JP6725432B2 - Piping work route creation device, piping work route creation method and program - Google Patents

Description

The present invention relates to a piping work route creation device, a piping work route creation method, and a program.

Patent Document 1 relates to a method for automatically creating a collision-free pipe path in a CAD system, wherein "a data processing device receives at least one start point and an end point of a pipe in a CAD environment and a diameter of the pipe, A plurality of sample points between the start point and the end point are determined, and a graph including sample points as the plurality of vertices, the start point, the end point, and a plurality of sides connecting each vertex is formed, and the route from the start point to the end point is formed. Compute and check for each vertex in the path, along each edge connected to the vertex, whether there is a collision between the inspection object model and the background model geometry in the CAD environment, and graph the edges that have a collision. If there is no collision on the side of the route, the route is regarded as a valid route and is displayed to the user.”

Patent No. 5269196

Generally, in designing a plant, a power receiving/transforming device, or the like, an arrangement route that is a passage for piping in a space and a work route for installation work and loading/unloading work are created. Regarding the piping path, it is necessary to consider, for example, that it does not interfere with other equipment, and that the piping length and the number of bends are reduced. Regarding the work route, it is necessary to consider approaching the reference position for loading and unloading such as the building entrance and exit, and securing a working space.

Patent Document 1 describes a method of automatically creating an arrangement of pipes without interference by arranging a plurality of sample points between a start point and an end point of a pipe and performing a graph search for a route connecting the sample points. .. However, in the method of the document, since the work route is not taken into consideration, the arrangement of the pipes may be difficult to install or carry in/out.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a piping work route creation apparatus capable of creating a more appropriate piping route and work route in consideration of both the arrangement position of pipes and workability. ..

In order to solve the above problems, the piping work route creation device according to the present invention divides the three-dimensional space, which is the creation target of the piping route and the work route, into voxel element units, and weights voxels for each predetermined region. Using a piping route creation unit that searches for a piping route from the start point to the end point of the piping, and a work route creation unit that searches for a work route from the voxels on the piping route to a work reference position, and the work The route creation unit calculates the cost of the work route based on the weight of the voxels on the work route, and the piping route creation unit adds the cost of the work route to the cost of the voxels on the piping route. Then, the cost of the piping route is calculated.

According to the piping work route creation device of the present invention, a more appropriate piping route and work route can be created in consideration of both the installation position of pipes and workability.

The problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.

It is a figure showing an example of a piping course which connects point A and point B in three-dimensional space. It is a figure showing an example of a work course which carries in piping C from work standard position P. It is the figure which showed an example of the voxel space which divided|segmented the three-dimensional space into the collection space of a voxel element unit (voxel). It is a functional block diagram showing an example of functional composition of a piping work route creation device. It is a figure showing an example of standard piping information. It is a figure showing an example of constraint information. It is the figure which showed an example of the hardware constitutions of the piping work route preparation apparatus. It is a flow figure showing an example of piping work course creation processing performed with a piping work course preparation device. It is the figure which showed an example of the three-dimensional space which is the creation target of a piping route and a work route, and the prohibition region matched with the set 1 of constraint information. It is the figure which showed an example of the voxel space which voxel-divided the three-dimensional space containing a prohibition area. It is the figure which showed an example of the voxel space with the weight which added the weight of the constraint information. It is a flow figure showing an example of piping course search processing. It is a figure which shows an example of the graph representation regarding a voxel space. It is a figure which shows an example of the voxel space in which the voxel Q1 adjacent to the starting point A1 is selected and the elbow of the standard pipe is installed in the voxel Q1. It is a figure which shows an example of the graph representation regarding a voxel space. It is the figure which showed an example of the voxel space containing the work route R1 from the voxel Q1 to the work reference position P1. It is the figure which showed an example of the path equivalent to a work course on a graph representation with a dotted line. It is a figure which shows an example of the graph representation which added the work route cost to the node corresponding to the voxel which installed the piping. It is the figure which showed an example of the work constraint input screen. It is a figure showing an example of route set information. It is the figure which showed an example of the image information which drawn the route set information three-dimensionally. It is a figure showing an example of piping course list information. It is a figure showing an example of work route list information. It is information showing an example of image information in which the work route list information is three-dimensionally drawn. It is the figure which showed an example of the piping work route creation result display screen. It is a figure showing an example of course set information at the time of searching a piping course and a work course about all the selection orders. 27 is information showing an example of image information obtained by three-dimensionally drawing the route set S2 of the route set information shown in FIG.

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a diagram showing an example of a piping path connecting a point A and a point B in a three-dimensional space. FIG. 2 is a diagram showing an example of a work route for loading the pipe C from the work reference position P. When designing piping, it is required to create a piping route in consideration of the work route.

Therefore, the piping work route creation device 1 according to the present embodiment divides the three-dimensional space into element units (voxels), weights the workability of each voxel, and repeatedly obtains the work route for each site construction unit. While searching the piping route, a piping route with a low work route cost is created.

FIG. 3 is a diagram showing an example of a voxel space obtained by dividing a three-dimensional space into a set space of voxel element units (voxels).

FIG. 4 is a functional block diagram showing an example of the functional configuration of the piping work route creation device 1 according to the present embodiment. The piping work route creation device 1 includes an input/output interface control unit 10, a control unit 20, a storage unit 30, a communication unit 40, and a bus 50 connecting these to each other. A user (for example, a person in charge of design) uses the function of the piping work route creation device 1 via the input device 201 and the output device 202 connected to the input/output interface control unit 10.

The input/output interface control unit 10 is a functional unit that controls communication between the input device 201 and the output device 202 connected to the piping work route creation device 1.

The control unit 20 is a functional unit that controls the overall processing of the piping work route creation device 1. The control unit 20 includes an input reception unit 21, a voxel space creation unit 22, a pipe path creation unit 23, a work path creation unit 24, and an output processing unit 25.

The input reception unit 21 is a functional unit that receives input of various information from the input device 201 of the piping work route creation device 1 or an external device connected via the communication unit 40. For example, the input receiving unit 21 receives information about constraint conditions and instructions for executing a piping work route creation process from an input device 201 such as a keyboard, a mouse, or a touch panel or an external device connected via a predetermined communication network N such as the Internet. Accepts input. In addition, the input reception unit 21 transfers the received information to the corresponding predetermined functional unit.

The voxel space creation unit 22 is a functional unit that creates a voxel space obtained by dividing a three-dimensional space, which is a creation target of a piping path and a work path, into voxel element units. In addition, the voxel space creation unit 22 weights each voxel using constraint information described below.

The piping route creation unit 23 is a functional unit that creates a piping route. Specifically, the piping route creation unit 23 creates a piping route in consideration of the work route by using a graph representation of the piping route representing the voxel space.

The work route creation unit 24 is a functional unit that creates a work route. Specifically, the work route creation unit 24 creates the work route using a graphic representation of the work route that represents the voxel space.

The output processing unit 25 generates screen information to be displayed on the output device 202 included in the piping work route creation device 1 or an external device. For example, the output processing unit 25 creates input screen information for accepting the input of the constraint condition from the user and screen information indicating the creation result of the piping route and the work route, and displays it on the output device 202.

The storage unit 30 is a functional unit that stores predetermined information. Specifically, the storage unit 30 has standard piping information 100, constraint information 150, and route creation result information 170.

FIG. 5 is a diagram showing an example of the standard piping information 100. The standard piping information 100 is information about piping used as standard. Specifically, the standard piping information 100 is No 101, material 102, nominal diameter (A) 103, nominal diameter (B) 104, outer diameter 105, nominal thickness 106, shape type 107, It has a record in which the unit length 108 and the CAD model file 109 are associated with each other.

No. 101 is identification information for identifying each pipe. The material 102 is information indicating the material of the pipe. The nominal diameter (A) 103 and the nominal diameter (B) 104 are information indicating the nominal (common name) in which the outer diameter size of the pipe is expressed by the millimeter-based and inch-based dimensional systems, respectively. The outer diameter 105 is information indicating the outer diameter size of the pipe. The nominal thickness 106 is information indicating a nominal name (common name) representing the thickness of the pipe. The shape type 107 is information indicating the type of pipe shape, and is, for example, a straight pipe or an elbow. The unit length 108 is information indicating the length per pipe. The CAD model file 109 is information indicating a three-dimensional shape model of piping drawn by CAD (computer-aided design). Such standard piping information 100 is stored in the storage unit 30 in advance and used in the piping work route creation processing. Details of the piping work route creation processing will be described later.

FIG. 6 is a diagram showing an example of the constraint information 150. The constraint information 150 indicates a start point/end point list including constraint conditions of the piping route (for example, a constraint condition in the space such as where in the space to create the piping route and where to work in the space). Information. Specifically, the constraint information 150 includes No152, a start point 153, an end point 154, an essential area 155, a weighting coefficient 156 (of the essential area) 157, and a priority area 157 as the piping start point end point list 151. Weighting coefficient 158, prohibition area 159, weighting coefficient 160 (for prohibition area) 160, danger area 161, weighting coefficient 162 (for danger area), work easy area 163, workability area 163 ) It has a record in which the weighting factor 164, the work reference position 165, the evaluation index 166, the evaluation reference 167, the piping material 168, and the nominal diameter (A) 169 are associated with each other.

No. 152 is information for identifying each set of pipes connecting a predetermined start point and end point. The starting point 153 is information indicating the starting point of the pipe. The end point 154 is information indicating the end point of the pipe. Note that the start point 153 and the end point 154 may be indicated by coordinate values in a three-dimensional space, and may be indicated by object data or feature points on CAD, for example.

The essential area 155 is information indicating a pipe gripping area designated by a customer or the like. The priority area 157 is information indicating an area (place) where it is easy to place a divertable existing object or a pipe support fitting. The prohibited area 159 is information indicating an area where an obstacle or the like is present when installing the pipe. The dangerous area 161 is information indicating an area (e.g., a movable range of a door, a high voltage area) where a dangerous substance is nearby when installing a pipe.

Further, the weighting factors 156, 158, 160, 162 and 164 associated with each of the essential area 155, the priority area 157, the prohibition area 159 and the dangerous area 161 are easy to create a piping route and a work route in each region. It is information indicating the level. For example, a relatively small value (cost) is given to each of the weighting factors 156 and 158 associated with the essential area 155 and the priority area 157 in order to facilitate the creation of the piping route and the work route. On the other hand, a relatively large value (cost) is given to each of the weighting factors 160 and 162 associated with the prohibited area 159 and the dangerous area 161, in order to make it difficult to create a piping route and a work route. ..

The easy work area 163 is information indicating an area in which a predetermined worker model (for example, the worker model A) is easy to work. The weighting factor 164 associated with the work-easy area 163 is information indicating the degree of workability. For example, the reachable area of the worker model A is an area in which the work is easier to perform, and thus a relatively small value (cost) is given to facilitate the creation of the piping path and the work path. On the other hand, the area where the worker model A needs to reach is an area in which it is more difficult to work than the area that the hand can reach, so a larger value (cost) than that area is given. Since it is considered that the worker model has different work easy regions depending on the physique and regional characteristics, the work easy region 163 defines a worker model imitating the worker and automatically specifies the work easy region 163 by performing work simulation. It may be done.

The work reference position 165 is information indicating a position serving as a starting point of the work route (for example, a doorway of a building or a material storage place). The evaluation index 166 is information indicating the evaluation index of the pipe path, and includes, for example, the number of times the pipe is bent and the path length. The evaluation standard 167 is information indicating the evaluation standard of the piping path, and is, for example, small (the number of bending times) or short (the path length). As will be described later, a piping route satisfying the evaluation standard 167 corresponding to each evaluation index 166 is highly evaluated, and a piping route not satisfying the standard is evaluated low. Since the pipe material 168 and the nominal diameter (A) 169 are the same as those described above, the description thereof will be omitted.

Each area or work reference position may be specified by the coordinate value of the three-dimensional space or the distance from the wall surface, ceiling, or floor surface, but may be specified by object data on CAD, for example.

Further, in the present embodiment, a case will be described in which each area and weight are commonly used for both creation of a piping route and creation of a work route, but different regions and weights are used for creation of a piping route and creation of a work route. Is also good. By doing this, for example, existing pipe support fittings can be set as a priority area when creating a piping path, and can be set as a prohibited area or a dangerous area when creating a working path, thus creating a more accurate working path. can do.

In addition, when a plurality of pairs (for example, the pair 1 and the pair 2) are registered in the constraint information 150, the piping work route creation device 1 sets the pair 1 (for example, the starting point A1 on the device A and the device B on the device A). A pipe path of a set 2 (a pipe connecting a start point C1 on the device C and an end point D1 on the device D) and a pipe path of a pipe (connecting a certain end point B1) are created by a single process. Specifically, the piping work route creation device 1 creates the piping route of the set 1 registered higher in the constraint information 150 and then creates the piping route of the set 2 subsequently. In other words, when the constraint information 150 in which the set 2 is registered higher than the set 1 is used, the piping work route creating device 1 creates the pipe route of the set 1 and then creates the pipe route of the set 1.

Further, as will be described later, when the piping work route creating device 1 creates the piping route of the set 2 after creating the piping route of the set 1, the piping route of the set 2 does not overlap the piping route of the set 1. , Set the cost of the voxel corresponding to the piping route of the set 1 high. That is, there may be a case where the route to be created differs depending on the order in which the pipe route is created.

Such constraint information 150 may be created based on the input information received by the input accepting unit 21 from the user via the input device 201 or the like before the execution of the piping work path creating process described later, or the execution of the process. It is also possible to display a predetermined input screen therein and receive it from the user. Such constraint information 150 is used in the piping work route creation processing.

The route creation result information 170 is information regarding the creation result of the piping work route. Specifically, the route creation result information 170 is predetermined information about the pipe route and the work route created by the pipe work route creation process (route number of the created pipe route, cost of the pipe route, coordinates of the pipe route, evaluation index). The evaluation value, the route number of the work route, the cost of the work route, the coordinates of the work route, etc.) are stored.

The standard piping information 100, the constraint information 150, and the route creation result information 170 are connected via a network N such as a LAN (Local Area Network), a WAN (Wide Area Network), a mobile phone network, or a wireless communication network (not shown). Each functional unit of the control unit 20 provided in another device may access information stored in each storage unit via the communication unit 40.

Returning to FIG. 4, description will be made. The communication unit 40 is a functional unit that performs information communication with an external device. Specifically, the communication unit 40 acquires, via the network N, input information regarding constraint conditions, an instruction to execute a piping work route creation process, and the like from an external device. Further, the communication unit 40 transmits input screen information for accepting the input of the constraint condition from the user, screen information indicating the creation result of the piping route and the work route, and the like to the external device.

The functional blocks of the piping work route creation device 1 have been described above.

FIG. 7 is a diagram showing an example of the hardware configuration of the piping work route creation device 1. The piping work route creation device 1 can be configured by, for example, a general computer (for example, a personal computer), and, for example, a characteristic processing function by software program processing (for example, a control unit of the piping work route creation device 1). 20) is realized.

As shown in the figure, the piping work route creation device 1 electrically connects an input device 201, an output device 202, an external storage device 203, a computing device 204, a main storage device 205, a communication device 206, and these. It has a bus 207 interconnected.

The input device 201 is a keyboard, a mouse, a pointing device such as a touch panel, or a microphone that is a voice input device.

The output device 202 is a display, a printer, a speaker that is an audio output device, or the like.

The external storage device 203 is a non-volatile storage device capable of storing digital information, such as a so-called hard disk drive (Shard Disk Drive), SSD (Solid State Drive), or flash memory.

The arithmetic device 204 is, for example, a CPU (Central Processing Unit). The main storage device 205 is a memory device such as a RAM (Random Access Memory) or a ROM (Read Only Memory).

The communication device 206 is a device for performing information communication with an external device, and is a wired communication device for performing wired communication via a network cable or a wireless communication device for performing wireless communication via an antenna.

Each functional unit included in the control unit 20 is realized by a program that causes the arithmetic device 204 to perform processing. This program is stored in the main storage device 205 or the external storage device 203, is loaded on the main storage device 205 when the program is executed, and is executed by the arithmetic unit 204. The storage unit 30 is realized by the main storage device 205, the external storage device 203, or a combination thereof. The communication unit 40 is realized by the communication device 206.

Further, each of the above-described configurations, functions, processing units, processing means, and the like may be partially or entirely realized by hardware, for example, by designing with an integrated circuit. Further, the above-described configuration and function may be realized by software by the processor interpreting and executing a program for realizing each function. Information such as a program, a table, and a file that realizes each function can be stored in a memory, a hard disk, a storage device such as SSD, or a recording medium such as an IC card, an SD card, and a DVD.

The hardware configuration of the piping work route creation device 1 has been described above.

[Description of operation]
FIG. 8 is a flowchart showing an example of the piping work route creation processing executed by the piping work route creation device 1. Such processing is started, for example, when the input receiving unit 21 receives an instruction to execute the piping work route creation processing from the user via the input device 201.

When the process is started, the input receiving unit 21 receives the input of the model information (not shown) of the three-dimensional space that is the creation target of the piping route and the working route stored in the storage unit 30 and the constraint information 150. (Step S001). Note that the model information of the three-dimensional space is CAD object data or the like indicating the three-dimensional space of the target building or the like, but it is point cloud data by three-dimensional measurement, surface data group, or coordinate value group that defines the space. You can have it.

Next, the voxel space creation unit 22 creates a voxel space by voxel-dividing the three-dimensional space that is the creation target of the piping route and the work route, using the model information that has received the input (S002).

Next, the voxel space creation unit 22 selects one set from the constraint information (start point end point list) (step S003). In this example, the voxel space creating unit 22 selects the set 1 registered in the highest level of the constraint information.

FIG. 9 is a diagram showing an example of a three-dimensional space 300, which is a target for creating a piping route and a work route, and a prohibited area 159 associated with the set 1 of the constraint information 150. A region 310 in the figure is a three-dimensional representation of such a prohibited region.

FIG. 10 is a diagram showing an example of a voxel space 320 obtained by dividing a three-dimensional space including the prohibited area 310 into voxels. Each rectangular parallelepiped forming the voxel space corresponds to one voxel. The voxel space creation unit 22 divides the three-dimensional space into each voxel so that the length of one side of the voxel and the minimum value of the unit length of the standard piping information 100 match each other.

By dividing into voxels of such a size, it is possible to determine the work route by arranging standard pipes in the voxels in a one-to-one correspondence.

Next, the voxel space creation unit 22 gives the weight of the constraint information 150 to each voxel (step S004). Specifically, the voxel space creation unit 22 corresponds to the required area 155, the priority area 157, the prohibited area 159, the dangerous area 161, and the easy work area 163 based on the coordinate value, the distance from the wall surface, the ceiling, or the floor surface. Identify voxels. The voxel space creation unit 22 specifies the voxel corresponding to each area by comparing the coordinate value of each area indicated by the CAD object data with the coordinate value of the point corresponding to the corner of each voxel, for example. May be.

Further, the voxel space creation unit 22 sets the weighting coefficient 156 of the essential area 155, the weighting coefficient 158 of the priority area 157, the weighting coefficient 160 of the prohibited area 159, the weighting coefficient 162 of the dangerous area 161, and the easy work area 163. The weighting factor 164 and the weighting coefficient 164 are given to the corresponding voxels of the respective regions and set as the cost of each voxel.

FIG. 11 is a diagram showing an example of the weighted voxel space 330 to which the weight of the constraint information 150 is added. In addition, the number in each voxel shows the added weight (voxel cost).

Next, the piping route creation unit 23 searches for the selected group of piping routes in the weighted voxel space 330 (step S005). The piping route creation unit 23 gives a sufficiently large weight (predetermined value) to the voxels corresponding to the piping route obtained by the search so that the voxels do not become another group of piping routes.

FIG. 12 is a flowchart showing an example of the piping route search processing. This flow chart shows details of the processing of the piping route search shown in step S005 of FIG.

When the pipe route search processing is started, the pipe route creating unit 23 represents the voxel space in a graph (step S011).

FIG. 13 is a diagram showing an example of a graph representation 340 regarding the voxel space 330. The graph representation represents each voxel as a node and the adjacency relationship between voxels as a path. As shown in the figure, the path starting from the node corresponding to the voxel at the starting point A1 and reaching the node corresponding to the voxel at the ending point B1 corresponds to the selected piping route.

Further, the piping route creation unit 23 sets the same value as the weight of each voxel for each node as the initial cost. Note that the piping route creation unit 23 may not add the voxels included in the prohibited area 159 having a sufficiently large weight (for example, several hundred times the normally possible value) to the graph representation. By doing so, since the number of nodes is reduced, it is possible to improve the calculation time and the storage area efficiency in searching the piping route.

Next, the piping route creation unit 23 selects standard piping (step S012). Specifically, the pipe path creating unit 23 uses the standard pipe information 100 and the constraint information 150 to make a standard equivalent to the pipe material 168 and the nominal diameter (A) 169 of the selected group (in this example, group 1). Identify the piping. When there are a plurality of pipes specified based on the pipe material 168 and the nominal diameter (A) 169 according to the shape type, the pipe path creation unit 23 specifies all of the plurality of pipes. In this example, the following description will be made on the premise that two types of standard pipes, a straight pipe and an elbow, are specified.

Next, the piping route creation unit 23 selects voxels for the site construction unit (step S013). For example, when the site construction unit is a unit of standard piping, and the unit length of one side of the voxel is the same as the unit length of one selected standard pipe, the piping route creation unit 23 uses the graph representation 340. A node corresponding to a voxel adjacent to the starting voxel (A1 in this example) is identified. In addition, the piping route creation unit 23 uses a shortest route search algorithm (for example, Dijkstra method or depth-first search) to identify one node having the lowest cost from the identified nodes. Further, the piping route creation unit 23 selects a voxel corresponding to the identified node.

In addition, when the site construction unit is a unit of two standard pipes and the length of one side of the voxel is the same as the unit length of one selected standard pipe, the pipe route creating unit 23 determines that the one adjacent to the voxel at the start point is It suffices to select the eye voxel and the second voxel that is continuous in the same direction.

Next, the pipe path creation unit 23 installs the standard pipe selected in step S011 in the voxel selected in step S013 (step S014). Specifically, the piping route creation unit 23 specifies the piping shape from the CAD model file 109 registered in the standard piping information 100, and installs the selected standard piping in the voxel.

When there are a plurality of types of standard pipe shapes identified in step S011, the pipe path creating unit 23 virtually installs all standard pipes in consideration of their orientations. Then, for each standard pipe, the work route is generated in step S015 described below, and the work route cost is calculated. Then, when selecting voxels for the field construction unit again in step S013, that is, when selecting the next node in the graph representation 340, the standard pipe of the shape type most suitable for the position of the voxel corresponding to the next node is specified. And identify such standard piping.

FIG. 14 is a diagram showing an example of the voxel space 350 in which the voxel Q1 adjacent to the starting point A1 is selected and the elbow of the standard pipe is arranged in the voxel Q1.

Next, the work route creation unit 24 searches for a work route for piping (step S015). Specifically, the work route creation unit 24 searches for a work route from the voxel Q1 in which the standard pipe is installed to the voxel P1 at the work reference position. In searching for the work route, the work route creation unit 24 represents the voxel space as a graph.

FIG. 15 is a diagram showing an example of a graph representation 360 regarding the voxel space 350. The graph representation 360 represents each voxel as a node and the adjacency relationship between voxels as a path, as described above. As shown in the figure, the path connecting the node corresponding to the voxel Q1 in which the standard pipe is installed and the node corresponding to the voxel P1 at the work reference position corresponds to the work path of the standard pipe installed in the voxel Q1.

Further, the work route creation unit 24 sets the same value as the weight of each voxel for each node as the initial cost. In addition, the work route creation unit 24 sets the node corresponding to the voxel Q1 as the work start point note and the node corresponding to the voxel P1 as the work end point node.

Further, the work route creation unit 24 searches the work route from the work start point node to the work end point node using the shortest route search algorithm (for example, Dijkstra method or depth priority search).

Next, the work route creation unit 24 determines whether or not a work route without interference has been obtained (step S016). Specifically, the work route creation unit 24 virtually arranges standard pipes in each voxel corresponding to the work start point node and the work end point node of the searched work route, and determines interference with surrounding devices and the like. When it is determined that the work route without interference has not been obtained (No in step S016), the work route creation unit 24 returns the process to step S015 and obtains the work route with the next smallest cost. The work route creation unit 24 gives a sufficiently large weight to the node at the interfering position and performs the process of step S015. On the other hand, when it is determined that the work route without interference is obtained (Yes in step S016), the piping route creation unit 23 shifts the processing to step S017.

FIG. 16 is a diagram showing an example of the voxel space 370 including the work route R1 from the voxel Q1 to the work reference position P1.

FIG. 17 is a diagram showing an example of a path corresponding to a work route on the graphic representation 360 by a dotted line. When the path indicated by the dotted line is obtained as the work path, the work path creation unit 24 calculates the work path cost (for example, 10.1) by adding all the costs (weights) of the nodes on the work path. ..

Next, the work route creation unit 24 adds the obtained work route cost to the cost of the node of the graph representation 340 used for the pipe route search (step S017). Specifically, the calculated work route cost (10.1) is added to the cost (0.5) of the node corresponding to the voxel (Q1) in which the standard pipe is installed.

FIG. 18 is a diagram showing an example of a graph representation 340 in which a work route cost is added to a node corresponding to a voxel in which piping is installed. By adding the obtained work route cost (10.1) to the node cost (0.5) corresponding to the voxel Q1, the cost of the node becomes 10.6.

The piping route creation unit 23 adds the voxel Q1 in which the piping is installed to the prohibited area 159 and gives a sufficiently large weight.

Next, the piping route creation unit 23 determines whether or not a piping route connecting the start point and the end point has been obtained (step S018). When it is determined that the pipe route between the start point and the end point is not obtained (No in step S018), the pipe route creating unit 23 returns the process to step S013. In that case, the piping route creation unit 23 selects voxels for the on-site construction unit from the voxels that are adjacent to the voxel Q1 and performs the same processing as steps S014 to S017 described above.

In addition, in step S013, the work route creation unit 24 identifies one node that is the shortest route using the new graph representation in which the cost of the node corresponding to the voxel Q1 is updated, and the on-site construction corresponding to such node is performed. Select unit voxels. In addition, the piping route creation unit 23 repeats the processing of steps S013 to S018 until a piping route connecting the start point and the end point is obtained in this way.

On the other hand, when it is determined that the piping route between the start point and the end point is obtained (Yes in step S018), the piping route creation unit 23 shifts the processing to step S019.

Next, the piping route creation unit 23 evaluates the cost of the piping route (step S019). Specifically, the piping route creation unit 23 calculates the piping route cost by adding the costs given to each node of the piping route connecting the start point and the end point. Further, the piping route creation unit 23 calculates an evaluation value of the calculated piping route cost based on the evaluation index 166 and the evaluation standard 167 of the constraint information 150. For example, the piping route creation unit 23 obtains an evaluation value by adding or multiplying a predetermined evaluation coefficient for each of the number of bends and the path length included in the created piping route. As a result, it is possible to calculate the evaluation value of the piping route that reflects the evaluation standard. The method for evaluating the piping route is not limited to the above method.

After calculating the evaluation value of the pipe route, the pipe route creating unit 23 adds each voxel on the obtained pipe route to the prohibited area 159, gives a sufficiently large weight, and ends the present flow.

Returning to FIG. 8, description will be made. When the piping route search (step S005) ends, the piping route creation unit 23 determines whether or not all the sets of piping routes included in the constraint information 150 have been created (step S006). Then, when it is determined that the piping routes of all the sets have not been created (No in step S006), the piping route creation unit 23 returns the process to step S003, and steps S003 to step for the uncreated sets of the piping routes. The processing of S006 is performed. In addition, when the piping route of the uncreated group (group 2 in this example) is created, the already-obtained piping route of the other group (group 1 in this example) is added to the prohibited area 159. , Voxels on such a route are not selected as an uncreated set of pipe routes.

On the other hand, when it is determined that all the pairs of piping routes have been created (Yes in step S006), the piping route creation unit 23 creates route creation result information regarding the creation results of the piping route and the work route, and the storage unit 30. Output to. Further, when the piping route creation unit 23 outputs the route creation result information to the storage unit 30, the processing of this flow ends.

The piping work route creation process has been described above.

According to such a piping work route creation device 1, it is possible to create a more appropriate piping route and work route in consideration of both the arrangement position of pipes and workability.

FIG. 19 is a diagram showing an example of the work constraint input screen 400. The input screen 400 is a screen that is output when receiving the input of the constraint information 150 or when receiving the instruction to create the piping work route. For example, when a display instruction of the work constraint input screen 400 is received from the user via the input reception unit 21, the output processing unit 25 generates the screen information and displays it on the output device 202. As shown in the figure, the work constraint input screen 400 includes a start point/end point list edit region 401, a constraint information defining region 402, a screen display filter 403, a list row addition button 404, a route creation execution button 405, and a save button 406. And have.

In the start point/end point list edit area 401, the start point/end point list included in the constraint information 150 is displayed. The user can directly edit each item of the start point/end point list via the input device 201.

In the constraint information defining area 402, an image in which a three-dimensional space in which a piping route and a work route are created and a start point/end point list are three-dimensionally displayed is displayed. The user can edit the start point/end point list by using the image by designating a CAD object or coordinates in the three-dimensional space via the input device 201.

The screen display filter 403 enumerates and displays CAD objects and coordinates in the three-dimensional space included in the constraint information defining area 402. The user specifies whether or not to display them on the constraint information defining area 402. be able to.

The list row addition button 404 is a button for receiving an instruction from the user to add a row of the start point/end point list. The route creation execution button 405 is a button for receiving an instruction to execute the piping work route creation process from the user. The save button 406 is a button for accepting a save instruction of the constraint information 150 including the edited start point end point list from the user.

The input receiving unit 21 receives input information for each area and each button via the input device 201. Further, the output processing unit 25 edits the constraint information 150 based on the input information, stores the edited constraint information 150 in the storage unit 30, or generates an image according to the input information to generate the constraint information defining area 402. To display.

FIG. 20 is a diagram showing an example of the route set information 410. The route set information 410 is information about a route set in which the pipe routes corresponding to the plurality of sets registered in the constraint information 150 are integrated into one set. The route set information 410 has a record in which a route set No 411, a set No 412, a pipe route No 413, and a pipe route total cost 414 are associated with each other. Note that the route set information 410 is generated by the output processing unit 25 using the route creation result information 170 according to an instruction from the user, and is displayed on the output device 202.

The route set No 411 is information for identifying the route set. The set No. 412 is information in which the sets included in the route set are arranged in the order of execution of the piping work route creation processing. The piping route No. 413 is information for identifying the created piping route. For example, R1, R2, and R3 of the piping route No. 413 indicate the piping routes corresponding to the set 1, the set 2, and the set 3 of the set No. 412, respectively. The piping route total cost 414 is information indicating the total sum of the piping route costs. In this example, it is the sum of the piping route costs of R1, R2, and R3.

Such route set information 410 allows the user to see the piping routes for the set and their total cost.

FIG. 21 is a diagram showing an example of image information 420 obtained by three-dimensionally drawing the route set information 410. In the image information 420, the piping routes R1 to R3 included in the route set S1 of FIG. 20 and the standard piping installed in the piping route are drawn.

By displaying such image information 420, the user can visually understand at what position and in what shape the standard pipe is installed in the three-dimensional space.

FIG. 22 is a diagram showing an example of the piping route list information 430. The piping route list information 430 is detailed information regarding each piping route. Specifically, the pipe route list information 430 has a record in which a pipe route No 431, a pipe route coordinate 432, an evaluation index 433, an evaluation value 434, and a route cost 435 are associated with each other. Note that the piping route list information 430 is generated by the output processing unit 25 using the route creation result information 170 according to an instruction from the user, and is displayed on the output device 202.

The piping route No. 431 is information for identifying the piping route. The piping path coordinates 432 is information indicating the coordinates of a predetermined position (for example, a starting point, a turning point, an ending point, etc.) in the three-dimensional space that becomes the piping path. The evaluation index 433 is information indicating an evaluation index such as the number of times the pipe is bent and the path length, and is common to the evaluation index 166 of the constraint information 150. The evaluation value 434 is information indicating the evaluation value of the piping route based on the evaluation index 433. In this example, the evaluation values of the number of bends and the path length of the piping route R1 are 2 and 700, respectively. The route cost 435 is information indicating the created individual piping route cost.

With such piping route list information 430, the user can confirm the cost and evaluation value of each piping route.

FIG. 23 is a diagram showing an example of the work route list information 440. The work route list information 440 is detailed information about each work route. Specifically, the work route list information 440 has a code in which the piping component No 441, the work route No 442, the execution order 443, and the work route coordinates 444 are associated with each other. Note that the work route list information 440 is generated by the output processing unit 25 using the route creation result information 170 according to an instruction from the user, and is displayed on the output device 202.

The piping part No. 441 is identification information of the piping part that constitutes the piping path registered in the piping path No. 442. The piping route No. 442 is information for identifying the created piping route. The execution order 443 is information that specifies the order in which the associated piping component 441 is installed in the piping path. The work route coordinates 444 is information indicating coordinates of a predetermined position (for example, a work start point, a turning point, a work end point, etc.) in the three-dimensional space that is the work route.

In addition to the above, the work route list information 441 may be associated with the expected travel time of each work route. In this case, the reference work time corresponding to the work path length per unit may be stored in the storage unit 30 in advance, and the expected travel time may be calculated by multiplying the path length of each work path by the reference work time. Further, the reference work time for each element work such as a linear movement work, a turning point movement work, and an installation work is stored in the storage unit 30, and the expected movement time of the work route and the expected work time are calculated for each element work. May be.

With such work route list information 440, the user can confirm the work route and the installation order of the piping parts.

FIG. 24 is information showing an example of image information 450 in which the work route list information 440 is three-dimensionally drawn. In the image information 450, the pipe route R1 included in the work route list information 440 of FIG. 23, the pipe parts Q6 and Q7 installed in the pipe route, and the work route are drawn.

By displaying such image information 450, the user can visually recognize the position and work route of the piping component in the three-dimensional space.

FIG. 25 is a diagram showing an example of the piping work route creation result display screen 460. The screen 460 is displayed when it is determined in step S006 of the piping work route creation process that all the piping routes have been created (that is, when Yes in step S006) or when a display instruction from the user is received. For example, when the piping route creation unit 23 determines that all the piping routes have been created or when the display instruction of the piping work route creation result display screen 460 is received from the user via the input reception unit 21, the output processing unit 25 Such screen information is generated and displayed on the output device 202.

As shown in the figure, the piping work route creation result display screen 460 includes a route set selection area 461, a start point/end point list designation area 462, a result display area 463, a work route animation confirmation button 464, a piping route and work route information. It has an output button 465 and a save button 466.

A route set is displayed in the route set selection area 461. When there are a plurality of route sets, a plurality of route sets are displayed as a list in this area. The user can select which route set to display via the input device 201. The output processing unit 25 highlights the selected route set by highlighting it.

In the start point/end point list designation area 462, a set of start point/end point lists included in the selected route set is displayed. The user can select the set of the start point/end point list to be displayed in the result display area 463. The output processing unit 25 highlights the selected route set by highlighting it.

In the result display area 463, piping routes and work routes corresponding to the selected set of routes and a set of starting point/ending point lists, starting points and ending points of the piping routes, and weighted voxel spaces are displayed as a three-dimensional image. The output processing unit 25 may display the predetermined information (for example, the evaluation value or the route cost) included in the pipe route list in association with the pipe route displayed in the result display area 463.

The work route animation confirmation button 464 is a button that receives an instruction from the user to display the work route animation as an animation. The piping route and work route information output button 465 gives an instruction to output the route set information 410, the pipe route list information 430, the work route list information 440, and the constraint information 150 including the start point end point list in a format such as a text file or a CAD file. This button is received from the user. The save button 466 is a button that receives a user's instruction to save the image information displayed in the result display area 463.

The piping work path creation device 1 according to the present embodiment has been described above.

According to such a piping work route creation device 1, it is possible to create a more suitable pipe route and work route in consideration of both the installation position of pipes and workability.

The present invention is not limited to the above embodiment. The above-described embodiment can be variously modified within the scope of the technical idea of the present invention.

For example, in the above-described embodiment, the piping route and the work route are searched in order from the set registered higher in the constraint information 150, but the present invention is not limited to this, and the distance between the start point and the end point is The piping route and the work route may be searched in order from the shortest group. Specifically, the piping route creation unit 23 calculates the distance between the start point 153 and the end point 154 of each set using the model information of the three-dimensional space and the constraint information 150. Then, the piping route creation unit 23 creates the piping route and the work route in order from the set having the shortest calculated distance between the start point and the end point.

By doing so, the piping work route creation device 1 can prevent the redundant avoidance route from being created in order to avoid another set of piping routes even though the start point and the end point are short.

Further, the piping route creation unit 23 may search for the piping route and the work route from a group close to the center of gravity of the three-dimensional space. Specifically, the piping path creation unit 23 uses the model information and the constraint information 150 of the three-dimensional space to determine the line connecting the start point 153 and the end point 154 of each set that is closest to the center of gravity of the three-dimensional space. Identify and create piping routes and work routes in order from the group closest to the center of gravity.

By doing so, the piping work route creation device 1 creates a redundant avoidance route that returns from the center of gravity of the three-dimensional space to the center of gravity via the outer periphery in order to avoid another set of piping routes. Can be prevented.

In addition, the piping route creation unit 23 may also search for a selection order of a set that creates a piping route. By doing so, the piping work route creation device 1 can obtain a piping route in which the total cost of the piping route is minimized.

In addition, the piping route creation unit 23 may execute a search for a piping route and a work route for all combinations in the selection order for the set included in the constraint information 150. For example, when the set 1, the set 2 and the set 3 are registered in the constraint information 150, the selection order of selecting the set 1, the set 2 and the set 3 in that order and the selection order of selecting the set 1, the set 3 and the set 2 in that order Order, selection order for selecting set 2, set 1 and set 3 in order, selection order for selecting set 2, set 3 and set 1 and selection order for selecting set 3, set 1 and set 2 , The set 3, the set 2 and the set 1 may be selected in this order, and the piping route and the work route may be searched for.

FIG. 26 is a diagram showing an example of the route set information 470 when the pipe route and the work route are searched for all the selection orders. As shown in the figure, S1 shows the case where the pipe paths are searched in order of the set 1, the set 2 and the set 3, and the pipe paths of each set in such a case are R1, R2 and R3, respectively. .. Further, S2 shows the case where the piping routes are searched in order of the set 2, the set 1, and the set 3, and the piping routes of each set in this case are R1, R2, and R4, respectively. Further, as shown in the total cost of the piping routes associated with S1 and S2, when the selection order of the sets is different, the piping routes of each set may be different. Therefore, when the selection order of the sets is changed In some cases, the total cost of piping routes may differ for each route set.

27 is information showing an example of image information 480 in which the route set S2 of the route set information 470 shown in FIG. 26 is three-dimensionally drawn. In the image information 480, the piping routes R1, R2 and R4 included in the route set S2 and the standard piping installed in the piping route are drawn. For example, as is clear by comparing the route set S1 with the image information 420 (FIG. 21) in which the route set S1 is drawn three-dimensionally, when the selection order of the sets is different, that is, when the piping route creation order is different, the three-dimensional space is displayed. It can be seen that the pipe paths created are also different from each other.

In this way, the piping work route creation apparatus 1 provides the user with the total cost of the piping route for each route set of each combination by searching the piping routes and the working routes of all the combinations in the selection order of the pairs. be able to. This allows the user to select a set of combinations with a lower total cost of the piping path.

It should be noted that the above-described embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described. Further, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and to add the configuration of another embodiment to the configuration of one embodiment. Further, it is possible to add, delete, or replace other configurations with respect to a part of the configurations of the respective embodiments.

Further, in the above description, the control lines and the information lines are shown as those considered necessary for the description, and not all the control lines and the information lines on the product are necessarily shown. In reality, it can be considered that almost all configurations are connected to each other.

1... Piping work route creation device, 10... Input/output interface control unit,
20... Control unit, 21... Input receiving unit, 22... Voxel space creating unit,
23... Piping route creation unit, 24... Work route creation unit, 25... Output processing unit,
30... Storage unit, 40... Communication unit, 50... Bus, 100... Standard piping information, 150... Constraint information, 170... Route creation result information, 201... Input device ,
202... Output device, 203... External storage device, 204... Arithmetic device,
205... Main storage device, 206... Communication device, N... Network

Claims (14)

Creating a piping route from the starting point to the ending point of the pipe by dividing the 3D space for creating the piping route and work route into voxel element units and using voxels weighted for each predetermined area Department,
A work route creating unit that searches for a work route from the voxel to the work reference position on the piping route;
The work route creation unit,
Calculate the cost of the work route based on the weight of the voxel on the work route,
The piping route creation unit,
A pipe work route creation device, wherein the cost of the work route is added to the cost of the voxels on the pipe route to calculate the cost of the pipe route. The piping work route creation device according to claim 1,
Model information representing a space to be created of the piping route and the work route in a three-dimensional shape,
Using the constraint information in which a group in which the start point and the end point of the pipe are associated with the area and the weight with restrictions on installation are registered,
A piping work route creation device further comprising a voxel space creation unit that creates a voxel space in which a three-dimensional space is divided into voxel element units, and corresponding voxels in a restricted region are given a predetermined weight. The piping work route creation device according to claim 2,
Model information of the three-dimensional space,
The piping work route creation device further comprising a storage unit that stores the constraint information. The piping work route creation device according to claim 2,
The constraint information is
It has a set in which a start point and an end point of the pipe, an essential area, a priority area, a prohibited area, a dangerous area and a work easy area corresponding to the restricted area, and a weight for each area are associated with each other. Piping work route creation device. The piping work route creation device according to claim 4,
When a plurality of the groups are registered in the constraint information,
The piping path creation unit adds the voxels on the piping path created in the above order to the prohibited area of the constraint information,
The pipe work route creation device, wherein the constraint information that the voxels on the pipe route created in the previous order are added to the prohibited area is used when creating the pipe route after the next. The piping work route creation device according to claim 1,
The piping route creation unit,
A piping work route creation device, wherein an evaluation value of the created piping route is calculated using a predetermined evaluation index and evaluation standard. The piping work route creation device according to claim 6,
The piping work path creating device, wherein the evaluation index includes at least one of the number of bends and the path length of the piping path. The piping work route creation device according to claim 2,
An output processing unit that generates model information of the three-dimensional space and three-dimensional image information of the constraint information,
An input receiving unit that receives an input to the image information,
The output processing unit,
A piping work path manufacturing apparatus, characterized in that the constraint information is edited based on the input information received by the input receiving unit. The piping work route creating device according to claim 8,
The output processing unit,
Piping routes corresponding to the sets included in the constraint information, and route set information including total cost that is the sum of costs of the piping routes of each set,
Coordinates of the piping route, piping route list information including the cost of the piping route,
Output display of at least one of piping parts to be installed in the piping path, an execution order of installation of the piping parts, coordinates of the working path, and work path list information including the piping path A piping work route creating device characterized by being. The piping work route creation device according to claim 2,
The piping route creation unit,
When a plurality of the groups are included in the constraint information, the piping work route creating apparatus is characterized in that a piping route is created in order from a group having a short distance between a starting point and an ending point of the piping route. The piping work route creation device according to claim 2,
The piping route creation unit,
When a plurality of the groups is included in the constraint information, the piping work path creating apparatus is characterized in that a piping line is created in order from a group in which a straight line connecting a start point and an end point of the piping path is closer to the center of gravity of the three-dimensional space .. The piping work route creation device according to claim 2,
The piping route creation unit,
When a plurality of the sets are included in the constraint information, a piping work route creating apparatus is created for all combinations of selection order of the sets. A method for creating a piping work path executed by a piping work path creation device,
Creating a piping route from the starting point to the ending point of the pipe by dividing the 3D space for creating the piping route and work route into voxel element units and using voxels weighted for each predetermined area Steps,
A work route creating step of searching for a work route from the voxel to the work reference position on the piping route;
The work route creating step is
Calculate the cost of the work route based on the weight of the voxel on the work route,
The piping path creating step,
A piping work route creation method, wherein the cost of the work route is added to the cost of the voxels on the pipe route to calculate the cost of the pipe route. A program that causes a computer to function as a piping work route creation device,
The computer,
Creating a piping route from the starting point to the ending point of the pipe by dividing the 3D space for creating the piping route and work route into voxel element units and using voxels weighted for each predetermined area Department,
Functioning as a work route creation unit that searches for a work route from the voxel to the work reference position on the piping route,
The work route creation unit,
Calculate the cost of the work route based on the weight of the voxel on the work route,
The piping route creation unit,
A program for calculating the cost of the piping route by adding the cost of the work route to the cost of the voxel on the piping route.

Images