CN106951635A - A kind of flexible cable path Intelligent planning method for considering gravity constraint rule - Google Patents

Abstract

An intelligent planning method for flexible cable paths considering gravity constraint rules, which includes the following steps: firstly, modeling the three-dimensional environment of the wiring space, and adopting a partitioned space division method to partition and divide the space of the product machine, and obtain the waiting space for wiring. The wiring space area and the non-wiring space area; secondly, rasterize the divided space area to be wired, establish the obstacle bounding box model, establish the wiring space grid model and the abstract model of the wiring path point; finally use ant colony optimization Intelligent search and optimization of flexible cable paths by algorithm and considering gravity constraint rules. The invention can realize automatic obstacle avoidance, generate a wiring path satisfying certain engineering rules, improve the wiring efficiency of the flexible cable and the final overall performance and reliability of the product.

Description

An Intelligent Path Planning Method for Flexible Cables Considering Gravity Constraint Rules

technical field

The invention relates to a computer wiring technology, in particular to a cable path planning technology, in particular to an intelligent planning method for a flexible cable path considering gravity constraint rules.

Background technique

With the rapid development of large-scale electrical systems such as aviation, aerospace, ships, electronics, ordnance, modern electrical systems are becoming increasingly complex and integrated. A large number of electrical devices are densely packed on the system platform, and the cables used to connect the devices and components transmit more and more signals, the frequency is higher and higher, and the power consumption is also increasing. higher requirements and challenges. Since the cable itself is a flexible body, the size, shape and spatial direction of the cable are constrained by the product structure space, and the laying process is complex and changeable. Unreasonable cable laying will increase the probability of failure of cable parts, which will lead to unstable electrical performance and poor electromagnetic compatibility, which will ultimately affect the performance of the overall product.

One of the keys to computer-aided cable assembly is to solve the planning of cable laying paths. Cable laying path planning must consider not only space constraints, but also mechanical and electrical performance constraints. It is a special type of layout problem with performance constraints, in which there are many undetermined parameters and complex feasible space. The cable laying path not only affects the structural design of the layout space, the total length and weight of the cables, but also affects the performance, reliability, installation and maintainability of the entire system, and the electromagnetic compatibility between electronic devices. One of the key problems to be solved urgently.

Contents of the invention

The purpose of the present invention is to solve the problems of unreasonable laying of flexible cable paths and low wiring efficiency during the wiring process of the whole product model, and to invent an intelligent planning method for flexible cable paths considering gravity constraint rules.

An intelligent planning method for flexible cable paths considering the rules of gravity constraints, which is characterized in that: firstly, the three-dimensional environment of the wiring space is modeled, and the space of the whole product is divided by using a partitioned space division method, so as to obtain the wiring that needs to be wired. Space area and non-wiring space area; secondly, rasterize the divided space area to be wired, establish the obstacle bounding box model, establish the wiring space grid model and the abstract model of the wiring path point; finally use the ant colony optimization algorithm The intelligent search and optimization of the flexible cable path is carried out by considering the gravity constraint rules.

It includes the following specific steps:

Step 1: Create a product structure model;

Step 2: Use the zoning space division method to zonate the space of the product machine;

Step 3: Obtain the space area to be wired and the space area not to be wired;

Step 4: Perform rasterization processing on the divided space area to be wired;

Step 5: Establish obstacle bounding box model;

Step 6: Establish a wiring space grid model and an abstract model of wiring path points;

Step 7: Use the ant colony optimization algorithm and consider the rules of gravity constraints to search and optimize the flexible cable path intelligently.

Finally, the algorithm test and simulation experiment are carried out, and further optimization is carried out according to the results of the simulation experiment until the application requirements are met.

As a route planning and optimization method for the above-mentioned flexible cables, in step 2, the number of space areas to be wired divided by the product space is determined according to the complexity of the product structure and the requirements of the wiring environment.

As a route planning optimization method for the above-mentioned flexible cable, in step 4, the grid processing of the spatial area to be routed takes into account both the accuracy of the space abstract representation and the computational storage capacity of the structural model.

As a route planning optimization method for the above-mentioned flexible cable, in steps 5 and 6, the influence of other components inside the product structure on the route planning of the flexible cable is considered.

As a path planning and optimization method for the above flexible cable, in step 7, the gravity factor of the cable itself is considered in the intelligent search and optimization process of the flexible cable path, and the path found out meets the actual wiring requirements better. .

As a route planning and optimization method for the above-mentioned flexible cable, the divided spatial areas to be routed are defined as A ₁ , A ₂ and A ₃ , and the non-distributed space area is defined as A ₄ .

As a route planning optimization method for the above-mentioned flexible cable, the area A ₁ has a connector S ₁ , the area A ₂ has a connector S ₂ , and the area A ₃ has a hub C.

As a route planning optimization method for the above-mentioned flexible cables, the hub C has a wiring entry port T ₁ and a wiring exit port T ₂ .

The beneficial effects of the present invention are:

The present invention proposes an intelligent planning method for flexible cable paths considering the gravity constraint rules. By considering the gravity constraint rules of cables, the cable path points in the flexible cable path planning process can be attached to the corresponding equipment entity surface, satisfying The wall-attachment rule between the flexible cable and the device is more in line with the actual wiring of the flexible cable. This flexible cable path planning method can realize automatic obstacle avoidance, generate a wiring path that meets certain engineering rules, and improve the wiring efficiency of the flexible cable and the final overall performance and reliability of the product.

The invention solves the problem of large calculation storage capacity and low calculation efficiency caused by rasterizing the whole product space, and also solves the problem that the path points are prone to divergence when the basic ant colony optimization algorithm performs path search in a three-dimensional environment phenomenon problem. By considering the gravity constraint rules of the cable, the cable path point in the flexible cable path planning process can be attached to the corresponding equipment entity surface, which satisfies the wall-attachment rules between the flexible cable and the equipment, and is more in line with the actual wiring situation of the flexible cable . This flexible cable path planning method can realize automatic obstacle avoidance, generate a wiring path that meets certain engineering rules, and improve the wiring efficiency of the flexible cable and the final overall performance and reliability of the product.

Description of drawings

FIG. 1 is a flow chart of intelligent planning of flexible cable paths considering gravity constraint rules of the present invention.

FIG. 2 is a schematic diagram of partitioned division of the wiring space in the present invention.

FIG. 3 is a schematic diagram of a wiring space rasterization processing model according to the present invention.

FIG. 4 is a schematic diagram of a bounding box model of a wiring obstacle in the present invention.

FIG. 5 is a schematic diagram of the gravity constraint rules considered in the 3D wiring environment of the present invention.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figure 1-5.

An intelligent planning method for flexible cable paths considering gravity constraint rules, which is suitable for cable laying of complex electromechanical products. Specifically, a cable laying method formulated for cable wiring design and cable assembly process, which can improve the wiring efficiency of flexible cables and the final overall performance and reliability of the product.

As shown in Figure 1, an intelligent planning method for flexible cable paths that considers gravity constraint rules. First, the three-dimensional environment modeling of the wiring space is carried out on the product structure model created by using three-dimensional design software such as CREO, CATIA, and UG. The space division method of the whole product is partitioned and divided to obtain the space area to be wired and the space area not to be wired; secondly, the divided space area to be wired is rasterized, and the obstacle bounding box model is established. The grid model of the wiring space and the abstract model of the wiring path points; finally, the intelligent search and optimization of the flexible cable path is carried out by using the ant colony optimization algorithm and considering the rules of gravity constraints.

The specific steps are as follows:

Step 1: Use 3D design software such as CREO, CATIA, UG, etc. to create a structural model of the product according to the actual product model drawings and data information in the project;

Step 2: Use the zoning space division method to zonate the space of the product machine;

Step 3: Obtain the space area to be wired and the space area not to be wired;

Step 4: Perform rasterization processing on the divided space area to be wired;

Step 5: Establish obstacle bounding box model;

Step 6: Establish a wiring space grid model and an abstract model of wiring path points;

Step 7: Use the ant colony optimization algorithm and consider the rules of gravity constraints to search and optimize the flexible cable path intelligently.

In step 2, the number of areas to be wired in the product space is determined according to the complexity of the product structure and the requirements of the wiring environment, and wiring design engineers can often complete it based on rich design experience.

In step 3, FIG. 2 is a schematic diagram of partitioning of the wiring space provided in this embodiment. In this figure, the wiring space is divided into a union of 4 subspace regions: A=A ₁ ∪A ₂ ∪A ₃ ∪A ₄ , where A represents the entire model space. When A _i (i=1, 2, 3, 4) is a fixed path segment of cable wiring (such as the fixed slot of the cable, etc.), the cable will have direct connectivity when passing through this area, and the path search This area can be skipped. A ₃ acts as a hub. When the cable passes through the structure, this path segment can be regarded as _{a direct connection between the inlet port T1 and the outlet port T2. When solving the wiring path between S 1 and S 2 , there} is no need for this path segment Do too much algorithm cost. In this way, the path search between S ₁ and S ₂ can be simplified as the two-stage wiring path search of S ₁ T ₁ and S ₂ T ₂ , and A ₁ ∪ A ₂ is the solution space of the algorithm of the present invention.

In step 4, when rasterizing the divided space area to be routed, the vertex in the lower left corner is used as the coordinate origin A of the three-dimensional space, and the three-dimensional coordinate system A-xyz is established in point A. In this coordinate system, take A as the vertex, take the maximum length AB of the product 3D structure model along the x-axis direction, take the maximum length AA' of the product 3D structure model along the y-axis direction, and take the maximum length of the product 3D structure model along the z-axis direction The length AD constitutes the cubic area ABCD-A'B'C'D' containing the three-dimensional structure model of the product, which is the planning space of the three-dimensional wiring path, as shown in FIG. 3 . In order to obtain an abstract environment model, it is necessary to perform equal division operations on the basis of the above-mentioned planning space ABCD-A'B'C'D': perform n equal divisions along the edge AB to obtain n+1 planes Π _i (i=0,1 ,2,…,n), and then divide the n+1 planes into m equal parts along the side AD, and make l equal parts along the side AA', and solve the intersection points inside.

In step 4, the rasterization processing of the spatial area to be routed takes into account both the accuracy of the abstract representation of the space and the computational storage capacity of the structural model. Rasterizing the area to be routed will greatly save the storage space of the algorithm.

In step 5, the components within the product structure that will affect the planning of the flexible cable path are classified as obstacles, and the "expansion" process is completed by establishing a bounding box for the obstacles, and a safe space is reserved: Ω{Ω|r≤ Ω≤2r}, where r is the diameter of the cable, thus establishing a safe area for cable laying (Figure 4). The surface of the obstacle can be regarded as a safe area. When the cable is close to the surface of the obstacle, the cable will not interfere with the obstacle.

In step 6, FIG. 5 is a schematic diagram of the gravity constraint rules considered in the 3D wiring environment provided by this embodiment. In this figure, a comparative analysis is made of the cable route planning situation considering the cable self-weight and not considering the cable self-weight. As an entity with a certain quality, the cable generally needs to be attached to the physical surface of the corresponding equipment in actual laying, that is, there is a "gravity tendency" to be close to the surface of the object. As shown in Figure 5, ① there are suspended path segments in the path, and the path planning is unreasonable; ② the path considers the weight of the cable, and the laying path is attached to the physical surface of the equipment, which meets the actual specifications and is a high-quality solution.

In step 7, the gravity factor of the cable itself is considered during the intelligent search and optimization process of the flexible cable, and the searched path is more in line with the actual wiring specification.

If necessary, algorithm testing and simulation experiments are carried out for further optimization to meet actual needs.

The parts not involved in the present invention are the same as the prior art or can be realized by adopting the prior art.

Claims (9)

1. a kind of flexible cable path Intelligent planning method for considering gravity constraint rule, it is characterised in that：It is empty to wiring first Between three-dimensional environment be modeled, using partition type space-division method to the whole machine space of product carry out subregion division, needed What is connected up treats wiring space region and non-wiring space region；Secondly treat that wiring space region is carried out at rasterizing to what is marked off Reason, sets up barrier and surrounds BOX Model, set up the abstract model of wiring space grid model and routing path point；Finally utilize ant Colony optimization algorithm and intelligent search and the optimizing for considering gravity constraint rule progress flexible cable path.

2. according to the method described in claim 1, it is characterised in that it comprises the following steps：

Step 1：Create product complete machine structure model；

Step 2：Subregion division is carried out to the whole machine space of product using partition type space-division method；

Step 3：Wiring space region and non-wiring space region are treated in acquisition；

Step 4：Treat that wiring space region carries out rasterizing processing to what is marked off；

Step 5：Set up the abstract model of wiring space grid model and routing path point；

Step 6：Set up barrier and surround BOX Model；

Step 7：Intelligent search and the optimizing in flexible cable path are carried out using ant colony optimization algorithm and consideration gravity constraint rule.

3. method according to claim 2, it is characterised in that in step 2, what the whole machine space of product was marked off waits to connect up Area of space number requires to determine according to the complexity and wiring environment of product structure.

4. method according to claim 2, it is characterised in that in step 4, treats the rasterizing processing in wiring space region Accuracy that spatial abstraction represents and the calculating amount of storage of structural model are considered simultaneously.

5. method according to claim 2, it is characterised in that in step 5 and step 6, it is considered to inside product structure its His influence of the parts to flexible cable path planning.

6. method according to claim 2, it is characterised in that in step 7, flexible cable path intelligent search and The gravity factor of cable itself is considered in searching process, the path come is searched out and more meets practical wiring requirement.

7. method according to claim 2, it is characterised in that what is marked off treats that wiring space region is respectively defined as A₁、 A₂And A₃, non-wiring space region is defined as A₄。

8. method according to claim 7, it is characterised in that treat wiring space region A₁There is electric wire connecting junction S₁, treat wiring space Region A₂There is electric wire connecting junction S₂, treat wiring space region A₃There is hub C.

9. method according to claim 8, it is characterised in that hub C has wiring arrival end T₁With wiring port of export T₂。