CN105404938B - A kind of line walking method for optimizing route shortening the patrolling transmission line time - Google Patents
A kind of line walking method for optimizing route shortening the patrolling transmission line time Download PDFInfo
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Abstract
The invention discloses a kind of line walking method for optimizing route for shortening the patrolling transmission line time, it is characterised in that it includes the following steps: that (one) draws transmission line of electricity and its periphery traffic route distribution map；(2) distance calculates shaft tower at a distance from its stop and between different stops；(3) patrolling transmission line routing problem models；(4) genetic algorithm solves objective function；The present invention is not influenced by track walker's quality, level, and can make rational planning for patrolling transmission line path, shortens the line walking time, improves working efficiency.
Description
Technical field:
The present invention relates to a kind of line walking method for optimizing route for shortening the patrolling transmission line time, the method can be widely applied
In the Path selection of the work such as the daily tour of overhead transmission line, special tour, fault inspection, infrared measurement of temperature, belong to power transmission line
Road operational inspection technical field.
Background technique:
With the national economic development, power grid scale is being expanded rapidly, backbone of the overhead transmission line as electric system
Rack bears the important mission for conveying reliable cleaning electric energy.The safe and reliable operation of overhead transmission line is to electric system
There is extremely important meaning.
The particularity in geographical location and environmental condition as locating for transmission line of electricity, overhead transmission line has distribution in practice
The features such as region is wide, detection parameters are more, running environment is complicated, either transmission line of electricity ontology fitting or line protection Qu Doucun
In great security risk, therefore the tour of overhead transmission line is most important.The tour work of overhead transmission line includes
Daily tour, special tour, fault inspection etc..All kinds of accident defects can be found in time by the tour of route, ensure power grid
Safe and stable operation.
Special messenger's fragment is usually used in the tour of transmission line of electricity, sectional is maked an inspection tour.During tour, tour personnel arrives by bus
It is accessible apart from shaft tower proximal most position (hereinafter referred to as shaft tower stop) up to vehicle, then walk to progress shaft tower, line at shaft tower
Road checks, after inspection, walking is returned, and is reached at next tour shaft tower by bus.To reduce driving, walking distance, improve defeated
Electric line makes an inspection tour efficiency, and tour personnel need to make rational planning for according to tour task and make an inspection tour path before setting out.In actual operation, it makes an inspection tour
Personnel make an inspection tour path according to previous tour experience planning mostly, and this method by track walker's experience selection tour path lacks
Systematicness and science, final Path selection are related with track walker's quality, level.When therefore, to reduce patrolling transmission line
Between and make an inspection tour cost, design a kind of system, scientific and rational patrolling transmission line method for optimizing route is of great significance.
Summary of the invention:
One kind is provided not by track walker's quality, level it is an object of the invention to overcome the shortcomings of above-mentioned prior art
It influences, can make rational planning for patrolling transmission line path, shorten the line walking time, when improving the shortening patrolling transmission line of working efficiency
Between line walking method for optimizing route.
The purpose of the present invention can be reached by following measure: a kind of line walking path for shortening the patrolling transmission line time
Optimization method, it is characterised in that it includes the following steps:
(1) transmission line of electricity and its periphery traffic route distribution map are drawn:
According to shaft tower in generalized information system and path coordinate data, be fitted under two-dimensional coordinate system certain region transmission line of electricity and its
Peripheral path distribution map, in which:
GiIndicate i-th base shaft tower of region, i=1,2 ... N, N are the region base shaft tower sum；
HjIndicate that the region j-th strip highway, j=1,2 ... K, K are Regional Road sum；
Ja-bIndicate a articles of tour region highway HaWith the b articles highway HbIntersection, a=1,2 ... K, b=1,2 ... K, and
a≠b；
Ti-jIt indicates to make an inspection tour stop of i-th base shaft tower on j-th strip highway；
Di-jIndicate the i-th base shaft tower GiWith it in j-th strip public affairs road parking lot Ti-jDistance；
(2) distance calculates shaft tower at a distance from its stop and between different stops:
I-th base shaft tower GiWith its stop T on j-th strip highwayi-jBetween for curve connect, from stop Ti-jTo bar
Tower GiWalking is needed, therebetween distance Di-jIt can be obtained by surveying and drawing to compare with generalized information system on the spot；It can be obtained arbitrarily by generalized information system
Shaft tower Gi, cross-road Ja-b, stop Ti-jCoordinate data, therefore to two-dimensional coordinate be (xe,ye) and (xf,yf) two
Stop, distance d can be acquired by formula (1) therebetween:
In formula (1):
W indicates intersection quantity between two shaft tower stops；
(xsk,ysk) indicate two stops between k-th of intersection coordinate, meet 0≤k≤w, and be integer；
(3) patrolling transmission line routing problem models:
The patrolling transmission line time is divided into three parts, first part is successively to reach each shaft tower parking by bus from starting point
Point total time t used1；Second part is to walk to total time t used in corresponding shaft tower bottom from each shaft tower stop2；Part III
After making an inspection tour, time t used in starting point is returned by bus from the last one by the stop of tour shaft tower3；
(2)
(3)
(4)
Formula (2), (3), in (4):
N is that need to make an inspection tour shaft tower sum；
Set R indicates a tour path comprising n+2 element (start-stop point, which adds, makes an inspection tour shaft tower number), wherein first
Element r0=0(indicates starting point), the last one element rn+1=0(indicates end point), intermediate n element rz(z=1,2 ... n) is indicated
Z-th of shaft tower number by tour shaft tower in the tour path；Since a certain shaft tower can not be repeated tour during making an inspection tour, because
Each element is not mutually equal (except start-stop point) in this set R；
To make an inspection tour in the R of path (z-1), a by tour shaft tower, (shaft tower number is r(z-1)) stop and z-th
By tour shaft tower, (shaft tower number is rz) stop between distance；
DzTo make an inspection tour z-th of tour shaft tower r in the R of pathzTo the distance of its stop；
v1Vehicle Speed, v2Personnel's walking speed；
Sign(n-1 in formula (4)) formula (5) exploitation is pressed, when tour shaft tower numberWhen, it takes
, indicate that there is patrolling transmission line task in the touring group, whenWhen, it takes, indicate the touring group without defeated
Electric line makes an inspection tour task；
(5)
Objective function as shown in formula (6) is established according to formula (2), (3), (4)；
(6)
In formula (6), t is line walking total time；
(4) genetic algorithm solves objective function:
Specific step is as follows for genetic algorithm solving optimization problem:
1. coding:
According to the tool box Univ Sheffield UK genetic algorithm matlab coding requirement, it is made of one group of ordered sequence
Set R is a solution of required problem, as an individual；
2. generating initial population:
It is random to generate L individual composition initial population Q under the premise of satisfaction set R various constraints0=(R1,R2,……
RL)；
3. Fitness analysis:
The inverse of objective function Equation (6) is defined as fitness function, each individual in contemporary population is brought into suitable
Response function acquires corresponding fitness value, and saves fitness maximum value and the maximum individual of fitness;
4. selection individual:
The L individual of contemporary population is ranked up by fitness value is descending, the line proposed according to Michalewicz
Property sequencing selection probability calculation formula (7) calculate L individual in contemporary population and be chosen the probability selected:
(7)
M is individual sequence serial number in formula (7), and c is the probability that the individual of sequence first is selected；
Then the stronger individual of adaptability is selected with mature roulette method;
5. individual intersection recombinates:
Random pair is carried out to the individual selected in step 4, and in pairing individual, sets infall at random, intersects that
This information, while it being made to meet the constraint condition of set R;
6. individual variation:
Mutation operation is carried out by aberration rate to the individual generated in step 5, carries out school by the constraint condition of set R after variation
It tests, the new individual that cross and variation generates forms population;
7. circulation:
Genetic iteration number is judged, if not satisfied, new population is applied to step 3, circulate operation；If satisfied, then recycling
Terminate, the maximum individual of the fitness saved in step 3 at this time is the optimal solution of required problem；
The objective function, which solves, passes through matlab routine call Univ Sheffield UK genetic algorithm matlab work
Have case to realize, step 4,5,6 call directly selection in tool box, recombinate, variation subfunction.
The present invention can produce following good effect compared with the prior art: according to " transmission line of electricity operating standard ", according to defeated
Electric line state evaluation result arranges line inspection personnel periodically and irregularly make an inspection tour to administered transmission line of electricity, makes an inspection tour
When, it is desirable that every base shaft tower is intended to patrol in place, and each base shaft tower is both needed to shaft tower bottom be checked.Line attendant is connected to transmission of electricity
After line inspection task, first according to section reasonable arrangement tour path is maked an inspection tour, bar then is reached from power supply company by bus
Getting off for tower is a little got off, and is walked to shaft tower bottom and is carried out shaft tower, conducting wire inspection, walks to and get off a little again after the completion of work, repeat
The above process returns after making an inspection tour the every base shaft tower of task section.
The present invention is most short for optimization aim with the patrolling transmission line time, obtains transmission line of electricity bar by field survey first
Tower coordinate data and peripheral path coordinate data, and electric power line pole tower and peripheral path distribution are drawn in two-dimensional coordinate system
Then figure models patrolling transmission line routing problem according to distribution map, constructs objective function, finally using genetic algorithm to mesh
Scalar functions acquire optimal solution, and embodiment shows that this method is not influenced by track walker's quality, level, and can make rational planning for power transmission line
Path is maked an inspection tour on road, shortens tour time, improves working efficiency, and this method is determined suitable for single touring group's bicycle makes an inspection tour the defeated of section
Electric line makes an inspection tour work.
Detailed description of the invention:
Fig. 1 is certain region transmission line of electricity and its peripheral path distribution map of the invention；
Fig. 2 is certain a kind of region line walking optimal path schematic diagram of the invention；
Fig. 3 is certain another region line walking optimal path schematic diagram of the invention.
Specific embodiment: specific embodiments of the present invention will be described in detail with reference to the accompanying drawing:
A kind of embodiment: line walking method for optimizing route (referring to figures 1-3) shortening the patrolling transmission line time comprising
Following steps:
(1) transmission line of electricity and its periphery traffic route distribution map are drawn:
Electric power line pole tower and the work of peripheral path measurement of coordinates, and typing GIS system is completed in State Grid Corporation of China at present
It unites (GIS-Geographic Information System), according to shaft tower in generalized information system and path coordinate data, the transmission of electricity of certain region is fitted under two-dimensional coordinate system
Route and its peripheral path distribution map, as shown in Figure 1:
Wherein:
GiIndicate i-th base shaft tower of region, i=1,2 ... N, N are the region base shaft tower sum；
HjIndicate that the region j-th strip highway, j=1,2 ... K, K are Regional Road sum；
Ja-bIndicate a articles of tour region highway HaWith the b articles highway HbIntersection, a=1,2 ... K, b=1,2 ... K, and
a≠b；
Ti-jIt indicates to make an inspection tour stop of i-th base shaft tower on j-th strip highway；
Di-jIndicate the i-th base shaft tower GiWith it in j-th strip public affairs road parking lot Ti-jDistance；
(2) distance calculates shaft tower at a distance from its stop and between different stops:
From figure 1 it appears that the i-th base shaft tower GiWith its stop T on j-th strip highwayi-jBetween for curve connect
It connects, from stop Ti-jTo shaft tower GiWalking is needed, therebetween distance Di-jIt can be obtained by surveying and drawing to compare with generalized information system on the spot.
Any shaft tower G in Fig. 1 can be obtained by generalized information systemi, cross-road Ja-b, stop Ti-jNumber of coordinates
According to, therefore be (x to two-dimensional coordinatee,ye) and (xf,yf) two stops, distance d can be acquired by formula (1) therebetween:
In formula (1):
W indicates intersection quantity between two shaft tower stops；
(xsk,ysk) indicate two stops between k-th of intersection coordinate, meet 0≤k≤w, and be integer.
(3) patrolling transmission line routing problem models:
For convenience of patrolling transmission line routing problem modeling, according to patrolling transmission line feature, do it is assumed hereinafter that:
(1) only one touring group, a patrol car participate in the patrolling transmission line of prescribed；
(2) the tour process of shaft tower is and first gets off a little to shaft tower by bus, then walks to shaft tower bottom；
(3) transportation condition of all roads is identical, does not consider influence of the road traffic condition to speed, i.e. Vehicle Highway row
It sails speed and personnel's walking speed is at the uniform velocity；
(4) identical to the review time of every base shaft tower after reaching shaft tower bottom；
(5) the maximum operating range that total distance is no more than vehicle is maked an inspection tour, i.e. vehicle is not required to refuel(l)ing；
(6) tour process is not in burst fortuitous event, influences tour time.
Based on above-mentioned it is assumed that the patrolling transmission line time is divided into three parts, first part is to ride successively from starting point
Reach total time t used in each shaft tower stop1, as shown in Equation (2)；Second part is to walk to correspondence from each shaft tower stop
Total time t used in shaft tower bottom2, as shown in formula (3)；Part III is after making an inspection tour, from the last one by tour shaft tower
Stop by bus return starting point used in time t3, as shown in formula (4)；
(2)
(3)
(4)
Formula (2), (3), in (4):
N is that need to make an inspection tour shaft tower sum；
Set R indicates a tour path comprising n+2 element (start-stop point, which adds, makes an inspection tour shaft tower number), wherein first
Element r0=0(indicates starting point), the last one element rn+1=0(indicates end point), intermediate n element rz(z=1,2 ... n) is indicated
Z-th of shaft tower number by tour shaft tower in the tour path.Since a certain shaft tower can not be repeated tour during making an inspection tour, because
Each element is not mutually equal (except start-stop point) in this set R；
To make an inspection tour in the R of path (z-1), a by tour shaft tower, (shaft tower number is r(z-1)) stop and z-th
By tour shaft tower, (shaft tower number is rz) stop between distance；
DzTo make an inspection tour z-th of tour shaft tower r in the R of pathzTo the distance of its stop；
v1Vehicle Speed, v2Personnel's walking speed；
Sign(n-1 in formula (4)) formula (5) exploitation is pressed, when tour shaft tower numberWhen, it takes, indicate that there is patrolling transmission line task in the touring group, whenWhen, it takes, table
Show the touring group without patrolling transmission line task.
(5)
The present invention is established as shown in formula using shortening tour time as optimization aim according to formula (2), (3), (4)
Objective function.
(6)
In formula (6), t is line walking total time；
(4) genetic algorithm solves objective function:
Genetic algorithm is a kind of search iteration algorithm of solving optimization problem, the solution procedure similar nature of the algorithm
Evolutionary process filters out the optimal solution of correspondence problem by the continuous iteration of a generation generation.
The present invention solves power transmission line inspection routing problem using genetic algorithm, genetic algorithm solving optimization problem
Specific step is as follows:
1. coding:
According to the tool box Univ Sheffield UK genetic algorithm matlab coding requirement, there is ordinal number by one group in the present invention
The set R of column composition is a solution of required problem, as an individual.
2. generating initial population:
It is random to generate L individual composition initial population Q under the premise of satisfaction set R various constraints0=(R1,R2,……
RL)；
3. Fitness analysis:
Genetic algorithm does not generally utilize external information in search process, and the superiority and inferiority of individual is only assessed with fitness.It loses
The determination of propagation algorithm fitness function should be determined according to the property of Solve problems, herein according to patrolling transmission line path optimization
The inverse of objective function Equation (6) is defined as fitness function by problem property, will be in contemporary population (population of previous cycle)
Each individual brings fitness function into and acquires corresponding fitness value, and saves fitness maximum value and the maximum individual of fitness.
Since the inverse of objective function is defined as fitness function, ideal adaptation angle value is bigger, and individual superiority is stronger, more
Close to optimal solution；Otherwise further away from optimal solution.
4. selection individual:
The L individual of contemporary population is ranked up by fitness value is descending, the line proposed according to Michalewicz
Property sequencing selection probability calculation formula (7) calculate L individual in contemporary population and be chosen the probability selected.
(7)
M is individual sequence serial number in formula (7), and c is the probability that the individual of sequence first is selected.
Then the stronger individual of adaptability is selected with mature roulette method.
5. individual intersection recombinates:
Random pair is carried out to the individual selected in step 4, and in pairing individual, sets infall at random, intersects that
This information, while it being made to meet the constraint condition of set R.
6. individual variation:
The purpose of individual variation is to overcome genetic manipulation that may be limited to local solution to excavate diversity individual in population
The drawbacks of, for this to the individual generated in step 5 by aberration rate carry out mutation operation, after variation by set R constraint condition into
Row verification, the new individual that cross and variation generates form population.
7. circulation:
Genetic iteration number is judged, if not satisfied, new population is applied to step 3, circulate operation；If satisfied, then recycling
Terminate, the maximum individual of the fitness saved in step 3 at this time is the optimal solution of required problem.
Objective function of the present invention, which solves, passes through matlab routine call Univ Sheffield UK genetic algorithm matlab work
Have case to realize, step 4,5,6 call directly selection in tool box, recombinate, variation subfunction.
Below with implementation example to the implementation of power transmission line inspection method for optimizing route proposed by the present invention and its effectively
Property is evaluated
Example condition:
It is patrolling transmission line section that this example, which chooses certain 5 base shaft tower of 220kV transmission line of electricity, arranges to make an inspection tour.The tour area
There are 4 highways on section periphery, the 1st, 3 base shaft towers communicated by 2 articles of paths (not being open to traffic) with periphery highway, the 2nd, 4,5 base shaft towers lead to
1 path (not being open to traffic) is crossed to communicate with periphery highway, it is specific as shown in Figure 1.
Tour personnel's path walking average speed is that the practical adult walking speed of 0.95m/s(is about 1.5m/s or so, by
Path is generally gone together between shaft tower and shaft tower are got off a little, and condition is poor, and based on practical experience, this patent takes this value), make an inspection tour vehicle
Road running average speed is that 14m/s(comprehensively considers road traffic condition, and this patent takes this value).
In Power Transmission Line GIS system, above-mentioned four highways are obtained, highway crosspoint, shaft tower are got off a little and shaft tower coordinate
Data, for specific coordinate data as shown in table 1, table 2, table 3, which is 1:50, unit m to actual size.
Table 1: highway crosspoint coordinate (unit: m)
Table 2: shaft tower coordinate (unit: m)
Table 3: shaft tower gets off a coordinate (unit: m)
It is got off a position according to shaft tower each in Fig. 1, carries out path analysis between getting off a little, intersection such as table between respectively getting off a little
4 indicate.
Table 4: intersection between respectively getting off a little
Element respectively indicates the intersection in two paths between stop in corresponding two cells of two stops in table 4
If it is empty crossing indicates no intersection.
By data in formula (1) and table 1, table 2, table 3, table 4, calculate obtain respectively get off a little between distance, as shown in table 5.
Table 5: distance (unit: m) between respectively getting off a little
By survey and draw on the spot and generalized information system compare obtain shaft tower and shaft tower get off a little between path physical length such as 6 table of table
Show:
Table 6: path physical length (unit: m) between shaft tower and shaft tower are got off a little
In matlab, with Univ Sheffield UK's GAs Toolbox and table 1, table 2, table 3, table 4, table 5, table
Data solve model built (formula (6)) in 6.
In this example genetic iteration number be 100 times, aberration rate 0.09, initial population size 15, initial population and its
Fitness such as table 7 indicates:
Table 7: initial population and its fitness
Acquire optimal solution iteration 56 times are as follows:
(1) 0 → 2 → 5 → 4 → 3_2 → 1_2 → 0, i.e. starting point → shaft tower 2 → shaft tower, 5 → shaft tower, 4 → shaft tower 3(shaft tower 3
The stop T on highway 23-2The stop T on highway 3 of) → shaft tower 1(shaft tower 11-3) → starting point, as shown in Figure 2.
(2) 0 → 1_2 → 3_2 → 4 → 5 → 2 → 0, i.e. starting point → stop T1-3 on highway 3 of shaft tower 1(shaft tower 1) →
The stop T3-2 on highway 2 of shaft tower 3(shaft tower 3) → shaft tower 4 → shaft tower, 5 → shaft tower, 2 → starting point, as shown in Figure 3.
Two solutions take time 44.9524min.Two solutions are two opposite directions in the same path.
Design conditions, legend, table in the embodiment of the present invention etc. are only used for that the present invention is further illustrated, not thoroughly
It lifts, does not constitute the restriction to claims, the enlightenment that those skilled in the art obtain according to embodiments of the present invention,
It would occur to other substantially equivalent substitutions without creative work, all fall in the scope of protection of the present invention.
Claims (1)
1. a kind of line walking method for optimizing route for shortening the patrolling transmission line time, it is characterised in that it includes the following steps:
(1) transmission line of electricity and its periphery traffic route distribution map are drawn:
According to shaft tower in generalized information system and path coordinate data, certain region transmission line of electricity and its periphery are fitted under two-dimensional coordinate system
Road distribution map, in which:
GiIndicate i-th base shaft tower of region, i=1,2 ... N, N are the region base shaft tower sum；
HjIndicate that the region j-th strip highway, j=1,2 ... K, K are Regional Road sum；
Ja-bIndicate a articles of tour region highway HaWith the b articles highway HbIntersection, a=1,2 ... K, b=1,2 ... K, and a ≠
b；
Ti-jIt indicates to make an inspection tour stop of i-th base shaft tower on j-th strip highway；
Di-jIndicate the i-th base shaft tower GiWith it in j-th strip public affairs road parking lot Ti-jDistance；
(2) distance calculates shaft tower at a distance from its stop and between different stops:
I-th base shaft tower GiWith its stop T on j-th strip highwayi-jBetween for curve connect, from stop Ti-jTo shaft tower Gi
Walking is needed, therebetween distance Di-jIt can be obtained by surveying and drawing to compare with generalized information system on the spot；Any shaft tower can be obtained by generalized information system
Gi, cross-road Ja-b, stop Ti-jCoordinate data, therefore to two-dimensional coordinate be (xe,ye) and (xf,yf) two parkings
Point, distance d can be acquired by formula (1) therebetween:
In formula (1):
W indicates intersection quantity between two shaft tower stops；
(xsk,ysk) indicate two stops between k-th of intersection coordinate, meet 0≤k≤w, and be integer；
(3) patrolling transmission line routing problem models:
The patrolling transmission line time is divided into three parts, first part is successively reaches each shaft tower stop institute from starting point by bus
With total time t1；Second part is to walk to total time t used in corresponding shaft tower bottom from each shaft tower stop2；Part III is to patrol
Depending on after, time t used in starting point is returned by bus from the last one by the stop of tour shaft tower3；
(2)
(3)
(4)
Formula (2), (3), in (4):
N is that need to make an inspection tour shaft tower sum；
Set R indicates a tour path comprising n+2 element, start-stop point, which adds, makes an inspection tour shaft tower number, wherein first element r0=
0 indicates starting point, the last one element rn+1=0 indicates end point, intermediate n element rz(z=1,2 ... n) indicates the tour path
In z-th of shaft tower number by tour shaft tower；Since a certain shaft tower can not be repeated tour during making an inspection tour, in set R
Each element is not mutually equal, except start-stop point；
It is a by the stop of tour shaft tower and z-th of parking by tour shaft tower in the R of path (z-1) to make an inspection tour
Distance between point；
DzTo make an inspection tour z-th of tour shaft tower r in the R of pathzTo the distance of its stop；
v1Vehicle Speed, v2Personnel's walking speed；
Sign(n-1 in formula (4)) formula (5) exploitation is pressed, when tour shaft tower numberWhen, it takes,
Indicate that there is patrolling transmission line task in the touring group, whenWhen, it takes, indicate the touring group without defeated
Electric line makes an inspection tour task；
(5)
Objective function as shown in formula (6) is established according to formula (2), (3), (4)；
(6)
In formula (6), t is line walking total time；
(4) genetic algorithm solves objective function:
Specific step is as follows for genetic algorithm solving optimization problem:
Step 1. coding:
According to the tool box Univ Sheffield UK genetic algorithm matlab coding requirement, the set being made of one group of ordered sequence
R is a solution of required problem, as an individual；
Step 2. generates initial population:
It is random to generate L individual composition initial population Q under the premise of satisfaction set R various constraints0=(R1,R2,……RL)；
Step 3. Fitness analysis:
The inverse of objective function Equation (6) is defined as fitness function, brings each individual in contemporary population into fitness
Function acquires corresponding fitness value, and saves fitness maximum value and the maximum individual of fitness;
Step 4. selects individual:
The L individual of contemporary population is ranked up by fitness value is descending, the linear rows proposed according to Michalewicz
Sequence select probability calculation formula (7) calculates the selected probability selected of L individual in contemporary population:
(7)
M is individual sequence serial number in formula (7), and c is the probability that the individual of sequence first is selected；
Then the stronger individual of adaptability is selected with mature roulette method;
The recombination of step 5. individual intersection:
Random pair is carried out to the individual selected in step 4, and in pairing individual, sets infall at random, intersection is believed each other
Breath, while it being made to meet the constraint condition of set R;
Step 6. individual variation:
Mutation operation is carried out by aberration rate to the individual generated in step 5, is verified after variation by the constraint condition of set R,
The new individual that cross and variation generates forms population;
Step 7. circulation:
Genetic iteration number is judged, if not satisfied, new population is applied to step 3, circulate operation；If satisfied, then circulation terminates,
The maximum individual of the fitness saved in step 3 at this time is the optimal solution of required problem；
The objective function, which solves, passes through the tool box matlab routine call Univ Sheffield UK genetic algorithm matlab
It realizes, step 4,5,6 call directly selection in tool box, recombinate, variation subfunction.
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| CN106056250A (en) * | 2016-06-02 | 2016-10-26 | 国网天津市电力公司 | Power distribution network patrol method based on path optimization |
| CN106327013A (en) * | 2016-08-24 | 2017-01-11 | 广东工业大学 | Power transmission line inspection path planning method and system |
| CN107784380B (en) * | 2016-08-30 | 2021-12-03 | 上海创和亿电子科技发展有限公司 | Optimization method and optimization system for routing inspection shortest path |
| CN106871916A (en) * | 2017-01-19 | 2017-06-20 | 华南理工大学 | Method is sent in a kind of express delivery based on independent navigation with charge free |
| CN107196679B (en) * | 2017-06-29 | 2021-04-02 | 国网冀北电力有限公司承德供电公司 | Patrol task generation method and server |
| CN107515003B (en) * | 2017-07-19 | 2020-08-11 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Method for planning flight route of airplane for patrolling power transmission line |
| CN108335377B (en) * | 2017-12-26 | 2021-04-02 | 武汉长江通信智联技术有限公司 | GIS technology-based automatic check method for road inspection vehicle service |
| CN109462176B (en) * | 2018-04-10 | 2021-01-08 | 国网浙江省电力有限公司嘉兴供电公司 | GIS-based intelligent patrol command method and system |
| CN109118015B (en) * | 2018-08-30 | 2022-04-19 | 国网山东省电力公司经济技术研究院 | Communication station inspection route optimization system and method |
| CN109543892B (en) * | 2018-11-14 | 2023-05-05 | 成都英孚克斯科技有限公司 | Path selection method based on genetic algorithm |
| CN110084354A (en) * | 2019-04-09 | 2019-08-02 | 浙江工业大学 | A method of based on genetic algorithm training ANN Control game role behavior |
| CN110763953B (en) * | 2019-10-30 | 2022-04-22 | 国网四川省电力公司电力科学研究院 | Troubleshooting line patrol path planning method under distribution automation condition |
| CN111476112B (en) * | 2020-03-20 | 2023-08-15 | 深圳块织类脑智能科技有限公司 | Unmanned aerial vehicle multi-hybrid task inspection tour method and platform system |
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