CN112507448A - Method for planning path arrangement of heating coil of ship - Google Patents
Method for planning path arrangement of heating coil of ship Download PDFInfo
- Publication number
- CN112507448A CN112507448A CN202011329180.XA CN202011329180A CN112507448A CN 112507448 A CN112507448 A CN 112507448A CN 202011329180 A CN202011329180 A CN 202011329180A CN 112507448 A CN112507448 A CN 112507448A
- Authority
- CN
- China
- Prior art keywords
- path
- exploring
- route
- pipeline
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/15—Vehicle, aircraft or watercraft design
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63J—AUXILIARIES ON VESSELS
- B63J2/00—Arrangements of ventilation, heating, cooling, or air-conditioning
- B63J2/12—Heating; Cooling
- B63J2/14—Heating; Cooling of liquid-freight-carrying tanks
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/18—Network design, e.g. design based on topological or interconnect aspects of utility systems, piping, heating ventilation air conditioning [HVAC] or cabling
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2113/00—Details relating to the application field
- G06F2113/14—Pipes
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Geometry (AREA)
- General Physics & Mathematics (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- General Engineering & Computer Science (AREA)
- Computational Mathematics (AREA)
- Pure & Applied Mathematics (AREA)
- Mathematical Optimization (AREA)
- Mathematical Analysis (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Ocean & Marine Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Pipeline Systems (AREA)
Abstract
The invention discloses a method for planning the path arrangement of a heating coil of a ship, which comprises the following steps: setting initial conditions; taking a sphere with the diameter equal to the diameter of the pipeline as a route exploring sphere to carry out S-shaped route exploration; judging whether the environment space is traversed or not, if so, stopping continuing the path exploration, and taking the final path turning point as a path exploration terminal point; if the path exploring end point is positioned at one side of the outlet section, other path turning points at the same side are translated to the initial direction by a preset distance Ld, and then the path exploring end point and the outlet section are connected by a pipeline path; a three-dimensional pipeline model is generated based on the pipeline path formed between the inlet section and the outlet section. The method forms the layout path of the pipeline in a way of exploring the pipeline, and then automatically generates a three-dimensional pipeline model without modeling one root of the pipeline; and the layout of the pipelines can be automatically adjusted by adjusting the setting of the parameters, so that the design efficiency of the heating coil can be greatly improved.
Description
Technical Field
The invention relates to the field of ship pipeline design, in particular to a path arrangement planning method for a ship heating coil.
Background
In order to ensure the economy of fuel usage for ocean-going vessels, the main engine of the vessel is essentially powered by burning heavy oil after the vessel leaves the port. The ship heating coil is a special pipeline in a ship pipe system, and the fuel oil tank with higher viscosity at normal temperature is integrally heated to about 50 ℃ by using steam, so that the fuel oil has lower viscosity, and the normal operation of fuel oil conveying and purification is ensured.
Taking a 5000TEU container ship as an example, the fuel oil tank is about 6000m3, and the heating coil is about 3000m in length. In the design process of a ship, fuel oil tanks are generally distributed in an engine room area and a cargo hold segmentation area, and the design of the heating coil requires repeated three-dimensional pipeline operation drawing by designers, so that calculation and modification can be completed.
At present, design software of various mainstream industries such as ships, automobiles and airplanes provides a visual pipeline modeling function, but pipeline design still needs designers to model and arrange one by one. The pipeline design in each industry mainly depends on a designer to complete the design of the layout pipeline according to the specification, the manufacturing process and the working experience.
The design of the complex ship piping system is consistently that the complex ship piping system occupies higher proportion in the ship design process, and has great influence on the ship design and construction period.
Disclosure of Invention
The invention aims to provide a method for planning the path arrangement of a heating coil of a ship, which can automatically plan the path of the heating coil of the ship and improve the design efficiency of a pipe system.
In order to solve the technical problems, the invention adopts the following technical scheme: a method for planning the path arrangement of a heating coil of a ship comprises the following steps:
A. setting initial conditions including pipeline diameter, inlet section, entering direction, starting direction, route-exploring step length, pipe distance and outlet section;
B. taking a sphere with the diameter equal to the diameter of the pipeline as a path exploring sphere, taking the tail end of an inlet section as a path exploring starting point, starting path exploration along the initial direction, changing the direction when the path exploring sphere touches an obstacle, turning to advance for a pipe distance along the entering direction, turning to a reverse path exploration along the initial direction, changing the direction when the path exploring sphere touches the obstacle again, turning to the entering direction to advance for a pipe distance, then exploring the path along the initial direction, and repeating the steps to form an S-shaped path exploration path;
C. when the route exploring ball body touches an obstacle along the entering direction, judging whether the environment space is traversed or not, if so, stopping continuing the route exploration and taking the last route turning point as a route exploring terminal point;
D. if the path exploring end point is positioned at one side of the outlet section, other path turning points at the same side are translated to the initial direction by a preset distance Ld, and then the path exploring end point and the outlet section are connected by a pipeline path;
E. a three-dimensional pipeline model is generated based on the pipeline path formed between the inlet section and the outlet section.
Preferably, if the route-exploring end point is positioned on one side of the entrance section, the distance between the pipes needs to be adjusted, and the route-exploring path is regenerated, so that the route-exploring end point is positioned on one side of the exit section.
Preferably, in step C, it is determined whether the environment space has been traversed by: when the route exploring ball body touches an obstacle along the entering direction, the route exploring ball body returns to the nearest route turning point and gradually returns along the original route parallel to the starting direction according to the route exploring step length, whether the entering direction is touched by the route exploring ball body or not is checked, and if the route exploring ball body is not touched by the obstacle in the returning point, the route exploring can be continued; otherwise, the return is continued along the original path, and if the distance between the return point and the path exploration starting point is smaller than the set value, the path exploration ball body is shown to reach the deepest part in the cabin, namely the whole environment space is traversed.
Preferably, the route leading path formed between the entrance segment and the exit segment may be represented by a series of path turning points as { P1, P2, P3, P4, P5 … … Pm }, wherein the path turning points on the exit segment side in step D are Pi and Pj, where i is 4n +4, j is 4n +5, and n is a natural number.
Preferably, before the step E, a step of optimizing the total length of the pipeline is further included, where 2(2m +1) Lc +2m (Lb-Ld) +2Lb-La is Lk, where La is a distance between the inlet section and the outlet section, Lb is a maximum length of the pipeline section, Lc is a distance between the pipelines, Ld is an offset distance of the turning point of the outlet-side path, and Lk is a design length of the pipeline, and a closest natural number m is obtained; keeping the value of m unchanged, calculating the actual length Lr of the pipeline according to the Lr which is 2(2m +1) Lc +2m (Lb-Ld) +2Lb-La, adjusting the values of Ld, Lc and Lb to enable Lk to be less than or equal to Lr and less than or equal to 1.05Lk, and finishing the optimization of the arrangement of the pipeline system.
Compared with the prior art, the invention has the following beneficial effects: the invention can form the arrangement path of the pipeline in a way of exploring the way according to the set initial conditions, can completely traverse the internal environment space of the whole cabin, can automatically avoid the barriers in the cabin, and then automatically generate a three-dimensional pipeline model without modeling one by one; and the layout of the pipelines can be automatically adjusted by adjusting the setting of the parameters, so that the design efficiency of the heating coil can be greatly improved.
Drawings
FIG. 1 is a schematic diagram of an "S" shaped path exploration in the present invention.
Fig. 2 is a schematic diagram of determining a route-finding end point by applying a backtracking algorithm according to the present invention.
Fig. 3 is a schematic diagram of obstacle avoidance by applying a backtracking algorithm in the present invention.
Fig. 4 is a schematic diagram of the outlet line path obtained in the present invention.
Fig. 5 is a flow chart of the present invention.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings. These embodiments are merely illustrative of the present invention and are not intended to limit the present invention.
The invention discloses a method for planning the path arrangement of a heating coil of a ship, wherein the heating coil is arranged in a fuel cabin, and the method comprises the following steps:
(1) setting initial conditions
As shown in fig. 1, initial conditions of the heating coil are first set, including setting the diameter of the pipe, determining the inlet section 10, the outlet section 20, the entering direction Y, the starting direction X, the length of the approach step, the pipe distance Lc, etc.
(2) Performing S-shaped path exploration
Taking a sphere with the diameter equal to the diameter of the pipeline as a route exploring sphere, taking the tail end of the inlet section 10 as a route exploring starting point P1, starting route exploration along the starting direction X, changing the direction when the route exploring sphere touches the obstacle 30, turning to advance for a pipe distance Lc along the entering direction Y, then turning to a reverse route exploration along the starting direction X, changing the direction when the route exploring sphere touches the obstacle 40 again, turning to the entering direction Y to advance for a pipe distance Lc, then exploring along the starting direction X, and repeating the steps to form an S-shaped route exploring path; the "S" shaped probe path may be defined by a series of path turning points P1, P2, P3, P4, P5 … ….
(3) Determination of termination condition
As shown in fig. 2, when the route exploring ball encounters an obstacle in the entering direction Y, for example, when the route exploring ball encounters an obstacle 50 when turning from the turning point Pm to the route exploring in the entering direction Y, a route backtracking algorithm is adopted, that is, the route exploring ball first returns to the nearest route turning point Pm, then gradually returns along the original route (in the direction opposite to X in fig. 2) according to the route exploring step length, and tries to turn to the entering direction Y at each returning point to see whether the obstacle still can be encountered, and if the obstacle still can be encountered, the route exploring ball continues to return along the original route; if the obstacle is still hit until the return point Pa, and the distance between the return point Pa and the route search starting point P1 along the X direction is smaller than a set value (for example, close to 0), which indicates that the route search sphere has reached the deepest position in the cabin, i.e., has traversed the entire environmental space, the continuation of the route search is stopped, and the last route turning point Pm before backtracking is used as the route search end point.
As shown in fig. 3, in the process of using the path backtracking algorithm, if the route exploration sphere returns to the Pe point and turns to the entering direction Y again, the route exploration will not touch the obstacle, which indicates that the environment space has not been traversed, and then the Pe point is used as a new route turning point to continue the route exploration until the whole environment space is traversed and the route exploration end point is reached.
The advantage of using a backtracking algorithm is that the entire cabin interior space can be completely traversed while avoiding interference with the cabin interior structural components. By traversing the entire environmental space in its entirety, the maximum value of the length of the pipe sections that can be laid out for a single layer of heating coils can also be calculated.
(4) Outlet pipeline calculation
As shown in fig. 1, if the probing terminal Pm is located at one side of the outlet section 20, as shown in fig. 4, other path turning points P4, P5, P8, P9 … … at the same side (located at one side of the outlet section 20) are translated to the starting direction X by a preset distance Ld, and then the probing terminal Pm and the outlet section 20 are connected by a pipeline path; this forms a continuous pipe path between the inducer 10 and the exducer 20.
However, if the route probing end point Pm is located at the inlet section 10 side, as shown in fig. 2, the route probing end point Pm and the outlet section 20 cannot be connected by a pipeline path, and at this time, parameters such as pipe distance need to be adjusted to regenerate the route probing path, so that the route probing end point Pm is located at the outlet section 20 side, so as to connect the route probing end point Pm and the outlet section 20 by the pipeline path.
In the outlet pipeline algorithm, it is necessary to determine whether a path turning point (including a route exploring end point) is located on one side of the outlet section. The following judgment method may be adopted: as shown in fig. 4, the route exploring path formed between the entrance segment and the exit segment can be represented by a series of path turning points as { P1, P2, P3, P4, P5 … … P8, P9 … … Pm }, wherein the path turning points P4, P5, P8, P9 … … located at the exit segment side can be represented as Pi and Pj, where i is 4n +4, j is 4n +5, and n is a natural number, i.e. the path turning points (including route exploring end points) with sequence numbers corresponding to Pi and Pj are located at the exit segment side.
(5) Generating three-dimensional pipelines
Finally, a three-dimensional pipeline model is generated based on the continuous pipeline path formed between the inlet section and the outlet section.
Preferably, before the step E of generating the three-dimensional pipeline, a pipeline total length optimization step may be further included. In the preferred embodiment shown in fig. 4, let 2(2m +1) Lc +2m (Lb-Ld) +2Lb-La be Lk, where La is the distance between the inlet section and the outlet section, Lb is the maximum length of the pipe section, Lc is the pipe distance, Ld is the offset distance of the turning point of the outlet-side path, and Lk is the design length of the pipeline, and the value of m is found and rounded to obtain the closest natural number; keeping the value of m unchanged, calculating the actual length Lr of the pipeline according to the Lr which is 2(2m +1) Lc +2m (Lb-Ld) +2Lb-La, adjusting the values of Ld, Lc and Lb, re-planning the path to ensure that Lk is less than or equal to Lr and less than or equal to 1.05Lk, and finishing the optimization of the arrangement of the pipeline system.
The above process can realize automatic generation of the three-dimensional pipeline model, and can conveniently perform optimization adjustment, as shown in the flow chart of fig. 5.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (5)
1. A method for planning the path arrangement of a heating coil of a ship is characterized by comprising the following steps:
A. setting initial conditions including pipeline diameter, inlet section, entering direction, starting direction, route-exploring step length, pipe distance and outlet section;
B. taking a sphere with the diameter equal to the diameter of the pipeline as a path exploring sphere, taking the tail end of an inlet section as a path exploring starting point, starting path exploration along the initial direction, changing the direction when the path exploring sphere touches an obstacle, turning to advance for a pipe distance along the entering direction, turning to a reverse path exploration along the initial direction, changing the direction when the path exploring sphere touches the obstacle again, turning to the entering direction to advance for a pipe distance, then exploring the path along the initial direction, and repeating the steps to form an S-shaped path exploration path;
C. when the route exploring ball body touches an obstacle along the entering direction, judging whether the environment space is traversed or not, if so, stopping continuing the route exploration and taking the last route turning point as a route exploring terminal point;
D. if the path exploring end point is positioned at one side of the outlet section, other path turning points at the same side are translated to the initial direction by a preset distance Ld, and then the path exploring end point and the outlet section are connected by a pipeline path;
E. a three-dimensional pipeline model is generated based on the pipeline path formed between the inlet section and the outlet section.
2. The route layout planning method according to claim 1, wherein in the step D, if the route-exploring end point is located on the entrance section side, the distance between the pipes is adjusted to regenerate the route-exploring path so that the route-exploring end point is located on the exit section side.
3. The path arrangement planning method according to claim 1, wherein in the step C, it is judged whether the environment space has been traversed by: when the route exploring ball body touches an obstacle along the entering direction, the route exploring ball body returns to the nearest route turning point and gradually returns along the original route parallel to the starting direction according to the route exploring step length, whether the entering direction is touched by the route exploring ball body or not is checked, and if the route exploring ball body is not touched by the obstacle in the returning point, the route exploring can be continued; otherwise, the return is continued along the original path, and if the distance between the return point and the path exploration starting point is smaller than the set value, the path exploration ball body is shown to reach the deepest part in the cabin, namely the whole environment space is traversed.
4. The route planning method according to claim 1, wherein the route-exploring path formed between the entrance segment and the exit segment is represented by a series of path-turning points as { P1, P2, P3, P4, P5 … … Pm }, wherein the path-turning points on the side of the exit segment in step D are Pi and Pj, where i-4 n +4, j-4 n +5, and n is a natural number.
5. The path layout planning method according to claim 1, wherein before the step E, a step of optimizing the total length of the pipeline is further included, where 2(2m +1) Lc +2m (Lb-Ld) +2Lb-La ═ Lk is provided, where La is a distance between the entrance segment and the exit segment, Lb is a maximum length of the pipeline segment, Lc is a distance between the pipelines, Ld is an offset distance of the turning point of the exit-side path, and Lk is a design length of the pipeline, and a closest natural number m is obtained; keeping the value of m unchanged, calculating the actual length Lr of the pipeline according to the Lr which is 2(2m +1) Lc +2m (Lb-Ld) +2Lb-La, adjusting the values of Ld, Lc and Lb to enable Lk to be less than or equal to Lr and less than or equal to 1.05Lk, and finishing the optimization of the arrangement of the pipeline system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011329180.XA CN112507448B (en) | 2020-11-24 | 2020-11-24 | Ship heating coil path arrangement planning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011329180.XA CN112507448B (en) | 2020-11-24 | 2020-11-24 | Ship heating coil path arrangement planning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112507448A true CN112507448A (en) | 2021-03-16 |
| CN112507448B CN112507448B (en) | 2023-05-26 |
Family
ID=74959710
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011329180.XA Active CN112507448B (en) | 2020-11-24 | 2020-11-24 | Ship heating coil path arrangement planning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112507448B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104699899A (en) * | 2015-03-09 | 2015-06-10 | 天津大学 | Ship pipeline route optimum design method |
| CN105005823A (en) * | 2015-06-26 | 2015-10-28 | 天津大学 | Ship branch pipeline path planning method based on genetic algorithm |
| CN107944106A (en) * | 2017-11-14 | 2018-04-20 | 天津百利越象模具制造有限责任公司 | A kind of pipeline layout optimization method based on PDMS softwares |
| CN108958282A (en) * | 2018-06-21 | 2018-12-07 | 浙江大学 | Three-dimensional path planing method based on dynamic spherical window |
| CN108981710A (en) * | 2018-08-07 | 2018-12-11 | 北京邮电大学 | A kind of complete coverage path planning method of mobile robot |
| CN110442940A (en) * | 2019-07-25 | 2019-11-12 | 天津大学青岛海洋技术研究院 | A kind of parallel intelligent Layout Design method of efficient ship multi-pipeline |
| CN111750860A (en) * | 2020-05-29 | 2020-10-09 | 广州极飞科技有限公司 | Round-trip path planning method and device and electronic equipment |
-
2020
- 2020-11-24 CN CN202011329180.XA patent/CN112507448B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104699899A (en) * | 2015-03-09 | 2015-06-10 | 天津大学 | Ship pipeline route optimum design method |
| CN105005823A (en) * | 2015-06-26 | 2015-10-28 | 天津大学 | Ship branch pipeline path planning method based on genetic algorithm |
| CN107944106A (en) * | 2017-11-14 | 2018-04-20 | 天津百利越象模具制造有限责任公司 | A kind of pipeline layout optimization method based on PDMS softwares |
| CN108958282A (en) * | 2018-06-21 | 2018-12-07 | 浙江大学 | Three-dimensional path planing method based on dynamic spherical window |
| CN108981710A (en) * | 2018-08-07 | 2018-12-11 | 北京邮电大学 | A kind of complete coverage path planning method of mobile robot |
| CN110442940A (en) * | 2019-07-25 | 2019-11-12 | 天津大学青岛海洋技术研究院 | A kind of parallel intelligent Layout Design method of efficient ship multi-pipeline |
| CN111750860A (en) * | 2020-05-29 | 2020-10-09 | 广州极飞科技有限公司 | Round-trip path planning method and device and electronic equipment |
Non-Patent Citations (2)
| Title |
|---|
| 简毅: "一种室内扫地机器人全遍历路径规划方法研究", 《传感器与微***》 * |
| 赵波: "油船货油舱蒸汽加热***设计及相关技术应用", 《船海工程》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112507448B (en) | 2023-05-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101989314B1 (en) | Method for modeling a pipe and record media recorded program realizing the same | |
| CN111611724B (en) | Method for calculating head loss coefficient of multi-point water intake and flow distribution of branch pipes | |
| CN111666637A (en) | Knowledge-based ship pipeline layout optimization design method | |
| CN106383955B (en) | Data interconversion method for stress analysis and three-dimensional model in pipeline design | |
| CN101797956B (en) | Field digitized laser lofting method of ship piping system | |
| CN106874595B (en) | Water transfer pipe network computational methods based on node parameter technology | |
| CN112613134B (en) | Valve body structure optimization method based on vortex distribution | |
| CN115077534B (en) | AGV path planning method based on B spline curve | |
| CN110555214A (en) | compressor blade profile construction method and compressor blade | |
| CN111102476B (en) | Pipe burst searching method based on three-dimensional underground pipeline | |
| CN112507448A (en) | Method for planning path arrangement of heating coil of ship | |
| CN108062444A (en) | Parameters of bent pipe determines method | |
| CN107329167A (en) | Detect method, system and the computer storage media of pipeline sediment distribution | |
| CN113434959B (en) | Pipeline bending design method in three-dimensional space feasible region | |
| Blokland et al. | Literature survey on automatic pipe routing | |
| CN110838170A (en) | Nuclear-grade pipeline optimal arrangement method considering spatial interference and mechanical property | |
| CN113158384B (en) | Oil and gas pipeline route planning method and system | |
| JP2013134615A (en) | Route correction device | |
| JP2022529770A (en) | Internal combustion engine controller | |
| CN112380639B (en) | Intelligent pipeline sectional modeling method along traffic line | |
| CN114595523B (en) | Elbow-shaped water outlet flow passage hydraulic design method based on Dien vortex theory | |
| CN116541949A (en) | Pipeline layout design method in expansion domain | |
| CN113094855A (en) | Method and system for realizing calibration and adjustment of water heating electric pipeline | |
| Gunawan et al. | Reduction of Drag Resistance by Pressure Drop in Pipeline with 3-Dimensional Design Optimization | |
| CN117763770A (en) | Simulation laying method for external pipeline of aeroengine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |