Inflection point deletion method based on pipeline trajectory optimization

Abstract

The invention provides a pipeline trajectory optimization-based inflection point deletion method, which comprises the steps of optimizing a pipeline routing trajectory through a path planning algorithm according to a routing start point and a routing end point of a pipeline so as to obtain an optimized trajectory; selecting a to-be-deleted inflection point from the optimized path, directly connecting front and back adjacent inflection points corresponding to the to-be-deleted inflection point, subdividing a plurality of intermediate points on a directly connected line segment, and performing obstacle avoidance judgment on the subdivided intermediate points; performing turning radius control and arc interpolation on front and back adjacent inflection points of the middle point in response to meeting the constraint condition, and performing obstacle avoidance judgment; and after the pipeline track and the inflection point are updated, a final pipeline track is generated. Redundant nodes existing in the pipeline track are deleted, so that the turning frequency is reduced, it is ensured that the pipeline path is smoother, the installation or operation difficulty is lowered, and the actual engineering requirement is met.

Description

Technical Field

[0001] This application belongs to the field of pipeline optimization technology, and in particular relates to a method for deleting inflection points based on pipeline trajectory optimization. Background Technology

[0002] In the powertrain design process, pipeline layout is a complex and critical step, directly affecting the powertrain's performance, reliability, and assembly efficiency. Currently, automatic route optimization algorithms are being introduced into path planning methods, but these algorithms suffer from the following problems: (1) Long optimization time: The trajectory optimization is performed starting from each inflection point, which results in a long calculation time for each pipeline, which does not meet the actual needs; (2) There are still redundant inflection points in the optimization results: Due to the limitations of the optimization algorithm, the previous node is optimized and the next node is optimized and determined, which leads to some unreasonable nodes not being deleted. In addition, from an engineering perspective, adding inflection points or local pipe attachments to the route makes the original inflection points redundant, thus failing to meet engineering requirements. Summary of the Invention

[0003] In view of this, this application aims to propose an inflection point deletion method based on pipeline trajectory optimization to solve the problem that redundant inflection points exist on the path trajectory, which cannot meet engineering requirements.

[0004] To achieve the above objectives, the technical solution of this application is implemented as follows: Firstly, this application provides a method for deleting inflection points based on pipeline trajectory optimization, including: Based on the starting and ending points of the pipeline path, the pipeline path is optimized using a path planning algorithm to obtain an optimized trajectory. By selecting the inflection point to be deleted from the optimized path, directly connecting the adjacent inflection points before and after the inflection point to be deleted, subdividing the direct connection line segment into several intermediate points, and performing obstacle avoidance judgment on the subdivided intermediate points. In response to the satisfaction of the constraint conditions, the turning radius is controlled and the arc is interpolated at the adjacent inflection points before and after the midpoint, and obstacle avoidance judgment is made. After updating the pipeline trajectory and inflection points, the final pipeline trajectory is generated.

[0005] Secondly, based on the same inventive concept, this application also provides an inflection point removal system based on pipeline trajectory optimization, comprising: The path planning module is configured to optimize the pipeline path using a path planning algorithm based on the pipeline's starting and ending points to obtain an optimized trajectory. The inflection point deletion module is configured to select an inflection point to be deleted from the optimized path, directly connect the adjacent inflection points before and after the inflection point to be deleted, subdivide the direct connection line segment into several intermediate points, and perform obstacle avoidance judgment on the subdivided intermediate points. The turning radius control module is configured to, in response to the satisfaction of constraint conditions, perform turning radius control and circular interpolation at the adjacent turning points before and after the midpoint, and make obstacle avoidance judgments. The trajectory generation module is configured to generate the final pipeline trajectory after updating the pipeline trajectory and inflection points.

[0006] Thirdly, based on the same inventive concept, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method described in the first aspect.

[0007] Fourthly, based on the same inventive concept, this application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions for causing the computer to perform the method as described in the first aspect.

[0008] Compared with existing technologies, the inflection point deletion method based on pipeline trajectory optimization described in this application has the following advantages: The inflection point deletion method based on pipeline trajectory optimization described in this application reduces the number of turns and ensures a smoother pipeline path by deleting redundant nodes in the pipeline trajectory, thereby reducing installation or operation difficulty and meeting the needs of actual engineering. Attached Figure Description

[0009] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a flowchart of an inflection point deletion method based on pipeline trajectory optimization as described in an embodiment of this application; Figure 2 This is a schematic diagram of the path before the deletion inflection point as described in the embodiments of this application; Figure 3 This is a schematic diagram of the path after deleting the inflection point as described in the embodiments of this application; Figure 4 This is a schematic diagram of the inflection point deletion system based on pipeline trajectory optimization as described in an embodiment of this application; Figure 5 This is a schematic diagram of the hardware structure of the electronic device described in an embodiment of this application. Detailed Implementation

[0010] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0011] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0012] As described in the background section above, automatic optimization algorithms cannot guarantee global path optimization and can easily lead to path redundancy. Manual optimization is a crucial step in pipeline path optimization, aiming to ensure that the generated pipeline trajectory is simplified, smoothed, and optimized as much as possible while satisfying all physical and engineering constraints. The embodiments of this application are described in detail below with reference to the accompanying drawings.

[0013] Please see Figure 1 As shown, this embodiment provides a method for deleting inflection points based on pipeline trajectory optimization, which specifically includes the following steps: Step S101: Based on the starting point and ending point of the pipeline, optimize the pipeline path using a path planning algorithm to obtain an optimized trajectory.

[0014] Specifically, in this embodiment, the automatic optimization algorithm is based on the existing A* algorithm for pipeline routing and further optimized using the existing GA algorithm to obtain the optimized pipeline trajectory. It should be noted that this step is not considered an inventive point of this application. This application performs manual optimization based on this step, deleting redundant nodes in the pipeline trajectory to reduce the number of turns and ensure a smoother pipeline path, thereby reducing installation or operational difficulty and meeting practical engineering needs.

[0015] Step S102: Select the inflection point to be deleted from the optimized path, connect the adjacent inflection points before and after the inflection point to be deleted, subdivide the direct connection line segment into several intermediate points, and perform obstacle avoidance judgment on the subdivided intermediate points.

[0016] Specifically, in this embodiment, some unnecessary inflection points are selected from the optimized path and deleted, and the inflection points before and after the deleted inflection points are connected by straight lines. The intermediate points are subdivided on the straight line segments, and it is determined whether there are any part walls or obstacle avoidance space points within the threshold r range of the intermediate points.

[0017] If there are component walls or obstacle avoidance spaces within the intermediate point threshold range, deletion fails and an error message is output. If there are no component walls or obstacle avoidance spaces within the intermediate point threshold range, proceed to the next step. This embodiment effectively avoids the conflict between pipeline path simplification and obstacle avoidance through obstacle avoidance judgment and inflection point deletion and connection operations, ensuring that the pipeline path can effectively avoid collision risks during the design phase.

[0018] It should be noted that in this embodiment, the obstacle avoidance space point calculation begins after the user has entered all the parameters of the first pipeline and clicks the "Path Finding" button in the plugin. The software calculates the obstacle avoidance space points one by one from top to bottom according to the order of each component in the model tree of the assembly model.

[0019] This embodiment uses a single inflection point as an example, but it can also be a set of inflection points composed of multiple inflection points. The same operation method is used for the inflection point set as for the inflection point, which will not be elaborated further here.

[0020] Step S103: In response to satisfying the constraint conditions, control the turning radius and perform circular interpolation at the adjacent inflection points before and after the midpoint, and make obstacle avoidance judgments.

[0021] Specifically, in this embodiment, when deleting an inflection point, a certain minimum turning radius R needs to be maintained between the two inflection points. If a straight line connection between two inflection points cannot meet the turning radius requirement, then the two inflection points are connected by an arc. The center and radius of the arc are determined by the geometric relationship of the inflection points.

[0022] On the arc, more intermediate points are subdivided according to a certain step size, and obstacle avoidance judgment is performed on the intermediate points to ensure that the path is smooth and meets the installation requirements. These intermediate points are obtained by subdividing the arc, and the subdivision step size generally depends on the optimization accuracy requirements.

[0023] If a subdivided midpoint on the arc conflicts with obstacle avoidance, return and adjust the path. If there is no conflict, update the path, incorporating the optimized inflection point and arc path into the final trajectory.

[0024] Step S104: After updating the pipeline trajectory and inflection points, the final pipeline trajectory is generated.

[0025] Specifically, in this embodiment, during the entire optimization process, after each inflection point deletion, the inflection point set of the entire pipeline path needs to be updated. Once all optimization steps are completed, the path will be adjusted based on the modified inflection point set and the newly added arc path. Each time an inflection point is deleted, an obstacle avoidance check is performed to ensure that the path always meets all engineering requirements, including turning radius and minimum safety distance. The path diagrams before and after inflection point deletion are shown below. Figure 2 and Figure 3 As shown.

[0026] This embodiment describes a method for deleting inflection points based on pipeline trajectory optimization. By removing unnecessary inflection points and connecting straight lines, it reduces the tortuosity of the pipeline, making the pipeline path more straight and smooth. By introducing a turning radius limit and using arcs to connect overly sharp inflection points, it ensures that the pipeline design meets the minimum bending radius requirements, avoiding excessive bending or failure of the pipeline structure. Since the optimized path reduces complex bends and redundant path segments, subsequent installation processes do not require handling overly complex issues, thus improving construction speed.

[0027] It should be noted that the above description describes some embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0028] Based on the same inventive concept, and corresponding to the methods of any of the above embodiments, the embodiments of this application also provide an inflection point deletion system based on pipeline trajectory optimization.

[0029] like Figure 4 As shown, the inflection point deletion system based on pipeline trajectory optimization includes: The path planning module 11 is configured to optimize the pipeline path based on the pipeline's starting point and ending point using a path planning algorithm to obtain an optimized trajectory. The inflection point deletion module 12 is configured to select the inflection point to be deleted from the optimized path, directly connect the adjacent inflection points before and after the inflection point to be deleted, subdivide the direct connection line segment into several intermediate points, and perform obstacle avoidance judgment on the subdivided intermediate points. The turning radius control module 13 is configured to respond to the constraint conditions by controlling the turning radius and interpolating the arc at adjacent turning points before and after the turning point, and to make obstacle avoidance judgments. The trajectory generation module 14 is configured to generate the final pipeline trajectory after updating the pipeline trajectory and inflection points.

[0030] For ease of description, the above system is described by dividing it into various modules based on their functions. Of course, in implementing the embodiments of this application, the functions of each module can be implemented in one or more software and / or hardware.

[0031] The system described in the above embodiments is used to implement the corresponding method in any of the foregoing embodiments and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0032] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, embodiments of this application also provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the methods described in any of the above embodiments.

[0033] Figure 5 This embodiment illustrates a more specific hardware structure of an electronic device, which may include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0034] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0035] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0036] The input / output interface 1030 is used to connect input / output modules to realize information input and output. The input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touch screens, microphones, various sensors, etc., and output devices may include displays, speakers, vibrators, indicator lights, etc.

[0037] The communication interface 1040 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0038] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0039] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0040] The electronic devices described above are used to implement the corresponding methods in any of the foregoing embodiments and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0041] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this application also provides a non-transitory computer-readable storage medium that stores computer instructions for causing the computer to perform the methods described in any of the above embodiments.

[0042] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0043] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to perform the methods described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0044] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application (including the claims) is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in the details for the sake of brevity.

[0045] Although this application has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0046] The embodiments of this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this application should be included within the protection scope of this application.

Claims

1. A method for deleting inflection points based on pipeline trajectory optimization, characterized in that, include: Based on the starting and ending points of the pipeline path, the pipeline path is optimized using a path planning algorithm to obtain an optimized trajectory. By selecting the inflection point to be deleted from the optimized path, directly connecting the adjacent inflection points before and after the inflection point to be deleted, subdividing the direct connection line segment into several intermediate points, and performing obstacle avoidance judgment on the subdivided intermediate points. In response to the satisfaction of the constraint conditions, the turning radius is controlled and the arc is interpolated at the adjacent inflection points before and after the midpoint, and obstacle avoidance judgment is made. After updating the pipeline trajectory and inflection points, the final pipeline trajectory is generated.

2. The method according to claim 1, characterized in that: The obstacle avoidance judgment includes determining whether there are any part walls or obstacle avoidance space points within the threshold range of the intermediate point.

3. The method according to claim 1, characterized in that: If no part wall or obstacle avoidance space point exists within the threshold range of the intermediate point, then a turning arc is established at the adjacent inflection points before and after the inflection point to be deleted, with the turning radius, and the arc is subdivided into several intermediate points.

4. The method according to claim 1, characterized in that: If a part wall or obstacle avoidance space point exists at the intermediate point threshold, the system will report an error and indicate that the inflection point deletion failed.

5. A turning point deletion system based on pipeline trajectory optimization, characterized in that, include: The path planning module is configured to optimize the pipeline path using a path planning algorithm based on the pipeline's starting and ending points to obtain an optimized trajectory. The inflection point deletion module is configured to select an inflection point to be deleted from the optimized path, directly connect the adjacent inflection points before and after the inflection point to be deleted, subdivide the direct connection line segment into several intermediate points, and perform obstacle avoidance judgment on the subdivided intermediate points. The turning radius control module is configured to, in response to the satisfaction of constraint conditions, perform turning radius control and circular interpolation at the adjacent turning points before and after the midpoint, and make obstacle avoidance judgments. The trajectory generation module is configured to generate the final pipeline trajectory after updating the pipeline trajectory and inflection points.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the method as claimed in any one of claims 1-4.

7. A non-transitory computer-readable storage medium, characterized in that, in, The non-transitory computer-readable storage medium stores computer instructions for causing a computer to perform the method described in any one of claims 1-4.

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