Pipeline route design method based on single-pipe mathematical model

Abstract

The invention provides a pipeline route design method based on a single-pipe mathematical model. The method comprises the following steps that a three-dimensional vertical section and a UCS coordinate system are determined according to a live-action three-dimensional model of a pipeline laying target area; establishing a single-tube mathematical model according to the three-dimensional longitudinal section and a UCS coordinate system; according to the single-pipe mathematical model, micro-piping laying is carried out on the pipeline; in the process of laying the micro-piping on the pipeline, calculating a direction similarity index according to the similarity between the pipeline shape and the pipe ditch shape; calculating a stress accumulation index according to the elastic modulus and the inertia moment; and constructing a total cost calculation model based on pipeline laying, and performing cost optimization based on the direction similarity index and the stress accumulation index so as to optimize the pipeline laying micro-piping. The method has the technical effects that the laying design precision and efficiency are remarkably improved, the cost is reduced, and the safety of the system can be enhanced.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline route design, and particularly relates to a pipeline route design method based on a single-pipe mathematical model. Background Art

[0002] As an important means of transportation, the route project of pipelines usually accounts for more than 90% of the total project investment. The scientific nature of its design, the advancement of technology, and the economic rationality are important indicators for evaluating the project quality.

[0003] Currently, the commonly used plane software for pipeline design includes AutoCAD, ArcGIS, etc. The existing software can only achieve the construction drawing design at the level of corner piles and cannot be refined to the level of weld joints. Moreover, at the pipeline turning point, the existing design can only provide parameters such as the turning angle and turning radius, resulting in a lack of intuitive and three-dimensional design effect feedback during the entire design process. In addition, during the on-site construction process, the construction unit cuts materials and adjusts the pipe trench according to a small number of design parameters, and this process requires multiple repetitions. Especially when encountering large-diameter pipelines and the pipe matching fails, the construction unit will request to increase elbows, bends, or design changes.

[0004] Therefore, the existing pipeline design means cannot achieve the fine degree at the weld joint level, resulting in a large number of manual forced alignments and bend operations on-site. A large number of manual operations cannot guarantee the accuracy of pipe trench excavation and pipeline laying, and ultimately lead to common problems such as pipeline-trench mismatch and stress concentration. Moreover, during the construction process, there are ambiguities in the understanding of the pipeline route design between the earthwork crew and the welding crew, and their work is interspersed and repeated, resulting in low overall work efficiency. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art, and provides a new technical solution for a pipeline route design method based on a single-pipe mathematical model.

[0006] According to one aspect of the present invention, a pipeline route design method based on a single-pipe mathematical model is provided, including the following steps: Step S100, determining a three-dimensional longitudinal section and a UCS coordinate system according to the real-scene three-dimensional model of the target area for pipeline laying; Step S200, establishing a single-pipe mathematical model according to the three-dimensional longitudinal section and the UCS coordinate system; Step S300, performing micro-pipe matching for pipeline laying according to the single-pipe mathematical model; Step S400, during the process of the micro-pipe matching for pipeline laying, calculating the direction similarity index according to the similarity between the pipeline shape and the pipe trench shape; calculating the stress accumulation index according to the elastic modulus and the moment of inertia; Step S500: Construct a total cost calculation model based on pipeline laying, and optimize the cost based on the direction similarity index and the stress accumulation index to optimize the micro pipeline laying of the pipeline.

[0007] Optionally, the calculation formula of the total cost calculation model is as follows: ; In the above formula, TC is the total cost; C m is the material cost per unit length of the pipeline; C l is the construction cost per unit length of the pipeline; C b is the elbow cost per unit angle; C s is the stress accumulation cost per unit length; L is the total length of the pipeline; n is the number of pipeline segments; A di is the angle of the i-th pipeline segment in the x-y plane; A gi is the angle of the i-th pipe trench in the x-y plane; B di is the angle of the i-th pipeline segment in the y-z plane; B gi is the angle of the i-th pipe trench in the y-z plane; SAI is the stress accumulation index.

[0008] Optionally, optimizing the cost based on the direction similarity index and the stress accumulation index includes: In the first stage, use the stochastic gradient descent method to calculate the direction similarity index and iteratively adjust the pipeline laying scheme, and determine whether the direction similarity index reaches the first preset value; In the second stage, on the basis that the direction similarity index reaches the first preset value, optimize the stress accumulation index and iteratively adjust the pipeline laying scheme, and determine whether the stress accumulation index reaches the second preset value; In the third stage, on the basis that the stress accumulation index reaches the second preset value, perform cost optimization to minimize the total cost of pipeline laying.

[0009] Optionally, if the optimization requirement of the stress accumulation index is not met under the conditions of the first stage, relax the constraint conditions of the direction similarity index, and the range of the optimal solution is expanded to ±2% of the minimum value.

[0010] Optionally, the optimization algorithm of the stress accumulation index includes the gradient descent algorithm and the simulated annealing algorithm.

[0011] Optionally, the calculation formula of the moment of inertia is as follows: ; In the above formula, I is the moment of inertia; D o is the outer diameter of the pipe; D i is the inside diameter of the pipe.

[0012] Optionally, the calculation formula of the direction similarity index DSI is as follows: ; In the above formula, n is the number of pipeline sections; A di is the angle of the i-th pipe section on the xy plane; A gi is the angle of the i-th trench on the xy plane; B di is the angle of the i-th pipe section on the yz plane; B gi is the angle of the i-th trench on the yz plane.

[0013] Optionally, the three-dimensional longitudinal section is composed of a plurality of two-dimensional longitudinal sections connected end to end.

[0014] Optionally, any point on the three-dimensional longitudinal section has the attributes of mileage, elevation, and three-dimensional space coordinates.

[0015] Optionally, the single-tube mathematical model includes size data and posture data.

[0016] A technical effect of the present invention is: In the embodiment of the present application, the pipeline route design method based on the single-tube mathematical model is based on the real-life three-dimensional model to obtain an accurate three-dimensional longitudinal section; by applying the single-tube mathematical model, the pipeline laying and piping design at the weld level is realized; the design scheme is optimized and evaluated using the optimization algorithm of the direction similarity index, stress accumulation index, and total pipeline laying cost, thereby achieving the purpose of improving the laying design accuracy and efficiency, reducing costs, and enhancing the safety of the system.

[0017] Compared with the existing technology, the pipeline route design method based on the single-pipe mathematical model has improved the level of design detail from the corner pile level to the weld level; the interactive form has been improved from two-dimensional to dynamic three-dimensional, providing engineers and technicians with dynamic feedback of "what you think is what you see, what you see is what you get"; the evaluation method has been improved from intuitive qualitative evaluation to multi-index quantitative evaluation. It can achieve a qualitative improvement in the pipeline design industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1Schematic flow chart of a pipeline route design method based on a single - pipe mathematical model according to an embodiment of the present invention; Figure 2 Schematic diagram of the micro - pipe laying process of a pipeline route design method based on a single - pipe mathematical model according to an embodiment of the present invention. Detailed implementation manners

[0019] Now, various exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings. It should be noted that: unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application.

[0020] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for explaining the present application and should not be construed as limiting the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts fall within the scope of protection of the present application.

[0021] The terms "first", "second" in the description and claims of the present application may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise stated, the meaning of "a plurality" is two or more. In addition, "and / or" in the description and claims means at least one of the connected objects, and the character " / " generally indicates an "or" relationship between the related objects before and after.

[0022] According to one aspect of the present invention, referring to Figures 1 to 2 , a pipeline route design method based on a single - pipe mathematical model is provided, including the following steps: Step S100, determining a three - dimensional longitudinal section and a UCS coordinate system according to the real - scene three - dimensional model of the target area for pipeline laying.

[0023] Step S200, establishing a single - pipe mathematical model according to the three - dimensional longitudinal section and the UCS coordinate system.

[0024] Step S300, performing micro - pipe laying of the pipeline according to the single - pipe mathematical model.

[0025] Step S400, during the process of the micro - pipe laying of the pipeline, calculating the direction similarity index according to the similarity between the pipeline shape and the trench shape; calculating the stress accumulation index according to the elastic modulus and the moment of inertia.

[0026] It should be noted that in the process of micro-piping, it is necessary to prioritize the direction differences between the pipeline and the trench in each section, so the "Direction Similarity Index" (DSI) is defined. The Direction Similarity Index is an indicator used to evaluate the similarity between the shape of the pipeline and the shape of the trench. The smaller the value of the Direction Similarity Index, the more the pipeline is laid in accordance with the shape of the trench. Controlling the Direction Similarity Index helps reduce construction difficulty and material waste, while improving the stability and safety of the pipeline system.

[0027] Step S500, constructing a total cost calculation model based on pipeline laying, and performing cost optimization based on the direction similarity index and the stress accumulation index to optimize pipeline laying micro-piping.

[0028] In the embodiment of the present application, the pipeline route design method based on the single-tube mathematical model is based on the real-life three-dimensional model to obtain an accurate three-dimensional longitudinal section; by applying the single-tube mathematical model, the pipeline laying and piping design at the weld level is realized; the design scheme is optimized and evaluated using the optimization algorithm of the direction similarity index, stress accumulation index, and total pipeline laying cost, thereby achieving the purpose of improving the laying design accuracy and efficiency, reducing costs, and enhancing the safety of the system.

[0029] Compared with the existing technology, the pipeline route design method based on the single-pipe mathematical model has improved the level of design detail from the corner pile level to the weld level; the interactive form has been improved from two-dimensional to dynamic three-dimensional, providing engineers and technicians with dynamic feedback of "what you think is what you see, what you see is what you get"; the evaluation method has been improved from intuitive qualitative evaluation to multi-index quantitative evaluation. It can achieve a qualitative improvement in the pipeline design industry.

[0030] It should be noted that the "Stress Accumulation Index" (SAI) is used to measure the accumulation of pipeline stress. It is an indicator used to evaluate the stress concentration and cumulative effect that may occur in pipelines due to repeated loads. The stress accumulation index helps prevent fatigue damage to pipelines. By optimizing pipeline design through the stress accumulation index, it is possible to rationally plan the construction piping layout to reduce stress accumulation caused by terrain changes.

[0031] Elastic modulus and moment of inertia are two important physical parameters related to the properties and shape of materials.

[0032] The elastic modulus (E) is a property of a material that describes the degree of deformation of the material when subjected to stress. The larger the elastic modulus, the smaller the deformation of the material when subjected to the same stress. For steel, the elastic modulus is usually around 200 GPa (gigapascals). This value is usually obtained through experimental measurements and can be considered a constant for the same material.

[0033] Optionally, the calculation formula of the total cost calculation model is as follows: ; In the above formula, TC is the total cost; C m is the material cost per unit length of the pipeline; C l is the construction cost per unit length of the pipeline; C b is the elbow cost per unit angle; C s is the stress accumulation cost per unit length; L is the total length of the pipeline; n is the number of pipeline segments; A di is the angle of the i-th pipeline segment in the x-y plane; A gi is the angle of the i-th pipeline trench in the x-y plane; B di is the angle of the i-th pipeline segment in the y-z plane; B gi is the angle of the i-th pipeline trench in the y-z plane; SAI is the stress accumulation index.

[0034] Optionally, cost optimization based on the direction similarity index and the stress accumulation index includes: In the first stage, the random gradient descent method is used to calculate the direction similarity index and iteratively adjust the pipeline laying scheme to achieve the best match between the pipeline and the shape of the pipeline trench. Determine whether the direction similarity index reaches the first preset value; In the second stage, on the basis that the direction similarity index reaches the first preset value, optimize the stress accumulation index and iteratively adjust the pipeline laying scheme, and determine whether the stress accumulation index reaches the second preset value; that is, on the basis of ensuring that the direction similarity index reaches the predetermined standard, further optimize the stress accumulation index (SAI) to reduce the stress concentration and cumulative effect of the pipeline during long-term operation.

[0035] In the third stage, based on the stress accumulation index reaching the second preset value, cost optimization is carried out to minimize the total cost of pipeline laying, that is, cost optimization is carried out on the premise of meeting the requirements of shape similarity and stress accumulation index. Among them, if the cost target is not achieved, the stress accumulation index conditions in the second stage will be gradually adjusted, and the iterative optimization process will continue.

[0036] In the above implementation, the optimization process of the micro-pipeline is a phased implementation strategy, aiming to achieve a high degree of similarity between the pipeline shape and the trench shape, minimize stress accumulation, and ultimately reduce the total cost of pipeline laying.

[0037] It should be noted that the optimization strategy follows the principles of gradual optimization and iterative adjustment. In each stage, if the current solution does not meet all conditions, the conditions will be relaxed and iterated again until the optimal solution that meets all technical requirements is found. In addition, a variety of optimization algorithms are used, including but not limited to gradient descent and simulated annealing, to increase the possibility of finding the global optimal solution. Through gradual optimization and iterative adjustment, a pipeline piping scheme that can maximize cost-effectiveness while ensuring the safety and reliability of pipeline laying can be obtained.

[0038] Optionally, if the optimization requirement of the stress accumulation index is not met under the first-stage conditions, the constraint conditions of the direction similarity index are relaxed, and the range of the optimal solution is expanded to ±2% of the minimum value. This allows a certain range of deviation in the stress accumulation index and iterates the scheme again, which helps to obtain the optimal solution.

[0039] Optionally, the optimization algorithm of the stress accumulation index includes the gradient descent algorithm and the simulated annealing algorithm. This helps to increase the possibility of finding the global optimal solution.

[0040] Optionally, the calculation formula of the moment of inertia is as follows: ; In the above formula, I is the moment of inertia; D o is the outer diameter of the pipeline; D i is the inner diameter of the pipeline.

[0041] In the above implementation, the moment of inertia (I) is a parameter related to the shape of the object, which describes the rotation of the object when subjected to torque and helps to accurately calculate the stress accumulation index.

[0042] Optionally, the calculation formula of the direction similarity index DSI is as follows: ; A di is the angle of the i-th section of the pipeline in the x-y plane; A giis the angle of the i-th section of the pipe trench in the x-y plane; B di is the angle of the i-th section of the pipe in the y-z plane; B gi is the angle of the i-th section of the pipe trench in the y-z plane.

[0043] In the above embodiment, for each section of the pipe, first, calculate the difference between the axial direction vector of the pipe and the axial direction vector of the corresponding pipe trench; then, square the obtained difference to eliminate the possible sign influence caused by the direction difference and emphasize the influence of larger deviations; then, accumulate the squared differences of all pipe sections to obtain the total sum of squared differences; finally, add 1 to the sum of squared differences obtained by summation to ensure that the denominator is not zero, and then take the reciprocal of this value, thereby realizing the normalization of the sum of squared differences, so that the DSI value range is between 0 and 1.

[0044] In this embodiment, the value of DSI is between 0 and 1. The closer DSI is to 1, the more similar the direction of the pipe is to the direction of the pipe trench, the better the pipe is laid on the ground, the smaller the stress accumulation, and the safer it is. On the contrary, the closer DSI is to 0, the greater the difference between the direction of the pipe and the direction of the pipe trench, which may lead to stress accumulation and increase the difficulty of operation and maintenance and disaster prevention.

[0045] Exemplarily, SAI is calculated by the following mathematical formula: First, for the cold bend straight section (abbreviated as CBS): .

[0046] For the cold bend section (abbreviated as CB): .

[0047] For the hot bend straight section (abbreviated as HBS): .

[0048] For the hot bend section (abbreviated as HB): .

[0049] In the above formula: n is the number of pipe sections; E i is the elastic modulus of the i-th section of the pipe; I i is the moment of inertia of the i-th section of the pipe; A diis the angle of the i-th section of pipeline in the x-y plane; A gi is the angle of the i-th section of trench in the x-y plane; B di is the angle of the i-th section of pipeline in the y-z plane; B gi is the angle of the i-th section of trench in the y-z plane. Among them, WCBS, WCBF, WCBR, WHBS, WHBF, and WHBR represent the weights of cold-bent straight pipe section, cold-bent minimum angle, cold-bent radius, hot-bent straight pipe section, hot-bent minimum angle, and hot-bent radius respectively.

[0050] The stress accumulation indices of these four parts are weighted and summed to obtain the total stress accumulation index: ; Optionally, the three-dimensional longitudinal section is formed by connecting a plurality of two-dimensional longitudinal sections end to end. This helps to achieve three-dimensional spatial continuous visualization design of the pipeline.

[0051] Optionally, any point on the three-dimensional longitudinal section has the attributes of mileage, elevation, and three-dimensional spatial coordinates.

[0052] In the above embodiment, each two-dimensional longitudinal section forms a "file", and several files are connected to form a "section". The same application effect as the original two-dimensional longitudinal section is achieved within the file through the "UCS user coordinate system". Any point on the three-dimensional longitudinal section has attributes such as mileage, elevation, and three-dimensional spatial coordinates. The establishment of the three-dimensional longitudinal section and the UCS user coordinate system enables the pipeline layout design to cross the "file" and achieve three-dimensional spatial continuous visualization design.

[0053] Optionally, the single-pipe mathematical model includes dimension data and pose data. This helps the single-pipe mathematical model to accurately perform micro-piping of pipeline laying. Among them, the single pipe is the smallest unit of micro-piping.

[0054] Exemplarily, the single-pipe mathematical model is shown in Table 1.

[0055] Table 1

[0056] In the embodiments of the present application, firstly, the three-dimensional longitudinal section is innovated, so as to better utilize modern spatial data to provide good spatial data support for subsequent micro-piping; secondly, a single-pipe data model is designed, making the design fineness reach the weld level and realizing a what-you-see-is-what-you-get design environment; in the evaluation method, multi-objective evaluation indicators are adopted to replace the traditional practice of "seeing while doing". Therefore, the method of the present invention is intuitive, efficient, and scientific, and is a revolution to the traditional method.

[0057] In a specific embodiment, a three-dimensional longitudinal section and a UCS coordinate system are established. Since the three-dimensional longitudinal section is the basis of the micro-piping, it is formed by cutting and drawing based on the real-scene model of modern measurement technology. The system also supports generation in the form of importing ground GNSS measurement data. In the three-dimensional longitudinal section diagram, each section uses its own serial number as the name to establish its own UCS coordinate system. Compared with the traditional two-dimensional section, the coordinates of any point on the three-dimensional longitudinal section are real coordinates, such as Figure 2 is Section 4, an example of the three-dimensional longitudinal section of 4 USC coordinate systems.

[0058] In the micro-piping of pipeline laying, automatic piping and manual piping can be carried out. Among them, the automatic piping design can achieve a fully automatic piping design according to the input parameters and multi-objective evaluation parameters. Manual piping can be optimized and adjusted based on the results of automatic piping, or a new piping can be carried out. Manual piping supports mouse-dragging design and parametric configuration down to a single pipe. It includes "vertical piping" and "plane piping". Among them, plane piping can be further divided into "ordinary superimposed angle piping" with the same front and rear slopes and "special superimposed angle piping" with different front and rear slopes. Further, all manual piping starts with vertical piping because it is easier to determine the starting pose in this environment; during the piping process, the "Tab" key is used to freely switch between "vertical piping" and "plane piping", and the automatic bending action can also be completed to achieve continuous piping within the entire section.

[0059] In addition, manual piping can also be carried out according to the direction characteristics. It includes forward (along the mileage) and reverse (against the mileage).

[0060] It should be noted that automatic bending is a more difficult part in the micro-piping process, and it realizes continuous design between adjacent sections. Automatic bending is completed in the "plane piping" state. The automatic bending design process is activated by the keyboard action "P". Enter the bending parameters in the parameter interface, and the program will automatically complete the bending action including the superimposed angle.

[0061] When in the automatic bending superimposed angle form, various parameters will be automatically filled in when the form is initialized. If the front and rear slopes are the same, that is, the ordinary superimposed angle bending is executed at this time. The user can modify the rear slope according to the actual situation. If the front and rear slopes are different, then the special superimposed angle bending is executed at this time. The program can automatically calculate the new superimposed angle and update the allowed number of equal parts, and the corresponding equal division angles will also be automatically adjusted. In terms of determining the number of equal parts, the logic executed by the program is that the number of equal parts "1" represents a single pipe. The maximum number of equal parts does not exceed "6", that is, at most 6 pipes are used for cold bending instead of hot bending. The option values in the number of equal parts are related to the equal division angle and the maximum cold bending angle.

[0062] Exemplarily, in any piping mode, the user can activate the "Single Pipe Parameter Editing" form by pressing the "R" key to edit four parameters: L1, R, Alpha, and L2. The adjustment order of these parameters is that the user first adjusts the corner angle alpha manually, and the program will automatically calculate other pipe parameters, and then the user can adjust them according to the specification requirements. The rationality of parameter entry is determined by the program, and invalid entries will be automatically recognized and prompted by the program.

[0063] The present invention significantly improves the accuracy and quality of pipeline laying design by establishing an accurate single-pipe mathematical model and a three-dimensional longitudinal section. Compared with the traditional experience-dependent method, the present invention uses advanced optimization algorithms, such as stochastic gradient descent, to effectively plan the pipeline path, reduce the number of elbows and material usage, directly reducing the construction cost and improving the construction efficiency.

[0064] In terms of safety, the present invention significantly reduces stress concentration and accumulation in pipelines under complex terrains by optimizing the direction similarity index and stress accumulation index, thereby enhancing the stability and reliability of the pipeline system. This is crucial for preventing pipeline fatigue failure and extending its service life.

[0065] Therefore, the pipeline route design method based on the single-pipe mathematical model of the present invention can improve the pipeline laying accuracy, reduce the construction cost, enhance safety, improve the construction efficiency, and enhance the environmental adaptability.

[0066] In summary, a pipeline route design method based on the single-pipe mathematical model of the present invention provides an efficient, economical, safe, and environmentally friendly solution for the pipeline design industry. Through the accurate mathematical model and optimization algorithm, the present invention not only improves the accuracy and efficiency of pipeline laying, but also ensures the long-term stability and safety of the pipeline system, bringing a positive impact to the field of pipeline engineering construction.

[0067] It can be understood that the above embodiments are merely exemplary embodiments adopted to illustrate the principle of the present invention, and the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also regarded as the protection scope of the present invention.

Claims

1. A pipeline route design method based on a single-pipe mathematical model, characterized in that, It includes the following steps: Step S100, determining a three-dimensional longitudinal section and a UCS coordinate system according to the real-scene three-dimensional model of the target area for pipeline laying; Step S200, establishing a single-pipe mathematical model according to the three-dimensional longitudinal section and the UCS coordinate system; Step S300, performing micro-piping for pipeline laying according to the single-pipe mathematical model; Step S400, during the process of the micro-piping for pipeline laying, calculating the direction similarity index according to the similarity between the pipeline shape and the trench shape; calculating the stress accumulation index according to the elastic modulus and the moment of inertia; Step S500, constructing a total cost calculation model for pipeline laying, and performing cost optimization based on the direction similarity index and the stress accumulation index to optimize the micro-piping for pipeline laying.

2. The pipeline route design method based on a single-pipe mathematical model according to claim 1, characterized in that The calculation formula of the total cost calculation model is as follows: ； In the above formula, TC is the total cost; C m is the material cost of the pipeline per unit length; C l is the construction cost per unit length of the pipeline; C b The cost of the elbow pipe per unit angle; C s The stress accumulation cost per unit length; L is the total length of the pipeline; n is the number of pipeline segments; A di is the angle of the i-th pipe segment in the x-y plane; A gi is the angle of the i-th section of the pipe trench in the x-y plane; B di is the angle of the i-th section of pipeline in the y-z plane; B gi is the angle of the i-th section of the trench in the y-z plane; SAI is the stress accumulation index.

3. The pipeline route design method based on a single-pipe mathematical model according to claim 2, wherein Performing cost optimization based on the direction similarity index and the stress accumulation index includes: The first stage, using the stochastic gradient descent method to calculate the direction similarity index and iteratively adjusting the pipeline laying scheme, and determining whether the direction similarity index reaches a first preset value; The second stage, on the basis that the direction similarity index reaches the first preset value, optimizing the stress accumulation index and iteratively adjusting the pipeline laying scheme, and determining whether the stress accumulation index reaches a second preset value; The third stage, on the basis that the stress accumulation index reaches the second preset value, performing cost optimization to minimize the total cost of pipeline laying.

4. The pipeline route design method based on a single-pipe mathematical model according to claim 3, characterized in that If the optimization requirement of the stress accumulation index is not met under the conditions of the first stage, the constraint condition of the direction similarity index is relaxed, and the range of the optimal solution is expanded to ±2% of the minimum value.

5. The pipeline route design method based on a single-pipe mathematical model according to claim 4, wherein The optimization algorithm of the stress accumulation index includes the gradient descent algorithm and the simulated annealing algorithm.

6. The pipeline route design method based on a single-pipe mathematical model according to claim 5, characterized in that The calculation formula of the moment of inertia is as follows: ； In the above formula, I is the moment of inertia; D o is the outer diameter of the pipe; D i is the inner diameter of the pipe.

7. The pipeline route design method based on a single-pipe mathematical model according to claim 6, characterized in that, The calculation formula of the direction similarity index DSI is as follows: ； In the above formula, n is the number of pipeline segments; A di is the angle of the i-th pipeline in the x-y plane; A gi is the angle of the i-th pipe trench in the x-y plane; B di is the angle of the i-th section of pipeline in the y-z plane; B gi is the angle of the i-th section of the trench in the y-z plane.

8. The pipeline route design method based on a single-pipe mathematical model according to claim 7, characterized in that The three-dimensional longitudinal section is formed by connecting several two-dimensional longitudinal sections end to end.

9. The pipeline route design method based on a single-pipe mathematical model according to claim 8, characterized in that Any point on the three-dimensional longitudinal section has the attributes of mileage, elevation, and three-dimensional space coordinates.

10. The pipeline route design method based on a single-pipe mathematical model according to claim 9, wherein The single-pipe mathematical model includes dimension data and pose data.

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