CN103678828A - Automatic layout method and device of flexible cables - Google Patents
Automatic layout method and device of flexible cables Download PDFInfo
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Abstract
The invention provides an automatic layout method and device of flexible cables and relates to the technical field of mechanical engineering. By adoption of the automatic layout method and device, the difficulty that the automatic layout design of large quantity of cables is not easily realized in the prior art is solved. The automatic layout method comprises the following steps of: acquiring information of cable bundles; acquiring position information of first ends of the cables and position information of second ends of the cables; acquiring cable paths according to the information of the cable bundles, the position information of the first ends and the position information of the second ends. The automatic layout method and device provided by the invention have the advantages that automatic generation of the flexible cables on a three-dimensional model of a complex product can be realized, and the design efficiency and the quality of the cable layout are effectively improved.
Description
Technical field
The present invention relates to mechanical engineering technical field, refer to especially a kind of autoplacement method and device of flexible cable.
Background technology
In the development process of the Complex Mechatronic Products such as Aeronautics and Astronautics, due to many, the huge amount of cable constraint, the topological design of flexible cable is a numerous and diverse and consuming time job always.In Complex Mechatronic Products, the location problem of flexible cable is directly connected to quality and the production cycle of whole product.
All carried out both at home and abroad in recent years the research of wire cable layout design, comprise two dimensional surface wiring, utilize virtual reality technology auxiliary wiring, utilize Three-dimensional CAD Software wiring etc.But these methods can't meet the requirement of enterprise to wire cable layout design, be on the one hand the of low quality of wiring result, larger with practical wiring result difference; The efficiency that is on the other hand wiring is not high, and the automaticity of wire cable layout design not enough.And along with the development of robot path planning's technology, the three-dimensional automatic routing that utilizes path planning algorithm to realize cable is a method with wide application prospect.
Wire cable layout is in fact to find collisionless path in the three-dimensional environment space that comprises barrier, considers to optimize and constraint simultaneously.As far back as 1991, Zhu and Latombe regarded the location problem of pipeline as path planning problem with regard to proposing, and consider the constraint in layout implementation process simultaneously, and constraint is summarized as to position constraint and shape constraining.Also there are some researchs to be devoted to automatically or semi-automatically to select cable trails by the artificial intelligence approach in CAD system, but because the restriction effect of plane demonstration is not good.The Conru of Stanford Univ USA utilizes genetic algorithm to develop the topological design system of cable, adopt genetic algorithm to be used for Finding Global Optimization, thereby wiring problem is converted into the problem that produces cable topology and path in environment, the deficiency of the method is not consider the flexibility of cable and cable and the interference situation of object around.The people such as Kabul of North Carolina, USA university, for the wire cable layout problem in complex environment, propose a kind of automatic search algorithm of routing path.This algorithm is a mutation of random walk figure method, by problem abstract be the path planning problem of chain humanoid robot in space.This algorithm carries out the sampling of belt restraining near attaching space, has considered that space geometry retrains and comprises the physical constraint in many-body dynamics and hinged being limited in, and has obtained good counting yield.The people such as Van der Velden have developed the intelligent autoplacement design system of centre-line of aircraft cable and pipeline, this system has been utilized KBE technology (engineering based on knowledge), the rule-based connection of carrying out end at the whole story also can be exported cad model, and wherein path planning adopts A* algorithm (heuristic search algorithm).
At present domestic, for three-dimensional automatic routing, had certain research abroad, but also immature for the self routing technique of larger amt cable, three-dimensional automatic routing also fails to be applied to preferably in the wire cable layout design of complex product.Meanwhile, to be further improved in addition to the raising of the consideration of constraint and wiring efficiency.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of autoplacement method and device of flexible cable, and the cable autoplacement design that solves large quantity in prior art is difficult for the problem realizing.
In order to solve the problems of the technologies described above, the embodiment of the present invention provides a kind of autoplacement method of flexible cable, comprises the steps:
Obtain the wire harness information of cable;
Obtain the positional information of first end and the positional information of the second end of described cable;
According to the positional information of the positional information of described wire harness information and described first end and described the second end, obtain cable trails.
Above-mentioned autoplacement method, wherein, according to the positional information of the positional information of described wire harness information and described first end and described the second end, the step of obtaining cable trails comprises:
The first end of described cable and the second end are preset as to starting point and impact point;
Obtain all intermediate nodes in the path that can connect described starting point and described impact point;
Positional information to described intermediate node is extracted, as described cable trails.
Above-mentioned autoplacement method, wherein, the step of obtaining all intermediate nodes in the path that can connect described starting point and described impact point comprises:
While carrying out the sampling of random point, add default probability that impact point is decided to be to sampled point.
Above-mentioned autoplacement method, wherein, the step of obtaining all intermediate nodes in the path that can connect described starting point and described impact point comprises:
Carry out node when expansion, using the node of the node of described starting point and described impact point respectively as root node.
Above-mentioned autoplacement method, wherein, the step of obtaining all intermediate nodes in the path that can connect described starting point and described impact point comprises:
While carrying out node expansion, add default Extending probability, according to described default Extending probability, determine whether node to expand.
Above-mentioned autoplacement method, wherein, described autoplacement method also comprises the steps:
Described cable trails is optimized;
According to the described cable trails after optimizing, obtain the positional information at cable reference mark;
Described cable trails after optimizing according to the positional information matching at described cable reference mark the described cable trails after display optimization.
Above-mentioned autoplacement method, wherein, the step that described cable trails is optimized is specially:
First beginning from described cable trails, successively by group path selection point; The first node of every group is connected with end-node, the right cylinder of the difference of the diameter of generation diameter and described cable in preset range, and carry out collision detection with barrier, if do not bump,, by intermediate path point deletion, if bump, retain this and organize whole path points;
Obtain successively the radius-of-curvature at each some place, path in described cable trails, if described radius-of-curvature is less than default binding occurrence, the direction automatically this path point being increased to radius-of-curvature moves; Automatically adjusting in the process of radius-of-curvature, to obtain the radius-of-curvature after adjustment, and compare with described binding occurrence, the radius-of-curvature after described adjustment stops adjusting operation while being not less than described binding occurrence;
, automatically adjusting in the process of radius-of-curvature meanwhile, the described path point after adjusting is being carried out to collision detection, if do not bump, by intermediate path point deletion, if bump, retaining this and organize whole path points;
After deletion and automatic adjusting operation, remaining all paths point is the path point after optimization, can be used as described cable reference mark.
The present invention also provides a kind of autoplacement's device of flexible cable, comprising:
The first acquisition module, for obtaining the wire harness information of cable;
The second acquisition module, for obtaining the positional information of cable first end and the positional information of the second end;
The 3rd acquisition module, for according to the positional information of the positional information of described wire harness information and described first end and described the second end, obtains cable trails.
Above-mentioned autoplacement's device, wherein, described the 3rd acquisition module comprises:
Default unit, for being preset as starting point and impact point by the first end of described cable and the second end;
Acquiring unit, for obtaining all intermediate nodes in the path that can connect described starting point and described impact point;
Extraction unit, extracts for the positional information to described intermediate node, as described cable trails.
Above-mentioned autoplacement's device, wherein, also comprises:
Optimize module, for described cable trails is optimized;
The 4th acquisition module, for obtaining the positional information at cable reference mark according to the described cable trails after optimizing;
Matching display module, for the described cable trails after optimizing according to the positional information matching at described cable reference mark the described cable trails after display optimization.
Above-mentioned autoplacement's device, wherein, described optimization module comprises:
Processing unit, for from first of described cable trails, successively by group path selection point; The first node of every group is connected with end-node, the right cylinder of the difference of the diameter of generation diameter and described cable in preset range, and carry out collision detection with barrier, if do not bump,, by intermediate path point deletion, if bump, retain this and organize whole path points;
Obtain adjustment unit, for obtaining successively the radius-of-curvature at each some place, path of described cable trails, if described radius-of-curvature is less than default binding occurrence, the direction automatically this path point being increased to radius-of-curvature moves; Automatically adjusting in the process of radius-of-curvature, to obtain the radius-of-curvature after adjustment, and compare with described binding occurrence, the radius-of-curvature after described adjustment stops adjusting operation while being not less than described binding occurrence;
Described obtain adjustment unit and carry out adjusting operation in, described processing unit carries out collision detection to the described path point after adjusting, if do not bump, by intermediate path point deletion, if bump, retains this and organizes whole path points;
Through described processing unit with described in obtain after the operation of adjustment unit, remaining all paths point is the path point after optimization, can be used as described cable reference mark.
The beneficial effect of technique scheme of the present invention is as follows:
In such scheme, described method can realize and on the three-dimensional model of complex product, automatically generate flexible cable, effectively improves wire cable layout design efficiency and quality.
Accompanying drawing explanation
Fig. 1 is the autoplacement method step schematic diagram of the embodiment of the present invention;
Fig. 2 is the arrangement space schematic diagram of the embodiment of the present invention;
Fig. 3 is spherical rigid body radius and the cable bundle radius relationship schematic diagram of the embodiment of the present invention when solving cable trails;
Fig. 4 is the node distribution schematic diagram that the embodiment of the present invention adopts the improvement strategy of goal directed to obtain when solving cable trails;
Fig. 5 is the schematic diagram that the embodiment of the present invention adopts two tree expanding policies to expand when solving cable trails;
Fig. 6 is the respective extension probability schematic diagram of node in embodiment of the present invention varying environment;
Fig. 7 A is that the embodiment of the present invention is carried out the schematic diagram of redundant points rejecting when carrying out cable trails optimization process;
Fig. 7 B is the cable trails schematic diagram after redundant points rejecting in Fig. 7 A;
Fig. 8 is that the embodiment of the present invention is carried out bending radius detection and self-adjusting schematic diagram when carrying out cable trails optimization process;
Fig. 9 is autoplacement's apparatus structure schematic diagram of the embodiment of the present invention.
Embodiment
For making the technical problem to be solved in the present invention, technical scheme and advantage clearer, be described in detail below in conjunction with the accompanying drawings and the specific embodiments.
The cable autoplacement design that the present invention is directed to large quantity in existing technology is difficult for the problem realizing, and a kind of autoplacement method of flexible cable is provided, and as shown in Figure 1, comprises the steps:
Step 11: the wire harness information of obtaining cable;
Step 12: the positional information of first end and the positional information of the second end of obtaining described cable;
Step 13: according to the positional information of the positional information of described wire harness information and described first end and described the second end, obtain cable trails.
Wherein, the step of obtaining the wire harness information of cable is specially by utilizing three-dimensional model and the electrical principle design information of product to create the wire harness model of cable, and then obtains the wire harness information of cable, and the wire harness model of cable is identified by the code name of two ports.
The three-dimensional model of described product provides after utilizing Three-dimensional CAD Software to draw by design department.Wiring diagram or connection table that described electrical principle design information Shi You design department provides, comprised first end stitch information, the port information of every wire, stitch information, port information and the wire gauge etc. of the second end conventionally.
Described wire harness model, in order to carry out cable trails, to solve the information model of foundation, wherein comprised first end port code name and type information, the second end port code name and type information, wire number, wire gauge information and stitch details, its information source is in the statistics of electrical principle design information and all wires.
The positional information of the positional information of the first end of described cable and the second end is the port code name of listing according to wire harness model, on the three-dimensional model of product, utilizing successively mouse to click generates, locus while generating as cable port, comprise that two classes choose mode, be respectively single-point type and choose and choose according to characteristic face.Single-point type is chosen the pose that cable port is only provided, and does not consider the installation of port; The positional information of choosing according to characteristic face has comprised the installation site of cable port, when generating, is directly in place.
Wherein, according to the positional information of the positional information of described wire harness information and described first end and described the second end, the step of obtaining cable trails comprises: the first end of described cable and the second end are preset as to starting point and impact point; Obtain all intermediate nodes in the path that can connect described starting point and described impact point; Positional information to described intermediate node is extracted, as described cable trails.In fact namely according to the positional information of the code name of first end in described wire harness information and the code name of the second end and the positional information of described first end and described the second end, find the locus of corresponding code name port correspondence on three-dimensional model, utilize cable trails searching algorithm to obtain the process of cable trails.Cable trails searching algorithm utilizes improved Quick Extended random tree algorithm in conjunction with collision detection, to carry out the planning algorithm of cable trails; Improved Quick Extended random tree algorithm refers to the algorithm that has added the expanding policy of goal directed, two tree expanding policy and node Extending probability to add on the basis of basic Quick Extended random tree algorithm.
Wherein, the step (improved Quick Extended random tree algorithm) of obtaining all intermediate nodes in the path that can connect described starting point and described impact point comprising: while carrying out the sampling of random point, add default probability that impact point is decided to be to sampled point; Carry out node when expansion, using the node of the node of described starting point and described impact point respectively as root node; While carrying out node expansion, add default Extending probability, according to described default Extending probability, determine whether node to expand.When basic Quick Extended random tree algorithm carries out the sampling of random point, add certain probability that impact point is decided to be to sampled point, make path node approach quickly impact point, reach the object that improves path planning efficiency; Carrying out node when expansion, starting point node and impact point node, respectively as the root nodes of two trees, and are being attracted each other and expanded, to reach the object that improves path planning efficiency; While carrying out node expansion, by being set, Extending probability on tree node controls the growth tendency of the node of zones of different in tree, improve near the node density of barrier, make cable trails depend on as much as possible body structure surface, met the constraint of cable along body structure surface layout.
Further, the described autoplacement method that the embodiment of the present invention provides also comprises the steps: described cable trails to be optimized; According to the described cable trails after optimizing, obtain the positional information at cable reference mark; Described cable trails after optimizing according to the positional information matching at described cable reference mark the described cable trails after display optimization.Wherein, the path point in the cable trails of cable reference mark after optimizing.
Concrete, the step that described cable trails is optimized is specially: first beginning from described cable trails by group path selection point, is one group as chosen 4 points at every turn successively, as 1-4 point, and 4-7 point, by that analogy; The first node of every group is connected with end-node, the right cylinder of the difference of the diameter of generation diameter and described cable in preset range, and carry out collision detection with barrier, if do not bump, intermediate path point (as No. 2 points and No. 3 points in 1-4 group) is deleted, if bump, retain this and organize whole path points; Obtain successively the radius-of-curvature at each some place, path in described cable trails, if described radius-of-curvature is less than default binding occurrence, the direction automatically this path point being increased to radius-of-curvature moves; Automatically adjusting in the process of radius-of-curvature, to obtain the radius-of-curvature after adjustment, and compare with described binding occurrence, the radius-of-curvature after described adjustment stops adjusting operation while being not less than described binding occurrence; , automatically adjusting in the process of radius-of-curvature meanwhile, the described path point after adjusting is being carried out to collision detection, if do not bump, by intermediate path point deletion, if bump, retaining this and organize whole path points; After deletion and automatic adjusting operation, remaining all paths point is the path point after optimization, can be used as described cable reference mark.
Wherein, according to having adopted B-spline Curve to carry out matching to described cable trails in the described cable trails after the positional information matching optimization at described cable reference mark the described cable trails step after display optimization, can certainly adopt other matching mode, at this, differ one for example.
The autoplacement method of the flexible cable that the embodiment of the present invention provides, first utilize three-dimensional model and design information to obtain the positional information at cable two ends, according to positional information, in conjunction with cable path search algorithm, cable trails solved and optimize, finally the cable critical control point positional information obtaining is carried out to matching and obtain wire cable layout result, can improve the efficiency of wire cable layout design.
Illustrate for example the implementation of the autoplacement method of the flexible cable that the embodiment of the present invention provides below.
First the cable trails planning problem in three dimensions is described.As shown in Figure 2, the planning space of this problem represents with M, has wherein both comprised parts and other annexes of initial product, is also included within this cable body that has completed layout before and annex thereof etc., and wherein M is three dimensions.The spherical rigid body of making motion planning represents with A,
.The objects such as the product component in planning space M and cable are all considered to barrier, with O, represent,
.
Carrying out cable trails while solving, the track of rigid spheres motion institute sweeping is the path of cable, and visible rigid spheres has the translation freedoms of three directions, and the state space of solution room is designated as to C
space.Obstacles is designated as to C
obs, the spatial pose state of rigid body A represents with q, C
obsset for all intersection of rigid body A and barrier O, is defined as:
by feasible space C
freerepresent, C
free=C
spacec
obs, and
represent that feas ible space is the All Ranges that rigid body does not bump with barrier.And treat starting point state and the impact point state of A in solution path, q
initand q
goal(q
init, q
goal∈ C
free) be the line position that of two electric connector ends, intermediate point state is the cable trails of cooking up.In carrying out feasible path calculating solution procedure, by the collision detection between rigid body and barrier, guarantee that rigid body is in feas ible space all the time.
As shown in Figure 3, before solving calculating, need to carry out initialization to the related data of problem, mainly comprise the determining of problem dimension, determining of spherical rigid body radius and determining of solution room scope.As previously mentioned, spherical rigid body A need to consider the translation freedoms of three directions when carrying out path planning, and therefore the dimension of this Solve problems is set to 3.Rigid body radius depends on the radius R of the current cloth cable bundle B of institute, by reading of butted line table, can obtain the composition information (as wire type, wire number etc.) of cable bundle B, thereby obtain the radius R of cable bundle B, in order to make cable bundle B retain certain interval when pressing close to body structure surface, 1.2 times (1.2R) that rigid body radius can be made as to wire harness radius, rigid body radius can be set according to technological requirement.
In the embodiment of the present invention, according to cable first end and the second end position, carrying out path, automatically to generate what adopt be improved Quick Extended random tree algorithm, is on the basis of basic Quick Extended random tree algorithm, to have added the expanding policy of goal directed, the strategy of two tree expansion and the interpolation of node Extending probability.
Wherein, the expanding policy of goal directed comprises:
When the node of basic Quick Extended random tree algorithm is expanded in search volume, sampled point q
randto choose be that completely random produces, thereby the node of the tree of its generation can relatively be evenly distributed in space.And the sampling policy of goal directed can allow node be expanded to impact point by starting point quickly, be specially:
Choosing sampled point q
randtime, with certain probability (as 50%), carry out completely random sampling, and other 50% probability is using impact point as sampled point q
rand, make like this tree node quantity reduce in a large number, greatly reduced numbers of branches, improved search efficiency, as shown in Figure 4.
Wherein, utilize the strategy of two tree expansions to comprise:
Due to the starting point q in cable trails search problem
initwith impact point q
goalbetween be of equal value, can ignore directivity, the mode that therefore can adopt two trees simultaneously to grow.The balance between stochastic sampling and the growth of two tree phase mutual designation has been accomplished in two tree expansions, thereby realizes fast the connection of active path.If two trees are defined as to T
1, T
2, the basic step of its expansion is as shown in Figure 5:
T
1from q
initstart by stochastic sampling point with a new node q of step-length ε expansion
new11;
T
2from q
goalbeginning is with q
new11for sampled point, with a new node q of step-length ε expansion
new21;
T
2from q
new21start by stochastic sampling point with a new node q of step-length ε expansion
new22;
T
1from q
new11beginning is with q
new22for sampled point, with a new node q of step-length ε expansion
new12.
According to above-mentioned steps, until certain two the internodal distance in two trees are less than the threshold value of setting, stop search, obtain a path that connects starting point and impact point.
Wherein, the interpolation of node Extending probability comprises:
In order to make cable trails depend on as much as possible body structure surface, need to control expansion trend, constraint for cable along body structure surface layout, controls the growth tendency of the node of zones of different in tree by Extending probability on tree node is set, improve near node density barrier.In basic Quick Extended random tree algorithm flow, by stochastic sampling, obtain sampled point q
randafter, can calculate the node q in the tree nearest with it
nearas being expanded node, can think now q
nearby 100% expansion, in order to treat discriminatively the q of zones of different
near, an additional Extending probability value P on each node in tree
ei(0≤P
ei≤ 1), thus making to expand flow process becomes the following steps:
Stochastic sampling mode obtains q
rand;
Obtain from node q in the nearest tree of sampled point
near;
Obtain node q
nearextending probability value P
ei, random probable value P between generating 0 to 1 simultaneously
randif, P
ei>=P
randat Nodes, expand, otherwise do not expand.
As shown in Figure 6, from starting point q
initto impact point q
goalbetween the node in varying environment is arranged respectively to corresponding Extending probability, setting principle is:
If certain node when expanding and barrier bump, think that this node is near barrier, make its Extending probability value P
ei=1.0;
Near node non-barrier, makes its Extending probability value P
ei=0.5;
The node of end, makes its Extending probability value P
ei=0.8.
In the embodiment of the present invention, utilize the resulting path node of path search algorithm need to be after optimizing and processing, can carry out establishment and the demonstration of cable three-dimensional model, optimization process for cable trails (is processed the cable trails obtaining, redundant points is rejected, and the bending radius in gained path is detected and is automatically adjusted, the path point after completing after the final optimization of extraction) comprising:
The path node of cable is intensive bending track, the node of redundancy need to be rejected, and rejecting process is: as shown in Figure 7 A, 13 points of take are example, are respectively: No. 1 point, No. 2 points ..., No. 13 points; Starting point from path starts, and by group path selection point, choose 4 points is one group at every turn successively, as No. 1, No. 2, No. 3, No. 4, and No. 4, No. 5, No. 6, No. 7 ..., by that analogy, until No. 10, No. 11, No. 12, No. 13 these last groups.Intermediate node to every group judges, the first node of every group is directly connected with end-node, and generate the right cylinder that diameter equates with cable diameter, carry out collision detection with environment, if do not bumped, illustrate that this section of path is feasible, intermediate path point (i.e. No. 2 and No. 3, No. 5 and No. 6 etc.) is deleted; Otherwise, retain four points of this group.According to this testing process, the path after redundant points is rejected is as shown in the solid line in Fig. 7 B.
The path point obtaining after node revocation is discrete point, need obtain by the method for curve interpolation smooth cable shape.In the embodiment of the present invention, adopt B-spline Curve to carry out interpolation, be specially:
The matrix representation of three Uniform B-Spline Curves is
Write as with formula and be
P in formula
i(t) represent cable curve, t is parameter, t ∈ [0,1]; V
i, V
i+1, V
i+2, V
i+3and V
i+jfor feature polygon vertex; B
j, 3(t) be cubic B-spline basis function, j=0 wherein, 1,2,3.
Interpolation in the present embodiment is according to the control vertex of given point range (path node after optimizing) calculated curve, makes the B-spline Curve of definition by given point range, realizes interpolation.
Obtain after the B-spline curves after interpolation, need to judge too small situation the processing automatically of bending radius in path.As shown in Figure 8, utilize B-spline Curve to carry out obtaining more smooth cable shape after interpolation, calculate successively the radius-of-curvature at each some place, path, if be less than given binding occurrence, the direction automatically this path point being increased along arrow to radius-of-curvature moves, until meet radius-of-curvature constraint.Adjusting in the process of radius-of-curvature by adjusting key point, need to carry out collision detection to cable body, avoid path and product structure after moving to interfere.
Complete after above step, according to curve and cable radius information, can generate the three-dimensional model of cable, complete topological design.
For solving the problems of the technologies described above, the embodiment of the present invention also provides a kind of autoplacement's device of flexible cable, as shown in Figure 9, comprising:
The first acquisition module, for obtaining the wire harness information of cable;
The second acquisition module, for obtaining the positional information of cable first end and the positional information of the second end;
The 3rd acquisition module, for according to the positional information of the positional information of described wire harness information and described first end and described the second end, obtains cable trails.
Concrete, described the 3rd acquisition module comprises: default unit, for the first end of described cable and the second end are preset as to starting point and impact point; Acquiring unit, for obtaining all intermediate nodes in the path that can connect described starting point and described impact point; Extraction unit, extracts for the positional information to described intermediate node, as described cable trails.
Further, the described autoplacement device that the embodiment of the present invention provides also comprises: optimize module, for described cable trails is optimized; The 4th acquisition module, for obtaining the positional information at cable reference mark according to the described cable trails after optimizing; Matching display module, for the described cable trails after optimizing according to the positional information matching at described cable reference mark the described cable trails after display optimization.
Wherein, described optimization module comprises: processing unit, for from first of described cable trails, successively by group path selection point; The first node of every group is connected with end-node, the right cylinder of the difference of the diameter of generation diameter and described cable in preset range, and carry out collision detection with barrier, if do not bump,, by intermediate path point deletion, if bump, retain this and organize whole path points; Obtain adjustment unit, for obtaining successively the radius-of-curvature at each some place, path of described cable trails, if described radius-of-curvature is less than default binding occurrence, the direction automatically this path point being increased to radius-of-curvature moves; Automatically adjusting in the process of radius-of-curvature, to obtain the radius-of-curvature after adjustment, and compare with described binding occurrence, the radius-of-curvature after described adjustment stops adjusting operation while being not less than described binding occurrence; Described obtain adjustment unit and carry out adjusting operation in, described processing unit carries out collision detection to the described path point after adjusting, if do not bump, by intermediate path point deletion, if bump, retains this and organizes whole path points; Through described processing unit with described in obtain after the operation of adjustment unit, remaining all paths point is the path point after optimization, can be used as described cable reference mark.
Autoplacement's device of the flexible cable that the embodiment of the present invention provides can improve the quality of products, and shortens the production cycle, improves wire cable layout design efficiency.
It should be noted that, the described embodiment of realization of above-mentioned autoplacement method is all applicable to, in the embodiment of this autoplacement's device, also can reach identical technique effect.
Above-described is the preferred embodiment of the present invention; should be understood that the ordinary person for the art; not departing under principle prerequisite of the present invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (11)
1. an autoplacement method for flexible cable, is characterized in that, comprises the steps:
Obtain the wire harness information of cable;
Obtain the positional information of first end and the positional information of the second end of described cable;
According to the positional information of the positional information of described wire harness information and described first end and described the second end, obtain cable trails.
2. autoplacement method according to claim 1, is characterized in that, according to the positional information of the positional information of described wire harness information and described first end and described the second end, the step of obtaining cable trails comprises:
The first end of described cable and the second end are preset as to starting point and impact point;
Obtain all intermediate nodes in the path that can connect described starting point and described impact point;
Positional information to described intermediate node is extracted, as described cable trails.
3. autoplacement method according to claim 2, is characterized in that, the step of obtaining all intermediate nodes in the path that can connect described starting point and described impact point comprises:
While carrying out the sampling of random point, add default probability that impact point is decided to be to sampled point.
4. autoplacement method according to claim 2, is characterized in that, the step of obtaining all intermediate nodes in the path that can connect described starting point and described impact point comprises:
Carry out node when expansion, using the node of the node of described starting point and described impact point respectively as root node.
5. autoplacement method according to claim 2, is characterized in that, the step of obtaining all intermediate nodes in the path that can connect described starting point and described impact point comprises:
While carrying out node expansion, add default Extending probability, according to described default Extending probability, determine whether node to expand.
6. autoplacement method according to claim 1, is characterized in that, described autoplacement method also comprises the steps:
Described cable trails is optimized;
According to the described cable trails after optimizing, obtain the positional information at cable reference mark;
Described cable trails after optimizing according to the positional information matching at described cable reference mark the described cable trails after display optimization.
7. autoplacement method according to claim 6, is characterized in that, the step that described cable trails is optimized is specially:
First beginning from described cable trails, successively by group path selection point; The first node of every group is connected with end-node, the right cylinder of the difference of the diameter of generation diameter and described cable in preset range, and carry out collision detection with barrier, if do not bump,, by intermediate path point deletion, if bump, retain this and organize whole path points;
Obtain successively the radius-of-curvature at each some place, path in described cable trails, if described radius-of-curvature is less than default binding occurrence, the direction automatically this path point being increased to radius-of-curvature moves; Automatically adjusting in the process of radius-of-curvature, to obtain the radius-of-curvature after adjustment, and compare with described binding occurrence, the radius-of-curvature after described adjustment stops adjusting operation while being not less than described binding occurrence;
, automatically adjusting in the process of radius-of-curvature meanwhile, the described path point after adjusting is being carried out to collision detection, if do not bump, by intermediate path point deletion, if bump, retaining this and organize whole path points;
After deletion and automatic adjusting operation, remaining all paths point is the path point after optimization, can be used as described cable reference mark.
8. autoplacement's device of flexible cable, is characterized in that, comprising:
The first acquisition module, for obtaining the wire harness information of cable;
The second acquisition module, for obtaining the positional information of cable first end and the positional information of the second end;
The 3rd acquisition module, for according to the positional information of the positional information of described wire harness information and described first end and described the second end, obtains cable trails.
9. autoplacement according to claim 8 device, is characterized in that, described the 3rd acquisition module comprises:
Default unit, for being preset as starting point and impact point by the first end of described cable and the second end;
Acquiring unit, for obtaining all intermediate nodes in the path that can connect described starting point and described impact point;
Extraction unit, extracts for the positional information to described intermediate node, as described cable trails.
10. autoplacement according to claim 8 device, is characterized in that, also comprises:
Optimize module, for described cable trails is optimized;
The 4th acquisition module, for obtaining the positional information at cable reference mark according to the described cable trails after optimizing;
Matching display module, for the described cable trails after optimizing according to the positional information matching at described cable reference mark the described cable trails after display optimization.
11. autoplacement according to claim 10 devices, is characterized in that, described optimization module comprises:
Processing unit, for from first of described cable trails, successively by group path selection point; The first node of every group is connected with end-node, the right cylinder of the difference of the diameter of generation diameter and described cable in preset range, and carry out collision detection with barrier, if do not bump,, by intermediate path point deletion, if bump, retain this and organize whole path points;
Obtain adjustment unit, for obtaining successively the radius-of-curvature at each some place, path of described cable trails, if described radius-of-curvature is less than default binding occurrence, the direction automatically this path point being increased to radius-of-curvature moves; Automatically adjusting in the process of radius-of-curvature, to obtain the radius-of-curvature after adjustment, and compare with described binding occurrence, the radius-of-curvature after described adjustment stops adjusting operation while being not less than described binding occurrence;
Described obtain adjustment unit and carry out adjusting operation in, described processing unit carries out collision detection to the described path point after adjusting, if do not bump, by intermediate path point deletion, if bump, retains this and organizes whole path points;
Through described processing unit with described in obtain after the operation of adjustment unit, remaining all paths point is the path point after optimization, can be used as described cable reference mark.
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