CN108108855A - A kind of pipeline paths planning method - Google Patents
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Abstract
A kind of paths planning method for pipeline, it is characterized in that it comprises the following steps：Step 1：Type, length, the connection relation of conveyer in pipeline are obtained, and establishes pipeline topology controlment；Step 2, extraction entrance, transfer, outlet are node, evaluate path length by the modular conveyor total unit between node, are further simplified pipeline topology controlment；Step 3, using Dijkstra's algorithm and the path planning of improved ant colony optimization for solving different scales pipeline；Step 4 must pass through two kinds of restraint conditions of some nodes and some section congestions according to pipeline is common in practical applications, improve the path planning algorithm in step 3.The present invention provides effective solution to solve the path optimum programming of pipeline in practical application, improves intelligence and the conveying capacity of pipeline, reduces the workload of operating personnel.
Description
Technical field
The present invention relates to a kind of transit route planning technology, especially a kind of workshop, logistics delivery path technique, tool
Say it is a kind of pipeline paths planning method body.
Background technology
The function of pipeline is mainly the tasks such as conveying, the sorting for completing article.Workshop, logistics center and other
In the scene of transmission, using the carrier chain that is complete and orderly, completing specific function of all kinds of conveyers composition, it is known as conveying
Line.With the development of modern logistics systems and industrial production line, the demand of pipeline more complicates, is diversified, path rule
Cuttings faces more challenge.Complicated topological relation is formed in one strip transmission line between each conveyer, is gone out from certain entrance to certain
Mouth is it is possible that there is point of quality according to transmitting range, delivery time and certain constraint etc. in mulitpath, different paths.
Optimal feasible transport path how is selected, becomes the important research content of pipeline path planning.
The content of the invention
The purpose of the present invention provide it is a kind of can in pipeline operational process according to delivery requirements search out it is optimal can
The method of row transport path.
The technical scheme is that：
A kind of pipeline paths planning method, it is characterised in that it comprises the following steps：
Step 1：Type, delivered length, the connection relation of conveyer in pipeline are obtained, and establishes conveying thread environment knot
Structure model；
Step 2, extraction entrance, transfer, outlet are node, are commented by the modular conveyor total unit between node
Cost path length is further simplified pipeline topology controlment；
Step 3 is advised using the path of Dijkstra's algorithm and improved ant colony optimization for solving different scales pipeline
It draws；
Step 4 must pass through two kinds of some nodes and some section congestions according to pipeline is common in practical applications
Restraint condition improves the path planning algorithm in step 3.
The foundation of pipeline topology controlment includes：
Using all kinds of conveyers as elementary cell, pipeline is disassembled as a series of modules, the conveying for recording modules is grown
Degree builds the relation between a module using the data structure of digraph；
It is assumed that pipeline has n module, the n vertex of figure G=(V, E), i.e. V={ v are formed0,v1,...,vn-1, then in G
Relation between each vertex can be represented with the matrix A of a n × n, and the element of matrix is
A [i] [j] is equal to 1, there is connection between representation module i and module j, and connects direction and be directed toward module j for slave module i；
A [i] [j] is equal to 0, then it represents that the connection of module i and module j without any direction.
The simplification pipeline topology controlment, including：
(1) core node extracts, and structure simplifies；
Only transfer conveyer module can complete the Path selection of three or four direction in pipeline；As entrance or go out
The conveyer module of mouth is the structure boundary of entire pipeline；And other modules only have transfer function, are connected with each other path only
One, there is no Path selections；According to These characteristics, using entrance, outlet, three or four direction transfer conveyer as section
Point, other conveyers between node are connected to weight path, pipeline graph structure are simplified；
(2) weighted path length computational methods；
Weighting road section length is calculated using modular conveyor total unit, computational methods are：
QijFor the modular conveyor total unit on from i-node to j nodes section, m is conveyer type sum, k (1,2,
3 ..., m) for conveyer type label, qkFor the quantity of kth class conveyer on the path, fkFor the equivalent conversion of kth class conveyer
Coefficient carries out value as reference data using linear transmission conveyer and is adjusted according to actual conditions.
Pipeline path planning algorithm, including：
For the pipeline of scale is smaller, using the shortest path of Dijkstra's algorithm solution pipeline；
For larger pipeline, using the shortest path of improved ant colony optimization for solving pipeline；To traditional ant
The heuristic function of group's algorithm is improved, and increases influence of the destination node to selection next node, improved heuristic function：
ηij(t)=1/ (dij+djg)
In formula, dijFor node i to the road section length of node j, djgFor node j to the road section length between destination node；Into
And obtain ant k the probability of node j be transferred to by node i in t moment be：
In formula, τij(t) it is information content of the t moment on section (i, j), α is pheromones heuristic factor, and β inspires for expectation
The factor, allowedkThe set of node may be selected for ant k.
Pipeline path planning algorithm adjustable strategies under actual condition constraint, including：
(1) planning strategy under some joint constraints must be passed through；
Assuming that path must include certain node N, make following strategy to the pipeline path planning algorithm and correct：First ask
Solution is from starting point to the shortest path of node N and length, then solves the shortest path and length from node N to terminal, finally carries out
It splices and combines；The processing strategy can be with expanded application in the path planning problem that must include multiple nodes；
(2) planning strategy under some section congestion constraints；
Assuming that current search to shortest path on section P (i, j) more congestions, to the pipeline path planning
Algorithm is made following strategy and is corrected：Can it is long to be increased by appropriate flexible strategy according to the situation of congestion for the section of section P (i, j)
Degree；This processing strategy can improve selection other compared with the probability of unobstructed pathways, and then the modified purpose of shortest path.
The present invention has following advantageous effect：
1. the present invention completes the model foundation of pipeline topological structure, and is weighed using modular conveyor total unit
Road section length simplifies structural model, and the relevant issues to solve pipeline path planning lay the foundation；
2. the present invention avoids traditional ant colony from calculating using the path planning of the larger pipeline of improved ant colony optimization for solving
The complete greed rule of method and the problem of be absorbed in local optimum so that the quality of path planning has a distinct increment；
3. the present invention must pass through some nodes and some section congestions two for pipeline is common in practical applications
Kind restraint condition weights two kinds of adjustable strategies using sectionally smooth join and path length and algorithm is modified, improves pipeline
Intelligence and adaptability.
Description of the drawings
The pipeline path planning algorithm flow chart of Fig. 1 present invention.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown in Figure 1.
A kind of pipeline paths planning method, it comprises the following steps：
Step 1：Type, delivered length, the connection relation of conveyer in pipeline are obtained, and establishes conveying thread environment knot
Structure model；
Step 2, extraction entrance, transfer, outlet are node, are commented by the modular conveyor total unit between node
Cost path length is further simplified and improves pipeline environmental structure model；
Step 3 is advised using the path of Dijkstra's algorithm and improved ant colony optimization for solving different scales pipeline
It draws；
Step 4 must pass through two kinds of some nodes and some section congestions according to pipeline is common in practical applications
Restraint condition improves the path planning algorithm in step 3.
Wherein：The foundation of pipeline topology controlment refers to：
Using all kinds of conveyers as elementary cell, pipeline is disassembled as a series of modules, the conveying for recording modules is grown
Degree builds the relation between a module using the data structure of digraph.
It is assumed that pipeline has n module, the n vertex of figure G=(V, E), i.e. V={ v are formed0,v1,...,vn-1, then in G
Relation between each vertex can be represented with the matrix A of a n × n, and the element of matrix is:
Wherein, A [i] [j] is equal to 1, there is connection between representation module i and module j, and connects direction and be directed toward for slave module i
Module j；A [i] [j] is equal to 0, then it represents that the connection of module i and module j without any direction.
The simplification of pipeline topology controlment, including：
(1) core node extracts, and structure simplifies
There was only the Path selection that transfer conveyer module can complete three or four direction in pipeline；As entrance or
The conveyer module of outlet is the structure boundary of entire pipeline；And other modules only have transfer function, are connected with each other path
Uniquely, there is no Path selections.According to These characteristics, herein by with entrance, outlet, three or four direction transfer conveyer
As node, other conveyers between node are connected to weight path, and pipeline graph structure is simplified.
(2) weighted path length computational methods
Weighting road section length is calculated using modular conveyor total unit, computational methods are：
Wherein, QijFor the modular conveyor total unit on from i-node to j nodes section, m is conveyer type sum, k
(1,2,3 ..., m) be conveyer type label, qkFor the quantity of kth class conveyer on the path, fkFor working as kth class conveyer
Conversion coefficient is measured, value is carried out by reference data of linear transmission conveyer, can specifically be adjusted according to actual conditions.
The path planning algorithm of different scales pipeline, including：
For the pipeline of scale is smaller, using the shortest path of Dijkstra's algorithm solution pipeline.
For larger pipeline, using the shortest path of improved ant colony optimization for solving pipeline.To traditional ant
The heuristic function of group's algorithm is improved, and increases influence of the destination node to selection next node, improved heuristic function：
ηij(t)=1/ (dij+djg)
Wherein, dijFor node i to the road section length of node j, djgFor node j to the road section length between destination node.Into
And obtain ant k the probability of node j be transferred to by node i in t moment be：
Wherein, τij(t) it is information content of the t moment on section (i, j), α is pheromones heuristic factor, and β inspires for expectation
The factor, allowedkThe set of node may be selected for ant k.
Pipeline path planning algorithm adjustable strategies under actual condition constraint, including：
(1) planning strategy under some joint constraints must be passed through
Assuming that path must include certain node N, it is as follows to the algorithm correction strategy in step 3：First solve from starting point to section
The shortest path and length of point N, then shortest path and length from node N to terminal are solved, finally spliced and combined.
The processing strategy can be with expanded application in the path planning problem that must include multiple nodes.
(2) planning strategy under some section congestion constraints
Assuming that current search to shortest path on section P (i, j) more congestions, to algorithm in 4 is required to correct plan
It is slightly as follows：The road section length of section P (i, j) according to the situation of congestion, can be increased by appropriate flexible strategy.This processing plan
Can slightly improve selection other compared with the probability of unobstructed pathways, and then the modified purpose of shortest path.
The concrete application method of the present invention：
The topology controlment of pipeline and simplification are initially set up, then for each conveying task, road using the present invention
Footpath planing method obtains optimal feasible path.Flow is as follows：
First determine whether delivery requirements are the general shortest path planning problem without any constraint；
If it is not, then carrying out sectionally smooth join improvement to the constraint that must pass through some points, section congestion is constrained and is carried out
Path length weighting improves；If it is, continue；
Initialization solves the hop count of optimal path, starts to solve；
If the number of nodes of current solution section is larger, improved ant colony optimization for solving is preferentially used；Otherwise it is outstanding using enlightening
Si Tela Algorithm for Solving；
If optimal path can be drawn, judge current solution section whether be the path planning final stage；
If it is not, then Xun Huan solves next section；If it is, continue；
Finally, merge each section of optimal path, acquire final result.
Part that the present invention does not relate to is same as the prior art or the prior art can be used is realized.
Claims (5)
1. a kind of pipeline paths planning method, it is characterised in that it comprises the following steps：
Step 1：Type, delivered length, the connection relation of conveyer in pipeline are obtained, and establishes pipeline environmental structure mould
Type；
Step 2, extraction entrance, transfer, outlet are node, and road is evaluated by the modular conveyor total unit between node
Electrical path length is further simplified and improves pipeline environmental structure model；
Step 3, using Dijkstra's algorithm and the path planning of improved ant colony optimization for solving different scales pipeline；
Step 4 must pass through the two kinds of constraints of some nodes and some section congestions according to pipeline is common in practical applications
Situation improves the path planning algorithm in step 3.
2. paths planning method according to claim 1, it is characterised in that the foundation bag of pipeline topology controlment
It includes：
Using all kinds of conveyers as elementary cell, pipeline is disassembled as a series of modules, records the delivered length of modules, adopts
The relation between a module is built with the data structure of digraph；
It is assumed that pipeline has n module, the n vertex of figure G=(V, E), i.e. V={ v are formed0,v1,...,vn-1, then it is respectively pushed up in G
Relation between point can be represented with the matrix A of a n × n, and the element of matrix is
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A [i] [j] is equal to 1, there is connection between representation module i and module j, and connects direction and be directed toward module j for slave module i；A[i]
[j] is equal to 0, then it represents that the connection of module i and module j without any direction.
3. paths planning method according to claim 1, it is characterised in that the improvement pipeline topology controlment,
Including：
(1) core node extracts, and structure simplifies；
Only transfer conveyer module can complete the Path selection of three or four direction in pipeline；As entrance or outlet
Conveyer module is the structure boundary of entire pipeline；And other modules only have transfer function, interconnection path is unique, no
There are Path selections；According to These characteristics, using entrance, outlet, three or four direction transfer conveyer as node, node
Between other conveyers be connected to weight path, pipeline graph structure is simplified；
(2) weighted path length computational methods；
Weighting road section length is calculated using modular conveyor total unit, computational methods are：
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M) it is conveyer type label, qkFor the quantity of kth class conveyer on the path, fkFor the equivalent conversion system of kth class conveyer
Number carries out value as reference data using linear transmission conveyer and is adjusted according to actual conditions.
4. paths planning method according to claim 1, it is characterised in that pipeline path planning algorithm, including：
For the pipeline of scale is smaller, using the shortest path of Dijkstra's algorithm solution pipeline；
For larger pipeline, using the shortest path of improved ant colony optimization for solving pipeline；Traditional ant colony is calculated
The heuristic function of method is improved, and increases influence of the destination node to selection next node, improved heuristic function：
ηij(t)=1/ (dij+djg)
In formula, dijFor node i to the road section length of node j, djgFor node j to the road section length between destination node；And then
The probability for being transferred to by node i node j in t moment to ant k is：
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In formula, τij(t) it is information content of the t moment on section (i, j), α is pheromones heuristic factor, and β is expectation heuristic factor,
allowedkThe set of node may be selected for ant k.
5. paths planning method according to claim 1, it is characterised in that the pipeline path rule under actual condition constraint
Cost-effective method adjustable strategies, including：
(1) planning strategy under some joint constraints must be passed through；
Assuming that path has to pass through certain node N, make following strategy to the pipeline path planning algorithm and correct：First solve from
Starting point then solves the shortest path and length from node N to terminal, is finally spliced to the shortest path and length of node N
Combination；The processing strategy can be with expanded application in the path planning problem for having to pass through multiple nodes；
(2) planning strategy under some section congestion constraints；
Assuming that current search to shortest path on section P (i, j) the more congestions slave node i to node j, to described defeated
Line sending path planning algorithm is made following strategy and is corrected：Can section P be increased by appropriate flexible strategy according to the situation of congestion
The road section length of (i, j)；This processing strategy can improve selection other compared with the probability of unobstructed pathways, and then shortest path
Modified purpose.
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Cited By (8)
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| CN109840625A (en) * | 2019-01-10 | 2019-06-04 | 华南理工大学 | A kind of method of courier's group path navigation |
| CN110276539A (en) * | 2019-06-13 | 2019-09-24 | 新奥数能科技有限公司 | Method for building up and method for solving, the device of energy shipping model |
| CN110530101A (en) * | 2019-08-26 | 2019-12-03 | 南京艾数信息科技有限公司 | It is a kind of using central icebox as the family's cold chain system and its layout method of core |
| CN111426330A (en) * | 2020-03-24 | 2020-07-17 | 江苏徐工工程机械研究院有限公司 | Path generation method and device, unmanned transportation system and storage medium |
| CN111970586A (en) * | 2020-08-13 | 2020-11-20 | 电信科学技术第五研究所有限公司 | Rapid optical network path routing calculation method and device under constraint condition and computer medium |
| WO2021102623A1 (en) * | 2019-11-25 | 2021-06-03 | 上海电气风电集团股份有限公司 | Planning method and system for cable path of wind power plant, medium, and electronic device |
| CN113704934A (en) * | 2021-07-28 | 2021-11-26 | 长江勘测规划设计研究有限责任公司 | Multi-cable path planning method based on graph theory |
| CN114313851A (en) * | 2022-01-11 | 2022-04-12 | 浙江柯工智能系统有限公司 | Modular chemical fiber material transferring platform and method |
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