CN115618475A

CN115618475A - Pipeline arrangement path determining method and device

Info

Publication number: CN115618475A
Application number: CN202211379786.3A
Authority: CN
Inventors: 马婕
Original assignee: Skid Technology Shanghai Partnership LP
Current assignee: Skid Technology Shanghai Partnership LP
Priority date: 2022-11-04
Filing date: 2022-11-04
Publication date: 2023-01-17

Abstract

The embodiment of the specification discloses a method and a device for determining a pipeline arrangement path, wherein the scheme comprises the following steps: acquiring a starting point and an end point of pipeline arrangement of a region to be processed and an obstacle avoidance point corresponding to an obstacle in the region to be processed; determining a plurality of auxiliary reference lines passing through at least one of the starting point, the end point and the avoidance point according to preset obstacle avoidance direction information; acquiring the intersection point of each auxiliary reference line; determining an effective sub-path passing through two adjacent intersection points; the effective sub-path is used for representing a path capable of avoiding the obstacle; and determining a pipeline arrangement path comprising the starting point and the end point according to each effective sub-path. The automatic generation of the pipeline arrangement path can be realized, and the workload of designers is reduced.

Description

Pipeline arrangement path determining method and device

Technical Field

The present application relates to the field of computer technologies, and in particular, to a method and an apparatus for determining a pipeline routing path.

Background

In recent years, with the continuous promotion of the informatization construction system of the building industry in China, from the background and the trend of the current policy, market and technology, the traditional design business mode and the profit mode of a building design enterprise are greatly challenged. The change of competitive patterns and the innovation of technology continuously promote the digital transformation and upgrading of the building design enterprises. Meanwhile, under the background of the 'internet +' era, the artificial intelligence technology continuously provides more intelligent solutions for the business application scene of the traditional architectural design, and helps enterprises to obtain more development opportunities. The online design business, digitization, intellectualization and personnel efficiency optimization become the necessary route for enterprise development and transformation.

In the design business of traditional building design enterprises, the design and arrangement of connecting pipelines and pipelines between electromechanical components of a building completely depend on the analysis of business, the issuance of countries and industries and the understanding of the standard basis of enterprises by designers to complete the design and arrangement.

Because the existing building design enterprises are driven by market competition, under the conditions of short service cycle time, large service volume and time and power consumption, the problems of data confusion, repeated wrong and missed design and low efficiency are easy to occur in the process of processing service work depending on manual design due to the influence of limited experience, lack of service quality management, incomplete use and understanding of design standards and specifications and other factors of a professional designer.

Therefore, a method for efficiently routing a building interior or a building structure across obstacles is proposed.

Disclosure of Invention

The embodiment of the specification provides a pipeline arrangement path determining method and device to solve the problem of low efficiency of the existing pipeline path determining method.

In order to solve the above technical problem, the embodiments of the present specification are implemented as follows:

the pipeline arrangement path determining method provided by the embodiment of the specification comprises the following steps:

acquiring a starting point and an end point of pipeline arrangement of a region to be processed and an obstacle avoidance point corresponding to an obstacle in the region to be processed; the area to be processed is an area to be subjected to pipeline arrangement;

determining a plurality of auxiliary reference lines passing through at least one of the starting point, the end point and the avoidance point according to preset obstacle avoidance direction information;

acquiring the intersection point of each auxiliary reference line;

determining an effective sub-path passing through two adjacent intersection points; the effective sub-path is used for representing a path capable of avoiding the obstacle;

and determining a pipeline arrangement path comprising the starting point and the end point according to each effective sub-path.

Optionally, the obtaining of the obstacle avoidance point corresponding to the obstacle in the to-be-processed area specifically includes:

determining the contour line of the obstacle;

acquiring preset obstacle avoidance direction information and obstacle avoidance distance information;

and determining obstacle avoidance points corresponding to the contour lines according to the obstacle avoidance direction information and the obstacle avoidance distance information.

Optionally, the contour line includes at least one of a straight line segment and an arc line segment; the determining of the obstacle avoidance point corresponding to the contour line specifically includes:

determining an obstacle avoidance offset vector according to the obstacle avoidance direction information; the obstacle avoidance offset vector is a unit vector;

if the contour line comprises a straight line segment, determining the straight line direction of the straight line segment;

determining the offset direction of the end point of the straight line segment according to the obstacle avoidance offset vector and the straight line direction;

determining point positions after obstacle avoidance offset corresponding to the end points of the straight line according to the offset distance information based on the offset direction of the end points; the point position after the obstacle avoidance offset corresponding to the end point is used for representing an obstacle avoidance point corresponding to the straight line segment;

if the contour line comprises an arc line segment, determining the central point of the arc line segment;

determining the offset direction of the central point according to the obstacle avoidance offset vector;

determining a point position corresponding to the central point after obstacle avoidance offset according to the offset distance information based on the offset direction of the central point; and the point position corresponding to the central point after the obstacle avoidance deviation is used for representing the obstacle avoidance point corresponding to the arc line segment.

Optionally, the obstacle avoidance direction information includes direction information represented by a first unit vector and a second unit vector;

the determining, according to preset obstacle avoidance direction information, a plurality of auxiliary reference lines that pass through at least one of the starting point, the ending point, and the avoidance point specifically includes:

and aiming at any point of the starting point, the end point and the avoidance point, respectively making straight lines passing through the any point along the direction of the first unit vector and the direction of the second unit vector to obtain a plurality of auxiliary reference lines.

Optionally, the determining an effective sub-path passing through two adjacent intersection points specifically includes:

judging whether an intersection point exists between a connecting line of adjacent intersection points and the contour line of the barrier;

and if the intersection points do not exist, determining the connecting line of the adjacent intersection points as an effective sub-path.

Optionally, the determining, according to each valid sub-path, a pipeline routing path including the start point and the end point specifically includes:

constructing a multi-branch tree according to the effective sub-paths; the nodes of the multi-branch tree represent the intersection points of the auxiliary reference lines; connecting lines of nodes in the multi-branch tree represent the effective sub-paths;

based on the multi-way tree, a pipeline routing path is determined that includes the start point and the end point.

Optionally, the constructing a multi-way tree according to the effective sub-path specifically includes:

a node of an initial layer with the starting point as a cross number;

determining a first intersection point adjacent to the starting point, wherein a valid sub-path exists between the first intersection point and the starting point, and determining the first intersection point as a node of a new layer as a first sub-node of the starting point;

for any first child node in each first child node, determining a second intersection point adjacent to the any first child node, wherein a non-repetitive effective sub-path exists between the second intersection point and the any first child node, and determining the second intersection point as a node of a new layer as a second child node of the first child node; the non-repeated effective sub-paths are effective sub-paths corresponding to other intersection points except the intersection points which are already determined as nodes of the cross tree;

and traversing all the intersection points in the above mode until the nodes of the latest layer do not have child nodes, and obtaining the cross tree.

Optionally, after obtaining the starting point and the end point of the pipeline arrangement of the area to be processed and the obstacle avoidance point corresponding to the obstacle in the area to be processed, the method further includes:

and judging whether at least one point of the starting point and the end point is positioned on the contour line of the obstacle or in a contour area formed by the contour line of the obstacle.

Optionally, the region to be processed includes a three-dimensional region; the method further comprises the following steps:

projecting an image representing the area to be processed onto a two-dimensional plane; the starting point, the end point and the obstacle avoidance point are points in the two-dimensional plane.

A pipeline arrangement path determining apparatus provided in an embodiment of the present specification includes:

the point location acquisition module is used for acquiring a starting point and an end point of pipeline arrangement of a region to be processed and obstacle avoidance points corresponding to obstacles in the region to be processed; the area to be treated is an area to be subjected to pipeline arrangement

The reference line determining module is used for determining a plurality of auxiliary reference lines which at least pass through one of the starting point, the end point and the avoidance point according to preset obstacle avoidance direction information;

the intersection point acquisition module is used for acquiring intersection points of all the auxiliary reference lines;

the sub-path determining module is used for determining an effective sub-path passing through two adjacent intersection points; the effective sub-path is used for representing a path which can avoid the obstacle;

and the pipeline path determining module is used for determining a pipeline arrangement path comprising the starting point and the end point according to each effective sub-path.

One embodiment of the present description achieves the following advantageous effects:

in the embodiment of the present description, the intersection point of each auxiliary reference line may be determined based on preset obstacle avoidance direction information according to the acquired starting point and end point of the pipeline arrangement and the obstacle avoidance point corresponding to the obstacle, so as to determine a path capable of avoiding the obstacle, and generate a pipeline arrangement path including the starting point and the terminal. And then realize the automatic generation of the pipeline arrangement route, reduced the work load of the designer, can also solve the designer experience limited, lack of the business quality management, design standard and standard use, understand incomplete, etc. factor influence, in the course of relying on the manual design to process the business work, the problem that the data confusion, wrong and missed design are repeated, inefficiency appear easily, has improved the efficiency of generating the pipeline arrangement route.

Drawings

In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the description below are only some embodiments described in the present application, and for those skilled in the art, other drawings may be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic flowchart of a pipeline routing path determining method provided in an embodiment of the present disclosure;

fig. 2 is a plan view of a starting point, an end point and an obstacle peripheral outline provided by an embodiment of the present specification;

fig. 3 is a schematic diagram of an obstacle avoidance point provided in an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of an auxiliary reference line provided in an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of an intersection of auxiliary reference lines provided in an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a cross-tree corresponding to FIG. 5 provided in an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a pipeline arrangement path determining apparatus provided in an embodiment of the present specification.

Detailed Description

To make the objects, technical solutions and advantages of one or more embodiments of the present disclosure more apparent, the technical solutions of one or more embodiments of the present disclosure will be clearly and completely described below with reference to specific embodiments of the present disclosure and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments that can be derived by a person skilled in the art from the embodiments given herein without making any creative effort fall within the scope of protection of one or more embodiments of the present specification.

The technical solutions provided by the embodiments of the present description are described in detail below with reference to the accompanying drawings.

In order to solve the defects in the prior art, the scheme provides the following embodiments:

fig. 1 is a schematic flowchart of a pipeline routing path determining method provided in an embodiment of the present disclosure. From the viewpoint of a program, the execution subject of the flow may be a program installed in an application server or an application client. From the hardware perspective, the pipeline configuration method can be an operation platform for generating pipeline configuration paths, and a user can input some design parameters in the platform according to actual needs, and automatically generate the required pipeline configuration paths in a man-machine interaction mode.

As shown in fig. 1, the process may include the following steps:

step 102: acquiring a starting point and an end point of pipeline arrangement of a region to be processed and an obstacle avoidance point corresponding to an obstacle in the region to be processed; the area to be treated is an area where pipeline arrangement is to be performed.

The area to be treated may be an area where pipeline arrangement is required, for example, in the building industry, an area where connecting pipelines and pipes between building electrical components are required to be designed and arranged. The obstacle can be understood as an object to be avoided, such as a pipeline, a pipeline and the like.

Step 104: and determining a plurality of auxiliary reference lines passing through at least one of the starting point, the end point and the avoidance point according to preset obstacle avoidance direction information.

The preset obstacle avoidance direction information can be manually set by a designer or determined by the server according to the known national, industrial and enterprise standard. The auxiliary reference line may be a straight line extending in the direction indicated by the obstacle avoidance direction information, passing through the start point, the end point, or the avoidance point.

Step 106: and acquiring the intersection point of each auxiliary reference line.

Step 108: determining an effective sub-path passing through two adjacent intersection points; the effective sub-path is used for representing a path capable of avoiding the obstacle.

The intersection points of the auxiliary reference lines include a start point and an end point, and a path from the start point to the end point can be obtained by connecting a plurality of intersection points. The connecting line of any two adjacent intersection points can be regarded as a sub-path, and because an obstacle exists in the region to be processed, the connecting line of two adjacent intersection points may actually pass through the obstacle, and it can be regarded that the sub-path represented by the connecting line of the two adjacent intersection points cannot avoid the obstacle, and is an invalid sub-path. The sub-path capable of avoiding the obstacle is an effective sub-path.

Step 110: and determining a pipeline arrangement path comprising the starting point and the end point according to each effective sub-path.

The pipeline routing path may be a path including a start point and an end point, which is formed by a plurality of valid sub-paths.

It should be understood that the order of some steps in the method described in one or more embodiments of the present disclosure may be interchanged according to actual needs, or some steps may be omitted or deleted.

The method in fig. 1 may determine intersection points of each auxiliary reference line based on preset obstacle avoidance direction information according to the acquired start point and end point of the pipeline arrangement and the obstacle avoidance points corresponding to the obstacles, and further determine a path capable of avoiding the obstacles, thereby generating a pipeline arrangement path including the start point and the terminal. And then the automatic generation of the pipeline arrangement path is realized, the workload of designers is reduced, the problems that the influences of factors such as limited experience, lack of service quality management, design standard and standard use, incomplete understanding and the like of the designers are easily caused, data confusion, repeated design mistake and leakage and low efficiency are easily caused in the process of processing service work by relying on manual design are solved, and the efficiency of generating the pipeline arrangement path is improved.

Based on the process of fig. 1, some specific embodiments of the process are also provided in the examples of this specification, which are described below.

In practical applications, the image of the region to be processed provided by the demand side may be a three-dimensional image, for example, a three-dimensional image drawn by three-dimensional drawing software. For convenience of implementation, in the embodiment of the present disclosure, the three-dimensional image may be first mapped to a two-dimensional plane, and then the pipeline path may be calculated.

The Z-axis value of each point in the three-dimensional image may be set to 0 to obtain a corresponding two-dimensional plane, or the starting point, the ending point, and the obstacle may be mapped to the plane by setting the Z-axis value to 0, so that the obstacle avoidance points corresponding to the starting point, the ending point, and the obstacle may be points in the two-dimensional plane.

In the embodiment of the description, the obstacle avoidance point corresponding to the obstacle can be determined according to the requirements of the avoidance direction and the distance. Optionally, in the example of this specification, acquiring an obstacle avoidance point corresponding to an obstacle in the area to be processed may specifically include:

determining the contour line of the obstacle;

In practical applications, the obstacle may be a three-dimensional image, which may be mapped onto a two-dimensional plane, and specifically, a peripheral contour of the obstacle may be projected onto the two-dimensional plane to obtain a contour line representing the obstacle. The obstacle avoidance direction information may indicate a direction in which the pipelines are arranged, and the obstacle avoidance distance information may indicate a minimum distance of the path from the obstacle, and may be indicated by a minimum length of a perpendicular line segment of the path from the obstacle. The obstacle avoidance point may be a position point that satisfies the user's requirements for an obstacle avoidance direction and an obstacle avoidance distance.

In practical applications, the obstacle may be a circle, a polygon, or an irregular figure, so that the contour of the obstacle in the two-dimensional plane may include at least one of a straight line segment and a circular arc segment. In an embodiment of the present description, determining an obstacle avoidance point corresponding to the contour line may specifically include:

determining the offset direction of the end point of the straight line section according to the obstacle avoidance offset vector and the straight line direction;

determining a point position corresponding to the central point after obstacle avoidance offset according to the offset distance information based on the offset direction of the central point; and the point position corresponding to the central point after obstacle avoidance deviation is used for representing the obstacle avoidance point corresponding to the circular arc segment.

In the embodiments of the present description, the obstacle avoidance direction information may be two unit vectors representing obstacle avoidance directions, and an obstacle avoidance offset vector may be obtained according to cross product calculation, where the obstacle avoidance offset vector may represent an offset direction of an obstacle avoidance point with respect to an obstacle.

For a straight line segment in the contour line of the obstacle, the endpoint offset direction can be obtained according to the straight line direction and the offset vector, and then the endpoint obstacle avoidance offset rear point position, namely the corresponding obstacle avoidance point, is calculated according to the obstacle avoidance distance. And calculating the point position of the center point of the arc line section after the deviation in a similar mode for the arc line section in the contour line of the obstacle, and obtaining the corresponding obstacle avoidance point.

Fig. 2 is a projection view of a starting point, an end point and an obstacle peripheral outline provided by an embodiment of the present specification on a plane, where circles represent the starting point P1 and the end point P2, and a rectangle C represents the obstacle peripheral outline. In practical applications, the peripheral outline of the obstacle is determined according to the shape of the actual obstacle, which is only illustrated by a rectangle and does not constitute a limitation to the present application.

Fig. 3 is a schematic diagram of an obstacle avoidance point provided in an embodiment of the present disclosure. Assuming that the obstacle avoidance direction information is two unit vectors of (0.9397, 0.3420, 0) and (0, 1, 0), and the distance is 150mm, obstacle avoidance points P3, P4, P5, and P6 that meet the preset offset direction and offset distance as shown in fig. 3 can be obtained.

It is understood that the specific values of the obstacle avoidance direction and the obstacle avoidance distance can be set according to actual requirements, for example, according to the specifications of the laid pipeline, the regulations and the like, and are not limited herein.

In practical application, if the starting point or the end point is located in the contour line or the contour region of the obstacle, it can be determined that the obstacle cannot be avoided by taking the starting point as the starting point or the end point as the end point, and for more effectively acquiring the pipeline arrangement path, the subsequent calculation process can be performed when the starting point or the end point is not located on the contour line of the obstacle or in the contour region formed by the contour line, so that the waste of calculation resources is avoided. Optionally, in this embodiment of the present disclosure, after acquiring a start point and an end point of pipeline arrangement of a to-be-processed area and an obstacle avoidance point corresponding to an obstacle in the to-be-processed area, the method may further include:

If at least one point of the starting point and the end point is positioned on the contour line of the obstacle or in the contour area formed by the contour line of the obstacle, the flow is terminated; if neither the starting point nor the ending point is located on the contour line of the obstacle or in the contour area formed by the contour line of the obstacle, a plurality of auxiliary reference lines passing through at least one of the starting point, the ending point and the avoiding point can be determined according to preset obstacle avoiding direction information, and then a final path is determined based on the intersection point.

The auxiliary reference line in the embodiments of the present description may also be determined according to preset obstacle avoidance direction information, so as to obtain a path that conforms to the obstacle avoidance direction. Optionally, the obstacle avoidance direction information in this embodiment may include direction information represented by a first unit vector and a second unit vector; determining a plurality of auxiliary reference lines passing through at least one of the starting point, the ending point and the avoidance point according to preset obstacle avoidance direction information, which may specifically include:

Fig. 4 is a schematic diagram of an auxiliary reference line provided in an embodiment of the present disclosure. As shown in fig. 4, based on the principle of constructing a straight line segment according to one point and a vector, a straight line may be drawn along the directions of two vectors for each of the start point, the end point, and the obstacle avoidance point, so as to obtain a plurality of auxiliary reference lines L. Wherein the length of the straight line segment may be set to 2 times the distance from the start point to the end point. The intersection points of the auxiliary reference lines may include a start point, an end point, and an obstacle avoidance point.

Fig. 5 is a schematic diagram of an intersection point of auxiliary reference lines provided in an embodiment of the present disclosure. As shown in fig. 5, the intersection points P1 to P24 of the auxiliary reference lines may include a plurality of intersection points including a start point P1, an end point P2, and obstacle avoidance points P3 to P6.

In the embodiment of the present disclosure, the path may be determined according to the connection lines between the intersection points, where, as shown in fig. 5, the connection line between the intersection points P15 and P18, the connection line between the intersection points P14 and P4, the connection line between the intersection points P5 and P17, and the connection line between the intersection points P13 and P16 intersect with the contour line of the obstacle, and it may be determined that the path represented by these connection lines cannot avoid the obstacle, and may be understood as invalid sub-paths, and the path finally generated cannot include these sub-paths.

Optionally, the determining an effective sub-path passing through two adjacent intersection points in the embodiment of the present specification may specifically include:

and if the effective sub-path does not exist, determining the connecting line of the adjacent intersection points as the effective sub-path.

In the embodiment of the present specification, the intersection point may be used as an alternative base point, the coordinates of which may be expressed as (X, Y, Z), and the configuration data structure P of each intersection point may be included. Judging whether the connection line between adjacent intersection points in each intersection point has an intersection point with the obstacle contour line, determining the connection line without the intersection point as an effective sub-path, and obtaining a reachable set between the reference points, wherein the reachable set is assumed to be a structure data structure G = (P1, P2 \8230; 8230), and P =canrepresent reachable point positions expressed by using the data structure. In practical applications, the path determination may be performed in a two-dimensional plane, and when finding a path in the two-dimensional plane, each intersection point may be mapped into the two-dimensional plane, and its coordinates are expressed as (X, Y, 0), or the data structure G may be constructed based on the coordinates.

In order to determine the pipeline routing path more clearly, the embodiment of the present disclosure may use a multi-way tree to represent the relationship between the intersection points, so as to obtain the required pipeline routing path. Optionally, in this embodiment of the present disclosure, the determining a pipeline routing path including the starting point and the ending point according to each valid sub-path may specifically include:

based on the multi-way tree, a pipelaying path is determined that includes the start point and the end point.

As an embodiment, the multi-branch tree can be constructed in a layer-by-layer searching mode by taking the starting point as the initial node. Optionally, in this embodiment of the present specification, the constructing a multi-way tree according to the effective sub-path may specifically include:

taking the starting point as a root node of the cross tree;

acquiring a first effective sub-path taking the starting point as an end point;

taking an intersection point corresponding to the other end point of the first effective sub-path as a first-level sub-node;

acquiring a second effective sub-path with the primary sub-node as an end point from effective sub-paths except the first effective sub-path;

taking an intersection point corresponding to the other end point of the second effective sub-path as a secondary sub-node;

and by analogy, traversing the intersection points corresponding to all the effective sub-paths to obtain the cross tree.

In the process of traversing the intersection points corresponding to all the effective paths to construct the cross tree, whether the sub-nodes of each level obtained except the end point have the next-level sub-node can be judged, and the nodes without the next-level sub-node can be deleted to obtain the final cross tree.

Taking the scenario shown in fig. 5 as an example, a process of building the cross tree layer by layer with the starting point as a starting point is described below, which may specifically include the following steps:

1) Taking a starting point P1 as a root node of the cross tree; the Level attribute of the root node is 0.

2) Intersection points P7, P8, and P13 adjacent to the start point P1 are acquired.

3) Whether or not the lines connecting the intersection points P7, P8 and P13 with the starting point P1 intersect with the contour line of the obstacle is determined.

4) If the connecting lines between the intersection points P7, P8, and P13 and the starting point P1 do not intersect with the contour line of the obstacle, as shown in fig. 5, it can be determined that the connecting lines between the starting point P1 and the intersection points P7 and P8 can avoid the obstacle, the connecting lines between the starting point P1 and the intersection points P7 and P8 can be considered as valid sub-paths, the intersection points P7, P8, and P13 can be considered as child nodes of the starting point P1, and the layer (Level) attribute of the intersection points P7, P8, and P13 is 1, which can be referred to as a first-Level child node.

If at least one of the intersection points P7, P8, and P13 intersects the line connecting the starting point P1 and the contour line of the obstacle, the intersection point at which the intersection point exists cannot be a child node of the starting point P1. Assuming that the line connecting P7 and P1 intersects the contour of the obstacle, the child nodes of P1 are P8 and P13.

5) By analogy, the above steps 2) to 4) are respectively performed for each node in the primary child node, that is, the intersection points P7, P8 and P13, to obtain child nodes corresponding to each node P7, P8 and P13 in the primary child node, which may be called secondary child nodes.

After the first-level child nodes are obtained, the first-level child nodes and the starting points can be stored in the cross tree node set; in order to avoid the repetition of the paths, the nodes existing in the cross tree node set may not be contained in the secondary child nodes; and after the secondary node is determined, the secondary node can also be stored in the cross tree node set.

In this way, the intersection points are traversed layer by layer until a child node in the next hierarchy corresponding to a node in the current hierarchy executing the traversal process comprises an end point, and the traversal of the node can be terminated; if the child nodes corresponding to other nodes in the current hierarchy do not contain the end point, the traversal of the steps can be continuously executed on the other nodes until the obtained child nodes contain the end point.

As shown in fig. 5, it is assumed that the child nodes in the next hierarchy corresponding to P18 are P4, P2, and P19, where the end point P2 is included, the traversal of P18 may be ended, and the child nodes of P4 and P19 are not searched, or the child nodes of P4 and P19 may be considered as empty, or P4 and P19 may be deleted from the child nodes in the next hierarchy corresponding to P18, so as to obtain the cross tree. Similarly, if P3 is still present in the same level as P18, and the child node in the next level corresponding to P3 is P19 and does not include the end point P2, then it is necessary to continue traversing P19 and query the path to the end point P2.

Fig. 6 is a schematic diagram of a cross tree corresponding to fig. 5 provided in an embodiment of the present disclosure. As shown in fig. 6, the path from the start point P1 to the end point P2 may include a plurality of paths. For example, P1-P7-P12-P6-P16-P17-P4-P18-P2; as another example, P1-P13-P5-P14-P15-P3-P19-P24-P2.

In the embodiments of the present description, multiple paths meeting the conditions may be generated, and an appropriate path may also be selected according to parameters such as the number of nodes, the number of corners, and the path length.

Based on the same idea, the embodiment of the present specification further provides a device corresponding to the above method. Fig. 7 is a schematic structural diagram of a pipeline arrangement path determining apparatus provided in an embodiment of the present specification. As shown in fig. 7, the apparatus may include:

a point location obtaining module 702, configured to obtain a starting point and an ending point of pipeline arrangement in a to-be-processed area, and an obstacle avoidance point corresponding to an obstacle in the to-be-processed area; the area to be treated is an area to be subjected to pipeline arrangement

A reference line determining module 704, configured to determine, according to preset obstacle avoidance direction information, a plurality of auxiliary reference lines that pass through at least one of the starting point, the ending point, and the avoidance point;

an intersection point obtaining module 706, configured to obtain intersection points of the auxiliary reference lines;

a sub-path determining module 708 for determining a valid sub-path passing through two adjacent intersection points; the effective sub-path is used for representing a path capable of avoiding the obstacle;

a pipeline path determining module 710, configured to determine a pipeline routing path including the start point and the end point according to each valid sub-path.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus, since it is substantially similar to the method embodiment, the description is simple, and reference may be made to the partial description of the method embodiment for relevant points.

For convenience of description, the above devices are described as being divided into various units by function, respectively. Of course, the functionality of the various elements may be implemented in the same one or more pieces of software and/or hardware in the practice of the present application.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or apparatus comprising the element.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A pipeline routing path determining method, comprising:

acquiring the intersection point of each auxiliary reference line;

determining an effective sub-path passing through two adjacent intersection points; the effective sub-path is used for representing a path which can avoid the obstacle;

2. The method according to claim 1, wherein obtaining obstacle avoidance points corresponding to obstacles in the area to be processed specifically comprises:

determining the contour line of the obstacle;

3. The method of claim 2, wherein the contour line comprises at least one of a straight line segment and a circular arc segment; the determining of the obstacle avoidance point corresponding to the contour line specifically includes:

4. The method according to claim 1, wherein the obstacle avoidance direction information includes direction information expressed by a first unit vector and a second unit vector;

the determining, according to preset obstacle avoidance direction information, a plurality of auxiliary reference lines passing through at least one of the starting point, the ending point, and the avoidance point specifically includes:

5. The method according to claim 1, wherein the determining the effective sub-path passing through two adjacent intersection points specifically comprises:

6. The method according to claim 1, wherein determining the pipeline routing path including the start point and the end point according to each valid sub-path comprises:

7. The method according to claim 6, wherein constructing a multi-way tree according to the valid sub-paths specifically comprises:

taking the starting point as a root node of the cross tree;

acquiring a first effective sub-path taking the starting point as an end point;

taking an intersection point corresponding to the other end point of the first effective sub-path as a primary sub-node;

8. The method according to claim 1, wherein after obtaining a starting point and an end point of the pipeline arrangement of the area to be processed and an obstacle avoidance point corresponding to an obstacle in the area to be processed, the method further comprises:

9. The method of claim 1, wherein the area to be treated comprises a three-dimensional area; the method further comprises the following steps:

10. A pipeline routing path determining apparatus, comprising:

The reference line determining module is used for determining a plurality of auxiliary reference lines at least passing through one of the starting point, the end point and the avoidance point according to preset obstacle avoidance direction information;