Summary of the invention
To solve the above problems, the present invention provides a kind of collection transmission pipe network design method and device, this method and device existWater force and press device are considered in collection transmission pipe network process of optimization, by the MILP model of foundation, is carried out whole excellentChange, the collection transmission pipe network design scheme that can be optimized.
One aspect of the present invention provides a kind of collection transmission pipe network design method, comprising:
Design parameter is received, the design parameter includes terrain parameter, economic parameters and the technical parameter of target area；
The double-deck Uneven mesh spacing corresponding with the target area is generated according to the design parameter；It is described double-deck unevenEven grid can characterize the path between the topology of collection transmission pipe network and node；
According to preset rules and the double-deck Uneven mesh spacing, can judgement obtain collection transmission pipe network design result；
If so, using minimum total construction cost as objective function, establishing MILP mould using the design parameter as constraint conditionType；
Collection transmission pipe network design result is obtained to the MILP model solution according to the double-deck Uneven mesh spacing.
In above-mentioned collection transmission pipe network design method, it is preferred that according to the design parameter, generate opposite with the target areaThe double-deck Uneven mesh spacing answered specifically includes:
Determine the terrain data of the target area；
According to the terrain data, the target area is divided into several subregions；
According to several subregions, the double-deck Uneven mesh spacing is generated.
In above-mentioned collection transmission pipe network design method, it is preferred that the bilayer Uneven mesh spacing includes first layer grid and secondLayer grid；The first layer grid is used to characterize the topology of collection transmission pipe network；The second layer grid is for characterizing between nodePath.
In above-mentioned collection transmission pipe network design method, it is preferred that the topology of the collection transmission pipe network is calculated in the following way:
It is that each subregion establishes objective function according to the node on the first layer grid, solves objective function, obtainThe topology of collection transmission pipe network.
In above-mentioned collection transmission pipe network design method, it is preferred that determination obtains in the path between the node in the following way:
According to the second layer grid, calculated between each connection node corresponding to minimum length by ant algorithmPath.
In above-mentioned collection transmission pipe network design method, it is preferred that the preset rules are as follows:
If met, well site is located in barrier, the total output in well site is 0, gross pressure is 0 and well head back pressure is less than centerPressure needed for treating stations and at least one of without press device, then judgement can not achieve collection transmission pipe network design result.
In above-mentioned collection transmission pipe network design method, it is preferred that the collection transmission pipe network design result includes the entirety of collection transmission pipe networkTopological structure, the position of central processing station, the position of press device, the diameter and route of pipeline and the waterpower point of collection transmission pipe networkCloth.
In above-mentioned collection transmission pipe network design method, it is preferred that the terrain parameter includes the detailed landform of target area, obstacleObject information, at least one of well site position；
The economic parameters includes that pipeline is monovalent, press device type, at least one in the fixed cost of central processing stationKind；
The technical parameter includes the productivity and back pressure in each well site, and at least one in pressure needed for central processing stationKind.
Another aspect of the present invention provides a kind of collection transmission pipe network design device, comprising:
Parameter receiving module, for receiving design parameter, the design parameter includes: the terrain parameter of target area, warpParameter of helping and technical parameter；
Grid generation module, it is described double-deck uneven for generating the double-deck Uneven mesh spacing data according to the design parameterEven grid can characterize the path between the topology of collection transmission pipe network and node；
Optimum results judgment module, for judging whether can be achieved according to preset rules and the double-deck Uneven mesh spacingCollection transmission pipe network design result；
MILP model building module, for being with minimum total construction cost according to using the design parameter as constraint conditionObjective function establishes MILP model；
Model solution and result output module, for according to the double-deck Uneven mesh spacing to the MILP model solution,Export obtained collection transmission pipe network design result.
In above-mentioned collection transmission pipe network design device, it is preferred that the grid generation module further include:
Terrain data generates submodule, for determining the terrain data of target area；
Double layer grid generates submodule, for according to the terrain data, the target area to be divided into several sub-districtsDomain generates the double-deck Uneven mesh spacing, the bilayer Uneven mesh spacing includes first layer grid according to several subregionsWith second layer grid.
In above-mentioned collection transmission pipe network design device, it is preferred that the grid generates submodule further include:
Collection transmission pipe network topology determining module, for being that each subregion establishes mesh according to the node on the first layer gridScalar functions solve objective function, obtain the topology of collection transmission pipe network；
Node path determining module, for being calculated by ant algorithm and corresponding to minimum according to the second layer gridPath between each connection node of length.
In above-mentioned collection transmission pipe network design device, it is preferred that the optimum results judgment module judges preset rules are as follows:
If met, well site is located in barrier, the total output in well site is 0, gross pressure is 0 and well head back pressure is less than centerPressure needed for treating stations and at least one of without press device, then judgement can not achieve collection transmission pipe network design result.
In above-mentioned collection transmission pipe network design device, it is preferred that the terrain parameter includes the detailed landform of target area, obstacleObject information, at least one of well site position；
The economic parameters includes that pipeline is monovalent, press device type, at least one in the fixed cost of central processing stationKind；
The technical parameter includes the productivity and back pressure in each well site, and at least one in pressure needed for central processing stationKind.
Protrusion effect of the invention are as follows:
Compared to existing collection transmission pipe network Optimized model, present invention can ensure that obtaining optimal collection transmission pipe network design sideThe position of case, including overall topology, central processing station and press device, the detailed diameter and route of every pipeline, andThe waterpower of collection transmission pipe network is distributed and considers water force and economic velocity in model, and it is real to be more able to reflect actual gathering systemThe case where border, can obtain optimal collection transmission pipe network design scheme by terrain parameter, economic parameters and technical parameter, can refer toThe engineering construction in Oil Guide gas field, subtracts this synergy.
Specific embodiment
Below in conjunction with the attached drawing in this specification embodiment, the technical solution in this specification embodiment is carried out clearChu is fully described by, it is clear that described embodiment is only this specification a part of the embodiment, rather than whole implementationExample.The embodiment of base in this manual, those of ordinary skill in the art are obtained without making creative workEvery other embodiment, all should belong to this specification protection range.
Fig. 1 is a kind of collection transmission pipe network design method flow chart of this specification embodiment, as shown in Figure 1, the present embodiment providesA kind of collection transmission pipe network design method is applied to server, comprising the following steps:
S110: receiving design parameter, and the design parameter includes terrain parameter, economic parameters and the technology ginseng of target areaNumber.
In some embodiments, the design parameter includes at least:
(1) terrain parameter: the detailed landform of survey region, obstacle information, well site position.
(2) economic parameters: pipeline unit price (different-diameter), press device type (capacity and different classes of corresponding valenceLattice), the fixed cost of central processing station.
(3) technical parameter: the productivity and back pressure in each well site, pressure needed for central processing station.
In the construction of oil gas field, two boundary conditions are typically complied with.First is that reservoir engineer will provide well site positionIt sets, it is contemplated that output and maximum well head back pressure, second is pressure needed for central processing station usually in limited range.Optimization is setThe task of meter is that economy is provided under the two boundary conditions, and safe arrangement and method for construction, i.e. construction cost are minimum, are able to satisfy waterpowerIt is required that.In addition to water force above-mentioned, landform and barrier are also key factor in need of consideration.In practice, manyWell site is distributed in complicated landform, and pipeline is caused to be laid to curve rather than straight line, meanwhile, pipeline also need to avoid it is someThrough there are the regions of building.Therefore, it is considered as three-dimensional distance and barrier, while considering that several factors can make model more multipleMiscellaneous, solution is more difficult, but its closer reality.
In some embodiments, the server can receive design parameter in any manner.For example, user can be straightInput design parameter is connect, server can be received；The other electronic equipments for another example gone out other than the server can be toServer sends design parameter, and server can be received.
S120: according to the design parameter, the double-deck Uneven mesh spacing corresponding with the target area is generated；It is described doubleLayer Uneven mesh spacing can characterize the path between the topology of collection transmission pipe network and node.
In some embodiments, the server can determine target area according to the terrain parameter in the design parameterThe terrain data in domain；The target area can be divided into several subregions, and then described in generation according to the terrain dataThe double-deck Uneven mesh spacing.Wherein, the double-deck Uneven mesh spacing includes first layer grid and second layer grid；The first layer netLattice are used to characterize the topology of collection transmission pipe network；The second layer grid is used to characterize the path between node.
As shown in Fig. 2, each node in first layer grid has eight connection directions, and the eight node types modeFor establishing corresponding constraint and objective function for each subregion and grid node.Assuming that fluid is from node (xi, yj) along itDirection k flows to another adjacent node, and terminal node can be defined as (xi, yj, k).Rk is the opposite direction of k, therefore (xi, yj,Rk the coordinate for) representing start node, connecting node (xi, the yj) at the rk of direction.Obviously, (xi, yj, k) and (xi, yj, rk)It is identical node.
The reality of pipeline can be more accurately determined on dimensional topography by combining ant group algorithm for second layer gridBorder connection path.The purposes of ant group algorithm is corresponded between each connection node of minimum length in search in dimensional topographyDetailed route.The inspiration that the foraging behavior of the shortest path from nest to food source is found by ant, during looking for food, antTheir path of group's random selection, but in search of food, left on their path a kind of chemistry for being called pheromones atPoint.A possibility that pheromones left on path are more, other ants select this path are bigger.Therefore, in such pathOn pheromone concentration will quickly accumulate and more ants is attracted to follow identical route.Finally, passing through ant individualBetween information exchange and cooperate with each other to select optimal path.Ant group algorithm has the advantages that local search, has been widely usedIn many engineering optimization problems.
In some embodiments, the server can be built according to the node on the first layer grid for each subregionVertical objective function, solves objective function, obtains the topology of collection transmission pipe network.For example, the objective function can be the construction of pipelineAt least one of cost, the construction cost of central processing station, supercharging device and construction cost of throttling set.
In some embodiments, the server can lead to according to the second layer grid in the double-deck Uneven mesh spacingCross ant algorithm and calculate path between each connection node corresponding to minimum length, so obtain collection transmission pipe network node itBetween path.
S130: according to preset rules and the double-deck Uneven mesh spacing, can judgement obtain collection transmission pipe network design result.
In embodiment once, optionally, after determining the path between the topology of pipe network and node, the server canTo combine the information on the double-deck Uneven mesh spacing point, judges whether that collection transmission pipe network design result can be achieved, can sentence in advance in this wayIt is disconnected to go out whether to can be realized collection transmission pipe network design result, if it does not, then avoiding subsequent calculating step.
The preset rules may include following at least one:
(1) well site is located in barrier.
(2) total output in well site
(3) gross pressure is 0.
(4) pressure needed for well head back pressure is less than CPF, without press device.
If there is at least one of preset rules described above situation, then show to can not achieve collection transmission pipe network design knotFruit.
Certainly, those skilled in the art it should be understood that S310 it is not necessary to.That is, the serverIt can also be after executing S120, directly execution S140
S140: using the design parameter as constraint condition, using minimum total construction cost as objective function, MILP mould is establishedType.
In some embodiments, whether the server can realize that collection transmission pipe network design result is sentenced to target area againIt has no progeny, if may be implemented, using the design parameter as constraint condition, using minimum total construction cost as objective function, establishesMILP model.
Specifically, in order to improve solution efficiency, can make it is assumed hereinafter that:
(1) during production, each well node can only select a direction to convey natural gas and petroleum to other nodes, removeIt is confirmed as the node of central processing station, press device can be only installed in well site.
(2) in order to meet constraint condition, drop formula is become linear from non-linear using linearization technique.Work as linearisationWhen caused error is in the error range of permission, it will be assumed that it does not influence the operation of pipeline.
(3) when the difference in height of landform in a certain range when, elevation to water force and pipeline construction cost almost withoutIt influences.
The model proposed includes many constraints, including node and pipeline, pipeline flow, equipment, pipeline pressure, barrierAnd overall construction.In conjunction with specific real data and piecewise-linear techniques, it is converted into MILP mathematical model, wherein all constraintsIt is all linear with objective function.
Specific MILP mathematical model is as follows:
(1) objective function
Min f=f1+f2+f3+f4 (1)
Objective function is that the construction scheme with minimum totle drilling cost (formula (1)) is calculated under each given constraint.f1It isRefer to the construction cost of pipeline, f2It is the construction cost of central processing station.f3And f4It is the construction of supercharging device and throttling set respectivelyCost.
CPdIt is every kilometer of construction cost of pipeline that caliber is d, BPi,j,k,dIt is the binary variable of pipe-line construction.If from sectionPoint (i, j) establishes new pipeline to its adjacent node on the k of its direction, a diameter of d, then BPi,j,k,d=1, it is otherwise 0.PipelineConstruction cost depend on diameter and length, should be added in totle drilling cost.L in above formulai,j,kFor from (i, j) along the direction k to neighbourThe distance of nearly node, can be calculated by ant group algorithm.
CCIt is central processing station construction cost, BCi,jIt is central processing station binary variable, if node (i, j) is centreReason is stood, then BCi,j=1, otherwise BCi,j=0
CcvIt is v type supercharging device construction cost, CcuIt is u type throttling set construction cost, BCi,j,vAnd BTi,j,uRespectivelyIt is the binary variable of V-shaped supercharging device and u-shaped throttling set, if the supercharging device of node (i, j) construction type v, BCi,j,v=1, if the throttling set of node (i, j) construction type u, BTi,j,u=1, otherwise BTi,j,u=0.If V-shaped supercharging deviceOr u-shaped throttling set is built in node (i, j), then formula (4) and formula (5) mean that the construction cost of pressure apparatus should be added toIn totle drilling cost.
(2) node and pipeline constraint
Node can not be well site or gas gathering station simultaneously:
BWi,j+BNi,j+BCi,j=1i ∈ I, j ∈ J (6)
BWi,jIt is gas well binary variable, if node (i, j) is gas well, BWi,j=1, otherwise BWi,j=0, BNi,jIt is generalLogical node binary variable, if node (i, j) is ordinary node, BNi,j=1, otherwise BNi,j=0.
For surface gathering system, there is usually one central processing stations for survey region, once it is determined that position, it is just notIt can change over time, it may be assumed that
If there is pipeline on some direction, flowing is unidirectional:
BPi,j,rk,dIt is pipe-line construction binary variable, if building caliber to adjacent node from node (i, j) along the direction rkFor the pipeline of d, then BPi,j,rk,d=1, otherwise BPi,j,rk,d=0.
One node can have up to the routing connecting with adjacent node, in other words, node only oneFlow direction.But central processing station is the terminal of fluid flowing, therefore the connection that it must not further out.
Well site node is the starting point of fluid flowing, and must be by the pipeline of special diameter in a certain direction into oneStep connection outward, it may be assumed that
If the connection structure of piping network allows to concatenate, it means that well site is connected by lateral and nearest well siteIt connects, does not then need special constraint.But if pipe network structure does not allow to concatenate, well site can only be conveyed as to other nodesThe starting point of fluid:
Wherein, maximum M is an adjustable parameter, and the size for adjusting M value sets up inequality (11).
(3) pipeline flow constrains
If fluid can flow to the adjacent node at the k of its direction from node (i, j), necessary between the two nodesThere are pipelines.
QPi,j,kIt is flow value of the node (i, j) on the direction k.
The flow of arbitrary node must satisfy the conservation of mass, and the yield of node itself is received plus inflow yield equal to nodeThe sum of flow and node-flow outflow:
qWi,jIt is well site yield, if (i, j) is not well site, qWi,j=0, QPi,j,rkIt is node (i, j) on the direction rkFlow value, qCi,jIt is the flow reception value of node (i, j).
The reception flow of central processing station be equal to all gas well yields and, and other than central processing station, remaining nodeReceiving flow is 0:
qCi,j≤BCi,jM i∈I,j∈J (16)
When trandfer fluid, different pipelines corresponds to different economic flows, it may be assumed that
QPi,j,k≥Qmin,d+(BPi,j,k,d-1)M i∈I,j∈J,k∈K,d∈D (17)
QPi,j,k≤Qmax,d+(1-BPi,j,k,d)M i∈I,j∈J,k∈K,d∈D (18)
Qmin,dIt is the pipeline economic flow lower limit that diameter is d, Qmax,dIt is the pipeline economic flow upper limit that diameter is d.
(4) press device constrains
Supercharging device or decompressor can be arranged in node to adjust pressure in we, but for the same node,Supercharging device can only be installed or decompressor can only be installed, the two cannot exist simultaneously:
Press device can be only installed at well site:
Press device has different classes of, and due to its capacity limit, corresponding equipment should be determined according to actual flow:
Qmin,vIt is the flux lower limit of V-shaped supercharging device, Qmax,vIt is the flow rate upper limit of V-shaped supercharging device, Qmin,uIt is u-shaped sectionFlow the flux lower limit of device, Qmax,uIt is the flow rate upper limit of u-shaped throttling set.
(5) pressure confines
Pressure of arbitrarily adding some points should meet pressure conservation, and the sum of the pressure that well head back pressure and supercharging device provide is equal to finalThe sum of the pressure of pressure and throttling set consumption.Specific logical relation is expressed as follows:
PWi,jIt is wellhead back pressure, if (i, j) is not well site, PWi,j=0, Δ PvIt is that V-shaped supercharging device increases pressureValue, Δ PuIt is u-shaped throttling set consumption pressure value, Pi,jIt is the pressure value of node (i, j).
The pressure of entire collection transmission pipe network should limit in safe range, both no more than the maximum working pressure (MWP) of pipeline or not lowIn minimum operating pressures that.
Pi,j≥Ppmin i∈I,j∈J (27)
Pi,j≤Ppmax i∈I,j∈J (28)
PpminIt is collection transmission pipe network minimum operating pressure, PpmaxIt is collection transmission pipe network maximum operating pressure.
If node is central processing station, the pressure of this node should be within the specified range:
Pi,j≥Ppmincpf+(BCi,j-1)M i∈I,j∈J (29)
Pi,j≤Ppmaxcpf+(1-BCi,j)M i∈I,j∈J (30)
PpmincpfIt is gas gathering station minimum Inlet pressure, PpmaxcpfGas gathering station maximum Inlet pressure.
Due to the frictional resistance of pipeline, the pressure of fluid is gradually reduced in flow process.The pressure drop equation of pipeline can be withIt is simplified as:
Pqi,jm1-Pzi,jm1-fdLi,j,kQpi,j,km2=0i ∈ I, j ∈ J, k ∈ K, d ∈ D (31)
Pqi,jIt is starting point pressure of (i, the j) node along the pipeline in the direction k, Pzi,jIt is (i, j) node along the direction kThe terminal pressure of pipeline, m1 and m2 are the parameter in pressure drop equation, fdCorresponding resistance system when for caliber in pressure drop equation being dNumber.
Pressure and flow are calculated using piecewise-linear techniques:
QPi,j,k≥Qmin,a+(BQpi,j,k,a-1)M i∈I,j∈J,k∈K,a∈A (32)
QPi,j,k≤Qmax,a+(1-BQpi,j,k,a)M i∈I,j∈J,k∈K,a∈A (33)
Pi,j≥Pmin,e+(BPi,j,e-1)M i∈I,j∈J,e∈E (36)
Pi,j≤Pmax,e+(1-BPi,j,e)M i∈I,j∈J,e∈E (37)
Qmin,aIt is the minimum discharge of flow intervals a when linear voltage drop equation, Qmax,aIt is the stream when linear voltage drop equationThe maximum stream flow of amount interval a, BQPi,j,k,aFlow rate zone binary variable, if the flow of node (i, j) in section a,BQPi,j,k,a=1, otherwise BQPi,j,k,a=0, QAPi,j,kWhen being pressure drop equation linearisation, flow line of the node (i, j) on the direction kProperty value, ΔaThe flow value of section a, P when being pressure drop equation linearisationmin,ePressure range e is most when being pressure drop equation linearisationSmall pressure, Pmax,eThe maximum pressure of pressure range e, B when being pressure drop equation linearisationPi,j,eIt is pressure range binary variable, ifThe pressure of node (i, j) is in section e, then BPi,j,e=1, otherwise BPi,j,e=0, PAi,jWhen being pressure drop equation linearisation, δeIt is nodeThe pressure linearized value of (i, j), the pressure value of section e when pressure drop equation linearizes.
(6) Obstacles Constraints
During pipeline network construction, the landform in certain places excessively rises and falls or there are other facilities, therefore these local quiltsIt is considered as barrier.Central processing station and pipeline cannot be built in the region for having obstacle:
BCi,j≤1-OPi,j,k i∈I,j∈J,k∈K (40)
OPi,j,kIt is obstacle binary variable, if node (i, j) is along the direction k to adjacent node, there are obstacle, OPi,j,k=1, otherwise OPi,j,k=0.
(7) original state constrains
If certain node has central processing station, pipeline and equipment, then corresponding binary variable needs to be set as correspondingValue:
BCi',j'=1i' ∈ I, j' ∈ J (42)
BPi',j',k',d'=1i' ∈ I, j' ∈ J, k' ∈ K, d' ∈ D (43)
BCi',j',k',v'=1i' ∈ I, j' ∈ J, k' ∈ K, v' ∈ V (44)
BTi',j',k',u'=1i' ∈ I, j' ∈ J, k' ∈ K, u' ∈ U (45)
In above-mentioned formula, a ∈ A is pressure variations segments set in piece-wise linearization, and d ∈ D is caliber set, e ∈ EFor flow variable segments set in piece-wise linearization, i ∈ I, j ∈ J is node coordinate set, and rk, k ∈ K are point direction set,U ∈ U is pressure relief devices of type set, and v ∈ V is supercharging device type set.
S150: collection transmission pipe network design result is obtained to the MILP model solution according to the double-deck Uneven mesh spacing.
To above-mentioned MILP model, which can be solved by the MILP solver GUROBI based on branch-bound algorithm,Obtain collection transmission pipe network design result, wherein collection transmission pipe network design result includes optimal topology, central processing station and pressure facilityAt least one of position, the size of pipeline and route and the water force result of pipe network.
Collection transmission pipe network optimum design method disclosed in above-described embodiment, compared to existing collection transmission pipe network Optimized model, originallyInvention can guarantee to obtain optimal collection transmission pipe network arrangement and method for construction, including overall topology, central processing station and press devicePosition, the waterpower distribution of the detailed diameter and route of every pipeline and collection transmission pipe network, and water force is considered in modelAnd economic velocity, it is more able to reflect the situation of actual gathering system reality, passes through terrain parameter, economic parameters and technical parameterOptimal collection transmission pipe network design result can be obtained, the engineering construction of oil gas field can be instructed, subtract this synergy.
A kind of collection transmission pipe network design device is additionally provided in this specification embodiment, as described in following embodiment.Since the principle that a kind of collection transmission pipe network design device solves the problems, such as is similar to a kind of collection transmission pipe network design method, a kind of collection is defeatedThe implementation of design of pipe networks device may refer to a kind of implementation of collection transmission pipe network design method, and overlaps will not be repeated.Following instituteThe combination of the software and/or hardware of predetermined function may be implemented in the term " module " used.Although described in following embodimentDevice is preferably realized with software, but the realization of the combination of hardware or software and hardware is also that may and be contemplated.
As shown in figure 3, the present embodiment provides a kind of collection transmission pipe networks to design device, comprising:
Parameter receiving module 310, for receiving design parameter, the design parameter include: target area terrain parameter,Economic parameters and technical parameter；
Grid generation module 320, for generating the double-deck Uneven mesh spacing data, the bilayer according to the design parameterUneven mesh spacing can characterize the path between the topology of collection transmission pipe network and node；
Optimum results judgment module 330, for according to preset rules and the double-deck Uneven mesh spacing, judging whether can be realExisting collection transmission pipe network design result；
MILP model building module 340, for basis using the design parameter as constraint condition, with minimum total construction costFor objective function, MILP model is established；
Model solution and result output module 350, for being asked according to the double-deck Uneven mesh spacing the MILP modelSolution, the collection transmission pipe network design result exported.
In another embodiment, as shown in figure 4, grid generation module 320 includes that terrain data generates submodule 321Submodule 322 is generated with double layer grid, it further includes pipe network topology determining module 3221 and node that double layer grid, which generates submodule 322,Path determination module 3222.
Wherein, terrain data generates submodule 321, for obtaining the ground figurate number of target area according to the terrain parameterAccording to.
Double layer grid generates submodule 322 for generating the double-deck Uneven mesh spacing, according to the terrain data, by the meshMark region division is several subregions, generates the double-deck Uneven mesh spacing data, the bilayer Uneven mesh spacing includes firstLayer grid and second layer grid.
Pipe network topology determining module 3221, for according to for being each sub-district according to the node on the first layer gridObjective function is established in domain, is solved objective function, the topology of collection transmission pipe network is obtained, specifically, as shown in Fig. 2, in first layer gridEach node have eight connection directions, and the eight node types mode be used for for each subregion and grid node foundationCorresponding constraint and objective function.Assuming that fluid flows to another adjacent node, terminal section along its direction k from node (xi, yj)Point can be defined as (xi, yj, k).Rk is the opposite direction of k, and therefore (xi, yj, rk) represents the coordinate of start node, in directionConnecting node (xi, yj) at rk.Obviously, (xi, yj, k) and (xi, yj, rk) is identical node.
Node path determining module 3222, for being calculated and being corresponded to by ant algorithm according to the second layer gridPath between each connection node of minimum length.
In the 1990s, the improvement of a technology can be distinguished clearly be on hardware improvement (for example,Improvement to circuit structures such as diode, transistor, switches) or software on improvement (improvement for method flow).SoAnd with the development of technology, the improvement of current many method flows can be considered as directly improving for hardware circuit.Designer nearly all obtains corresponding hardware circuit by the way that improved method flow to be programmed into hardware circuit.CauseThis, it cannot be said that the improvement of a method flow cannot be realized with hardware entities module.For example, programmable logic device(Programmable Logic Device, PLD) (such as field programmable gate array (Field Programmable GateArray, FPGA)) it is exactly such a integrated circuit, logic function determines device programming by user.By designerVoluntarily programming comes a digital display circuit " integrated " on a piece of PLD, designs and makes without asking chip makerDedicated IC chip 2.Moreover, nowadays, substitution manually makes IC chip, and this programming is also used instead mostly" logic compiler (logic compiler) " software realizes that software compiler used is similar when it writes with program developmentSeemingly, and the source code before compiling also handy specific programming language is write, this is referred to as hardware description language(Hardware Description Language, HDL), and HDL is also not only a kind of, but there are many kind, such as ABEL(Advanced Boolean Expression Language)、AHDL(AlteraHardware DescriptionLanguage)、Confluence、CUPL(Cornell University Programming Language)、HDCal、JHDL(Java Hardware Description Language)、Lava、Lola、MyHDL、PALASM、RHDL(RubyHardware Description Language) etc., VHDL (Very-High-Speed is most generally used at presentIntegrated Circuit Hardware Description Language) and Verilog2.Those skilled in the artIt will be apparent to the skilled artisan that only needing method flow slightly programming in logic and being programmed into integrated circuit with above-mentioned several hardware description languagesIn, so that it may it is readily available the hardware circuit for realizing the logical method process.
System, device, module or the unit that above-described embodiment illustrates can specifically realize by computer chip or entity,Or it is realized by the product with certain function.It is a kind of typically to realize that equipment is computer.Specifically, computer for example may be usedThink personal computer, laptop computer, cellular phone, camera phone, smart phone, personal digital assistant, media playIt is any in device, navigation equipment, electronic mail equipment, game console, tablet computer, wearable device or these equipmentThe combination of equipment.
As seen through the above description of the embodiments, those skilled in the art can be understood that this specificationIt can realize by means of software and necessary general hardware platform.Based on this understanding, the technical solution of this specificationSubstantially the part that contributes to existing technology can be embodied in the form of software products in other words, the computer softwareProduct can store in storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions are used so that a computerEquipment (can be personal computer, server or the network equipment etc.) executes each embodiment of this specification or embodimentCertain parts described in method.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodimentDividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system realityFor applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the methodPart explanation.
This specification can be used in numerous general or special purpose computing system environments or configuration.Such as: personal computer,Server computer, handheld device or portable device, laptop device, multicomputer system, microprocessor-based system,Set top box, programmable consumer-elcetronics devices, network PC, minicomputer, mainframe computer including any of the above system are setStandby distributed computing environment etc..
This specification can describe in the general context of computer-executable instructions executed by a computer, such as journeySequence module.Generally, program module include routines performing specific tasks or implementing specific abstract data types, programs, objects,Component, data structure etc..This specification can also be practiced in a distributed computing environment, in these distributed computing environmentIn, by executing task by the connected remote processing devices of communication network.In a distributed computing environment, program moduleIt can be located in the local and remote computer storage media including storage equipment.
Although depicting this specification by embodiment, it will be appreciated by the skilled addressee that there are many become for this specificationShape and the spirit changed without departing from this specification, it is desirable to which the attached claims include these deformations and change without departing from thisThe spirit of specification.