CN107885960B - Earthwork volume estimation system and method based on automatic line selection of construction roads in wind power plant - Google Patents
Earthwork volume estimation system and method based on automatic line selection of construction roads in wind power plant Download PDFInfo
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Abstract
Description
技术领域technical field
本发明涉及一种风电开发技术领域,特别是风力发电行业风电场道路建设施工过程中升压站选址,属于风电市场精益开发技术领域。The invention relates to the technical field of wind power development, in particular to the site selection of a booster station during road construction of a wind farm in the wind power industry, and belongs to the technical field of lean development of the wind power market.
背景技术Background technique
风电场是风电企业的基本运行管理单位,风电场的运行管理直接影响风电企业的效益。随着各风电企业装机容量的不断扩展,风电场数量的不断增加,原有的风电场诸如被动型、间断型和粗放型运维方式已经慢慢转变为主动、持续和精益化运维方式。在转变过程中,各具特色的数字化风电场概念被提出,并建立了一些示范工程,取得了一定的创新和效果,然而,这些数字化风电场都是侧重于风电场侧的风机监控、运维和检修方面,更多的是实现对风电机组的自动化管控,而在风电项目开发初期的一些很重要的步骤关注不多,从而带来更多的风电项目风险和项目实施的实际难度。The wind farm is the basic operation and management unit of the wind power enterprise, and the operation management of the wind farm directly affects the benefit of the wind power enterprise. With the continuous expansion of the installed capacity of various wind power enterprises and the continuous increase in the number of wind farms, the original wind farms such as passive, intermittent and extensive operation and maintenance methods have gradually changed into active, continuous and lean operation and maintenance methods. During the transformation process, the concept of digital wind farms with different characteristics was proposed, and some demonstration projects were established, which achieved certain innovations and effects. However, these digital wind farms all focus on wind turbine monitoring, operation and maintenance on the wind farm side. In terms of maintenance and maintenance, more is to realize the automatic control of wind turbines, while some very important steps in the early stage of wind power project development are not paid much attention, which brings more risks of wind power projects and actual difficulties in project implementation.
如风电场建设初期道路的选线和升压站的选址,这些建设都涉及很多填挖工程,现在风电场建设初期选线和选址最为常见的算法是A*算法。A*算法与状态空间搜索结合的相当紧密。状态空间搜索,就是将问题求解的过程表现为从初始状态到目标状态寻找这个路径的过程,通俗的说就是在解一个问题的时候找到一条解题过程可以从求解的开始到问题的结束。由于求解过程中求解条件的不确定与不完备性使得问题的求解过冲中的分支有很多,这就产生了多条求解的路径,这些路径过程一个图这个图就是状态空间。问题的求解时机上就是在这个图中找个一个路径可以从开始到结束,这个过程就是状态空间搜索。常用的状态空间搜索有深度优先和广度优先,广度优先是从初始状态一层一层的向下找,直到找到结果目标为止,深度优先是按照一定的顺序先查找完一个分支再查找另一个分支,直到找到目标结果为止。这两种搜索方法有的很大缺陷是它们都是在一个给定的状态空间中穷举,这在状态空间不大的情况下是很适合的算法,但是当空间很大并且不可预测的情况下就不可取,这两种算法的效率太低甚至有时是无法完成,所以要用到另一种算法,即启发式搜索。启发式搜索就是在状态空间中对每一个搜索为止进行评估,直到找到最好的为止,再从这个位置进行搜索直到目标位置为止,在启发式搜索中对为止的评估是十分重要的,采用不同的估价可能有不同的结果。启发式搜索其实也有很多算法,比如局部择优搜索,最好优先搜索,A*等,这些算法在目前风电场建设施工过程中升压站选址中都有所涉及,这些算法都启用了启发函数,但在具体的选取最佳搜索节点时的策略不同。比如局部择优算法就是在搜索的过程中选取了最佳节点候舍弃了其他的兄弟节点,父亲节点并且一直搜索下去。这种搜索结果很明显,由于舍弃了其他的节点因此可能也把最佳的节点舍去。A*算法在搜索的时候并没有舍去节点,除非该节点是死节点。在每一步的估价中都把当前的节点和以前的节点的估价值进行比较从而得到最佳节点,这样防止了最佳节点的丢失。For example, the route selection of roads and the site selection of booster stations in the early stage of wind farm construction involve many filling and excavation projects. Now the most common algorithm for route selection and site selection in the early stage of wind farm construction is the A* algorithm. The A* algorithm is quite tightly coupled with state space search. State space search is to express the process of solving the problem as a process of finding the path from the initial state to the target state. In layman's terms, it is to find a problem-solving process when solving a problem from the beginning of the solution to the end of the problem. Due to the uncertainty and incompleteness of the solution conditions in the solution process, there are many branches in the solution overshoot of the problem, which produces multiple solution paths. A graph of these path processes is the state space. The timing of solving the problem is to find a path in this graph from the beginning to the end. This process is the state space search. Commonly used state space searches include depth-first and breadth-first. Breadth-first is to search from the initial state layer by layer until the result target is found. Depth-first is to search for one branch first and then another branch in a certain order. , until the target result is found. The big defect of these two search methods is that they are exhaustive in a given state space, which is a very suitable algorithm when the state space is not large, but when the space is large and unpredictable The efficiency of these two algorithms is too low or even sometimes impossible to complete, so another algorithm is used, that is, heuristic search. Heuristic search is to evaluate each search in the state space until the best one is found, and then search from this position until the target position. In heuristic search, it is very important to evaluate so far. Different Valuation may have different results. There are actually many algorithms for heuristic search, such as local optimal search, best first search, A*, etc. These algorithms are involved in the site selection of booster stations in the current wind farm construction process, and these algorithms have enabled heuristic functions , but the specific strategies for selecting the best search node are different. For example, the local optimal algorithm is to select the best node in the search process and discard other sibling nodes and father nodes and keep searching. The result of this search is obvious, since other nodes are discarded, the best node may also be discarded. The A* algorithm does not discard nodes when searching, unless the node is a dead node. In the evaluation of each step, the current node is compared with the estimated value of the previous nodes to obtain the best node, which prevents the loss of the best node.
A*算法属于一种最好优先的算法,然而由于其加上了一些特定的约束条件,而如果希望用最快的方法求解出风电场状态空间搜索的最短路径和最优路径,该算法就不能完全满足寻径要求了。风电场场内施工道路需要选择交通相对便利的区域,有利于施工的设备材料、大型设备的运输以及减少进站道路投资,在目前风电场建设升压站位置的选取过程中,三维地形数据的应用较少,而基于风电场场内施工道路自动选线获得施工土方量的估算值更未见报道。The A* algorithm is a best-first algorithm. However, due to some specific constraints, if you want to use the fastest method to find the shortest path and the optimal path of the wind farm state space search, the algorithm is The path-finding requirements cannot be fully met. The construction road in the wind farm needs to choose an area with relatively convenient traffic, which is conducive to the transportation of construction equipment materials and large-scale equipment, and reduces the investment in the road. In the process of selecting the location of the booster station for the construction of the wind farm, the three-dimensional terrain data There are few applications, and the estimation of construction earthwork volume based on the automatic selection of construction roads in wind farms has not been reported.
发明内容Contents of the invention
针对现有技术存在的问题提出本发明,本发明的基本设计思路在于:结合三维地理信息系统技术在空间信息定量分析与可视化方面的巨大优势,基于无人机航空摄影测量采集到的大范围地形影像数据,利用A*寻径算法和最小平均距离算法,综合考虑坡度最优、土石方量最小、线路最短等因素,自适应的生成施工道路最优线路设计方案,同时获得道路最短的线路设计方案基础之上,计算通达各风机位点的平均最短距离,应用最小平均距离算法,以确定升压站的最优选址,最后综合估算施工道路和升压站建设的施工土方量。在风力发电行业有着广泛的应用范围和前景,是未来“数字风电场”建设和发展的方向。In view of the problems existing in the prior art, the present invention is proposed. The basic design idea of the present invention is: combined with the huge advantages of the three-dimensional geographic information system technology in the quantitative analysis and visualization of spatial information, based on the large-scale terrain collected by UAV aerial photogrammetry Image data, using the A* path-finding algorithm and the minimum average distance algorithm, comprehensively considering factors such as the optimal slope, the smallest amount of earth and stone, and the shortest route, adaptively generate the optimal route design plan for the construction road, and at the same time obtain the route design plan for the shortest road Based on this, calculate the average shortest distance to each wind turbine location, apply the minimum average distance algorithm to determine the optimal location of the booster station, and finally comprehensively estimate the construction earthwork for the construction of the road and booster station. It has a wide range of applications and prospects in the wind power industry, and it is the direction for the construction and development of "digital wind farms" in the future.
本发明提供一种基于风电场场内施工道路自动选线的土方量估算系统,该系统包括:The present invention provides an earthwork estimation system based on automatic route selection of construction roads in wind farms, the system comprising:
(1)数据采集器,用于采集风电场场内道路地理场景的完备三维地形数据;(1) Data collector, used to collect the complete three-dimensional terrain data of the geographical scene of the road in the wind farm;
(2)数字地形模型生成器,用于建立基于地形模型无缝套合的风电场三维场模型;(2) Digital terrain model generator, which is used to establish a three-dimensional field model of the wind farm based on the seamless fit of the terrain model;
(3)路径规划器,基于A*寻径算法,综合距离最短、坡度最优、升压站建设道路填挖方最少三个参数,自适应的生成相应的成本最优、坡度符合要求而距离最短的施工线路设计方案;(3) The path planner, based on the A* path-finding algorithm, comprehensively integrates the three parameters of the shortest distance, the best slope, and the least filling and excavation of the booster station construction road, and adaptively generates the corresponding optimal cost, the slope meets the requirements, and the shortest distance construction route design scheme;
(4)升压站位置计算器,用于在获得最短的施工道路设计方案基础之上,计算通达各风机位点的平均最短距离,应用最小平均距离算法,以确定升压站的最优选址;(4) Booster station position calculator, which is used to calculate the average shortest distance to each wind turbine location on the basis of obtaining the shortest construction road design scheme, and apply the minimum average distance algorithm to determine the optimal booster station site;
(5)施工土方量计算器,用于施工道路和升压站建设的施工土方量的智能估算。(5) Construction earthwork calculator, used for intelligent estimation of construction earthwork for construction roads and booster stations.
优选的,所述系统还包括:(6)交互设备,用户使用所述交互设备提供升压站施工道路路宽、坡度和/或转弯半径阈值的交互式输入作为约束条件,从而在施工道路设计升压站选址中规避超过上述阈值的弯道,在保证安全性和通达性的前提下选取符合路宽、坡度要求和/或弯道最少的施工线路和升压站选址。Preferably, the system further includes: (6) an interactive device, the user uses the interactive device to provide the interactive input of the road width, slope and/or turning radius threshold of the booster station construction road as a constraint condition, so that in the construction road design In the site selection of the booster station, avoid curves exceeding the above threshold, and select the construction route and booster station site that meet the road width, slope requirements and/or have the least number of curves under the premise of ensuring safety and accessibility.
优选的,所述系统还包括:(7)显示器及接口,用于显示风电场场内施工道路自动选线、升压站的二维施工图以及备选方案施工土方量的估算值。Preferably, the system further includes: (7) a display and an interface, which are used to display the automatic route selection of the construction road in the wind farm, the two-dimensional construction drawing of the booster station, and the estimated value of the construction earthwork of the alternative scheme.
优选的,所述数据采集器采用无人机,利用航空摄影测量技术,实现由点到面、由面到带的风电场高精度地形影像数据获取。Preferably, the data collector adopts an unmanned aerial vehicle and uses aerial photogrammetry technology to realize the acquisition of high-precision terrain image data of wind farms from point to surface and from surface to belt.
本发明的目的还在于提供一种基于风电场场内施工道路自动选线的土方量估算方法,包括如下步骤:The object of the present invention is also to provide a method for estimating earthwork based on the automatic line selection of construction roads in wind farms, comprising the following steps:
(1)数据采集,采集风电场场内道路地理场景的完备三维地形数据,利用无人机航空摄影测量技术,实现由点到面、由面到带的风电场高精度地形影像数据获取;(1) Data acquisition, collecting complete 3D topographical data of the geographical scene of the road in the wind farm, and using UAV aerial photogrammetry technology to realize the acquisition of high-precision topographic image data of the wind farm from point to surface and from surface to belt;
(2)建立基于地形模型无缝套合的风电场三维场模型;(2) Establish a three-dimensional field model of the wind farm based on the seamless fit of the terrain model;
(3)根据风电行业不同需求来动态调整影响施工道路和升压站建设因子的成本函数,引入成本函数把不同影响施工道路和升压站建设因子对线路规划的影响程度进行量化;(3) According to the different needs of the wind power industry, dynamically adjust the cost function of factors affecting the construction of roads and booster stations, and introduce cost functions to quantify the degree of influence of different factors affecting the construction of roads and booster stations on line planning;
(4)基于A*寻径算法,综合距离最短、坡度最优、升压站建设填挖方最少三个参数,自适应的生成相应的成本最优、坡度符合要求而距离最短的施工道路设计方案;(4) Based on the A* path-finding algorithm, comprehensively integrate the three parameters of the shortest distance, the best slope, and the least filling and excavation for the booster station construction, and adaptively generate the corresponding construction road design plan with the best cost, the slope that meets the requirements, and the shortest distance ;
(5)在最优施工道路设计基础之上,计算通达各风机位点的平均最短距离,应用最小平均距离算法,以确定升压站的最优选址;(5) On the basis of the optimal construction road design, calculate the average shortest distance to each wind turbine location, and apply the minimum average distance algorithm to determine the optimal location of the booster station;
(6)估算施工道路和升压站建设的施工土方量。(6) Estimate the construction earth volume for the construction of roads and booster stations.
优选的,所述步骤(2)包括:对风电场地形影像数据进行一体化建库管理,采用“均匀分块+金字塔分层”技术对地形数据进行组织划分,快速建立风电场三维场景。Preferably, the step (2) includes: performing integrated database building management on the topographic image data of the wind farm, organizing and dividing the topographic data by using the "uniform block + pyramid layering" technology, and quickly establishing a three-dimensional scene of the wind farm.
优选的,所述步骤(3)成本函数的计算方法如下:Preferably, the calculation method of the step (3) cost function is as follows:
(3.1)使用欧几里得距离来计算三维空间中i(xi,yi.zi),j(xj,yj.zj)两节点的距离(3.1) Use Euclidean distance to calculate the distance between two nodes i( xi ,y i .z i ), j(x j ,y j .z j ) in three-dimensional space
(3.2)设fslope_1(dis)表示纵坡的成本函数,起始点到风机位点的坡度为α,节点间的坡度为βn,其中n∈V,则纵坡的成本函数: (3.2) Let f slope_1 (dis) represent the cost function of the longitudinal slope, the slope from the starting point to the wind turbine location is α, and the slope between nodes is β n , where n∈V, then the cost function of the longitudinal slope:
(3.3)设fslope_c(dis)表示横坡的成本函数,横向坡度为γ,则横坡的成本函数: (3.3) Let f slope_c (dis) represent the cost function of the transverse slope, and the transverse slope is γ, then the cost function of the transverse slope:
(3.4)设fearthwork(dis)表示升压站土石填挖方的成本函数,连接节点i,j之间的直线为Lij,令每次搜索线所在的地形剖面线为Dij,其高于Lij的部分为挖方量(记为Δ挖),低于Lij的部分为填方量(记为Δ填),用节点i,j连接所得的直线剖面线构成的三角形SLij来衡量多余的工程量,即升压站建设道路土石填挖方的成本函数 (3.4) Let f earthwork (dis) represent the cost function of earth-rock filling and excavation at the step-up station, the straight line connecting node i and j is L ij , and the terrain profile line where each search line is located is D ij , which is higher than The part of L ij is the excavation amount (recorded as Δ excavation ), and the part below L ij is the fill volume (recorded as Δfill ). The triangle SL ij formed by the straight section line connecting the nodes i and j is used to measure the excess The amount of work, that is, the cost function of earth and rock filling and excavation for the construction of the booster station
(3.5)令纵坡、横坡、土石填挖方量分别所占权重为:∑ωi=1,ωi∈(0,1),i=(1,2,3);(3.5) Let the respective weights of longitudinal slope, transverse slope, earth and rock filling and excavation amount be: ∑ω i =1,ω i ∈(0,1),i=(1,2,3);
(3.6)不同影响因子约束下的升压站建设道路规划成本函数为:(3.6) The road planning cost function of booster station construction under the constraints of different influence factors is:
G=ω1*fslope_1(dis)+ω2*fslope_c(dis)+ω3*fearthwork(dis)。G=ω 1 *f slope_1 (dis)+ω 2 *f slope_c (dis)+ω 3 *f earthwork (dis).
优选的,所述步骤(4)具体实施步骤如下:Preferably, the specific implementation steps of the step (4) are as follows:
(4.1)建立风电场地形不规则三角网结构,生成寻径网络;(4.1) Establish a triangular network structure with irregular topography of the wind farm to generate a routing network;
(4.2)找到起点,即进场点所在的三角形,搜索其邻域三角形;(4.2) Find the starting point, that is, the triangle where the entry point is located, and search for its neighboring triangles;
(4.3)判断当前三角形是否包含终点,即风机点位位置,若不包含,则计算起始点到当前节点的累计代价G(n)以及当前节点到终点的成本最小的估计代价H(n),得到当前节点的综合成本函数F(n)=G(n)+H(n);若包含,则已找到终点,路径搜索完成,则执行步骤(4.6);(4.3) Determine whether the current triangle contains the end point, that is, the position of the fan point. If not, calculate the cumulative cost G(n) from the starting point to the current node and the estimated cost H(n) with the smallest cost from the current node to the end point. Obtain the comprehensive cost function F(n)=G(n)+H(n) of current node; If include, then have found terminal point, path search is finished, then carry out step (4.6);
(4.4)选出相邻三角形中H(n)最小的三角形;(4.4) Select the triangle with the smallest H(n) among adjacent triangles;
(4.5)继续搜索邻域三角形,执行步骤(4.3),直到搜索到终点所在三角形;(4.5) Continue to search the neighborhood triangle, and perform step (4.3), until the triangle where the end point is searched;
(4.6)将每次选出的H(n)成本最小的三角形重心点相连,即得到成本最优路径。(4.6) Connect the centroid points of the triangles with the smallest H(n) cost selected each time to obtain the optimal cost path.
优选的,所述方法还包括:用户提供升压站建设道路路宽、坡度和/或转弯半径阈值的交互式输入作为约束条件,从而在升压站选址中规避超过上述阈值的弯道,在保证安全性和通达性的前提下选取符合路宽、坡度要求和/或弯道最少的升压站建设线路。Preferably, the method further includes: the user provides the interactive input of road width, slope and/or turning radius thresholds of the booster station construction road as constraint conditions, so as to avoid curves exceeding the above-mentioned thresholds in the site selection of the booster station, Under the premise of ensuring safety and accessibility, select the booster station construction route that meets the road width, slope requirements and/or has the fewest curves.
优选的,所述方法还包括:显示风电场场内施工道路自动选线、升压站的二维施工图以及备选方案施工土方量的估算值。Preferably, the method further includes: displaying the automatic route selection of the construction road in the wind farm, the two-dimensional construction drawing of the booster station, and the estimated value of the construction earthwork of the alternative scheme.
本发明有益效果:Beneficial effects of the present invention:
本发明的设计思路在于基于风电场场内道路自动选线的升压站选址系统及方法的智能化以及选址算法的设计,综合考虑影响风电建设施工成本的距离、坡度、填挖方量因素,自动实现风电场建设工程道路优化设计,利用平均最短距离算法来进行升压站的智能选址。本发明提出的基于风电场场内道路自动选线的升压站选址成果,提高了风电工程设计的精准度,避免了因设计人员经验不足而造成的工程成本增加,降低了风电行业升压站设计的人力物力成本和时间消耗,提高了风电工程的建设效率,提高了风电升压站工程的设计效率,使风电工程集成设计更加灵活化、智能化和合理化。The design idea of the present invention lies in the intelligentization of the booster station site selection system and method based on the automatic route selection of the road in the wind farm and the design of the site selection algorithm, comprehensively considering the factors affecting the construction cost of wind power construction, such as distance, slope, and filling and excavation volume , Automatically realize the optimal design of roads for wind farm construction projects, and use the average shortest distance algorithm to intelligently select the location of the booster station. The site selection result of the booster station based on the automatic route selection of the road in the wind farm proposed by the present invention improves the accuracy of wind power engineering design, avoids the increase of engineering cost caused by the lack of experience of designers, and reduces the booster voltage of the wind power industry. The manpower and material cost and time consumption of station design have improved the construction efficiency of wind power projects, improved the design efficiency of wind power booster station projects, and made the integrated design of wind power projects more flexible, intelligent and rational.
根据下文结合附图对本发明具体实施例的详细描述,本领域技术人员将会更加明了本发明的上述以及其他目的、优点和特征。Those skilled in the art will be more aware of the above and other objects, advantages and features of the present invention according to the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings.
附图说明Description of drawings
后文将参照附图以示例性而非限制性的方式详细描述本发明的一些具体实施例。附图中相同的附图标记标示了相同或类似的部件或部分。本领域技术人员应该理解,这些附图未必是按比例绘制的。本发明的目标及特征考虑到如下结合附图的描述将更加明显,附图中:Hereinafter, some specific embodiments of the present invention will be described in detail by way of illustration and not limitation with reference to the accompanying drawings. The same reference numerals in the drawings designate the same or similar parts or parts. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. The objectives and features of the present invention will be more apparent in consideration of the following description in conjunction with the accompanying drawings, in the accompanying drawings:
附图1为根据本发明实施例的基于风电场场内施工道路自动选线的施工土方量估算系统框图;Accompanying drawing 1 is the block diagram of the construction earthwork quantity estimation system based on the automatic line selection of the construction road in the wind farm according to the embodiment of the present invention;
附图2为根据本发明实施例的基于风电场场内施工道路自动选线的施工土方量估算方法流程图;Accompanying drawing 2 is the flowchart of the method for estimating the amount of construction earthwork based on the automatic line selection of the construction road in the wind farm according to an embodiment of the present invention;
附图3为根据本发明实施例的某风电场三维地形图;Accompanying drawing 3 is a three-dimensional topographic map of a certain wind farm according to an embodiment of the present invention;
附图4为根据本发明实施例的某风电场升压站选址功能演示;Accompanying drawing 4 is the location selection function demonstration of a certain wind farm booster station according to the embodiment of the present invention;
附图5为根据本发明实施例的某风电场升压站建设道路自动选线结果演示图;Accompanying drawing 5 is according to the embodiment of the present invention the demonstration diagram of the automatic line selection result of the construction road of a booster station of a certain wind farm;
附图6为根据本发明实施例的某风电场升压站建设道路二维施工建模图。Accompanying drawing 6 is a two-dimensional construction modeling drawing of a booster station construction road of a certain wind farm according to an embodiment of the present invention.
具体实施方式Detailed ways
该实施例主要是针对新疆某市风力发电的风电场建设,进行风电升压站建设道路的设计以及升压站的选址后的施工土方量估算。场内施工道路需要运输的设备主要包括风力发电机主机、轮毂、叶片和塔筒等;升压站设备和建设的原材料主要包括石子、中砂、水泥、钢筋、机具材料,杆塔等,由于杆塔组立现场使用的设备体积庞大,原材料用量较大,运输极不方便,因此所设计的道路必须考虑道路的坡度,保证设备的成功牵引和运输。This embodiment is mainly aimed at the construction of a wind farm for wind power generation in a certain city in Xinjiang, the design of the road for the construction of the wind power booster station and the estimation of the construction earthwork volume after the site selection of the booster station. The equipment that needs to be transported for the construction roads on the site mainly includes the main engine of the wind turbine, the hub, the blade and the tower; The equipment used at the assembly site is bulky, consumes a large amount of raw materials, and is extremely inconvenient to transport. Therefore, the slope of the road must be considered in the design of the road to ensure the successful traction and transportation of the equipment.
参见图1,为根据本发明实施例的一种基于风电场场内施工道路自动选线的土方量估算系统,该系统包括:(1)数据采集器,用于采集风电场场内道路地理场景的完备三维地形数据,采用无人机,利用航空摄影测量技术,实现由点到面、由面到带的风电场高精度地形影像数据获取;(2)数字地形模型生成器,用于建立基于地形模型无缝套合的风电场三维场模型;(3)路径规划器,基于A*寻径算法,综合距离最短、坡度最优、升压站建设道路填挖方最少三个参数,自适应的生成相应的成本最优、坡度符合要求而距离最短的升压站建设线路设计方案;(4)升压站位置计算器,用于在获得最短的升压站建设道路设计方案基础之上,计算通达各风机位点的平均最短距离,应用最小平均距离算法,以确定升压站的最优选址;(5)施工土方量计算器,用于施工道路和升压站建设的施工土方量的智能估算;(6)交互设备,用户使用所述交互设备提供施工道路路宽、坡度和/或转弯半径阈值的交互式输入作为约束条件,从而在施工道路设计和升压站选址中规避超过上述阈值的弯道,在保证安全性和通达性的前提下选取符合路宽、坡度要求和/或弯道最少的施工线路和升压站选址;(7)显示器及接口,用于显示风电场场内施工道路自动选线、升压站的二维施工图以及备选方案施工土方量的估算值。Referring to Fig. 1, it is a kind of earthwork estimation system based on the automatic line selection of the construction road in the wind farm according to the embodiment of the present invention, the system includes: (1) data collector, used to collect the geographical scene of the road in the wind farm The complete 3D terrain data of the wind farm is obtained by using unmanned aerial vehicles and aerial photogrammetry technology to achieve high-precision terrain image data acquisition of wind farms from point to surface and from surface to belt; (2) Digital terrain model generator, used to establish The three-dimensional model of the wind farm seamlessly fitted with the terrain model; (3) The path planner, based on the A* path-finding algorithm, integrates the three parameters of the shortest distance, the best slope, and the least filling and excavation of the booster station construction road, and is self-adaptive Generate the corresponding cost-optimized, slope-compliant and shortest booster station construction route design scheme; (4) booster station location calculator, used to calculate the shortest booster station construction road design scheme The average shortest distance to each wind turbine location, apply the minimum average distance algorithm to determine the optimal location of the booster station; (5) Construction earthwork calculator, used to calculate the construction earthwork for the construction of roads and booster stations Intelligent estimation; (6) interactive equipment, the user uses the interactive equipment to provide the interactive input of construction road road width, slope and/or turning radius threshold as a constraint condition, thereby avoiding exceeding For the curves with the above thresholds, under the premise of ensuring safety and accessibility, select the construction route and booster station site that meet the road width, slope requirements and/or the least curves; (7) Display and interface, used to display wind power Automatic route selection of construction roads in the site, two-dimensional construction drawings of booster stations and estimates of construction earthwork volumes for alternative schemes.
参见图2,根据本发明实施例的一种基于风电场场内施工道路自动选线的土方量估算方法流程图包括如下步骤:Referring to Fig. 2, a flow chart of an earthwork estimation method based on automatic line selection of construction roads in a wind farm according to an embodiment of the present invention includes the following steps:
(1)数据采集,采集风电场场内道路地理场景的完备三维地形数据,利用无人机航空摄影测量技术,实现由点到面、由面到带的风电场高精度地形影像数据获取;(1) Data acquisition, collecting complete 3D topographical data of the geographical scene of the road in the wind farm, and using UAV aerial photogrammetry technology to realize the acquisition of high-precision topographic image data of the wind farm from point to surface and from surface to belt;
(2)参见图3,建立基于地形模型无缝套合的风电场三维场模型,对风电场地形影像数据进行一体化建库管理,采用“均匀分块+金字塔分层”技术对地形数据进行组织划分,快速建立风电场三维场景;(2) Referring to Figure 3, a three-dimensional field model of the wind farm based on the seamless fit of the terrain model is established, and the integrated database management of the topographic image data of the wind farm is carried out. Organize and divide to quickly build a 3D wind farm scene;
(3)根据风电行业不同需求来动态调整影响施工道路和升压站建设因子的成本函数,引入成本函数把不同影响施工道路和升压站建设因子对线路规划的影响程度进行量化,成本函数的计算方法如下:(3) According to the different needs of the wind power industry, dynamically adjust the cost function of factors affecting the construction of roads and booster stations, and introduce a cost function to quantify the degree of influence of different factors affecting the construction of roads and booster stations on line planning. The cost function The calculation method is as follows:
(3.1)使用欧几里得距离来计算三维空间中i(xi,yi.zi),j(xj,yj.zj)两节点的距离(3.1) Use Euclidean distance to calculate the distance between two nodes i( xi ,y i .z i ), j(x j ,y j .z j ) in three-dimensional space
(3.2)设fslope_1(dis)表示纵坡的成本函数,起始点到风机位点的坡度为α,节点间的坡度为βn,其中n∈V,则纵坡的成本函数: (3.2) Let f slope_1 (dis) represent the cost function of the longitudinal slope, the slope from the starting point to the wind turbine location is α, and the slope between nodes is β n , where n∈V, then the cost function of the longitudinal slope:
(3.3)设fslope_c(dis)表示横坡的成本函数,横向坡度为γ,则横坡的成本函数: (3.3) Let f slope_c (dis) represent the cost function of the transverse slope, and the transverse slope is γ, then the cost function of the transverse slope:
(3.4)设fearthwork(dis)表示升压站土石填挖方的成本函数,连接节点i,j之间的直线为Lij,令每次搜索线所在的地形剖面线为Dij,其高于Lij的部分为挖方量(记为Δ挖),低于Lij的部分为填方量(记为Δ填),用节点i,j连接所得的直线剖面线构成的三角形SLij来衡量多余的工程量,即升压站建设道路土石填挖方的成本函数 (3.4) Let f earthwork (dis) represent the cost function of earth-rock filling and excavation at the step-up station, the straight line connecting node i and j is L ij , and the terrain profile line where each search line is located is D ij , which is higher than The part of L ij is the excavation amount (recorded as Δ excavation ), and the part below L ij is the fill volume (recorded as Δfill ). The triangle SL ij formed by the straight section line connecting the nodes i and j is used to measure the excess The amount of work, that is, the cost function of earth and rock filling and excavation for the construction of the booster station
(3.5)令纵坡、横坡、土石填挖方量分别所占权重为:∑ωi=1,ωi∈(0,1),i=(1,2,3);(3.5) Let the respective weights of longitudinal slope, transverse slope, earth and rock filling and excavation amount be: ∑ω i =1,ω i ∈(0,1),i=(1,2,3);
(3.6)不同影响因子约束下的升压站建设道路规划成本函数为:(3.6) The road planning cost function of booster station construction under the constraints of different influence factors is:
G=ω1*fslope_1(dis)+ω2*fslope_c(dis)+ω3*fearthwork(dis)。G=ω 1 *f slope_1 (dis)+ω 2 *f slope_c (dis)+ω 3 *f earthwork (dis).
(4)用户提供施工道路路宽、坡度和/或转弯半径阈值的交互式输入作为约束条件,从而在施工道路设计和升压站选址中规避超过上述阈值的弯道,在保证安全性和通达性的前提下选取符合路宽、坡度要求和/或弯道最少的施工线路及升压站选址,基于A*寻径算法,综合距离最短、坡度最优、升压站建设填挖方最少三个参数,自适应的生成相应的成本最优、坡度符合要求而距离最短的施工道路设计方案,具体实施步骤如下:(4) The user provides the interactive input of the construction road width, slope and/or turning radius threshold as constraint conditions, so as to avoid curves exceeding the above threshold in the construction road design and step-up station site selection, ensuring safety and Under the premise of accessibility, select the construction route and booster station site that meet the road width, slope requirements and/or the fewest curves. Based on the A* path-finding algorithm, the comprehensive distance is the shortest, the slope is optimal, and the booster station construction has the least filling and excavation. Three parameters, adaptively generate the corresponding construction road design scheme with the optimal cost, the slope meets the requirements and the shortest distance. The specific implementation steps are as follows:
(4.1)建立风电场地形不规则三角网结构,生成寻径网络;(4.1) Establish a triangular network structure with irregular topography of the wind farm to generate a routing network;
(4.2)找到起点,即进场点所在的三角形,搜索其邻域三角形;(4.2) Find the starting point, that is, the triangle where the entry point is located, and search for its neighboring triangles;
(4.3)判断当前三角形是否包含终点,即风机点位位置,若不包含,则计算起始点到当前节点的累计代价G(n)以及当前节点到终点的成本最小的估计代价H(n),得到当前节点的综合成本函数F(n)=G(n)+H(n);若包含,则已找到终点,路径搜索完成,则执行步骤(4.6);(4.3) Determine whether the current triangle contains the end point, that is, the position of the fan point. If not, calculate the cumulative cost G(n) from the starting point to the current node and the estimated cost H(n) with the smallest cost from the current node to the end point. Obtain the comprehensive cost function F(n)=G(n)+H(n) of current node; If include, then have found terminal point, path search is finished, then carry out step (4.6);
(4.4)选出相邻三角形中H(n)最小的三角形;(4.4) Select the triangle with the smallest H(n) among adjacent triangles;
(4.5)继续搜索邻域三角形,执行步骤(4.3),直到搜索到终点所在三角形;(4.5) Continue to search the neighborhood triangle, and perform step (4.3), until the triangle where the end point is searched;
(4.6)将每次选出的H(n)成本最小的三角形重心点相连,即得到成本最优路径;(4.6) Connect the centroid points of the triangles with the minimum cost of H(n) selected each time to obtain the optimal cost path;
(5)参见图4,在最优施工道路设计基础之上,计算通达各风机位点的平均最短距离,应用最小平均距离算法,以确定升压站的最优选址;(5) Referring to Figure 4, on the basis of optimal construction road design, calculate the average shortest distance to each wind turbine location, and apply the minimum average distance algorithm to determine the optimal location of the booster station;
(6)估算施工道路和升压站建设的施工土方量,针对本实施例涉及的项目,估算的内容包括:(6) Estimate the construction earthwork volume of the construction road and booster station construction. For the projects involved in this embodiment, the estimated content includes:
风场道路:按图纸计算道路长度,利用截面法计算土石方量;Wind field road: Calculate the length of the road according to the drawings, and calculate the earth and stone volume by using the section method;
风机吊装平台:按设计图纸计算面积,利用方格网计算土石方;Fan hoisting platform: Calculate the area according to the design drawings, and use the grid to calculate the earthwork;
基础土石方开挖:按照《建设工程工程量清单计价规范(2008)》规则计算,规则规定按照基础垫层地面积乘以开挖深度计算;Excavation of foundation earth and stone: Calculated according to the rules of "Code for Valuation of Bill of Quantities of Construction Projects (2008)", which stipulates that the calculation shall be based on the area of the foundation cushion multiplied by the excavation depth;
基础砼:按照《建设工程工程量清单计价规范(2008)》规则计算,不扣除构件内钢筋,预埋铁所占体积;Foundation concrete: Calculated in accordance with the rules of "Code for Valuation of Bill of Quantities of Construction Projects (2008)", without deducting the volume occupied by internal steel bars and pre-embedded iron;
垫层砼:按设计图示尺寸以体积计算,不扣除构件内钢筋,预埋铁所占体积;Cushion concrete: Calculated by volume according to the size shown in the design diagram, without deducting the volume occupied by the steel bars in the components and the pre-embedded iron;
土石方回填:基坑开发体积减去风机基础及垫层体积;Earthwork backfill: the development volume of the foundation pit minus the volume of the fan foundation and cushion;
箱变基础:分项同计算规则同上的基础土石方开挖、基础砼、垫层砼及土石方回填项;Box substation foundation: the sub-items are the same as the foundation earthwork excavation, foundation concrete, cushion concrete and earthwork backfill items with the same calculation rules as above;
高低压电缆沟土方:按设计图示以管道中心线长度计算,按沟道的横截面乘以沟道长度计算。Earthwork for high and low voltage cable trenches: Calculated by the length of the center line of the pipeline according to the design diagram, and calculated by multiplying the cross section of the trench by the length of the trench.
(7)参见图5和图6显示风电场场内施工道路自动选线、升压站的二维施工图以及备选方案施工土方量的估算值。(7) Referring to Figure 5 and Figure 6, it shows the automatic route selection of the construction road in the wind farm, the two-dimensional construction drawing of the booster station and the estimated value of the construction earthwork of the alternative scheme.
采用本发明实施例的系统和方法,利用风电场区域内高精度的地形三维模型数据,以风机点位、已有路网及可能的障碍区域,基于现有的A*寻径算法,综合考虑影响风电建设施工成本的距离最短、坡度最缓、填挖方最少并满足车辆转弯半径的最优线路设计方案,结合地形数据和最优选线对升压站最优位置进行了智能选取,最后综合估算了风电场场内施工道路以及升压站的施工土方量,解决了风电场内施工土方量的工程和经济成本核算以及控制的设计难点,从而实现了风电场施工的全面设计工作。Using the system and method of the embodiment of the present invention, using the high-precision terrain three-dimensional model data in the wind farm area, taking the wind turbine location, existing road network and possible obstacle areas, based on the existing A* path-finding algorithm, comprehensive consideration The optimal route design scheme that affects the construction cost of wind power construction is the shortest distance, the gentlest slope, the least filling and excavation, and meets the turning radius of the vehicle. Combined with terrain data and the optimal route, the optimal location of the booster station is intelligently selected, and finally comprehensively estimated The engineering and economic cost accounting and control design difficulties of the construction earthwork in the wind farm are solved, thus realizing the comprehensive design work of the wind farm construction.
虽然本发明已经参考特定的说明性实施例进行了描述,但是不会受到这些实施例的限定而仅仅受到附加权利要求的限定。本领域技术人员应当理解可以在不偏离本发明的保护范围和精神的情况下对本发明的实施例能够进行改动和修改。While the invention has been described with reference to certain illustrative embodiments, it is not to be limited by these embodiments but only by the appended claims. Those skilled in the art should understand that changes and modifications can be made to the embodiments of the present invention without departing from the protection scope and spirit of the present invention.
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