CN110570514A - Automatic acquisition method for low-frequency cable path of satellite load cabin - Google Patents
Automatic acquisition method for low-frequency cable path of satellite load cabin Download PDFInfo
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Abstract
The invention discloses a method for automatically acquiring a low-frequency cable path of a satellite load cabin, which comprises the following specific steps of: (1) classifying the directly-belonging pieces according to the installed cabin boards of the directly-belonging pieces according to the three-dimensional coordinate position information of the connector and the directly-belonging pieces of the whole load cabin, and creating a corresponding list for storing the position information of the directly-belonging pieces installed on each cabin board and the physical information of the cable branches; (2) a certain number of turning points are added between the starting end and the ending end of each cable branch, so that the cable path between every two adjacent coordinates only passes through the straight accessory arranged on the same cabin plate; (3) calculating the sequence of the path control points between two adjacent coordinate points; (4) redundant routes are deleted. According to the invention, the three-dimensional cable path of the cable network can be obtained by reading the three-dimensional coordinates of the straight member and the connector in the digital model of the satellite load compartment and combining with the cable network contact information of the load compartment, so that most of manual operations of designers are effectively replaced, and the rapid generation of the three-dimensional design model of the cable network is realized.
Description
Technical Field
the invention relates to a method for automatically acquiring a low-frequency cable path of a satellite load compartment, which is suitable for a common platform satellite load compartment, in particular to an enhanced satellite platform satellite load compartment of an east red four and an east red four, and belongs to the field of satellite design.
Background
the enhanced satellite platforms of east red four and east red four are large public platforms of stationary orbit in China. The satellite structure adopts a subdivision design and is divided into a propulsion service cabin and a load cabin. The load compartment is generally in the form of a wall plate, and the structure of the load compartment is n-shaped and comprises a north-south plate, a north-south partition plate, a counter floor and the like, as shown in figure 1.
With the gradual maturity of the MBD (model-based definition) technology and the continuous popularization of the application scope, designers use three-dimensional design software to design the relevant aspects of the mechanical and physical information of the whole satellite at present. The cable network consists of connectors and cables. The connector is a device for connecting two active devices, is used for current or signal transmission, is divided into a plug and a socket, appears in pairs, and has one end fixed on a single machine device and the other end matched with the single machine device connected with a cable. The cable net is formed by binding a plurality of physically independent cable bundles, each cable bundle comprises a plurality of cable branches, each cable branch comprises two connectors of a starting end and an ending end and a cable for connecting the connectors, and the cable is provided with binding points with indefinite number so as to prevent the cable from being wound. Different cable branches may share a single connector, and the same connector may only be used for the same bundle of cables. The table for describing the name, kind, number of cables, etc. of the connector included in each cable branch is called a contact table, which is a document upon which cable network design is performed, and a simple example is shown in table 1. A schematic of a cable bundle corresponding to the contact table shown in table 1 is shown in fig. 2.
TABLE 1 presentation of contact points
when the low-frequency cable network is designed, a designer selects the starting end connector assembly, the passing control point and the ending end connector assembly of each cable bundle in sequence in three-dimensional design software according to the contact list as cable paths to form a cable network three-dimensional design model, so that subsequent production, binding and other work are carried out.
The load compartment cable network is large, containing thousands of connectors and branches, and therefore this design method requires a significant amount of repeated work by the designer. Therefore, precious energy of designers is consumed, and meanwhile, paths with large differences are selected for similar trend cable bundles easily when the designers work in a cooperation mode, so that the problems that cable laying and troubleshooting are difficult, cables are messy and not attractive are caused.
Disclosure of Invention
the technical problem of the invention is solved: in order to overcome the defects of the prior art, the method for automatically acquiring the low-frequency cable path of the satellite load compartment is provided, and based on the method, the cable network three-dimensional design model can be quickly generated without more manual operations.
The technical solution of the invention is as follows:
A method for automatically acquiring a low-frequency cable path of a satellite load cabin comprises the following specific steps:
(1) Classifying the straights according to the three-dimensional coordinate position information of the socket connector and the straights of the whole load compartment, and creating a corresponding list to store the position information of the straights mounted on each cabin board and the physical information of the cable branches, wherein the list comprises the code number of the starting end and the ending end of each cable branch, the position information of the socket connector and the number of the cable bundle;
(2) A certain number of turning points are added between the starting end and the ending end of each cable branch as required, so that the cable path between every two adjacent coordinates only passes through the straight parts arranged on the same cabin plate;
(3) calculating the sequence of the path control points between two adjacent coordinate points, and sequentially connecting the control points between the adjacent coordinate points to obtain the cable path of the cable branch;
(4) Redundant routes are deleted, and repeated paths among all branch paths of each cable are guaranteed to be avoided.
the method for calculating the sequence of the path control points between two adjacent coordinate points in the step (3) comprises the following steps:
a) Determining the distance through three-dimensional coordinates of two adjacent coordinate points serving as a starting point and an end point, determining a deck plate with the two coordinate points smaller than 150mm, acquiring the position information of a directly-belonging piece installed on the deck plate, and removing coordinates with the same median value of the three coordinates of each control point;
b) Calculating the distance g between any two points i and j in the adjacent coordinates and the coordinates of the straight accessory installed on the deckijwhereinwherein (x)i,yi) And (x)j,yj) Coordinates of the point i and the point j respectively; calculating the Manhattan distance H from the point i to the end pointi，Hi＝|xi-xn|+|yi-ynL where (x)i,yi) And (x)n,yn) Coordinates of the point i and the end point respectively;
c) selecting a starting point as a current node, and creating an open table for recording a next passable control point after a cable passes through the current node; creating a pool table for recording all traversable control points which are examined once; creating a closed table: for recording control points that have been considered and are not passable; creating a path table for recording control point information on a cable branch path in sequence;
d) Searching control points with the actual distance smaller than 400mm from the current node, and adding the position information of the control points into an open table and a pool table;
e) Calculating an evaluation function F (n) ═ g of each control point n in the open table with respect to the current node mmn+HnFor characterizing the total distance from m to the end via a control point n, where gmnFor the distance between each control point n and the current node m,Hnthe Manhattan distance from each control point n to the terminal point;
f) deleting the control point which is overlapped with the closed table in the open table, adding the current node information into the closed table if the open table is empty, taking the last control point in the path table as the current node, and returning to the step d; if not, selecting the control point with the minimum evaluation function F (n) in the open table as a new current node;
g) Judging whether the current node appears in the pool table or not, if not, adding the current node into a path table and a closed table; if the node appears, searching a first control point which is less than 400mm away from the node in the path table from front to back, deleting all control points behind the control point, adding the current node information into the path table and the closed table, and emptying the open table;
h) Repeating the steps d) to g) until the current node is overlapped with the end point;
i) And d) adding back the coordinate with the same median value of the three coordinates of each control point deleted in the step a), and restoring all the points in the path table into three-dimensional coordinates.
in the step (4), the method for deleting the redundant route comprises the following steps:
a) Setting two positive integers i and k which respectively represent the branch number of the final path of the cable branch under current investigation and a counter, wherein the initial value of i is 2, and the initial value of k is 1;
b) judging whether i is larger than the branch number in the final path of the cable branch, if so, exiting the calculation, and if not, performing the next judgment;
c) Judging whether the ith branch and the (i-k) th branch of the cable belong to the same cable bundle, if so, respectively obtaining the intersection of the ith branch path pathi and the kth branch to the (i-1) th branch path, deleting the path before the last control point of the intersection from the pathi path, changing the starting end of the ith branch into a branch point, and making i equal to i + 1; if not, let k equal to i, i equal to i + 1;
d) Repeating b) -c) until the calculation is finished.
And (3) in the step (2), the distance between the direction control point of the cable and the surface of a certain cabin plate is less than 150 mm.
The direct part comprises a nylon base and a T-shaped support, is used for binding and fixing cables and is a control point of the trend of the cables.
the distance between two adjacent control points is between 100 and 400 mm.
Compared with the prior art, the invention has the following beneficial effects:
(1) according to the invention, the three-dimensional cable path of the cable network can be obtained by reading the three-dimensional coordinates of the straight accessory and the connector in the digital model of the satellite load compartment and combining with the cable network contact information of the load compartment, so that most of manual operations of designers are effectively replaced, the labor cost is saved, and the rapid generation of the three-dimensional design model of the cable network is realized;
(2) The invention adopts a uniform algorithm to calculate the trend of the cable network, thereby avoiding the situation that different designers select paths with larger difference for cables with the head ends and the tail ends close to each other when working cooperatively, thereby bringing inconvenience to the subsequent work of the cable network;
(3) The invention can be suitable for the design of the low-frequency cable network of the load cabin of most types of communication satellites only by setting corresponding design parameters in advance.
Drawings
FIG. 1 is a schematic view of a low frequency cable for a load compartment;
FIG. 2 is a schematic diagram of a cable bundle;
FIG. 3 is a flowchart of a method for calculating an order of route control points between two adjacent coordinate points according to the present invention;
FIG. 4 is a flow chart of a redundant path deletion method according to the present invention;
FIG. 5 is a flow chart of the present invention.
Detailed Description
The present invention is described in further detail below with reference to the attached drawings.
A method for automatically acquiring a low-frequency cable path of a satellite load compartment can obtain a result without more manual operations on the basis of the existing design result, and comprises the following specific steps as shown in figure 5:
(1) And copying the position information list of the connector and the straight accessory of the whole load compartment. The position information mainly comprises three-dimensional coordinates of the position information in the whole star coordinate system. The whole-satellite coordinate system is the reference of the satellite, the origin of the whole-satellite coordinate system is coincident with the theoretical circle center of the satellite and the rocket docking frame, and the direction and the relative position relation with the communication cabin of the whole-satellite coordinate system are shown in figure 1. This location information has already been created in a previous design work.
(2) and classifying the directly-belonging parts according to the installed deck boards by taking the position information as a basis, and creating a corresponding list to store the corresponding position information. For example, all the directorys with Z >4200(mm) are mounted on the counter floor, and the position information of the directorys corresponding to the relationship is stored in the "Map _ 11" list, and in correspondence with the list, the lists such as "Map _ 12" and "Map _ 13" for storing the position information of the directorys mounted on the deck such as the south deck and the north deck are also referred to as a Map list hereinafter.
(3) The table is in the form of table 2, 6 columns are counted in table 2, column 1 is a branch number, column 2 is a cable bundle number, columns 3 and 5 are cable branch starting and ending plug names respectively, and columns 4 and 6 are coordinates of corresponding connectors in the whole star coordinate system respectively.
TABLE 2 Cable Branch physical information Table
(4) A certain number of turning points are added between the starting end and the ending end of each cable branch as required, the form is changed into a table 3, and at the moment, the cable path direct parts between every two adjacent coordinates in the table 3 are all ensured to be installed on the same cabin plate. According to the actual production binding mode of the cable, the trend control point of the cable keeps a small distance (less than 150mm) with the surface of a certain cabin plate all the time, so that if a single machine device where a cable branch starting end and an end terminal plug-in unit are located is installed on different cabin plates, at least one turning point is arranged on the cable path, the turning point is located at the junction of a plurality of cabin plates, and the minimum distance between the turning point and the cabin plates is less than 150 mm. The position information is the basis for determining which deck board the stand-alone equipment of the cable branch start end and the end terminal plug-in are installed on, as shown in fig. 1, the start end plug-in X <0mm, Y >0mm, 0(mm) < Z <4200(mm), so the equipment of the plug-in is installed on the south board-X side, and the end terminal plug-in, 4200(mm) < Z, so the equipment of the plug-in is installed on the opposite floor, and there are two turning points between the two plug-ins.
TABLE 3 Cable Branch physical information Table (increasing turning point)
| branch number | Cable bundle | Starting end | End of binding | initial end coordinates | Turning point 1 | … | Turning point n | End of line coordinates |
| 1 | Cable 1 | initiating terminal 1 | Terminating end 1 | X1,Y1,Z1 | x1,y1,z1 | … | xn,yn,zn | X1',Y1',Z1' |
| 2 | Cable 1 | Initiating terminal 1 | an end terminal 2 | X1,Y1,Z1 | x1,y1,z1 | … | — | X2',Y2',Z2' |
| 3 | cable 1 | Initiating terminal 1 | An end terminal 3 | X1,Y1,Z1 | x2,y2,z2 | … | — | X3',Y3',Z3' |
| 4 | Cable 1 | Initiating terminal 2 | an end terminal 4 | X2,Y2,Z2 | x3,y3,z3 | … | — | X4',Y4',Z4' |
| 5 | Cable 2 | Initiating terminal 3 | an ending terminal 5 | X3,Y3,Z3 | — | … | — | X5',Y5',Z5' |
| 6 | Cable 2 | Initiating terminal 4 | An ending terminal 6 | X4,Y4,Z4 | — | … | — | X6',Y6',Z6' |
| … | …… | …… | …… | …… | …… | … | …… | …… |
| n | cable k | Starting end m | end terminal n | Xm,Ym,Zm | xs,ys,zs | … | — | Xn',Yn',Zn' |
(5) And calculating the sequence of the path control points between two adjacent coordinate points in the table 3, and sequentially connecting the control points between the adjacent points to obtain the cable path of the cable branch. The method for calculating the order of the path control points between every two adjacent coordinate points is shown in fig. 3, and the contents are as follows:
a) Judging a deck plate with the distance between the two coordinate points being less than 150mm through the three-dimensional coordinates, and selecting a directly-belonging piece position information list (hereinafter referred to as a map list) arranged on the deck plate, namely (2);
b) Newly building a list, filling the contents of the map list, respectively adding two adjacent coordinate points to the first row and the last row of the newly built list (the list is subsequently called as a new map list), and removing coordinate columns with the same median value of three coordinates of each control point, wherein each point of the new map list is changed into a two-dimensional coordinate from a three-dimensional coordinate;
c) Calculating the distance g between any two points i and j in the new map listijWhereinWherein (x)i,yi) And (x)j,yj) Coordinates of the point i and the point j respectively; calculating the Manhattan distance H from the point i to the last point in the new map listi，Hi＝|xi-xn|+|yi-ynL where (x)i,yi) And (x)n,yn) The coordinates of the point i and the last point, respectively, and the obtained results are shown in table 4;
d) selecting the 1 st point in the new map list as the current node (i.e. the control point considered at this time, for convenience of distinction), and creating an open table: for recording the next control point that can be passed after the cable passes the current node, a pool table is created: for recording all traversable control points that have been examined, a closed table is created: for recording control points that have been considered and have not been passed through, a path table is created: the method is used for sequentially recording control point information on a cable branch path, and the four tables are all empty tables initially;
e) Searching control points with the actual distance (g value) less than 400mm from the current node from the table 4, and copying the position information of the control points into an open table and a pool table;
f) Calculating an evaluation function F (n) ═ g of each control point n in the open table with respect to the current node mmn+HnThe total distance from m to the end (namely the last node of the map list) through the control point n is represented;
g) Deleting the control point which is overlapped with the closed table in the open table, adding the current node information into the closed table if the open table is empty, taking the last control point in the path table as the current node, and returning to the step e; if not, selecting the control point with the minimum F (n) in the open table as a new current node;
h) Judging whether the current node appears in the pool table or not, if not, copying the current node into a path table and a closed table; if the node exists, searching a first control point which is less than 400mm away from the node in the path table from front to back, deleting all control points behind the control point, copying the current node information into the path table and the closed table, and emptying the open table;
i) repeating the steps e to h until the current node is superposed with the last point in the new map list;
j) Comparing the path list with the map list, and adding the coordinate list deleted in the step b back, namely restoring the coordinate list into a three-dimensional coordinate.
(6) The cable paths of the cable branches are obtained by sequentially connecting the control points between the adjacent coordinate points in order, as shown in table 5.
TABLE 4g and H calculation tables
| Point 1(x1, y1) | Point 2(x2, y2) | point 3(x3, y3) | …… | Point n (xn, yn) | ||
| Point 1(x1, y1) | - | - | - | …… | - | H1 |
| point 2(x2, y2) | g12 | - | - | …… | - | H2 |
| Point 3(x3, y3) | g13 | g23 | - | …… | - | H3 |
| …… | …… | …… | …… | …… | - | …… |
| Point n (xn, yn) | g1n | g2n | g3n | …… | - | - |
Injecting: point 1 is the starting point and point n is the ending point
TABLE 5 Cable Branch Final Path
| branch number | Cable bundle | starting end | Initial end coordinates | end of binding | End of line coordinates | Route of travel |
| 1 | cable 1 | Initiating terminal 1 | X1,Y1,Z1 | terminating end 1 | X1',Y1',Z1' | path1 |
| 2 | Cable 1 | Initiating terminal 1 | X1,Y1,Z1 | An end terminal 2 | X2',Y2',Z2' | path 2 |
| 3 | Cable 1 | initiating terminal 1 | X1,Y1,Z1 | An end terminal 3 | X3',Y3',Z3' | path 3 |
| 4 | Cable 1 | initiating terminal 2 | X2,Y2,Z2 | An end terminal 4 | X4',Y4',Z4' | path 4 |
| 5 | Cable 2 | Initiating terminal 3 | X3,Y3,Z3 | An ending terminal 5 | X5',Y5',Z5' | path 5 |
| 6 | Cable 2 | Initiating terminal 4 | X4,Y4,Z4 | An ending terminal 6 | X6',Y6',Z6' | path 6 |
| … | …… | …… | …… | …… | …… | …… |
| n | Cable K | Starting end M | XM,YM,ZM | End terminal n | Xn',Yn',Zn' | path n |
Injecting: the path is composed of a series of three-dimensional coordinates arranged in order and represents the position and the sequence of cable control points of the cable network path.
(7) and deleting redundant routes to ensure that no repeated paths exist among the branch paths of each cable bundle, wherein the specific method is shown in fig. 4, and the content is as follows:
a) setting two positive integers i and k which respectively represent the branch number of a cable branch final path table (table 5) under current investigation and a counter, wherein the initial value of i is 2, and the initial value of k is 1;
b) judging whether i is greater than the branch number in the table 5, if so, quitting the calculation, and if not, carrying out the next judgment;
c) Judging whether the ith branch and the (i-k) th branch of the cable belong to the same cable bundle, if so, respectively obtaining the intersection of the ith branch path pathi and the kth branch to the (i-1) th branch path, deleting the path before the last control point of the intersection from the pathi path, changing the starting end of the intersection to be a 'branch point', and enabling i to be i + 1; if not, let k equal to i, i equal to i + 1;
d) Repeating b) to c) until the calculation is finished. At this point, a cable network path has been obtained.
examples
Automatically acquiring a cable path according to the steps:
(1) Reading the position information of the direct part of the load cabin:
TABLE 6 list of positions of direct members of load compartment
(2) generating a map list: and classifying the directly-belonging parts according to the installed deck boards by taking the position information as a basis, and creating a corresponding list to store the corresponding position information.
TABLE 7 map List
(3) Reading physical information of the connector:
Table 8 cable network connector physical information 2
(4) and (3) increasing turning points:
Table 9 cable network connector physical information 2
(5) Calculating the whole-course path of the cable:
TABLE 10 Cable network paths
(6) Deleting redundant parts, and acquiring cable network paths:
TABLE 11 Cable network Final Path
According to the invention, the three-dimensional cable path of the cable network can be obtained by reading the three-dimensional coordinates of the straight member and the connector in the digital model of the satellite load compartment and combining with the cable network contact information of the load compartment through processing, so that most of manual operations of designers are effectively replaced, the labor cost is saved, and the rapid generation of the three-dimensional design model of the cable network is realized.
those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (6)
1. a method for automatically acquiring a low-frequency cable path of a satellite load cabin is characterized by comprising the following specific steps:
(1) Classifying the directly-belonging pieces according to the three-dimensional coordinate position information of the connectors and the directly-belonging pieces of the whole load compartment, and creating a corresponding list to store the position information of the directly-belonging pieces mounted on each cabin board and the physical information of the cable branches, wherein the list comprises the code number of the starting end and the ending end connector of each cable branch, the position information of the connectors and the number of the cable bundle;
(2) a certain number of turning points are added between the starting end and the ending end of each cable branch as required, so that the cable path between every two adjacent coordinates only passes through the straight parts arranged on the same cabin plate;
(3) Calculating the sequence of the path control points between two adjacent coordinate points, and sequentially connecting the control points between the adjacent coordinate points to obtain the cable path of the cable branch;
(4) Redundant routes are deleted, and repeated paths among all branch paths of each cable are guaranteed to be avoided.
2. the method for automatically acquiring the low-frequency cable path of the satellite load compartment as claimed in claim 1, wherein the method for calculating the order of the path control points between two adjacent coordinate points in the step (3) comprises the following steps:
a) determining the distance according to the three-dimensional coordinates of two adjacent coordinate points serving as a starting point and an end point, determining a deck plate with the two coordinate points smaller than 150mm, acquiring the position information of the directly-belonging piece mounted on the deck plate, and removing the coordinates with the same median value of the three coordinates of each control point;
b) calculating the distance g between any two points i and j in the adjacent coordinates and the coordinates of the straight accessory installed on the deckijwhereinWherein (x)i,yi) And (x)j,yj) Coordinates of the point i and the point j respectively; calculating the Manhattan distance H from the point i to the end pointi，Hi＝|xi-xn|+|yi-ynL where (x)i,yi) And (x)n,yn) Coordinates of the point i and the end point respectively;
c) Selecting a starting point as a current node, and creating an open table for recording a next passable control point after a cable passes through the current node; creating a pool table for recording all traversable control points which are examined once; creating a closed table: for recording control points that have been considered and are not passable; creating a path table for recording control point information on a cable branch path in sequence;
d) Searching control points with the actual distance smaller than 400mm from the current node, and adding the position information of the control points into an open table and a pool table;
e) calculating an evaluation function F (n) ═ g of each control point n in the open table with respect to the current node mmn+HnFor characterizing the total distance from m to the end via a control point n, where gmnFor each distance, H, between the control point n and the current node mnthe Manhattan distance from each control point n to the terminal point;
f) deleting the control point which is overlapped with the closed table in the open table, adding the current node information into the closed table if the open table is empty, taking the last control point in the path table as the current node, and returning to the step d; if not, selecting the control point with the minimum evaluation function F (n) in the open table as a new current node;
g) judging whether the current node appears in the pool table or not, if not, adding the current node into a path table and a closed table; if the node appears, searching a first control point which is less than 400mm away from the node in the path table from front to back, deleting all control points behind the control point, adding the current node information into the path table and the closed table, and emptying the open table;
h) Repeating the steps d) to g) until the current node is overlapped with the end point;
i) And d) adding back the coordinate with the same median value of the three coordinates of each control point deleted in the step a), and restoring all the points in the path table into three-dimensional coordinates.
3. The method for automatically acquiring the low-frequency cable path of the satellite load compartment as claimed in claim 1, wherein in the step (4), the method for deleting the redundant route comprises the following steps:
a) setting two positive integers i and k which respectively represent the branch number of the final path of the cable branch under current investigation and a counter, wherein the initial value of i is 2, and the initial value of k is 1;
b) Judging whether i is larger than the branch number in the final path of the cable branch, if so, exiting the calculation, and if not, performing the next judgment;
c) Judging whether the ith branch and the (i-k) th branch of the cable belong to the same cable bundle, if so, respectively obtaining the intersection of the ith branch path pathi and the kth branch to the (i-1) th branch path, deleting the path before the last control point of the intersection from the pathi path, changing the starting end of the ith branch into a branch point, and making i equal to i + 1; if not, let k equal to i, i equal to i + 1;
d) Repeating b) -c) until the calculation is finished.
4. the method for automatically acquiring the low-frequency cable path of the satellite load compartment as claimed in claim 1, wherein the cable in the step (2) has a control point of the cable direction less than 150mm away from the surface of a certain compartment plate.
5. The method for automatically acquiring the path of the low-frequency cable of the satellite load compartment as claimed in claim 1, wherein the directly-belonging part comprises a nylon base and a T-shaped bracket, and is used for binding and fixing the cable and is a control point of the cable direction.
6. the method for automatically acquiring the low-frequency cable path of the satellite load compartment as claimed in claim 1, wherein the distance between two adjacent control points is between 100 and 400 mm.
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