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
The invention provides an earthwork estimating system based on automatic line selection of a construction road in a wind power plant, which comprises the following components: (1) The data acquisition device acquires complete three-dimensional terrain data of a road geographic scene in the wind power plant; (2) The digital terrain model generator is used for establishing a three-dimensional wind power plant model based on seamless nesting of the terrain models; (3) The path planner is used for adaptively generating a construction line design scheme based on three parameters of shortest comprehensive distance, optimal gradient and least filling and excavation of a booster station construction road; (4) The booster station position calculator is used for calculating the average shortest distance to each fan site on the basis of obtaining the shortest construction road design scheme, and applying a minimum average distance algorithm to determine the optimal address of the booster station; (5) And the construction earthwork calculator is used for intelligently estimating the construction earthwork of construction roads and booster station construction. Corresponding construction roads and booster station construction earthwork volume estimation methods are also disclosed.
Description
Technical Field
The invention relates to the technical field of wind power development, in particular to booster station site selection in the wind power plant road construction process in the wind power generation industry, and belongs to the technical field of lean development of wind power markets.
Background
The wind power plant is a basic operation management unit of a wind power enterprise, and the operation management of the wind power plant directly influences the benefit of the wind power enterprise. With the continuous expansion of the installed capacity of each wind power enterprise, the number of wind power plants is continuously increased, and the original wind power plant operation and maintenance modes such as passive mode, discontinuous mode and rough mode are gradually changed into active, continuous and lean operation and maintenance modes. In the conversion process, various distinctive digital wind power plant concepts are provided, some demonstration projects are established, and certain innovations and effects are achieved, however, the digital wind power plants are focused on aspects of monitoring, operation and maintenance of fans at the wind power plant side, more automatic control of wind turbines is achieved, and some important steps in the early stage of wind power project development are focused on little, so that more wind power project risks and practical difficulty of project implementation are brought.
For example, the initial road line selection and booster station site selection of wind farm construction all involve many filling projects, and the most common algorithm for the initial line selection and site selection of wind farm construction is the A-type algorithm. The a algorithm is fairly tight in combination with the state space search. The state space search is a process of finding the path from the initial state to the target state, and the colloquially speaking, the process of finding a problem when solving a problem can be from the beginning of solving to the end of the problem. The uncertainty and imperfection of the solving conditions in the solving process lead to a large number of branches in the solving overshoot of the problem, which generates a plurality of solving paths, and one graph of the path processes is a state space. The problem is solved at the moment that a path is found in the graph from the beginning to the end, and the process is state space searching. The common state space search has depth priority and breadth priority, wherein the breadth priority is to find the result target layer by layer from the initial state, and the depth priority is to find one branch and then find the other branch according to a certain sequence until the target result is found. A significant drawback of both search methods is that they are exhaustive in a given state space, which is a very suitable algorithm in cases where the state space is not large, but is not desirable in cases where the space is large and unpredictable, and both algorithms are too inefficient or sometimes not completed, so that another algorithm, namely heuristic search, is used. Heuristic searches are those in which each search is evaluated in a state space until the best is found, and from this location the search is performed until the target location, where evaluation of the time is important, and different valuations may have different results. The heuristic search actually has a plurality of algorithms, such as local preferential search, best preferential search, A, and the like, the algorithms are involved in the site selection of the booster station in the current wind power plant construction process, and the algorithms all enable heuristic functions, but have different strategies when the optimal search node is specifically selected. For example, the local preferred algorithm is that the best node is selected in the searching process, other brothers are abandoned, and the father node is searched all the time. Such search results are evident in that the best node may be discarded as other nodes are discarded. The algorithm does not discard the node at the time of the search unless the node is dead. The current node is compared with the previous node in each step of valuation to obtain the best node, thus preventing the loss of the best node.
The algorithm belongs to a best-priority algorithm, however, due to the addition of certain constraint conditions, if the shortest path and the optimal path searched by the wind farm state space are wanted to be solved by the fastest method, the algorithm cannot completely meet the path searching requirement. The construction roads in the wind farm need to select areas with relatively convenient traffic, equipment materials and large equipment transportation which are favorable for construction are beneficial to reduce the investment of the road for entering the station, the application of three-dimensional terrain data is less in the selection process of the position of the booster station for constructing the wind farm at present, and the estimated value of the construction earthwork is obtained based on automatic line selection of the construction roads in the wind farm.
Disclosure of Invention
The invention is provided for solving the problems existing in the prior art, and the basic design thought of the invention is as follows: combining the huge advantages of the three-dimensional geographic information system technology in the aspects of space information quantitative analysis and visualization, based on large-scale topographic image data acquired by unmanned aerial vehicle aerial photogrammetry, comprehensively considering factors such as optimal gradient, minimum earth and stone quantity, shortest line and the like by utilizing an A-based path finding algorithm and a minimum average distance algorithm, adaptively generating an optimal line design scheme of a construction road, simultaneously obtaining the shortest line design scheme of the road, calculating the average shortest distance reaching each fan site, applying the minimum average distance algorithm to determine the optimal site of a booster station, and finally comprehensively estimating the construction road and the construction earth quantity of the construction of the booster station. The method has wide application range and prospect in the wind power generation industry, and is the direction of construction and development of a digital wind power plant in the future.
The invention provides an earthwork estimating system based on automatic line selection of construction roads in a wind power plant, which comprises:
(1) The data collector is used for collecting complete three-dimensional terrain data of a road geographic scene in the wind power plant;
(2) The digital terrain model generator is used for establishing a three-dimensional wind power plant model based on seamless nesting of the terrain models;
(3) The path planner is used for adaptively generating a construction line design scheme with the shortest distance, the optimal cost and the gradient meeting the requirements based on three parameters of shortest distance, optimal gradient and least filling and excavation of a booster station construction road;
(4) The booster station position calculator is used for calculating the average shortest distance to each fan site on the basis of obtaining the shortest construction road design scheme, and applying a minimum average distance algorithm to determine the optimal address of the booster station;
(5) And the construction earthwork calculator is used for intelligently estimating the construction earthwork of construction roads and booster station construction.
Preferably, the system further comprises: (6) And the interactive equipment is used by a user to provide interactive input of the road width, gradient and/or turning radius threshold value of the construction road of the booster station as constraint conditions, so that a curve exceeding the threshold value is avoided in the site selection of the construction road design booster station, and the construction line and the site selection of the booster station which meet the road width, gradient requirement and/or minimum curve are selected on the premise of ensuring the safety and accessibility.
Preferably, the system further comprises: (7) The display and the interface are used for displaying automatic line selection of construction roads in the wind power plant, a two-dimensional construction diagram of the booster station and estimated values of construction earthwork quantity of alternative schemes.
Preferably, the data acquisition device adopts an unmanned plane, and realizes the acquisition of high-precision topographic image data of the wind power plant from point to surface and from surface to belt by using an aerial photogrammetry technology.
The invention also aims to provide an earthwork volume estimation method based on automatic line selection of a construction road in a wind power plant, which comprises the following steps:
(1) Data acquisition, namely acquiring complete three-dimensional topographic data of a road geographic scene in a wind power plant, and acquiring high-precision topographic image data of the wind power plant from point to surface and from surface to belt by using an unmanned aerial vehicle aerial photogrammetry technology;
(2) Establishing a three-dimensional wind power plant model based on seamless nesting of a terrain model;
(3) Dynamically adjusting cost functions affecting construction roads and booster station construction factors according to different requirements of the wind power industry, and quantifying influence degrees of the different influence construction roads and the booster station construction factors on line planning by introducing the cost functions;
(4) Based on the A-based path searching algorithm, the three parameters of shortest distance, optimal gradient and least filling and excavating direction of the booster station are synthesized, and a construction road design scheme with optimal corresponding cost, optimal gradient and shortest distance meeting the requirements is adaptively generated;
(5) On the basis of the optimal construction road design, calculating the average shortest distance to each fan site, and applying a minimum average distance algorithm to determine the optimal site of the booster station;
(6) And estimating the construction earthwork quantity of construction roads and booster station construction.
Preferably, the step (2) includes: and carrying out integrated library construction management on the topographic image data of the wind power plant, and carrying out organization division on the topographic data by adopting a uniform block and pyramid layering technology so as to quickly establish a three-dimensional scene of the wind power plant.
Preferably, the method for calculating the cost function in the step (3) is as follows:
(3.1) use of EuclideanObtaining distance to calculate i (x) i ,y i .z i )，j(x j ,y j .z j ) Distance between two nodes
(3.2) setting f slope_1 (dis) represents the cost function of the longitudinal slope, the slope from the starting point to the fan site is alpha, and the slope between the nodes is beta n Where n ε V, then cost function of the longitudinal slope:
(3.3) setting f slope_c (dis) represents the cost function of the lateral slope, and if the lateral slope is γ, the cost function of the lateral slope:
(3.4) setting f earthwork (dis) represents a cost function of the earth and stone fill of the booster station, and the straight line between the connection nodes i, j is L ij Let the section line of the topography where each search line is located be D ij Which is higher than L ij Is divided into the amount of digging (shown as delta Digging ) Below L ij Is part of the filling quantity (denoted as delta Filling material ) Triangle SL formed by straight section lines obtained by connecting nodes i and j ij To measure the excessive engineering quantity, namely the cost function of the earth and stone filling and digging of the construction road of the booster station
(3.5) making the longitudinal slope, the transverse slope and the earth and stone filling and excavating square amounts respectively occupy the weight as follows: Σω i ＝1,ω i ∈(0,1),i＝(1,2,3)；
(3.6) the construction road planning cost function of the booster station under the constraint of different influencing factors is as follows:
G＝ω 1 *f slope_1 (dis)+ω 2 *f slope_c (dis)+ω 3 *f earthwork (dis)。
preferably, the step (4) is implemented as follows:
(4.1) establishing a wind power plant terrain irregular triangular network structure to generate a path finding network;
(4.2) finding out a starting point, namely a triangle where an approach point is located, and searching a neighborhood triangle thereof;
(4.3) judging whether the current triangle contains a terminal point, namely, a fan point position, if not, calculating the accumulated cost G (n) from the starting point to the current node and the estimated cost H (n) with the minimum cost from the current node to the terminal point to obtain a comprehensive cost function F (n) =G (n) +H (n) of the current node; if the route search is included, the destination is found, and the route search is completed, and the step (4.6) is executed;
(4.4) selecting the triangle with the smallest H (n) in the adjacent triangles;
(4.5) continuing to search the neighborhood triangle, and executing the step (4.3) until the triangle where the end point is located is searched;
and (4.6) connecting the triangle gravity center points with the minimum H (n) cost selected each time, thus obtaining the cost optimal path.
Preferably, the method further comprises: the user provides interactive input of the road width, gradient and/or turning radius threshold value of the booster station construction road as constraint conditions, so that a curve exceeding the threshold value is avoided in the booster station site selection, and a booster station construction line meeting the road width, gradient requirement and/or minimum curve is selected on the premise of ensuring safety and accessibility.
Preferably, the method further comprises: and displaying the automatic line selection of the construction road in the wind power plant, the two-dimensional construction diagram of the booster station and the estimated value of the construction earthwork quantity of the alternative scheme.
The invention has the beneficial effects that:
the design idea of the invention is that the intelligent site selection system and method for the booster station based on the automatic route selection of the road in the wind power plant and the design of the site selection algorithm comprehensively consider the factors of distance, gradient and filling and digging amount affecting the wind power construction cost, automatically realize the optimal design of the wind power plant construction engineering road, and utilize the average shortest distance algorithm to perform the intelligent site selection of the booster station. The booster station site selection result based on the automatic line selection of the road in the wind power plant improves the precision of wind power engineering design, avoids the increase of engineering cost caused by insufficient experience of designers, reduces the cost and time consumption of manpower and material resources for the booster station design in the wind power industry, improves the construction efficiency of wind power engineering, improves the design efficiency of the wind power booster station engineering, and enables the wind power engineering integrated design to be more flexible, intelligent and reasonable.
The above, as well as additional objectives, advantages, and features of the present invention will become apparent to those skilled in the art from the following detailed description of a specific embodiment of the present invention when read in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter by way of example and not by way of limitation with reference to the accompanying drawings. The same reference numbers will be used throughout the drawings to refer to the same or like parts or portions. It will be appreciated by those skilled in the art that the drawings are not necessarily drawn to scale. The objects and features of the present invention will become more apparent in view of the following description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a block diagram of a construction earthwork estimation system based on automatic route selection of construction roads in a wind farm according to an embodiment of the invention;
FIG. 2 is a flowchart of a construction earth volume estimation method based on automatic route selection of a construction road in a wind farm according to an embodiment of the invention;
FIG. 3 is a three-dimensional topographical view of a wind farm according to an embodiment of the present invention;
FIG. 4 is a representation of a site selection function for a certain wind farm booster station in accordance with an embodiment of the present invention;
FIG. 5 is a diagram showing an automatic line selection result of a construction road of a booster station of a wind farm according to an embodiment of the present invention;
FIG. 6 is a two-dimensional construction modeling diagram of a construction road of a booster station of a wind farm according to an embodiment of the invention.
Detailed Description
The embodiment is mainly used for designing a wind power booster station construction road and estimating the construction earthwork after the booster station is selected for wind power generation wind power plant construction in Xinjiang city. The equipment for constructing the road in the field and needing to be transported mainly comprises a main machine of a wind driven generator, a hub, blades, a tower barrel and the like; the booster station equipment and the raw materials for construction mainly comprise stones, medium sand, cement, reinforcing steel bars, machine tool materials, towers and the like, and because the equipment used on the tower assembly site is huge in volume, the raw material consumption is large, and the transportation is very inconvenient, the gradient of the road must be considered in the designed road, and the successful traction and transportation of the equipment are ensured.
Referring to fig. 1, an earth volume estimation system based on automatic route selection of construction roads in a wind farm according to an embodiment of the present invention includes: (1) The data acquisition device is used for acquiring complete three-dimensional topographic data of a road geographic scene in the wind power plant, and high-precision topographic image data acquisition of the wind power plant from point to plane and from surface to belt is realized by adopting an unmanned aerial vehicle and utilizing an aerial photogrammetry technology; (2) The digital terrain model generator is used for establishing a three-dimensional wind power plant model based on seamless nesting of the terrain models; (3) The path planner is used for adaptively generating a booster station construction line design scheme with the shortest distance, corresponding optimal cost and gradient meeting requirements based on three parameters of shortest distance, optimal gradient and least filling and excavation of booster station construction roads based on an A-based path searching algorithm; (4) The booster station position calculator is used for calculating the average shortest distance to each fan site on the basis of obtaining the shortest booster station construction road design scheme, and applying a minimum average distance algorithm to determine the optimal address of the booster station; (5) The construction earth volume calculator is used for intelligently estimating the construction earth volume of construction roads and booster station construction; (6) The interactive equipment is used by a user to provide interactive input of road width, gradient and/or turning radius threshold values of a construction road as constraint conditions, so that a curve exceeding the threshold values is avoided in construction road design and booster station site selection, and a construction line and booster station site selection meeting the road width, gradient requirements and/or minimum curve is selected on the premise of ensuring safety and accessibility; (7) The display and the interface are used for displaying automatic line selection of construction roads in the wind power plant, a two-dimensional construction diagram of the booster station and estimated values of construction earthwork quantity of alternative schemes.
Referring to fig. 2, a flowchart of a method for estimating an earth volume based on automatic route selection of a construction road in a wind farm according to an embodiment of the present invention includes the following steps:
(1) Data acquisition, namely acquiring complete three-dimensional topographic data of a road geographic scene in a wind power plant, and acquiring high-precision topographic image data of the wind power plant from point to surface and from surface to belt by using an unmanned aerial vehicle aerial photogrammetry technology;
(2) Referring to fig. 3, a three-dimensional wind power plant model based on seamless nesting of a terrain model is established, integrated database construction management is carried out on the terrain image data of the wind power plant, the terrain data is organized and divided by adopting a uniform block and pyramid layering technology, and a three-dimensional scene of the wind power plant is rapidly established;
(3) According to different requirements of the wind power industry, the cost function affecting construction roads and booster station construction factors is dynamically adjusted, the cost function is introduced to quantify the influence degree of the different affecting construction roads and booster station construction factors on line planning, and the cost function is calculated as follows:
(3.1) calculation of i (x) in three-dimensional space using Euclidean distance i ,y i .z i )，j(x j ,y j .z j ) Distance between two nodes
(3.2) setting f slope_1 (dis) represents the cost function of the longitudinal slope, the slope from the starting point to the fan site is alpha, and the slope between the nodes is beta n Where n ε V, then cost function of the longitudinal slope:
(3.3) setting f slope_c (dis) represents the cost function of the lateral slope, and if the lateral slope is γ, the cost function of the lateral slope:
(3.4) setting f earthwork (dis) represents a cost function of the earth and stone fill of the booster station, and the straight line between the connection nodes i, j is L ij Let the section line of the topography where each search line is located be D ij Which is higher than L ij Is divided into the amount of digging (shown as delta Digging ) Below L ij Is part of the filling quantity (denoted as delta Filling material ) Triangle SL formed by straight section lines obtained by connecting nodes i and j ij To measure the excessive engineering quantity, namely the cost function of the earth and stone filling and digging of the construction road of the booster station
(3.5) making the longitudinal slope, the transverse slope and the earth and stone filling and excavating square amounts respectively occupy the weight as follows: Σω i ＝1,ω i ∈(0,1),i＝(1,2,3)；
(3.6) the construction road planning cost function of the booster station under the constraint of different influencing factors is as follows:
G＝ω 1 *f slope_1 (dis)+ω 2 *f slope_c (dis)+ω 3 *f earthwork (dis)。
(4) The user provides interactive input of the road width, gradient and/or turning radius threshold value of the construction road as constraint conditions, so that a curve which exceeds the threshold value is avoided in the construction road design and the booster station site selection, a construction line and the booster station site selection which meet the road width, gradient requirements and/or minimum curve are selected on the premise of ensuring safety and accessibility, three parameters of shortest comprehensive distance, optimal gradient and minimum booster station construction and filling and digging are synthesized based on an A-based path finding algorithm, and the construction road design scheme with the optimal corresponding cost, the gradient meeting the requirements and the shortest distance is adaptively generated, and the specific implementation steps are as follows:
(4.1) establishing a wind power plant terrain irregular triangular network structure to generate a path finding network;
(4.2) finding out a starting point, namely a triangle where an approach point is located, and searching a neighborhood triangle thereof;
(4.3) judging whether the current triangle contains a terminal point, namely, a fan point position, if not, calculating the accumulated cost G (n) from the starting point to the current node and the estimated cost H (n) with the minimum cost from the current node to the terminal point to obtain a comprehensive cost function F (n) =G (n) +H (n) of the current node; if the route search is included, the destination is found, and the route search is completed, and the step (4.6) is executed;
(4.4) selecting the triangle with the smallest H (n) in the adjacent triangles;
(4.5) continuing to search the neighborhood triangle, and executing the step (4.3) until the triangle where the end point is located is searched;
(4.6) connecting the triangle gravity center points with the minimum H (n) cost selected each time to obtain a cost optimal path;
(5) Referring to fig. 4, on the basis of the optimal construction road design, calculating an average shortest distance to each fan site, and applying a minimum average distance algorithm to determine the optimal site of the booster station;
(6) Estimating a construction earth volume of construction road and booster station construction, and for the project related to this embodiment, the estimated contents include:
wind field road: calculating the road length according to the drawing, and calculating the earth and stone quantity by using a section method;
fan hoist and mount platform: calculating the area according to the design drawing, and calculating the earth and stone side by using a square grid;
foundation earth and stone excavation: calculating according to rules of a construction engineering quantity list pricing specification (2008), wherein the rules define calculation according to the ground area of a foundation bed layer multiplied by the excavation depth;
and (3) basic concrete: according to the rule calculation of the construction engineering quantity list pricing specification (2008), the volume occupied by the steel bars in the components and the embedded iron is not deducted;
cushion layer concrete: calculating according to the size of the design drawing in terms of volume without deducting the volume occupied by the steel bars and the embedded iron in the components;
backfilling the earth and stone: subtracting the volume of the fan foundation and the cushion layer from the development volume of the foundation pit;
box transformer foundation: digging foundation soil and stone sides, foundation concrete, cushion layer concrete and backfill items of the foundation soil and stone sides, wherein the sub items are the same as the calculation rules;
earthwork of high-low voltage cable pit: calculated as the length of the centerline of the pipe as a function of the design drawing, calculated as the cross-section of the channel multiplied by the length of the channel.
(7) Referring to fig. 5 and 6, there are shown automatic route selection of construction roads in a wind farm, two-dimensional construction diagrams of a booster station, and estimated values of construction earthwork quantities of alternative schemes.
By adopting the system and the method provided by the embodiment of the invention, the high-precision terrain three-dimensional model data in the wind power field is utilized, the design difficulty of engineering and economic cost accounting and control of the construction earthwork in the wind power field is solved by comprehensively considering the optimal line design scheme which has the shortest distance, the slowest gradient and the least filling and digging effect on the wind power construction cost and meets the turning radius of a vehicle based on the existing A-routing algorithm, intelligently selecting the optimal position of the booster station by combining the terrain data and the optimal line, and finally comprehensively estimating the construction road in the wind power field and the construction earthwork of the booster station, thereby realizing the comprehensive design work of the wind power field construction.
While the present invention has been described with reference to the particular illustrative embodiments, it is not to be restricted by the embodiments but only by the appended claims. It will be appreciated by those skilled in the art that changes and modifications may be made to the embodiments of the invention without departing from the scope and spirit thereof.
Claims (9)
1. An earthwork volume estimation system based on automatic route selection of construction roads in a wind farm is characterized by comprising:
(1) The data collector is used for collecting complete three-dimensional terrain data of a road geographic scene in the wind power plant;
(2) The digital terrain model generator is used for establishing a three-dimensional wind power plant model based on seamless nesting of the terrain models;
(3) The path planner calculates a longitudinal slope cost function, a transverse slope cost function and a cost function of a soil and stone filling party based on an A-based path searching algorithm and based on a Euclidean distance dis of two nodes, and performs weighted calculation on the three parameters to obtain an optimal cost, namely, the optimal cost is obtained by optimizing three parameters of a comprehensive distance, a gradient and a booster station construction road filling party, and a booster station construction line design scheme with optimal corresponding cost, a gradient meeting the requirements and the shortest distance is adaptively generated; the cost function is calculated as follows:
(3.1) calculation of i (x) in three-dimensional space using Euclidean distance i ,y i .z i )，j(x j ,y j .z j ) Distance between two nodes
；
(3.2) setting
Representing the cost function of a longitudinal slope, the slope from the starting point to the fan site being alpha, the slope between the nodes being beta n Where n ε V, then cost function of the longitudinal slope:
；
(3.3) setting f slope_c (dis) represents the cost function of the lateral slope, and if the lateral slope is γ, the cost function of the lateral slope:
；
(3.4) setting f earthwork (dis) represents a cost function of the earth and stone fill of the booster station, and the straight line between the connection nodes i, j is L ij Let the section line of the topography where each search line is located be D ij Which is higher than L ij The part of (2) is the square quantity, which is marked as delta Digging Below L ij The part of (2) is the filling quantity, which is marked as delta Filling material Triangle SL formed by straight section lines obtained by connecting nodes i and j ij To measure the excessive engineering quantity, namely the cost function of the earth and stone filling and digging of the construction road of the booster station
；
(3.5) the weight of the longitudinal slope, the transverse slope and the earth and stone filling and excavating direction are respectively as follows：∑ω i ＝1,ω i ∈(0,1),i＝(1,2,3)；
(3.6) the construction road planning cost function of the booster station under the constraint of different influencing factors is as follows:
G＝ω 1 *f slope_1 (dis)+ω 2 *f slope_c (dis)+ω 3 *f earthwork (dis)
(4) The booster station position calculator is used for calculating the average shortest distance to each fan site on the basis of obtaining the shortest booster station construction road design scheme, and applying a minimum average distance algorithm to determine the optimal address of the booster station;
(5) And the construction earthwork calculator is used for intelligently estimating the construction earthwork of construction roads and booster station construction.
2. An earthmoving estimating system based on automatic route selection of construction roads in a wind farm according to claim 1, further comprising: (6) And the interactive equipment is used by a user to provide interactive input of the road width, gradient and/or turning radius threshold value of the construction road of the booster station as constraint conditions, so that the curve exceeding the threshold value is avoided in the construction road design and the booster station site selection, and the construction line and the booster station site selection which meet the road width, gradient requirement and/or minimum curve are selected on the premise of ensuring the safety and accessibility.
3. An earthmoving estimating system based on automatic route selection of construction roads in a wind farm according to claim 1, further comprising: (7) The display and the interface are used for displaying automatic line selection of construction roads in the wind power plant, a two-dimensional construction diagram of the booster station and estimated values of construction earthwork quantity of alternative schemes.
4. An earthwork estimation system based on automatic route selection of construction roads in a wind farm according to claim 1, wherein: the data acquisition device adopts an unmanned aerial vehicle, and realizes the acquisition of high-precision topographic image data of the wind power plant from point to surface and from surface to belt by using an aerial photogrammetry technology.
5. An earth volume estimation method based on automatic line selection of construction roads in a wind farm, using the earth volume estimation system based on automatic line selection of construction roads in a wind farm according to any one of claims 1 to 4, characterized by comprising the steps of:
(1) Data acquisition, namely acquiring complete three-dimensional topographic data of a road geographic scene in a wind power plant, and acquiring high-precision topographic image data of the wind power plant from point to surface and from surface to belt by using an unmanned aerial vehicle aerial photogrammetry technology;
(2) Establishing a three-dimensional wind power plant model based on seamless nesting of a terrain model;
(3) Dynamically adjusting cost functions affecting construction roads and booster station construction factors according to different requirements of the wind power industry, and quantifying influence degrees of the different influence construction roads and the booster station construction factors on line planning by introducing the cost functions;
(4) Based on an A-based path searching algorithm, calculating a longitudinal slope cost function, a transverse slope cost function and a cost function of a soil and stone filling and excavating party based on a Euclidean distance dis of two nodes, weighting and calculating optimal cost of the three parameters, namely, comprehensive distance, gradient and a booster station construction road filling and excavating party, carrying out optimizing calculation to obtain the optimal cost, and adaptively generating a construction road design scheme with optimal corresponding cost, gradient meeting requirements and shortest distance;
(5) On the basis of the optimal construction road design, calculating the average shortest distance to each fan site, and applying a minimum average distance algorithm to determine the optimal site of the booster station;
(6) And estimating the construction earthwork quantity of construction roads and booster station construction.
6. The method for estimating the earthwork based on the automatic route selection of the construction road in the wind farm according to claim 5, wherein the step (2) comprises: and carrying out integrated library construction management on the topographic image data of the wind power plant, and carrying out organization division on the topographic data by adopting a uniform block and pyramid layering technology so as to quickly establish a three-dimensional scene of the wind power plant.
7. The method for estimating the earthwork based on automatic route selection of construction roads in a wind farm according to claim 5, wherein the step (4) is specifically implemented as follows:
(4.1) establishing a wind power plant terrain irregular triangular network structure to generate a path finding network;
(4.2) finding out a starting point, namely a triangle where an approach point is located, and searching a neighborhood triangle thereof;
(4.3) judging whether the current triangle contains a terminal point, namely, a fan point position, if not, calculating the accumulated cost G (n) from the starting point to the current node and the estimated cost H (n) with the minimum cost from the current node to the terminal point to obtain a comprehensive cost function F (n) =G (n) +H (n) of the current node; if the route search is included, the destination is found, and the route search is completed, and the step (4.6) is executed;
(4.4) selecting the triangle with the smallest H (n) in the adjacent triangles;
(4.5) continuing to search the neighborhood triangle, and executing the step (4.3) until the triangle where the end point is located is searched;
and (4.6) connecting the triangle gravity center points with the minimum H (n) cost selected each time, thus obtaining the cost optimal path.
8. The method for estimating the earthwork based on automatic route selection of construction roads in a wind farm according to claim 5, further comprising: the user provides interactive input of the road width, gradient and/or turning radius threshold value of the construction road as constraint conditions, so that a curve exceeding the threshold value is avoided in the construction road design and the booster station site selection, and a construction line and the booster station site selection meeting the road width, gradient requirements and/or minimum curve are selected on the premise of ensuring safety and accessibility.
9. The method for estimating the earthwork based on automatic route selection of construction roads in a wind farm according to any one of claims 5 to 8, further comprising: and displaying the automatic line selection of the construction road in the wind power plant, the two-dimensional construction diagram of the booster station and the estimated value of the construction earthwork quantity of the alternative scheme.
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