; 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; ymin Indicates the coordinate value of the small corner point of the item in the y direction; ymax Indicates the coordinate value of the item's largest corner point in the y direction.

[0081] In some embodiments, in step S1, determining the value of the one-way wearable item includes: if B and B' are both less than 0, then it is determined that the pipeline and items along the first direction interfere with each other on the coordinate axes corresponding to the second direction and the third direction; if A is less than 0 and A' is greater than 0, B is less 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.

[0082] The method provided in the embodiments of the present application can quickly and accurately determine the interference relationship between pipelines and items 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.

[0083] In such an embodiment, if B1 and B1' are both less than 0, it is determined that the pipelines and items along the x-direction interfere with each other on the coordinate axes corresponding to the y-direction and the z-direction; if A1 is less than 0 and A1' is greater than 0, B1 is less than 0 and B1' is less than 0, it is determined that the pipelines and items along the x-direction interfere with each other.

[0084] In such an embodiment, if B2 and B2' are both less than 0, it is determined that the pipelines and items along the y direction interfere with each other on the coordinate axes corresponding to the x and z directions; if A2 is less than 0 and A2' is greater than 0, B2 is less than 0 and B2' is less than 0, it is determined that the pipelines and items along the y direction interfere with each other.

[0085] In such an embodiment, if B3 and B3' are both less than 0, it is determined that the pipelines and items along the z direction interfere with each other on the coordinate axes corresponding to the x direction and the y direction; if A3 is less than 0 and A3' is greater than 0, B3 is less than 0 and B3' is less than 0, it is determined that the pipelines and items along the z direction interfere with each other.

[0086] In some embodiments, if the item currently being inspected is a one-way wearable item, a thickness vector w in the thickness direction of the item is determined.

[0087] In such an embodiment, if the thickness vector w is (1,0,0), then the number of tubes in the x-direction that pass through the one-way wearable item is determined to be plus 1, and there is no need to calculate the collision length and collision depth of the tube; if the thickness vector w is not (1,0,0), then the collision length and collision depth of the tube need to be calculated.

[0088] In such an embodiment, if the thickness vector w is (0,1,0), then the number of tubes in the y direction passing through the one-way wearable item is determined to be plus 1, and there is no need to calculate the collision length and collision depth of the tube; if the thickness vector w is not (0,1,0), then the collision length and collision depth of the tube need to be calculated.

[0089] In such an embodiment, if the thickness vector w is (0,0,1), then the number of pipes in the z direction passing through the one-way wearable item is determined to be plus 1, and there is no need to calculate the collision length and collision depth of the pipe; if the thickness vector w is not (0,0,1), then the collision length and collision depth of the pipe need to be calculated.

[0090] In some embodiments, in step S1, determining the collision length between the pipeline and the item includes: in any direction, the collision length between the pipeline and the item satisfies the following expressions (17) and (18):

[0091] C=P nmin -O nmin (17);

[0092] C'=P nmax -O nmax (18).

[0093] If C<0∩C'<0, then L n1 =P nmax -O nmin ; If C>0∩C'>0, then L n1 =O nmax -P nmin ; If C<0∩C'>0, then L n1 =O nmax -O nmin ; If C>0∩C'<0, then L n1 =P nmax -P nmin .

[0094] 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 nmax Indicates the coordinate value of the end point of the pipeline in any direction; nmin 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 n1 Indicates the collision length between the pipe and the item in any direction.

[0095] The embodiments of the present application can determine the collision length between the pipeline and the item in any direction more accurately and quickly through the above expressions (17), (18) and the size relationship between the fifth judgment value and the sixth judgment value, thereby improving the accuracy of judging the degree of collision between the pipeline and the item, and further improving the efficiency and rationality of the pipeline layout.

[0096] In some embodiments, in the x-direction, the collision length between the pipe and the item satisfies the following expressions (19) and (20):

[0097] C1=P xmin -O xmin (19);

[0098] C1'=P xmax -O xmax (20).

[0099] If C1<0∩C1'<0, then L x1 =P xmax -O xmin ; If C1>0∩C1'>0, then L x1 =O xmax -P xmin; If C1<0∩C1'>0, then L x1 =O xmax -O xmin ; If C1>0∩C1'<0, then L x1 =P xmax -P xmin .

[0100] Wherein, C1 represents the fifth judgment value; C1' represents the sixth judgment value; L x1 Indicates the collision length between the pipe and the item in the x direction.

[0101] In some embodiments, in the y direction, the collision length between the pipe and the item satisfies the following expressions (21) and (22):

[0102] C2=P ymin -O ymin (twenty one);

[0103] C2'=P ymax -O ymax (twenty two).

[0104] If C2<0∩C2'<0, then L y1 =P ymax -O ymin ; If C2>0∩C2'>0, then L y1 =O ymax -P ymin ; If C2<0∩C2'>0, then L y1 =O ymax -O ymin ; If C2>0∩C2'<0, then L y1 =P ymax -P ymin .

[0105] Wherein, C2 represents the fifth judgment value; C2' represents the sixth judgment value; L y1 Indicates the collision length between the pipe and the item in the y direction.

[0106] In some embodiments, in the z direction, the collision length between the pipe and the item satisfies the following expressions (23) and (24):

[0107] C3=P zmin -O zmin (twenty three);

[0108] C3'=P zmax -O zmax (twenty four).

[0109] If C3<0∩C3'<0, then L z1 =Pzmax -O zmin ; If C3>0∩C3'>0, then L z1 =O zmax -P zmin ; If C3<0∩C3'>0, then L z1 =O zmax -O zmin ; If C3>0∩C3'<0, then L z1 =P zmax -P zmin .

[0110] Wherein, C3 represents the fifth judgment value; C3' represents the sixth judgment value; L z1 Indicates the collision length between the pipe and the item in the z direction.

[0111] In some embodiments, in step S1, determining the collision depth between the pipeline and the item includes: the collision depths of the pipeline and the item along the first direction in the second direction and the third direction satisfy the following expressions (25) and (26):

[0112]

[0113]

[0114] Among them, D 11 Indicates the collision depth of the pipeline and the item along the first direction in the second direction; D 12 Indicates the collision depth of the pipeline and the item along the first direction in the third direction.

[0115] The embodiments of the present application can determine the collision depths of the pipeline in the first direction and the items in the other two directions relatively accurately and quickly through the above expressions (25) and (26), thereby improving the efficiency and rationality of the pipeline layout.

[0116] In some embodiments, the collision depths of the pipe and the item along the x-direction in the y-direction and the z-direction satisfy the following expressions (27) and (28):

[0117]

[0118] Among them, D x1 Indicates the collision depth of the pipe along the x direction and the item in the y direction; D x2 Indicates the collision depth of pipes and items in the z direction along the x direction.

[0119] In some embodiments, the collision depths of the pipe and the item along the y direction in the x direction and the z direction satisfy the following expressions (29) and (30):

[0120]

[0121] Among them, D y1 Indicates the collision depth of the pipe and the item in the x direction along the y direction; D y2 Indicates the collision depth of pipes and items in the z direction along the y direction.

[0122] In some embodiments, the collision depths of the pipe and the item along the z direction in the x direction and the y direction satisfy the following expressions (31) and (32):

[0123]

[0124]

[0125] Among them, D z1 Indicates the collision depth of the pipe and the item in the x direction along the z direction; D z2 Indicates the collision depth of pipes and items in the y direction along the z direction.

[0126] In some embodiments, in step S2, the predetermined value is determined based on the collision length between the pipeline and the item in each direction and the collision depth between the pipeline and the item along each direction in two directions other than that direction.

[0127] The predetermined value determined by the method provided in the embodiment of the present application is helpful to avoid interference between the pipeline and the item during the design process of the pipeline, thereby improving the rationality of the pipeline layout.

[0128] In some embodiments, the predetermined value satisfies the following expression:

[0129]

[0130] 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 collision length of the i-th pipeline and item along the first direction in the first direction; represents the collision depth of the i-th pipeline and item along the first direction in the second direction; represents the collision depth of the i-th pipeline and item along the first direction in the third direction; represents the collision length of the i-th pipeline and item along the second direction in the second direction; represents the collision depth of the i-th pipeline and item along the second direction in the first direction; represents the collision depth of the i-th pipeline and item along the second direction in the third direction; represents the collision length of the i-th pipeline and item along the third direction in the third direction; represents the collision depth of the i-th pipeline and item along the third direction in the first direction; It represents the collision depth of the i-th pipeline and item along the third direction in the second direction.

[0131] The method provided in the embodiment of the present application determines the predetermined value through the above expression (33), which can improve the reliability of the determined predetermined value, thereby facilitating the final pipeline path to avoid objects as much as possible and reduce the collision between objects and pipelines.

[0132] In some embodiments, determining the path of the pipeline arrangement based on the total number of times the pipeline passes through the one-way wearable item is beneficial for minimizing the number of times the determined pipeline path passes through the one-way wearable item.

[0133] 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.

[0134] 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 checking collision between a pipeline and an item, wherein the item comprises a one-way wearable item and a basic item, characterized in that: It includes the following steps: S1. Determine the collision length and collision depth between the pipeline and the item in the continuous space and the value of the one-way wearable item in the item; S2. Determine a predetermined value according to the collision length, the collision depth and the value of the one-way wearable item determined in step S1; S3. Determine the degree of collision between the pipeline and the basic item and the one-way wearable item according to the predetermined value.

2. The method according to claim 1, characterized in that The S1 step includes: S11, determining pipelines in different directions and the number of the pipelines; S12, determining a thickness vector of the one-way wearable item in a thickness direction thereof; S13, determining the interference relationship between the pipeline in each direction and the item according to the pipelines in different directions and the number of the pipelines determined in step S11 and the thickness vector determined in step S12; S14. Determine the collision length and collision depth of the pipeline and the number of the one-way wearable items according to the interference relationship.

3. The method according to claim 2, characterized in that The different 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 -THE 1max ; A'=P 1max -THE 1min ; Wherein, A represents the first judgment value; P 1min represents the starting point coordinate value of the pipeline in the first direction; 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; 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 coordinate axes corresponding to the pipeline and the item in the first direction interfere with each other along the first direction.

5. The method according to claim 3, characterized in that: The different directions also 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 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 -O 2min )*(P 12 -O 2max ); B'=(P 13 -O 3min )*(P 13 -O 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; 2min 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 represents the coordinate values ​​of the starting point and the end point of the pipeline on the coordinate axis corresponding to the third direction; 3min 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 S1, determining the value of the one-way wearable item includes: If B and B' are both less than 0, it is determined that the pipeline and the item along the first direction interfere with each other on the coordinate axes corresponding to the second direction and the third direction respectively; If A is less than 0 and A' is greater than 0, and B is less than 0 and B' is less than 0, it is determined that the pipeline and the item along the first direction interfere with each other.

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 collision length between the pipe and the item satisfies the following expression: C=P nmin -O nmin ; C’=P nmax -O nmax ; If C<0∩C'<0, then L n1 =P nmax -O nmin ; If C>0∩C'>0, then L n1 =O nmax -P nmin ; If C<0∩C'>0, then L n1 =O nmax -O nmin ; If C>0∩C'<0, then L n1 =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 represents the coordinate value of the end point of the pipeline in any direction; nmin 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 n1 Represents the collision length between the pipeline and the item in any direction.

8. The method according to claim 7, characterized in that In the step S1, determining the collision depth between the pipeline and the item includes: The collision depths of the pipeline along the first direction and the item in the second direction and the third direction satisfy the following expression: Among them, D 11 represents the collision depth of the pipeline along the first direction and the item in the second direction; D 12 Indicates the collision depth of the pipeline along the first direction and the item in the third direction.

9. The method according to claim 8, characterized in that In the step S2, The predetermined value is determined according to the collision length between the pipeline and the item in each direction and the collision depth between the pipeline and the item in two directions other than the direction along each direction.

10. The method according to claim 9, characterized in that The predetermined value satisfies 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 collision length of the i-th pipeline along the first direction and the item in the first direction; represents the collision depth between the i-th pipeline along the first direction and the item in the second direction; represents the collision depth of the i-th pipeline along the first direction and the item in the third direction; represents the collision length of the i-th pipeline along the second direction and the item in the second direction; represents the collision depth between the i-th pipeline along the second direction and the item in the first direction; represents the collision depth of the i-th pipeline along the second direction and the item in the third direction; represents the collision length of the i-th pipeline along the third direction and the item in the third direction; represents the collision depth between the i-th pipeline along the third direction and the item in the first direction; represents the collision depth between the i-th pipeline along the third direction and the item in the second direction.

Images