A design method of a road marking construction robot

Abstract

The present application relates to the technical field of computer-aided design, in particular to a road marking construction robot design method, comprising the following steps: obtaining surface temperature parameters of heat source components in a three-dimensional grid model of a marking robot, current intensity parameters of high-power motors, whole machine running speed parameters and cooling fan rotating speed parameters; constructing a flow field thermal wake map based on the whole machine running speed parameters and the cooling fan rotating speed parameters. In the present application, according to the three-dimensional coordinate matching standard clamp punching coordinate parameters and thread specification parameters of each fixed node under the non-intersection state, a fixed component assembly feature set can be directly formed, so that the pipeline wiring path, fixed node setting and fastener assembly parameters maintain a continuous corresponding relationship, thereby improving the manufacturability of the internal pipeline design of the road marking construction robot.

Description

Technical Field

[0001] This invention relates to the field of computer-aided design technology, and in particular to a design method for a road marking construction robot. Background Technology

[0002] Computer-aided design technology is a comprehensive technology that utilizes computer hardware and software platforms to perform digital modeling, parametric design, structural analysis, performance verification, and design optimization of products, equipment, and engineering objects.

[0003] Current computer-aided design processes typically revolve around digital modeling, parametric design, structural analysis, performance verification, and design optimization. In practice, geometric modeling, structural verification, and assembly inspection are often handled in separate stages. The parameter sources, spatial benchmarks, and evaluation scales used in each stage are easily separated, resulting in design results that reflect the static positions of components but fail to fully represent the coupled effects of heat source temperature rise, airflow direction, motor current carrying capacity, and pipeline material bending characteristics during equipment operation. In the pipeline layout stage, common practices focus on avoiding visible entities in the 3D model and shortening connection distances. Path selection is mainly based on geometric space margins. Differences in pipeline bending stiffness, minimum radius of curvature, and local bending strain are difficult to directly incorporate into node cost comparisons, easily leading to situations where the path length is short but bends are concentrated, local stress is increased, or assembly springback is significant. Therefore, improvements are needed. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a design method for a road marking construction robot.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a design method for a road marking construction robot, comprising the following steps:

[0006] Obtain the surface temperature parameters of heat source components, the current intensity parameters of high-power motors, the overall travel speed parameters, and the cooling fan speed parameters in the 3D mesh model of the line-marking robot; construct a flow field thermal wake map based on the overall travel speed parameters and the cooling fan speed parameters;

[0007] The current intensity parameter is converted into a spatial electromagnetic field strength parameter. The node temperature parameter, wind direction vector parameter and spatial electromagnetic field strength parameter in the flow field thermal wake map are integrated with the spatial electromagnetic field strength parameter to generate a multiphysics environment interference matrix.

[0008] Extract the bending stiffness parameter and minimum radius of curvature parameter of the pipeline to be routed, and generate the pipeline bending strain energy matrix based on the curvature vector of the spatial micro-element line segment and the bending stiffness parameter;

[0009] The element values ​​in the pipeline bending strain energy matrix are fused with the node temperature parameter, the wind direction vector parameter, and the space electromagnetic field strength parameter in the multiphysics environment interference matrix to generate a space voxel pathfinding cost matrix.

[0010] Extract the normal vector parameters and flatness parameters of the metal frame surface corresponding to each mesh node, and filter the set of wall-mounted wiring mesh nodes based on the flatness parameters and the preset assembly flatness limit.

[0011] A distance penalty function is applied to the non-wall-attached mesh nodes, and a set of three-dimensional wiring trajectory nodes for pipelines is generated based on the spatial voxel pathfinding cost matrix in the set of wall-attached wiring mesh nodes.

[0012] Preferably, the method further includes:

[0013] Obtain the node spacing parameters between adjacent trajectory nodes in the 3D wiring trajectory node set of the pipeline, and input the catenary equation with the line density parameters of the pipeline to be wired to construct the drooping envelope model of the pipeline; perform interference detection between the drooping envelope model of the pipeline and the envelope surface of the bottom part in the 3D mesh model of the scribing robot. If they intersect, insert a new fixed node and iterate the interference detection until there is no intersection; match the standard clamp drilling coordinate parameters and thread specification parameters corresponding to the 3D coordinates of each fixed node in the no-intersection state to generate a fixed component assembly feature set.

[0014] Preferably, the steps for obtaining the flow field thermal wake map are as follows:

[0015] The corresponding surface mesh nodes in the 3D mesh of the marking robot are retrieved according to the heat source component identification. The node number, 3D coordinates, sampling time and surface temperature value are read for each node. The current intensity value corresponding to the same sampling time is read according to the high-power motor identification. The overall machine speed parameter is extracted from the overall machine operation record and the cooling fan speed parameter is extracted from the cooling fan control record. All parameters are arranged in order according to the unified sampling time. Entries with missing sampling time, mismatched node numbers or duplicate parameter records are deleted to obtain the surface temperature parameter of the heat source component, the current intensity parameter of the high-power motor, the overall machine speed parameter and the cooling fan speed parameter.

[0016] The space surrounding the line-marking robot is divided into fluid grid nodes with consistent coordinate spacing. The overall robot speed parameter is converted into the relative inflow velocity of the fluid grid boundary nodes. The cooling fan speed parameter is converted into the velocity increment of the fan outlet area nodes. The surface temperature parameter of the heat source component is written into the corresponding surface grid node. The initial particle distribution of the fluid grid nodes is configured according to each discrete migration direction. The post-collision particle distribution of each fluid grid node is calculated round by round. The post-collision particle distribution is migrated to the adjacent fluid grid node in the corresponding direction. The node density, node velocity vector, and node temperature are updated cumulatively. The iteration stops when the node velocity difference and node temperature difference obtained from two consecutive rounds of updates do not exceed the preset convergence limit. The node temperature parameter and wind direction vector parameter are recorded according to the fluid grid node number to generate a flow field thermal wake map.

[0017] Preferably, the steps for obtaining the multiphysics environment interference matrix are as follows:

[0018] The current intensity parameters of the high-power motor are called, and the current-carrying conductor is divided into continuous micro-element segments according to the spatial orientation of the current-carrying conductor of the high-power motor. The starting coordinates, ending coordinates, current direction and current intensity of each micro-element segment are read one by one. The distance parameters, direction angle parameters and spatial direction parameters from each fluid grid node to each micro-element segment are calculated. The field strength components generated by each micro-element segment at the corresponding fluid grid node are accumulated according to the attenuation relationship of the distance parameters to obtain the spatial electromagnetic field strength parameters. The node temperature parameters, wind direction vector parameters and spatial electromagnetic field strength parameters in the flow field thermal wake map are converted to the same three-dimensional coordinate reference. For parameter records with non-overlapping coordinates, adjacent fluid grid nodes are selected according to the distance between nodes from small to large. The parameters are allocated according to the inverse ratio of the distance between nodes. The node temperature parameters, wind direction vector parameters and spatial electromagnetic field strength parameters are arranged row by row according to the fluid grid node number to generate a multiphysics environment interference matrix.

[0019] Preferably, the step of obtaining the pipeline bending strain energy matrix is ​​as follows:

[0020] Retrieve the pipeline specification identifier corresponding to the pipeline to be routed, and read the material elastic modulus, pipeline outer diameter, pipeline inner diameter, pipe wall thickness and allowable bending level according to the pipeline specification identifier. Determine the inertial characteristic value of the pipeline cross section based on the pipeline outer diameter and pipeline inner diameter. Multiply the material elastic modulus with the inertial characteristic value to obtain the bending stiffness parameter of the pipeline to be routed in spatial bending state to resist curvature change. Read the lower limit of allowable bending radius in the manufacturing constraint record according to the pipeline specification identifier, eliminate the records that are less than the structural limit value corresponding to the pipeline outer diameter, select the minimum value in the remaining records, and obtain the bending stiffness parameter and minimum curvature radius parameter of the pipeline to be routed.

[0021] The connection between adjacent voxel nodes in the wiring space is divided into spatial micro-element segments. The directional change is determined according to the preceding and following direction vectors of the spatial micro-element segments. The curvature vector of each spatial micro-element segment is determined in combination with the length of the spatial micro-element segments. The curvature radius corresponding to the curvature vector is compared with the minimum curvature radius parameter. Spatial micro-element segments with curvature radii smaller than the minimum curvature radius parameter are deleted. The curvature vectors of the remaining spatial micro-element segments are decomposed according to three coordinate directions. The bending strain energy values ​​in each coordinate direction are calculated in combination with the bending stiffness parameter. The bending strain energy values ​​are arranged according to the voxel node number and the connection order of the spatial micro-element segments to generate the pipeline bending strain energy matrix.

[0022] Preferably, the step of obtaining the spatial voxel pathfinding cost matrix is ​​as follows:

[0023] According to the voxel node number, the node temperature parameter, wind direction vector parameter, and spatial electromagnetic field strength parameter in the multiphysics environment interference matrix are called. The maximum and minimum values ​​of the element values ​​of the pipeline bending strain energy matrix, the node temperature parameter, the wind direction vector parameter magnitude, and the spatial electromagnetic field strength parameter are calculated respectively. The corresponding minimum value is subtracted from each value, and then divided by the difference between the corresponding maximum value and the corresponding minimum value to obtain the normalized values ​​of bending strain energy, node temperature, wind direction vector, and spatial electromagnetic field strength with consistent value range. According to the preset bending constraint weight coefficient, thermal environment weight coefficient, airflow disturbance weight coefficient, and electromagnetic interference weight coefficient, the four normalized values ​​corresponding to the same voxel node are linearly summed. The summation results are arranged according to the voxel node number to generate the spatial voxel pathfinding cost matrix.

[0024] Preferably, the step of obtaining the wall-mounted wiring mesh node set is as follows:

[0025] The grid node numbers, 3D coordinates, and adjacent triangular mesh faces corresponding to the metal frame surface are read one by one from the 3D mesh model of the marking robot. The vertical direction of each triangular mesh face is calculated according to the vertex arrangement direction of the adjacent triangular mesh faces. After unifying the vertical direction orientation, the vertical direction is weighted and synthesized according to the area of ​​the triangular mesh face to obtain the normal vector parameters of the metal frame surface corresponding to each grid node. The continuously adjacent triangular mesh faces around each grid node are selected, and all vertices of the triangular mesh faces are projected onto the reference plane determined according to the normal vector parameters. The vertical distance from each vertex to the reference plane is counted, and the difference between the maximum vertical distance and the minimum vertical distance is calculated to obtain the plane flatness parameter. The grid nodes whose plane flatness parameter is less than or equal to the preset assembly flatness limit are retained, and the corresponding normal vector parameters are associated with the retained grid nodes to generate a set of wall-mounted wiring grid nodes.

[0026] Preferably, the steps for obtaining the three-dimensional wiring trajectory node set of the pipeline are as follows:

[0027] Retrieve all grid nodes in the 3D mesh model of the line-marking robot according to the grid node number. Mark the grid nodes not recorded by the wall-attached wiring grid node set as non-wall-attached grid nodes. For each non-wall-attached grid node, calculate the spatial distance from the 3D coordinates of the grid nodes in the wall-attached wiring grid node set to the 3D coordinates of each grid node. Select the minimum spatial distance as the wall-attached deviation distance of the corresponding non-wall-attached grid node. Divide the wall-attached deviation distance by the standard spacing between adjacent voxel nodes. Determine the distance penalty value according to the obtained distance ratio and the preset distance penalty coefficient. Set the distance penalty value of the wall-attached wiring grid node to zero. Read the original cost value in the spatial voxel pathfinding cost matrix according to the grid node number. Add the original cost value to the distance penalty value. Arrange the grid nodes in ascending order of the addition result to generate the voxel node extended cost sequence.

[0028] The wall-mounted wiring grid node corresponding to the starting position of the pipeline to be wired is set as the starting grid node, and the wall-mounted wiring grid node corresponding to the ending position of the pipeline to be wired is set as the ending grid node. Starting from the starting grid node, adjacent grid nodes with direct connection relationship are searched, and adjacent grid nodes that have been expanded are removed. The arrangement position of the remaining adjacent grid nodes in the voxel node expansion cost sequence is read, the connection direction from the current grid node to each remaining adjacent grid node is calculated, the normal vector parameter of the metal frame surface corresponding to the current grid node is called, and adjacent grid nodes whose connection direction deviates from the tangential range of the metal frame surface are removed. From the remaining adjacent grid nodes, the grid node with the smallest cumulative cost value is selected as the next expansion grid node, and the predecessor grid node corresponding to the next expansion grid node is recorded. The adjacent grid node search, direction filtering and cumulative cost value comparison are performed iteratively until the ending grid node is selected. According to the predecessor grid node record, the process is reversed from the ending grid node to the starting grid node. The three-dimensional coordinates of the grid nodes obtained by tracing are rearranged according to the wiring direction to generate a set of three-dimensional wiring trajectory nodes for the pipeline.

[0029] Preferably, the step of obtaining the fastener assembly feature set is as follows:

[0030] The three-dimensional coordinates of each adjacent trajectory node are read from the set of three-dimensional pipeline wiring trajectory nodes according to the arrangement order of the trajectory nodes. The coordinate difference in the three coordinate directions is calculated respectively. The straight distance between adjacent trajectory nodes is determined according to the coordinate difference. The straight distance is recorded as the node spacing parameter. The linear density parameter of the pipeline to be wired is read according to the specification mark of the pipeline to be wired. For each adjacent trajectory node segment, a local coordinate system is established with the trajectory line segment direction as the horizontal axis and the self-weight direction as the vertical axis. The node spacing parameter and the linear density parameter of the pipeline to be wired are input into the catenary equation. The horizontal tension parameter is adjusted successively according to the endpoint constraints of the adjacent trajectory nodes until the difference between the calculated arc length and the length of the pipeline to be wired in the corresponding trajectory line segment does not exceed the preset length deviation limit. The tension parameter and droop curve coordinate of each trajectory line segment are obtained. The droop curve coordinate is converted to the three-dimensional coordinate system of the three-dimensional mesh model of the marking robot. The droop curve is radially extended according to the outer diameter parameter of the pipeline to be wired. The radial boundaries of the adjacent trajectory line segments are connected to construct the pipeline droop envelope model.

[0031] According to a unified three-dimensional coordinate reference, the envelope surface of the bottom part located below the drooping envelope model of the pipeline in the three-dimensional mesh model of the marking robot is read. It is determined one by one whether the surface mesh of the drooping envelope model of the pipeline passes through the envelope surface of the bottom part. The overlapping volume corresponding to the crossing area is calculated. If the overlapping volume is greater than the preset interference volume limit, the spatial center coordinates of the overlapping area are extracted. The spatial center coordinates are projected to the trajectory line segment with the smallest distance to determine the trajectory line segment corresponding to the interference position. A new fixed node is inserted at the midpoint of the trajectory line segment corresponding to the interference position. The adjacent trajectory nodes are re-divided according to the new fixed node, the node spacing parameters are updated, and the tension parameter solution, drooping curve coordinate transformation and surface mesh crossing judgment are re-executed until all overlapping volumes are not greater than the preset interference volume limit. The three-dimensional coordinates of each fixed node are read according to the arrangement order of the fixed nodes to obtain the three-dimensional coordinates of the fixed nodes in the non-intersecting state.

[0032] Based on the three-dimensional coordinates of the fixed nodes in the non-intersecting state, the metal frame surface mesh with the smallest distance to each fixed node is retrieved one by one. The normal vector parameters, surface thickness parameters, and drillable boundary coordinates of the metal frame surface mesh are read. The three-dimensional coordinates of the fixed nodes are projected onto the metal frame surface mesh along the corresponding normal vector parameters to obtain the installation projection coordinates corresponding to the fixed nodes. It is determined whether the minimum distance from the installation projection coordinates to the drillable boundary coordinates is greater than the preset edge safety limit. The installation projection coordinates that meet the edge safety limit are retained. The clamping diameter range of the standard clamp is retrieved according to the outer diameter parameter of the pipeline to be wired. The standard clamp is selected whose clamping diameter range covers the outer diameter parameter of the pipeline to be wired. The hole spacing parameters and hole position direction parameters of the standard clamp are read. With the installation projection coordinates as the center, the drilling coordinate parameters of the standard clamp are determined according to the hole spacing parameters and hole position direction parameters. The nominal diameter, pitch parameters, and effective engagement length of the thread are matched according to the surface thickness parameters of the metal frame surface mesh and the connection hole diameter parameters of the standard clamp. The three-dimensional coordinates of the fixed nodes, the drilling coordinate parameters of the standard clamp, and the thread specification parameters are associated according to the arrangement order of the fixed nodes to generate a fastener assembly feature set.

[0033] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0034] This invention integrates the internal heat source state, current carrying state, overall motion state, and active heat dissipation state of the equipment into a unified design process by simultaneously acquiring the surface temperature parameters of heat source components, current intensity parameters of high-power motors, overall machine travel speed parameters, and cooling fan speed parameters. This allows the environmental constraints in the 3D mesh model of the marking robot to no longer remain at the level of static geometric relationships, but to reflect the impact of changes in operating conditions on the pipeline layout space. Based on the overall machine travel speed parameters and cooling fan speed parameters, a flow field thermal wake map is constructed, obtaining the node temperature parameters and wind direction vector parameters at different mesh nodes. The current intensity parameters are then converted into spatial electromagnetic field strength parameters and integrated according to the mesh nodes, forming a multi-physics environmental interference matrix with spatial positional correspondences based on temperature influence, airflow disturbance, and electromagnetic interference, thereby improving the completeness of environmental risk identification. Furthermore, based on the bending stiffness parameters, minimum curvature radius parameters, and curvature vectors of spatial micro-element line segments of the pipeline to be laid, a pipeline bending strain energy matrix is ​​generated. This converts the pipeline material properties, bending load-bearing capacity, and spatial turning degree into comparable cost values, which are then combined with node temperature parameters and wind direction vectors. By fusing vector parameters and spatial electromagnetic field strength parameters, a spatial voxel pathfinding cost matrix is ​​formed that takes into account both mechanical bending constraints and environmental interference constraints. This allows pipeline trajectory selection to move beyond simply pursuing distance reduction, while simultaneously avoiding excessive bending, localized temperature rise, airflow impact, and electromagnetic interference regions. By filtering the wall-hugging wiring mesh node set using the normal vector parameters and planar flatness parameters of the metal frame surface, and applying distance penalties to non-wall-hugging mesh nodes, the node expansion direction can be made to better conform to the metal frame surface, reducing pipeline overhang spans and ineffective detours. Combined with node spacing parameters and linear density parameters... The model of the drooping envelope of the pipeline is constructed by taking into account the number of components and its own weight. Then, based on the envelope surface of the bottom component, the intersection status is continuously detected and new fixed nodes are inserted. The spatial intrusion risk caused by the drooping of the pipeline due to its own weight can be checked in advance during the design stage until a non-intersection state is obtained. According to the three-dimensional coordinates of each fixed node in the non-intersection state, the standard clamp drilling coordinate parameters and thread specification parameters are matched, and a fixed component assembly feature set can be directly formed. This ensures that the pipeline routing path, fixed node settings and fastener assembly parameters maintain a continuous correspondence, thereby improving the manufacturability of the internal pipeline design of the road marking construction robot. Attached Figure Description

[0035] Figure 1 Map of the thermal wake of the flow field;

[0036] Figure 2 A schematic diagram of the pathfinding cost matrix for spatial voxels. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0038] Please see Figure 1-2 This invention provides a technical solution, a design method for a road marking construction robot, comprising the following steps:

[0039] The surface temperature parameters of heat source components, current intensity parameters of high-power motors, overall travel speed parameters, and cooling fan speed parameters of the three-dimensional mesh model of the line-marking robot are obtained; a flow field thermal wake map is constructed based on the overall travel speed parameters and cooling fan speed parameters; the current intensity parameters are converted into spatial electromagnetic field strength parameters, and the node temperature parameters, wind direction vector parameters, and spatial electromagnetic field strength parameters in the flow field thermal wake map are integrated to generate a multiphysics environment interference matrix;

[0040] The bending stiffness parameter and minimum curvature radius parameter of the pipeline to be routed are extracted. Based on the curvature vector and bending stiffness parameter of the spatial micro-element line segment, the bending strain energy matrix of the pipeline is generated. The element values ​​in the bending strain energy matrix of the pipeline are fused with the node temperature parameter, wind direction vector parameter and spatial electromagnetic field strength parameter in the multi-physics field environment interference matrix to generate the spatial voxel pathfinding cost matrix.

[0041] Extract the normal vector parameters and planar flatness parameters of the metal frame surface corresponding to each mesh node, and filter the set of wall-mounted wiring mesh nodes based on the planar flatness parameters and the preset assembly flatness limit; apply a distance penalty function to the non-wall-mounted mesh nodes, and generate a set of pipeline 3D wiring trajectory nodes based on the spatial voxel pathfinding cost matrix in the set of wall-mounted wiring mesh nodes.

[0042] Obtain the node spacing parameters between adjacent trajectory nodes in the 3D pipeline routing trajectory node set, and input the catenary equation with the line density parameters of the pipeline to be routed to construct the drooping envelope model of the pipeline; perform interference detection between the drooping envelope model of the pipeline and the envelope surface of the bottom part in the 3D mesh model of the scribing robot. If they intersect, insert a new fixed node and iterate the interference detection until there is no intersection; match the standard clamp drilling coordinate parameters and thread specification parameters corresponding to the 3D coordinates of each fixed node in the non-intersection state to generate the fastener assembly feature set.

[0043] The steps to obtain the thermal wake map of the flow field are as follows:

[0044] The corresponding surface mesh nodes in the 3D mesh of the marking robot are retrieved according to the heat source component identification. The node number, 3D coordinates, sampling time and surface temperature value are read for each node. The current intensity value corresponding to the same sampling time is read according to the high-power motor identification. The overall machine speed parameter is extracted from the overall machine operation record and the cooling fan speed parameter is extracted from the cooling fan control record. All parameters are arranged in order according to the unified sampling time. Entries with missing sampling time, mismatched node numbers or duplicate parameter records are deleted to obtain the surface temperature parameter of the heat source component, the current intensity parameter of the high-power motor, the overall machine speed parameter and the cooling fan speed parameter.

[0045] The space surrounding the line-marking robot is divided into fluid mesh nodes with consistent coordinate spacing. The overall robot speed parameter is converted into the relative inflow velocity of the fluid mesh boundary nodes. The cooling fan speed parameter is converted into the velocity increment of the nodes in the fan exhaust area. The surface temperature parameters of the heat source components are written into the corresponding surface mesh nodes. The initial particle distribution of the fluid mesh nodes is configured according to each discrete migration direction. The post-collision particle distribution of each fluid mesh node is calculated round by round. The post-collision particle distribution is migrated to the adjacent fluid mesh nodes in the corresponding direction. The node density, node velocity vector, and node temperature are updated cumulatively. The iteration stops when the node velocity difference and node temperature difference obtained from two consecutive rounds of updates do not exceed the preset convergence limit. The node temperature parameters and wind direction vector parameters are recorded according to the fluid mesh node number to generate a flow field thermal wake map.

[0046] Specifically, based on the heat source component identification, such as an engine exhaust manifold, hydraulic pump, or DC-DC converter, the corresponding surface mesh node is retrieved in the 3D mesh model of the marking robot. For each retrieved node, its node number, 3D coordinates (x, y, z), and sampling time in Uniform Coordinated Time (UTC) format are read one by one. and surface temperature values Simultaneously, the identifiers of high-power motors, such as drive motors or stirring motors, are read at the same sampling time. The recorded current intensity values Then, from the operation log of the whole machine controller local area network bus, based on the timestamp Extract the corresponding overall vehicle speed parameters And extract the corresponding fan speed parameters from the pulse width modulation control records of the cooling fan. The collected surface temperature parameters, current intensity parameters, overall machine travel speed parameters, and cooling fan speed parameters are then processed according to the sampling time. The data is sorted in ascending order to form a multidimensional time series dataset. Then, the dataset is checked for integrity. For example, a time synchronization tolerance of 50 milliseconds is set. If the timestamp deviation of the data at a certain sampling moment between different parameter types exceeds this tolerance, it is marked as a missing moment. At the same time, it is checked whether the node number of the heat source component can be found in the 3D mesh model, and it is screened for two or more duplicate records with the same sampling moment, node number and parameter value. All entries marked as missing moments, non-corresponding node numbers or duplicate parameter records are deleted from the dataset. Finally, a cleaned and aligned effective dataset is obtained, which contains the surface temperature parameters of the heat source component, the current intensity parameters of the high-power motor, the overall running speed parameters and the cooling fan speed parameters.

[0047] The obtained parameters of the overall machine's travel speed, cooling fan speed, and surface temperature of the heat source components are used as boundary conditions to construct the flow field model. First, the solution domain around the robot is divided into a series of coordinate intervals, e.g., 5 mm, using a consistent Cartesian fluid mesh. The overall machine's travel speed parameters are then used as boundary conditions to construct the flow field model. Converted to relative inflow velocity at the inlet boundary node of the flow field computational domain Cooling fan speed parameters The speed increment of the corresponding grid node in the fan outlet area is converted from the fan performance curve. The surface temperature parameters of the heat source component A fixed temperature boundary condition is applied to the fluid mesh nodes that coincide with the surface of the robot's 3D model. The Lattice Boltzmann Method (LBM) is then used to simulate the coupled distribution of the flow and temperature fields. Specifically, for each fluid mesh node, the temperature is set at one of the 19 discrete velocity directions defined in the D3Q19 model. Configure the initial particle distribution function. Then, it proceeds to iterative calculations. In each iteration step, the post-collision particle distribution at each fluid mesh node is first calculated. Its evolution process follows the Bhatnagar-Gross-Krook model, which includes external force and heat source terms:

[0048] ;

[0049] in, It is a dimensionless relaxation time related to fluid viscosity. It is the local equilibrium distribution function corresponding to macroscopic velocity and density. It is the time step. The external force term considering buoyancy is then applied, followed by a migration step to migrate the particle distribution function after the collision to the adjacent fluid mesh nodes in the corresponding direction. After migration, the macroscopic density of each node is cumulatively updated by statistically analyzing the distribution functions in all directions. Velocity vector and temperature The iteration continues until the difference in the average velocity across the entire field is calculated in two consecutive iterations. Difference from average temperature All are less than the preset convergence limit, which is set according to the calculation accuracy requirements. For example, the velocity convergence limit is set to... The temperature convergence limit is set to Once the iteration converges, the steady-state temperature parameters and wind direction vector parameters of each node are recorded one by one according to the fluid grid node number to generate a flow field thermal wake map.

[0050] The steps for obtaining the multiphysics environment interference matrix are as follows:

[0051] The current intensity parameters of the high-power motor are retrieved, and the current-carrying conductor is divided into continuous micro-element segments according to the spatial orientation of the high-power motor current-carrying conductor. The starting coordinates, ending coordinates, current direction, and current intensity of each micro-element segment are read one by one. The distance parameters, direction angle parameters, and spatial direction parameters from each fluid grid node to each micro-element segment are calculated. The field strength components generated by each micro-element segment at the corresponding fluid grid node are accumulated according to the attenuation relationship of the distance parameters to obtain the spatial electromagnetic field strength parameters. The node temperature parameters, wind direction vector parameters, and spatial electromagnetic field strength parameters in the flow field thermal wake map are converted to the same three-dimensional coordinate reference. For parameter records where the coordinates do not overlap, adjacent fluid grid nodes are selected according to the distance between nodes from small to large. The parameters are allocated according to the inverse ratio of the distance between nodes. The node temperature parameters, wind direction vector parameters, and spatial electromagnetic field strength parameters are arranged row by row according to the fluid grid node number to generate a multiphysics environment interference matrix.

[0052] Specifically, it calls up the current intensity parameters of the high-power motor that have already been acquired. Based on the geometric layout of the motor and its power supply cables in the three-dimensional model, the conductor portion carrying the main current is divided into a series of interconnected micro-element segments. For each infinitesimal line segment, its starting point coordinates, ending point coordinates, current direction vector, and corresponding current intensity are read. Then, the Biot-Savart law is applied to calculate the spatial electromagnetic field distribution for any fluid mesh node in the solution domain. , by the A current-carrying infinitesimal element segment The magnetic induction intensity element generated at this point for:

[0053] ;

[0054] in, It is the vacuum permeability, a physical constant. From the current-carrying infinitesimal element line segment to the node The position vector is obtained by vector superposition of the magnetic induction intensities generated by all infinitesimal line segments, yielding the total spatial electromagnetic field strength parameter at that node. Repeat this calculation for all fluid mesh nodes, and then input the node temperature parameters from the flow field thermal wake map generated in the previous steps. Wind direction vector parameters The spatial electromagnetic field strength parameters just calculated Integrating into a unified three-dimensional coordinate reference, since the computational grids of different physical fields may not overlap, spatial interpolation is performed using an inverse distance weighted method for parameter records whose coordinates do not precisely overlap. Specifically, for a target node without parameter values, the N nearest neighboring fluid grid nodes (e.g., N=4) with existing data are selected. Parameter values ​​are assigned based on the reciprocal of the distance from each neighboring node to the target node. Then, according to the unified fluid grid node numbering, the node temperature parameter, wind direction vector parameter, and spatial electromagnetic field strength parameter of each node are arranged row by row to generate a... A 3D matrix, namely the multiphysics environment interference matrix.

[0055] The steps for obtaining the pipeline bending strain energy matrix are as follows:

[0056] Retrieve the pipeline specification identifier corresponding to the pipeline to be routed, and read the material elastic modulus, pipeline outer diameter, pipeline inner diameter, pipe wall thickness and allowable bending level according to the pipeline specification identifier. Determine the inertial characteristic value of the pipeline cross section based on the pipeline outer diameter and pipeline inner diameter. Multiply the material elastic modulus with the inertial characteristic value to obtain the bending stiffness parameter of the pipeline to be routed in spatial bending state to resist curvature change. Read the lower limit of allowable bending radius in the manufacturing constraint record according to the pipeline specification identifier, eliminate the records that are less than the structural limit value corresponding to the pipeline outer diameter, select the minimum value in the remaining records, and obtain the bending stiffness parameter and minimum curvature radius parameter of the pipeline to be routed.

[0057] The connection between adjacent voxel nodes in the space to be wired is divided into spatial micro-element segments. The directional change is determined according to the preceding and following direction vectors of the spatial micro-element segments. The curvature vector of each spatial micro-element segment is determined by combining the length of the spatial micro-element segments. The curvature radius corresponding to the curvature vector is compared with the minimum curvature radius parameter. Spatial micro-element segments with curvature radii smaller than the minimum curvature radius parameter are deleted. The curvature vectors of the remaining spatial micro-element segments are decomposed according to three coordinate directions. The bending strain energy values ​​in each coordinate direction are calculated by combining the bending stiffness parameter. The bending strain energy values ​​are arranged according to the voxel node number and the connection order of the spatial micro-element segments to generate the pipeline bending strain energy matrix.

[0058] Specifically, based on the specifications of the pipeline to be routed, such as hydraulic hoses or high-voltage signal lines, relevant physical and mechanical property parameters, including the material's elastic modulus, are retrieved from the material database provided by the pipeline supplier. For example, the elastic modulus of PA12 nylon tubing is typically around 1.2 GPa, and the outer diameter of the tubing... Inner diameter of the pipeline Based on these geometric parameters, including the pipe wall thickness, the bending moment of inertia of the pipeline cross-section is determined. For pipelines with a hollow circular cross-section, the calculation formula is:

[0059] ;

[0060] in, The outer diameter of the pipeline. For the inner diameter of the pipeline, the material's elastic modulus will be retrieved. The calculated bending moment of inertia Performing a product operation yields the bending stiffness parameter, which characterizes the pipeline's ability to resist bending deformation. The physical meaning of this parameter is the bending moment required under a unit curvature change. Simultaneously, according to the same pipeline specification, the lower limit records of the allowable bending radius are read from the manufacturing process constraints and material fatigue life database. These records may contain multiple values, such as constraint values ​​from different manufacturing batches or different bending processes. These records are then filtered to identify all values ​​smaller than the minimum bending radius limited by the pipeline's own structure, such as less than 1.5 times the pipeline's outer diameter. Invalid records are removed, and then the record with the smallest value is selected from all remaining valid records as the minimum radius of curvature parameter for the pipeline to be routed. Ultimately, two core pipeline self-constraint parameters, namely bending stiffness parameters, are obtained for subsequent path planning. With minimum radius of curvature parameter .

[0061] The 3D space to be wired is voxelized into a series of discrete voxel nodes. The connection between any two adjacent voxel nodes can be regarded as a spatial infinitesimal line segment. For a path segment consisting of three consecutive voxel nodes A, B, and C, it contains two infinitesimal line segments. and By calculating the direction vectors of these two line segments and The angle between And combined with the average length of the infinitesimal line segment The curvature of the path at point B can be approximately calculated. Its radius of curvature for Then calculate the radius of curvature The minimum radius of curvature parameter obtained in the previous step Compare, if This indicates that the path through these three nodes violates the minimum bending constraint of the pipeline, and therefore will include this path segment, i.e., the infinitesimal line segment. arrive The connections are removed from possible paths. For all remaining spatial infinitesimal line segments that satisfy the curvature constraint, their corresponding curvature vectors are... It can be decomposed into three orthogonal directions of the global coordinate system, that is Then, based on the beam bending theory in mechanics of materials, calculate the bending strain energy stored in the pipeline when it bends at point B. The strain energy is proportional to the square of the curvature and can be discretized as follows:

[0062] ;

[0063] in, These are the previously calculated pipeline bending stiffness parameters. It is the length of the infinitesimal line segment. This calculation is repeated for all possible infinitesimal line segment connections composed of adjacent voxel nodes. The bending strain energy value corresponding to each connection (i.e. a potential path segment) is stored according to the numbers of the two voxel nodes it connects and the connection order of the line segments, forming a matrix describing the mechanical energy consumption required for passage between any two adjacent nodes in the space, i.e., the pipeline bending strain energy matrix.

[0064] The steps to obtain the spatial voxel pathfinding cost matrix are as follows:

[0065] According to the voxel node number, the node temperature parameter, wind direction vector parameter, and spatial electromagnetic field strength parameter in the multiphysics environment interference matrix are called. The element values ​​of the pipeline bending strain energy matrix, the maximum and minimum values ​​of the node temperature parameter, the wind direction vector parameter magnitude, and the spatial electromagnetic field strength parameter are counted respectively. The corresponding minimum value is subtracted from each value, and then divided by the difference between the corresponding maximum value and the corresponding minimum value to obtain the normalized values ​​of bending strain energy, node temperature, wind direction vector, and spatial electromagnetic field strength with consistent value range. According to the preset bending constraint weight coefficient, thermal environment weight coefficient, airflow disturbance weight coefficient, and electromagnetic interference weight coefficient, the four normalized values ​​corresponding to the same voxel node are linearly summed. The summation results are arranged according to the voxel node number to generate the spatial voxel pathfinding cost matrix.

[0066] Specifically, based on the unique ID of each voxel node, the node temperature parameter corresponding to each node is retrieved from the multiphysics environment interference matrix. Wind direction vector parameters (take its modulus) ) and space electromagnetic field strength parameters (take its modulus) Simultaneously, it calls the values ​​of the bending strain energy elements associated with that node in the pipeline bending strain energy matrix. To eliminate the influence of different physical dimensions, these four parameters are normalized. First, the maximum values ​​of these four parameters on all voxel nodes are calculated. ) and minimum value ( Then, the minimum-maximum normalization method is used to normalize the original values ​​of each parameter. Convert to a normalized value in the range [0, 1]. :

[0067] ;

[0068] in Can represent respectively , , , This yields normalized values ​​for bending strain energy, nodal temperature, wind direction vector, and spatial electromagnetic field strength. Then, based on the influence of each physical field on pipeline performance and lifespan, a set of preset weighting coefficients is set. For example, bending constraint weighting coefficients are set based on expert experience or analysis of extensive experimental data. The value is 0.4 because excessive bending directly leads to mechanical damage, and the thermal environment weighting factor is also considered. The value is 0.3 because high temperatures accelerate material aging, and the electromagnetic interference weighting coefficient... The value is 0.2 because it may affect signal transmission quality, while the airflow disturbance weighting factor... The value is 0.1 because airflow mainly affects heat dissipation, and its negative effects are partially reflected in the temperature field. For each voxel node, its corresponding four normalized values ​​are linearly weighted and summed to calculate the comprehensive pathfinding cost of that node. :

[0069] ;

[0070] in Then calculate the results of all voxel nodes. Arrange them according to their node numbers to generate a spatial voxel pathfinding cost matrix for subsequent path search algorithms.

[0071] The steps to obtain the wall-mounted wiring mesh node set are as follows:

[0072] The system reads the mesh node numbers, 3D coordinates, and adjacent triangular mesh faces corresponding to the metal frame surface from the 3D mesh model of the marking robot. It calculates the vertical direction of each triangular mesh face according to the vertex arrangement of adjacent triangular mesh faces. After unifying the vertical direction orientation, it weights and synthesizes the vertical directions based on the area of ​​the triangular mesh faces to obtain the normal vector parameters of the metal frame surface corresponding to each mesh node. It selects the continuously adjacent triangular mesh faces around each mesh node and projects all vertices of the triangular mesh faces onto a reference plane determined by the normal vector parameters. It counts the vertical distance from each vertex to the reference plane and calculates the difference between the maximum and minimum vertical distances to obtain the plane flatness parameters. Mesh nodes with plane flatness parameters less than or equal to the preset assembly flatness limit are retained. The corresponding normal vector parameters are associated with the retained mesh nodes to generate a set of wall-mounted wiring mesh nodes.

[0073] Specifically, from the loaded 3D mesh model of the marking robot, all mesh nodes constituting the surface of the metal frame are indexed one by one, and the node number, 3D coordinates, and topological information of all adjacent triangular mesh faces are read. For each mesh node, the normal vector of each associated triangular mesh face is first calculated. The calculation method is to use the coordinates of the three vertices constituting the triangular facet and obtain it through the cross product of the two edge vectors. Then, the direction of all normal vectors is unified, for example, all pointing outwards from the frame to avoid directional confusion. Then, by weighting the normal vectors of all adjacent triangular mesh faces around the node according to the area of ​​each triangular mesh face, a smoother and more representative surface normal vector parameter at the mesh node is calculated. Then, in order to assess the local flatness of the area near the node, the coordinates of the node are taken as the origin, and its normal vector is used as the coordinates. Establish a local coordinate system for the Z-axis, and project all vertices of all consecutive adjacent triangular mesh faces within a certain neighborhood around the node, for example, within a radius of 30 mm, onto the XY reference plane of this local coordinate system. At the same time, calculate the perpendicular distance from each vertex to the reference plane. Calculate the maximum value of these vertical distances. and minimum value The difference between the two is the plane flatness parameter at that node. Set an assembly flatness limit, which is determined based on the base size of the clamp used for wiring and the required contact area. For example, for a clamp with a base diameter of 20 mm, if good contact is required within 90% of the area, the limit can be set to 0.5 mm. Then, apply all calculated flatness parameters. Mesh nodes with values ​​less than or equal to this limit are retained, and the surface normal parameters corresponding to these nodes are also retained. This is also associated and saved together, ultimately forming a set of frame surface nodes that are suitable for wall mounting and have good local flatness, namely the wall-mounted wiring mesh node set.

[0074] The steps for obtaining the 3D wiring trajectory node set for pipelines are as follows:

[0075] All grid nodes in the 3D grid model of the line-marking robot are retrieved according to the grid node number. Grid nodes not recorded in the wall-attached wiring grid node set are marked as non-wall-attached grid nodes. For each non-wall-attached grid node, the spatial distance from the 3D coordinates of the grid nodes in the wall-attached wiring grid node set is calculated. The minimum spatial distance is selected as the wall-attached deviation distance of the corresponding non-wall-attached grid node. The wall-attached deviation distance is divided by the standard spacing between adjacent voxel nodes. The distance penalty value is determined according to the obtained distance ratio and the preset distance penalty coefficient. The distance penalty value of the wall-attached wiring grid node is set to zero. The original cost value in the spatial voxel pathfinding cost matrix is ​​read according to the grid node number. The original cost value is added to the distance penalty value. The grid nodes are arranged in ascending order of the addition result to generate the voxel node extended cost sequence.

[0076] The wall-mounted mesh node corresponding to the starting position of the pipeline to be routed is set as the starting mesh node, and the wall-mounted mesh node corresponding to the ending position of the pipeline to be routed is set as the ending mesh node. Starting from the starting mesh node, the adjacent mesh nodes with direct connection relationship are searched, and the adjacent mesh nodes that have been expanded are removed. The arrangement position of the remaining adjacent mesh nodes in the voxel node expansion cost sequence is read, the connection direction from the current mesh node to each remaining adjacent mesh node is calculated, the normal vector parameter of the metal frame surface corresponding to the current mesh node is called, and the adjacent mesh nodes whose connection direction deviates from the tangential range of the metal frame surface are removed. The mesh node with the smallest cumulative cost value is selected from the remaining adjacent mesh nodes as the next expanded mesh node, and the predecessor mesh node corresponding to the next expanded mesh node is recorded. The adjacent mesh node search, direction filtering and cumulative cost value comparison are performed iteratively until the ending mesh node is selected. According to the predecessor mesh node record, the process is reversed from the ending mesh node to the starting mesh node. The three-dimensional coordinates of the traced mesh nodes are rearranged according to the routing direction to generate the pipeline three-dimensional routing trajectory node set.

[0077] Specifically, based on the unique ID of each mesh node, all mesh nodes in the 3D mesh model of the marking robot are traversed. All mesh nodes not recorded in the previously generated set of attached wiring mesh nodes are marked as non-attached mesh nodes. For each marked non-attached mesh node, the Euclidean distance between its 3D coordinates and the 3D coordinates of all nodes in the attached wiring mesh node set is calculated. The minimum value among these distances is selected and defined as the non-attached mesh node's offset distance from the wall. Then, a distance penalty function is introduced to reflect the degree of deviation from the mountable surface in the pathfinding cost. First, the wall-attachment deviation distance is calculated. Divide by the standard distance between adjacent voxel nodes in the voxelization space (i.e., voxel resolution) to obtain a dimensionless distance ratio, and then multiply this ratio by a preset distance penalty coefficient. The distance penalty value of the non-wall-hugging mesh node is obtained. The penalty coefficient is set based on the mandatory requirement for wall-mounted wiring. For example, if the wiring path is required to be as close to the wall as possible, a penalty coefficient can be set. For all nodes belonging to the wall-mounted wiring mesh node set, the distance penalty is a relatively large value, such as 100. Set the value directly to zero, and then read the original cost of each node from the spatial voxel pathfinding cost matrix according to the grid node number. This original cost is compared with the distance penalty value of the corresponding node. Adding them together gives the final extended value of the node. All grid nodes and their corresponding final expansion costs are arranged in ascending order of expansion costs to generate a global sequence of voxel node expansion costs that guides the expansion order of the pathfinding algorithm.

[0078] Set the nearest wall-mounted wiring mesh node in the 3D model corresponding to the starting installation position of the pipeline to be wired as the starting mesh node. Similarly, the node corresponding to the termination installation location is set as the termination mesh node. The A* pathfinding algorithm is used to plan the optimal path. The algorithm starts from the initial grid node. Initially, the total cost is placed into an "open list," and then iteratively selected from the open list. The smallest node is selected as the current expanded mesh node. ,in , It is the actual cumulative cost from the starting node to the current node N, that is, the sum of the expansion costs of all nodes on the path. It is from the current node N to the terminating node. The estimated cost is calculated using Manhattan distance or Euclidean distance as a heuristic function for the current expanded grid nodes. Retrieve all physically directly connected neighboring grid nodes, removing those neighbors already in the "closed list" (i.e., nodes that have been expanded), and for each remaining neighboring grid node... Calculate from point to Connection direction vector and call The surface normal vector parameters of the metal frame associated with the wall-mounted wiring mesh node set. By calculating the dot product To determine the connection direction, if the absolute value of the dot product is greater than a very small limit (e.g., 0.1), it means that the connection direction significantly deviates from the tangential range of the frame surface, and the adjacent node... The node will be removed from the candidate list. From all remaining adjacent mesh nodes that satisfy the orientation constraints, the total cost of each node will be calculated. If a neighbor is not in the open list, calculate its cost and add it, while recording its predecessor node. If the new path is already in the open list, compare its cost with the cost of the new path. If the cost is lower, update the cost and predecessor node. This loop continues until the grid node is terminated. Once selected as the current extension node, starting from the termination grid node, based on the predecessor grid node information recorded by each node, it traces back to the starting grid node, rearranges the three-dimensional coordinates of all grid nodes on the tracing path according to the wiring direction from the start to the end, and generates a set of three-dimensional wiring trajectory nodes for the pipeline.

[0079] The steps for obtaining the fastener assembly feature set are as follows:

[0080] The three-dimensional coordinates of each adjacent trajectory node are read from the set of three-dimensional pipeline wiring trajectory nodes according to the arrangement order of the trajectory nodes. The coordinate difference in the three coordinate directions is calculated respectively. The straight distance between adjacent trajectory nodes is determined according to the coordinate difference. The straight distance is recorded as the node spacing parameter. The linear density parameter of the pipeline to be wired is read according to the specification mark of the pipeline to be wired. For each adjacent trajectory node segment, a local coordinate system is established with the trajectory line segment direction as the horizontal axis and the self-weight direction as the vertical axis. The node spacing parameter and the linear density parameter of the pipeline to be wired are input into the catenary equation. The horizontal tension parameter is adjusted successively according to the endpoint constraints of the adjacent trajectory nodes until the difference between the calculated arc length and the length of the pipeline to be wired in the corresponding trajectory line segment does not exceed the preset length deviation limit. The tension parameter and droop curve coordinate of each trajectory line segment are obtained. The droop curve coordinate is converted to the three-dimensional coordinate system of the three-dimensional mesh model of the scribing robot. The droop curve is radially extended according to the outer diameter parameter of the pipeline to be wired. The radial boundaries of the adjacent trajectory line segments are connected to construct the pipeline droop envelope model.

[0081] According to a unified three-dimensional coordinate reference, the envelope surface of the bottom part located below the drooping envelope model of the pipeline in the three-dimensional mesh model of the marking robot is read. It is determined one by one whether the surface mesh of the drooping envelope model of the pipeline passes through the envelope surface of the bottom part. The overlapping volume corresponding to the crossing area is calculated. If the overlapping volume is greater than the preset interference volume limit, the spatial center coordinates of the overlapping area are extracted. The spatial center coordinates are projected to the trajectory line segment with the smallest distance to determine the trajectory line segment corresponding to the interference position. A new fixed node is inserted at the midpoint of the trajectory line segment corresponding to the interference position. The adjacent trajectory nodes are re-divided according to the new fixed node, the node spacing parameters are updated, and the tension parameter solution, drooping curve coordinate transformation and surface mesh crossing judgment are re-executed until all overlapping volumes are not greater than the preset interference volume limit. The three-dimensional coordinates of each fixed node are read according to the fixed node arrangement order to obtain the three-dimensional coordinates of the fixed nodes in the non-intersecting state.

[0082] Based on the 3D coordinates of fixed nodes in a non-intersecting state, the metal frame surface mesh with the smallest distance to each fixed node is retrieved one by one. The normal vector parameters, surface thickness parameters, and drillable boundary coordinates of the metal frame surface mesh are read. The 3D coordinates of the fixed nodes are projected onto the metal frame surface mesh along the corresponding normal vector parameters to obtain the installation projection coordinates corresponding to the fixed nodes. It is determined whether the minimum distance from the installation projection coordinates to the drillable boundary coordinates is greater than the preset edge safety limit. The installation projection coordinates that meet the edge safety limit are retained. The clamping diameter range of the standard clamp is retrieved according to the outer diameter parameter of the pipeline to be routed. The standard clamps whose clamping diameter range covers the outer diameter parameter of the pipeline to be routed are selected. The hole spacing parameters and hole position direction parameters of the standard clamps are read. With the installation projection coordinates as the center, the drilling coordinate parameters of the standard clamps are determined according to the hole spacing parameters and hole position direction parameters. The nominal diameter, pitch parameters, and effective engagement length of the thread are matched according to the surface thickness parameters of the metal frame surface mesh and the connection hole diameter parameters of the standard clamps. The 3D coordinates of the fixed nodes, the drilling coordinate parameters of the standard clamps, and the thread specification parameters are associated according to the arrangement order of the fixed nodes to generate a fastener assembly feature set.

[0083] Specifically, from the already generated set of 3D pipeline routing trajectory nodes, each pair of adjacent trajectory nodes is read one by one according to the arrangement order of the trajectory nodes. and The three-dimensional coordinates are used to calculate the straight-line distance between two points as the node spacing parameter. Simultaneously, based on the specifications of the pipeline to be wired, the mass per unit length, i.e., the linear density parameter, is retrieved from the material library. For each pair of adjacent trajectory nodes and The trajectory segments formed, establish a system based on With the origin as the point, A local two-dimensional coordinate system is established, with the projection of the direction onto the horizontal plane as the x-axis and the direction of gravity as the y-axis. The catenary equation is applied in this coordinate system to accurately simulate the sagging shape of the pipeline due to its own weight. The catenary equation is:

[0084] ;

[0085] Among them, parameters , It is the horizontal tension at the lowest point of the curve. It is gravitational acceleration. It is the vertex offset of the catenary, due to the endpoints and Given known constraints, the horizontal tension parameters are adjusted through an iterative numerical solution process, such as the Newton-Raphson method. (i.e., adjusting parameters) ), so that the calculated arc length of the catenary passing through the two endpoints The difference between the actual length of the pipeline to be routed and the corresponding trajectory segment does not exceed a preset length deviation limit, such as 0.1% of the pipeline length. Once this condition is met, the precise tension parameters of the pipeline segment and the coordinates of all points on the sag curve in the local coordinate system are obtained. The coordinates of the sag curves of all trajectory segments are transformed back to the global coordinate system of the 3D mesh model of the line-marking robot through coordinate transformation. Then, based on the outer diameter parameters of the pipeline to be routed, each sag curve segment is radially expanded to form a series of cylindrical surfaces or swept bodies. The radial boundaries of adjacent trajectory segments are smoothly connected to construct a pipeline sag envelope model that can accurately reflect the spatial morphology of the pipeline under gravity.

[0086] Under a unified 3D coordinate reference, the drooping envelope model of the pipeline constructed in the previous step is read, and the 3D models of all underlying parts located below and around this envelope model are retrieved. The envelope surfaces of these parts are generated. Spatial segmentation techniques, such as octrees or KD trees, are used to organize the scene to accelerate interference detection. The surface mesh of the drooping envelope model of the pipeline is checked one by one to determine whether there is an intersection between it and the envelope surface of any underlying part. If an intersection is detected, a precise triangular facet intersection test algorithm is further used to calculate the closed overlapping volume formed by the overlapping area of ​​the two model surfaces. The calculated overlap volume is compared with a preset interference volume limit, which is set based on safety clearance standards and assembly tolerances. For example, if a minimum clearance of 3 mm is required, any overlap volume greater than zero is considered unacceptable, i.e., the interference volume limit is 0. If the value exceeds the limit, interference is determined to have occurred. The geometric center of all vertices in the overlapping area is extracted as the spatial center coordinates of the interference point. These spatial center coordinates are then vertically projected onto the nearest trajectory segment to determine the specific pipeline segment where interference occurred. A new node is inserted at the midpoint of this pipeline segment. This node is defined as a support point that must be forcibly fixed, i.e., a new fixed node. After inserting the new node, the original trajectory segment is divided into two. Adjacent trajectory nodes need to be re-divided and the corresponding node spacing parameters updated. For the two modified new segments, the aforementioned catenary equation solution, droop curve coordinate transformation, and envelope construction process are re-executed, and a comprehensive interference detection is performed again. This iterative process, i.e., "interference detection - node insertion - recalculation," will continue to be executed until all pipeline segments are traversed and it is confirmed that all overlapping volumes are not greater than the preset interference volume limit. At this point, according to the order of the trajectories, the three-dimensional coordinates of all fixed nodes (including the original trajectory nodes and the newly inserted support points) are read to obtain the final three-dimensional coordinate set of fixed nodes in the non-intersecting state.

[0087] Based on the obtained set of 3D coordinates of fixed nodes in the non-intersecting state, for each fixed node, a nearest neighbor search is performed in the 3D mesh model of the metal frame of the marking robot to find the metal frame surface mesh that is closest to the spatial location of the fixed node, and the normal vector parameters of the surface mesh are read. Surface thickness parameters of the frame panels And the boundary coordinates of the predefined drillable region, the three-dimensional coordinates of the fixed node are along the normal vector of its nearest surface mesh. Projecting in the opposite direction, the mounting projection coordinates of the fixed node on the metal frame surface are obtained. Then, a boundary safety check is performed, calculating the minimum distance between the mounting projection coordinates and the boundary coordinates of the drillable area, and determining if this distance exceeds a preset edge safety limit, such as 10 mm, to prevent drilling at structural edges or stress concentration areas. All mounting projection coordinates that meet the edge safety limit are retained. Then, based on the outer diameter parameters of the pipeline to be routed, suitable pipe clamps or clamps are searched in the standard parts library. The search condition is that the clamping diameter range of the standard clamp must include the outer diameter of the pipeline to be routed. From the standard clamp models that meet the conditions, the hole spacing and hole orientation parameters of their mounting holes are read. Using the mounting projection coordinates as the positioning center, the drilling coordinate parameters of two or more standard clamps required for the clamp are calculated based on the hole spacing and hole orientation parameters. Finally, based on the frame surface thickness parameters at that location... In addition to the connection hole diameter of the standard clamp, according to the thread connection design guidelines in the mechanical design manual, a suitable thread specification is matched to ensure that the effective engagement length is not less than 0.8 times the nominal thread diameter, thereby determining the nominal thread diameter and pitch parameters. Then, the three-dimensional coordinates of each fixed node, the standard clamp drilling coordinate parameters calculated for it, and the matched thread specification parameters are associated and organized according to the arrangement order of the fixed nodes to generate a fixed component assembly feature set containing complete geometric positioning and manufacturing information.

[0088] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments that can be applied to other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A design method for a road marking construction robot, characterized in that, Includes the following steps: Obtain the surface temperature parameters of heat source components, the current intensity parameters of high-power motors, the overall travel speed parameters, and the cooling fan speed parameters in the 3D mesh model of the line-marking robot; construct a flow field thermal wake map based on the overall travel speed parameters and the cooling fan speed parameters; The current intensity parameter is converted into a spatial electromagnetic field strength parameter. The node temperature parameter, wind direction vector parameter and spatial electromagnetic field strength parameter in the flow field thermal wake map are integrated with the spatial electromagnetic field strength parameter to generate a multiphysics environment interference matrix. Extract the bending stiffness parameter and minimum radius of curvature parameter of the pipeline to be routed, and generate the pipeline bending strain energy matrix based on the curvature vector of the spatial micro-element line segment and the bending stiffness parameter; The element values ​​in the pipeline bending strain energy matrix are fused with the node temperature parameter, the wind direction vector parameter, and the space electromagnetic field strength parameter in the multiphysics environment interference matrix to generate a space voxel pathfinding cost matrix. Extract the normal vector parameters and flatness parameters of the metal frame surface corresponding to each mesh node, and filter the set of wall-mounted wiring mesh nodes based on the flatness parameters and the preset assembly flatness limit. A distance penalty function is applied to the non-wall-attached mesh nodes, and a set of three-dimensional wiring trajectory nodes for pipelines is generated based on the spatial voxel pathfinding cost matrix in the set of wall-attached wiring mesh nodes.

2. The design method for a road marking construction robot according to claim 1, characterized in that, The method further includes: Obtain the node spacing parameters between adjacent trajectory nodes in the 3D wiring trajectory node set of the pipeline, and input the catenary equation with the line density parameters of the pipeline to be wired to construct the drooping envelope model of the pipeline; perform interference detection between the drooping envelope model of the pipeline and the envelope surface of the bottom part in the 3D mesh model of the scribing robot. If they intersect, insert a new fixed node and iterate the interference detection until there is no intersection; match the standard clamp drilling coordinate parameters and thread specification parameters corresponding to the 3D coordinates of each fixed node in the no-intersection state to generate a fixed component assembly feature set.

3. The design method for a road marking construction robot according to claim 1, characterized in that, The steps for obtaining the thermal wake map of the flow field are as follows: The corresponding surface mesh nodes in the 3D mesh of the marking robot are retrieved according to the heat source component identification. The node number, 3D coordinates, sampling time and surface temperature value are read for each node. The current intensity value corresponding to the same sampling time is read according to the high-power motor identification. The overall machine speed parameter is extracted from the overall machine operation record and the cooling fan speed parameter is extracted from the cooling fan control record. All parameters are arranged in order according to the unified sampling time. Entries with missing sampling time, mismatched node numbers or duplicate parameter records are deleted to obtain the surface temperature parameter of the heat source component, the current intensity parameter of the high-power motor, the overall machine speed parameter and the cooling fan speed parameter. The space surrounding the line-marking robot is divided into fluid grid nodes with consistent coordinate spacing. The overall robot speed parameter is converted into the relative inflow velocity of the fluid grid boundary nodes. The cooling fan speed parameter is converted into the velocity increment of the fan outlet area nodes. The surface temperature parameter of the heat source component is written into the corresponding surface grid node. The initial particle distribution of the fluid grid nodes is configured according to each discrete migration direction. The post-collision particle distribution of each fluid grid node is calculated round by round. The post-collision particle distribution is migrated to the adjacent fluid grid node in the corresponding direction. The node density, node velocity vector, and node temperature are updated cumulatively. The iteration stops when the node velocity difference and node temperature difference obtained from two consecutive rounds of updates do not exceed the preset convergence limit. The node temperature parameter and wind direction vector parameter are recorded according to the fluid grid node number to generate a flow field thermal wake map.

4. The design method for a road marking construction robot according to claim 1, characterized in that, The steps for obtaining the multiphysics environment interference matrix are as follows: The current intensity parameters of the high-power motor are called, and the current-carrying conductor is divided into continuous micro-element segments according to the spatial orientation of the current-carrying conductor of the high-power motor. The starting coordinates, ending coordinates, current direction and current intensity of each micro-element segment are read one by one. The distance parameters, direction angle parameters and spatial direction parameters from each fluid grid node to each micro-element segment are calculated. The field strength components generated by each micro-element segment at the corresponding fluid grid node are accumulated according to the attenuation relationship of the distance parameters to obtain the spatial electromagnetic field strength parameters. The node temperature parameters, wind direction vector parameters and spatial electromagnetic field strength parameters in the flow field thermal wake map are converted to the same three-dimensional coordinate reference. For parameter records with non-overlapping coordinates, adjacent fluid grid nodes are selected according to the distance between nodes from small to large. The parameters are allocated according to the inverse ratio of the distance between nodes. The node temperature parameters, wind direction vector parameters and spatial electromagnetic field strength parameters are arranged row by row according to the fluid grid node number to generate a multiphysics environment interference matrix.

5. The design method for a road marking construction robot according to claim 1, characterized in that, The steps for obtaining the pipeline bending strain energy matrix are as follows: Retrieve the pipeline specification identifier corresponding to the pipeline to be routed, and read the material elastic modulus, pipeline outer diameter, pipeline inner diameter, pipe wall thickness and allowable bending level according to the pipeline specification identifier. Determine the inertial characteristic value of the pipeline cross section based on the pipeline outer diameter and pipeline inner diameter. Multiply the material elastic modulus with the inertial characteristic value to obtain the bending stiffness parameter of the pipeline to be routed in spatial bending state to resist curvature change. Read the lower limit of allowable bending radius in the manufacturing constraint record according to the pipeline specification identifier, eliminate the records that are less than the structural limit value corresponding to the pipeline outer diameter, select the minimum value in the remaining records, and obtain the bending stiffness parameter and minimum curvature radius parameter of the pipeline to be routed. The connection between adjacent voxel nodes in the wiring space is divided into spatial micro-element segments. The directional change is determined according to the preceding and following direction vectors of the spatial micro-element segments. The curvature vector of each spatial micro-element segment is determined in combination with the length of the spatial micro-element segments. The curvature radius corresponding to the curvature vector is compared with the minimum curvature radius parameter. Spatial micro-element segments with curvature radii smaller than the minimum curvature radius parameter are deleted. The curvature vectors of the remaining spatial micro-element segments are decomposed according to three coordinate directions. The bending strain energy values ​​in each coordinate direction are calculated in combination with the bending stiffness parameter. The bending strain energy values ​​are arranged according to the voxel node number and the connection order of the spatial micro-element segments to generate the pipeline bending strain energy matrix.

6. The design method for a road marking construction robot according to claim 1, characterized in that, The steps for obtaining the spatial voxel pathfinding cost matrix are as follows: According to the voxel node number, the node temperature parameter, wind direction vector parameter, and spatial electromagnetic field strength parameter in the multiphysics environment interference matrix are called. The maximum and minimum values ​​of the element values ​​of the pipeline bending strain energy matrix, the node temperature parameter, the wind direction vector parameter magnitude, and the spatial electromagnetic field strength parameter are calculated respectively. The corresponding minimum value is subtracted from each value, and then divided by the difference between the corresponding maximum value and the corresponding minimum value to obtain the normalized values ​​of bending strain energy, node temperature, wind direction vector, and spatial electromagnetic field strength with consistent value range. According to the preset bending constraint weight coefficient, thermal environment weight coefficient, airflow disturbance weight coefficient, and electromagnetic interference weight coefficient, the four normalized values ​​corresponding to the same voxel node are linearly summed. The summation results are arranged according to the voxel node number to generate the spatial voxel pathfinding cost matrix.

7. The design method for a road marking construction robot according to claim 1, characterized in that, The steps for obtaining the wall-mounted wiring mesh node set are as follows: The grid node numbers, 3D coordinates, and adjacent triangular mesh faces corresponding to the metal frame surface are read one by one from the 3D mesh model of the marking robot. The vertical direction of each triangular mesh face is calculated according to the vertex arrangement direction of the adjacent triangular mesh faces. After unifying the vertical direction orientation, the vertical direction is weighted and synthesized according to the area of ​​the triangular mesh face to obtain the normal vector parameters of the metal frame surface corresponding to each grid node. The continuously adjacent triangular mesh faces around each grid node are selected, and all vertices of the triangular mesh faces are projected onto the reference plane determined according to the normal vector parameters. The vertical distance from each vertex to the reference plane is counted, and the difference between the maximum vertical distance and the minimum vertical distance is calculated to obtain the plane flatness parameter. The grid nodes whose plane flatness parameter is less than or equal to the preset assembly flatness limit are retained, and the corresponding normal vector parameters are associated with the retained grid nodes to generate a set of wall-mounted wiring grid nodes.

8. The design method for a road marking construction robot according to claim 1, characterized in that, The steps for obtaining the three-dimensional wiring trajectory node set of the pipeline are as follows: Retrieve all grid nodes in the 3D mesh model of the line-marking robot according to the grid node number. Mark the grid nodes not recorded by the wall-attached wiring grid node set as non-wall-attached grid nodes. For each non-wall-attached grid node, calculate the spatial distance from the 3D coordinates of the grid nodes in the wall-attached wiring grid node set to the 3D coordinates of each grid node. Select the minimum spatial distance as the wall-attached deviation distance of the corresponding non-wall-attached grid node. Divide the wall-attached deviation distance by the standard spacing between adjacent voxel nodes. Determine the distance penalty value according to the obtained distance ratio and the preset distance penalty coefficient. Set the distance penalty value of the wall-attached wiring grid node to zero. Read the original cost value in the spatial voxel pathfinding cost matrix according to the grid node number. Add the original cost value to the distance penalty value. Arrange the grid nodes in ascending order of the addition result to generate the voxel node extended cost sequence. The wall-mounted wiring grid node corresponding to the starting position of the pipeline to be wired is set as the starting grid node, and the wall-mounted wiring grid node corresponding to the ending position of the pipeline to be wired is set as the ending grid node. Starting from the starting grid node, adjacent grid nodes with direct connection relationship are searched, and adjacent grid nodes that have been expanded are removed. The arrangement position of the remaining adjacent grid nodes in the voxel node expansion cost sequence is read, the connection direction from the current grid node to each remaining adjacent grid node is calculated, the normal vector parameter of the metal frame surface corresponding to the current grid node is called, and adjacent grid nodes whose connection direction deviates from the tangential range of the metal frame surface are removed. From the remaining adjacent grid nodes, the grid node with the smallest cumulative cost value is selected as the next expansion grid node, and the predecessor grid node corresponding to the next expansion grid node is recorded. The adjacent grid node search, direction filtering and cumulative cost value comparison are performed iteratively until the ending grid node is selected. According to the predecessor grid node record, the process is reversed from the ending grid node to the starting grid node. The three-dimensional coordinates of the grid nodes obtained by tracing are rearranged according to the wiring direction to generate a set of three-dimensional wiring trajectory nodes for the pipeline.

9. The design method for a road marking construction robot according to claim 2, characterized in that, The steps for obtaining the fastener assembly feature set are as follows: The three-dimensional coordinates of each adjacent trajectory node are read from the set of three-dimensional pipeline wiring trajectory nodes according to the arrangement order of the trajectory nodes. The coordinate difference in the three coordinate directions is calculated respectively. The straight distance between adjacent trajectory nodes is determined according to the coordinate difference. The straight distance is recorded as the node spacing parameter. The linear density parameter of the pipeline to be wired is read according to the specification mark of the pipeline to be wired. For each adjacent trajectory node segment, a local coordinate system is established with the trajectory line segment direction as the horizontal axis and the self-weight direction as the vertical axis. The node spacing parameter and the linear density parameter of the pipeline to be wired are input into the catenary equation. The horizontal tension parameter is adjusted successively according to the endpoint constraints of the adjacent trajectory nodes until the difference between the calculated arc length and the length of the pipeline to be wired in the corresponding trajectory line segment does not exceed the preset length deviation limit. The tension parameter and droop curve coordinate of each trajectory line segment are obtained. The droop curve coordinate is converted to the three-dimensional coordinate system of the three-dimensional mesh model of the marking robot. The droop curve is radially extended according to the outer diameter parameter of the pipeline to be wired. The radial boundaries of the adjacent trajectory line segments are connected to construct the pipeline droop envelope model. According to a unified three-dimensional coordinate reference, the envelope surface of the bottom part located below the drooping envelope model of the pipeline in the three-dimensional mesh model of the marking robot is read. It is determined one by one whether the surface mesh of the drooping envelope model of the pipeline passes through the envelope surface of the bottom part. The overlapping volume corresponding to the crossing area is calculated. If the overlapping volume is greater than the preset interference volume limit, the spatial center coordinates of the overlapping area are extracted. The spatial center coordinates are projected to the trajectory line segment with the smallest distance to determine the trajectory line segment corresponding to the interference position. A new fixed node is inserted at the midpoint of the trajectory line segment corresponding to the interference position. The adjacent trajectory nodes are re-divided according to the new fixed node, the node spacing parameters are updated, and the tension parameter solution, drooping curve coordinate transformation and surface mesh crossing judgment are re-executed until all overlapping volumes are not greater than the preset interference volume limit. The three-dimensional coordinates of each fixed node are read according to the arrangement order of the fixed nodes to obtain the three-dimensional coordinates of the fixed nodes in the non-intersecting state. Based on the three-dimensional coordinates of the fixed nodes in the non-intersecting state, the metal frame surface mesh with the smallest distance to each fixed node is retrieved one by one. The normal vector parameters, surface thickness parameters, and drillable boundary coordinates of the metal frame surface mesh are read. The three-dimensional coordinates of the fixed nodes are projected onto the metal frame surface mesh along the corresponding normal vector parameters to obtain the installation projection coordinates corresponding to the fixed nodes. It is determined whether the minimum distance from the installation projection coordinates to the drillable boundary coordinates is greater than the preset edge safety limit. The installation projection coordinates that meet the edge safety limit are retained. The clamping diameter range of the standard clamp is retrieved according to the outer diameter parameter of the pipeline to be wired. The standard clamp is selected whose clamping diameter range covers the outer diameter parameter of the pipeline to be wired. The hole spacing parameters and hole position direction parameters of the standard clamp are read. With the installation projection coordinates as the center, the drilling coordinate parameters of the standard clamp are determined according to the hole spacing parameters and hole position direction parameters. The nominal diameter, pitch parameters, and effective engagement length of the thread are matched according to the surface thickness parameters of the metal frame surface mesh and the connection hole diameter parameters of the standard clamp. The three-dimensional coordinates of the fixed nodes, the drilling coordinate parameters of the standard clamp, and the thread specification parameters are associated according to the arrangement order of the fixed nodes to generate a fastener assembly feature set.

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