Automatic Piping Arrangement Design
ConsideringdPiping Supports andd Curved
dSurfaces of Building Blocks

Hajime Kimura
Dep. of Marine Systems Engineering
DepEngineering,
Kyushu University
ICCAS 2017, 26‐29 September 2017, Singapore

Motivations

3D‐CAD systems reduce human efforts,

Motivations

3D‐CAD systems reduce human efforts,

However,, ppiping
p g arrangementgdesigng
processes still depend on human power.

Motivations

3D‐CAD systems reduce human efforts,

However,, ppiping
p g arrangementgdesigng
processes still depend on human power.
To react to the design change of another section,
modification or restarting of the piping arrangement is too often.

AutomaticAi Piping
Pi i arrangement Design
D i system
will save more time and money!

It is torture forthe designers!

Conventional Regular-Grid Approaches
The target design space is divided into regular grids
where the mesh size is lager than the pipe’s diameter.
The grid world is translated into a weighted graph.
looking on the pipe arrangement problem as arouting problem in the weighted graphObstacle

Obstaclesolved by “Dijkstra’s method”
Disadvantage is …
× The mesh size is restricted to be larger thana pipe’s diameter× Directions of the ppipes
p are restricted along
g XYZ axes.
Although the gap between
the obstacle is larger thantheh diameter
dioff theh pipe,
i …

Start

Goal

Obstacle… conventional
methods
th d cannott putt
pipes in this caseObstacle

Regular grid methods cannot consider in the following situations:Ship Hull

PipePi
Pipes are often arranged
along the curved ship’s
ship s hull.
hull

Pipes are arranged so as to make use of
the same support in the different pipes.

Preparation to overcome the defects of Regular Grid Methods
Geometrically, all the pipes
with two bends can connect
arbitrary two design points
which have positions anddirections!

CAab
DBc

【Example 1】
The condition:
AC:CD:DB＝１：２：１【Example 2】
Thecondition：
Using only 90
degree elbows

Constraints of the real pipe’s shapes

Pi B
Pipe
Bender：d(1) It bends pipes with arbitrary angles,
but there exists a limit of a maximum
angle.
HYPREX: YPB‐704F PIPE BENDER

These troublesomeTht blconstraintst i tprevents automatic piping design!

( ) The radius of the bend is(2)constrained by the pipe bender’s molds.
(3) When it bends pipes, straight parts
between the bend are required tograsp the pipe.
8

A new approach to automatic design of piping
In actual piping design, the pipes are put
the pposition that is certain distance awayy
from structures.

If the pipes are put in the middleof the target design space,
space it isburdensome to arrange piping
supports!

１） At all the position of the supports, put design
points which indicate position and direction of theway of the pipe for each pipe.
２） Make a weighted
pair ofgggraphp checkingg all the pdesign points which can connect by a pipe with twobends that can make using the pipe bender.
３） Generate piping path using a shortest pathsearch algorithm in the weighted graph.

The new approach: (1) Putting Design Points
Goal

Start

Design Points whichhave local coordinates

The new approach: (2) Making a weighted graph
Goal

Start

Design Points whichhave local coordinates

D i Points
P i t are connectedt d byb pipes
ihi h havehDesignwhich
two bends along the axes of the local coordinates.

Weighted Graph

Shortest path Search
In the graphical network

The new approach: (3) Generate piping path
GoalGoalStart

Start

Design Points whichhave local coordinates

Pipe
Arrangement

D i Points
P i t are connectedt d byb pipes
ihi h havehDesignwhich
two bends along the axes of the local coordinates.

Weighted Graph

Shortest path Search
In the graphical networkDijkstra’s Method

This method can …
 find the shortest path in a directed and weighted graph guarantee a path with minimum costs
Where is the path with minimum costs
between C1 and C2?
C4
77C23565C1C73C5107C388C6The answer is …

Dijkstra’s Method

This method can …
 find the shortest path in a directed and weighted graph guarantee a path with minimum costs
Where is the path with minimum costs
between C1 and C2?
C4
77C2
3
56
5C1C73C510
7C388C6

The answer is …
75C110C2
63C3C4minimum costs
735C5788C616C7

Multiple Pipe Routing
 From the largest diameter to the smallest diameter Random choice from pipes with the same diameters

Random choice

Random choiceOrder of Routing
Order of routing in real arrangement = From the largest to the smallest
GObstacle

G

Pipe B

SG
Pipe C
ObstacleSSOrder of Routing
Order of routing in real arrangement = From the largest to the smallest
GObstacle

G

Pipe BS

Pipe AG

Pipe C
ObstacleSSOrder of Routing
Order of routing in real arrangement = From the largest to the smallest
GObstacle

G

Pipe BS

Pipe AG

Pipe CObstacleSSOrder of Routing
Order of routing in real arrangement = From the largest to the smallest
GObstacle

G

Pipe BS

Pipe AG

Pipe CObstacleSSLargely different solutions depending on the order of arranging pipesΦA = ΦB

最終的に得られる経路が，探索の順序により異なる．
20

Largely different solutions depending on the order of arranging pipesΦA = ΦB

21

Largely different solutions depending on the order of arranging pipesΦA = ΦB

22

Path selection of one pipeΦA < ΦBOptimum
O
ti
Paths
P th forf one pipe
i are multiple,lti l
But we cannot find the best for the other pipes．

23

Path selection of one pipe
Both paths are
optimumtiffor ththe pipe
iB in this stage!

ΦA < ΦB

OptimumOti
Paths
P th forf one pipe
i are multiple,
lti l
But we cannot find the best for the other pipes．

24

Path selection of one pipe
Both paths are
optimumtiffor ththe pipei
B in this stage!

ΦA < ΦB

OptimumOti
Paths
P th forf one pipe
i are multiple,lti l
But we cannot find the best for the other pipes．

Interference avoidance of multiple pipes

Touch and Cross Method:

It is for a wire routing method
for electronic circuits.

First, the system arranges theshortest pipes
without considering interferences.

Approach: Interference avoidance of multiple pipes
Touch and Cross Method:

It is for a wire routing method
for electronic circuits.

First, the system arranges theshortest pipes
without considering interference.

Then, the system can acquire
information about the crowding area.

Approach: Interference avoidance of multiple pipes
Touch and Cross Method:

It is for a wire routing method
for electronic circuits.

Re arrange pipes with the order
Re‐arrangeof the pipe’s length.

Approach: Interference avoidance of multiple pipes
Touch and Cross Method:

It is for a wire routing method
for electronic circuits.

Re arrange pipes with the order
Re‐arrangeof the pipe’s length.

Approach: Interference avoidance of multiple pipes
Touch and Cross Method:

It is for a wire routing method
for electronic circuits.

Re arrange pipes with the order
Re‐arrangeof the pipe’s length.

Touch and Cross Method for Branches
First, the system arranges
the shortest pipes without
considering interference.

Touch and Cross Method for Branches
First, the system arranges
the shortest pipes without
considering interference.

Re‐arrange to overlap
with the same pipelines.

Touch and Cross Method for Branches
First, the system arranges
the shortest pipes without
considering interference.

Re‐arrange to overlap
with the same pipelines.

Re‐arrange to overlap
with the same pipelines.

Touch and Cross Method for Branches
Re‐arrange to overlap
with the same pipelines.

First, the system arranges
the shortest pipes without
considering interference.

Re‐arrange to overlap
with the same pipelines.

Re‐arrange to overlapwith the same pipelines.

Touch and Cross Method for Branches
Re‐arrange to overlap
with the same pipelines.

First, the system arranges
the shortest pipes without
considering interference.

Re‐arrange to overlap
with the same pipelines.

Re‐arrange to overlap
with the same pipelines.

DEMO

Computer Simulations【Experiment 1】 Arrangement along curved structures
Φ600 bend’s radius： 2400 or 1200
Φ400 bend’s radius： 1600 or 1200
Φ100 bend’s radius： 300 or 150
The minimum length of the straight pipe between
elbows： Over 200 in φ600 and 400 pipes and 100
in φ100 pipe.
The angle of the bend is 90 deg only in Φ100
The others are arbitrary (maximum is 90 deg)
Size of structures： half of a cylinder, radius 3000with a plane which is the length 200
Arrangement of the design points：
interval 400 in the height direction,
In the direction of radius in the cylinder,away 200 from the wall, interval 400,in the direction to the circumference,
divide 180 deg.
deg into 20,
20 then 870 points

Almost the same solutions in all trials
It takes 2~3 minutes, sometimes failed.

37

Only 90 deg elbows areused in this pipeline.

Only 90 deg elbows areused in this pipeline.

Computer Simulations【Experiment 2】
Design Space： L1500 W4000 H2000
D × num： Φ200×2, Φ150×1, Φ100×2
Aisle： (shown in the red box)
L800 H1300 W4000
Piping Supports：

Φ200パイプ用の経由点候補

Horizontal supports away from the roof 100 and 400
Vertical supports away from the wall 100 and 400
They are arranged in 500 intervals along W

Φ100パイプ用の経由点候補
40

Design Points for Φ200 pipes
41

Design Points for Φ150 pipes

Design points for Φ100 pipes
43

Results of Experiment (2)-1
COST=1370167

F ShiForShip D
Design（Arbitraryi （A bitanglel elbows）
lb）Φ200 bend’s radius： 400 or 300
Φ150 bend
bend’ss radius: 300 or 150
Φ100 bend’s radius： 200 or 100

COST 1171743
COST=1171743

The minimum length of the straight pipe between elbows：Over 100 in
i allll diameters
dioff pipes.
iMaximum angle of the bend is 90 degrees
Cost of the pipe per unit length:
Φ200：40
Φ150：22.5
Φ100 10
Φ100：10COST 1192755
COST=1192755

Cost of bends : 1000 constant that does not dependon the diameter nor angles
COST=1318435

In all trials, different Solutions are found.

44

Results of Experiment (2)-2
COST=1368599

F BForBuilding
ildi D
Designi （90 ddegree elbows）
lb）Φ200 bend’s radius： 400 or 300
Φ150 bend
bend’ss radius: 300 or 150
Φ100 bend’s radius： 200 or 100

COST 1320220
COST=1320220

The minimum length of the straight pipe between elbows：Over 100 ini allll diameters
dioff pipes.
iThe angle of the bends is only 90 degree.

COST=1281864

Cost of the pipe per unit length:
Φ200：40
Φ150：22.5
Φ100 10
Φ100：10

No detour

Cost of bends : 1000 constantCOST=1181384
tthat
at does notot depend
depe d ono thet e diameterd a ete noro angles
a g esIn all trials, different Solutions are found.
In 10 trials, failed 4 times （truncated 4 min.）45

It can use thesame support46

Result of Experiment 2‘

It cannot find anysolution with using
only 90 degree
elbows.

47

Discussion
The number of design points
In experiment 2, the system can find feasible solutions,However, when the number of design points aredecrease, It could not find any solutions.
→ Appropriate arrangement of design points
i very iimportant!
ist t!
Future work

Different solutions in trials
Solutions are largely depend on the initial path
→ Improve touch and cross method so as to find best solutions certainly

The Solution in the constraint of 90 degree elbows:
Although the elbows are 90 deg, some pipes are arranged diagonally → Real piping design48

arranged diagonallyA solution in the constraint of 90 degree elbows
49

Piping with Branches
DesignD
i P
Points:i t 1288
Obstacle Boxes: 28
Computation time: 18min.
BranchBranchBranch50

Piping with BranchesDesignDi P
Points:i t 1288
Obstacle Boxes: 28
Computation time: 18min.

51

Piping with Branches
DesignDi P
Points:i t 1288
Obstacle Boxes: 28
Computation time: 18min.

52

53

Path Planning of Multiple Drones
Design Points: 2000
Ob t l Boxes:
ObstacleB
7
Computation time: 25min.

Path Planning of Multiple Drones
Design Points: 2000
Ob t l Boxes:
ObstacleB
7
Computation time: 25min.

Path Planning of Multiple Drones
Design Points: 2000
Ob t l Boxes:
ObstacleB
7
Computation time: 25min.

Design Points

Conclusion
 On the routing problem for one pipe, to deal with supports andarrangement along curved structure, a new approach is proposed:
Design points that indicates direction and position are arranged in advanceas candidates of waypoints of the pipe, and generate weighted graphchecking whether two design points can connect by a pipe which satisfies
the constraint of the pipe bender. After that, generate piping path frompath search in the weighted
ggraph.
g p
the shortest p
Arranged along
the structures

 For multiple piping, Touch and cross method is also applied
to avoid different pipelines,
pipelines, and to overlap the same pipelines.
pipelines

57

Remarks
This research was sponsored by the Japan Society for thePPromotion
i off Science
S i(JSPS) Grants‐in‐AidG
i Aid forf ScientificS i ifi ResearchRh(B) 23360388.
This technology is Patent pending by Kyushu University.
(Japanese Patent Application No. 2017‐96845)

If you want to get the source code of the programs,
Please contract with Kyushu
yuniversityy to use the license.