A Distance-Field-Based Pipe-Routing Method

Area of Science:

• Computational geometry
• Robotics
• Industrial engineering

Background:

• Pipe routing is critical in various industries but existing algorithms often neglect spatial constraints and safety regulations.
• Optimizing pipe length and minimizing elbows are common goals, but ensuring strict adherence to design rules remains a challenge.

Purpose of the Study:

• To propose a distance-field-based piping algorithm that strictly satisfies spatial constraints and safety regulations.
• To develop a method for generating collision-free and cost-optimized pipe paths in complex workspaces.

Main Methods:

• The algorithm converts the workspace into a 3D image and computes a distance field.
• A feasible space is created by processing the distance field, ensuring collision-free and compliant routing.
• A path-finding process with a cost function arranges the pipe within the feasible space.

Main Results:

• The proposed method successfully lays out pipes that are cost-optimized and meet all spatial and safety requirements.
• Experiments in an underwater vehicle, machinery room, and house demonstrated the algorithm's effectiveness in narrow and complex environments.
• A visualization subsystem allows real-time monitoring and parameter tuning of the piping process.

Conclusions:

• The distance-field-based piping algorithm provides an effective solution for complex pipe routing challenges.
• The method ensures both economic efficiency and strict adherence to safety and spatial regulations.
• The integrated visualization tool enhances user control and evaluation of the piping design.