CN108921328A - A kind of optimal path based on power-line patrolling grid chart closeness determines method - Google Patents
A kind of optimal path based on power-line patrolling grid chart closeness determines method Download PDFInfo
- Publication number
- CN108921328A CN108921328A CN201810581312.4A CN201810581312A CN108921328A CN 108921328 A CN108921328 A CN 108921328A CN 201810581312 A CN201810581312 A CN 201810581312A CN 108921328 A CN108921328 A CN 108921328A
- Authority
- CN
- China
- Prior art keywords
- closeness
- grid
- line
- region
- line walking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/06—Electricity, gas or water supply
Abstract
A kind of optimal path based on power-line patrolling grid chart closeness determines method, belongs to inspection field.It is by the shared substrate grid dividing to line walking figure, so that it becomes grid chart.Line walking grid chart is divided into big and small closeness region by the closeness calculation method of longitude and latitude two-wire again, by specific location of the line attendant in line walking, can quickly provide optimal path according to the relationship of closeness.This algorithm can ensure that the traversal of route and not repeating for path, and it is effective to work for the line walking of different initial positions.
Description
Technical field
The present invention relates to electric inspection process and graph theory fields, and in particular, to a kind of based on line walking grid chart closeness
Optimal path algorithm.
Background technique
Line walking is to guarantee the essential key job of transmission line of electricity stable operation, since its working range is often very big,
And spend the time longer, so overall line walking when selected path is by largely difference line attendant work when line walking is imitated
Rate.
There are many algorithm in graph theory for optimal path, however majority is difficult to combine with line walking figure, for patrolling for piecemeal
Line chart generally requires to carry out grid again to the equivalent of path, could further utilize Floyd algorithm or Dijkastra
The solution of the progress shortest path such as algorithm.This has just obscured the meaning of line walking figure piecemeal.
In fact, the optimum programming in line walking path can be directly carried out based on the line walking grid chart completed is divided, so that patrolling
Line person smoothly completes line walking task in different grids.
Summary of the invention
In view of the above technical problems, the object of the present invention is to provide a kind of based on the optimal of power-line patrolling grid chart closeness
Determining method of path.
To achieve the above object, the present invention is realized according to following technical scheme：
A kind of optimal path based on power-line patrolling grid chart closeness determines method, including following technology segment：
1, grid dividing part：By sharing the division mode of substrate grid, comprehensive line information and spatial geographic information
Etc. data cases comprehensive division is carried out to line walking figure, and grid is encoded with latitude and longitude, obtains line walking grid chart.
2, closeness area dividing section：According to the different structure of specific line walking grid chart, closeness will be layered.Point
Layer will be realized according to the latitude coordinates of grid vertex, judge institute constituency by the quantity on the side of remaining grid in same coordinate section
Grid concentration in domain, and as according to the division for carrying out grid closeness.In partition process, high-rise closeness region will
It certainly will establish on low closeness region, and there are closenesses largely to jump.
3, optimum path planning part：By the division of grid and closeness, line walking figure will be divided into it is big and small not
With the region of closeness.Line walking is classified into same closeness region, from the high area of closeness to the planning of its optimal path
Domain the progress line walking and from closeness low region to closeness high carry out line walking low to closeness.By to these situations
Discussion, optimum path planning when just can obtain line attendant in varied situations from different location within a very short time,
And the distribution of line walking weight can be carried out according to the closeness of grid.
Compared with prior art, the present invention having the advantages that：
The present invention is that a kind of optimal path based on power-line patrolling grid chart closeness determines method, by line walking figure
Block and closeness, which divide, very rapidly to calculate optimal path for the line attendant in different location, which solves
With the paradox of line walking figure grid dividing mode in traditional graph theory routing algorithm, the effect of grid has been given full play to, it is ensured that line walking
Member can without duplicate paths patrol all routes in pathfinding, and can select the end when completion of final line walking on a large scale
Position.
Detailed description of the invention
Fig. 1 is closeness division mode schematic diagram of the invention；
Fig. 2 is closeness optimal path algorithm schematic diagram of the invention；
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical solution in the embodiment of the present invention progress further describe.
A kind of optimal path based on power-line patrolling grid chart closeness determines method, and particular technique part is as follows：
1, grid dividing part
By sharing the division mode of substrate grid, the comprehensive data cases such as line information and spatial geographic information are to line walking
Figure carries out comprehensive division, and is encoded with latitude and longitude to grid, obtains line walking grid chart.
2, closeness area dividing section
According to the different structure of specific line walking grid chart, closeness will be layered.Layering will be according to the warp of grid vertex
Latitude coordinate is realized, judges the grid concentration in selected areas by the quantity on the side of remaining grid in same coordinate section,
And as according to the division for carrying out grid closeness.In partition process, high-rise closeness region certainly will be established in low closeness
On region, and there are closenesses largely to jump.
Fig. 1 is the grid schematic diagram that the present invention distinguishes different closeness regions.
The differentiation of closeness will be realized according to the latitude and longitude coordinates of grid, and longitude and latitude will separately count two-part close
Intensity component is carrying out comprehensive assessment, because the inhomogeneities of grid dividing will lead to the closeness difference of direction of warp and weft.To sit
Mark region (a1,a2) and (b1,b2) for, closeness component calculation formula is as follows：
Wherein, caAnd cbIt is illustrated respectively in selected areas (a on weft and warp direction1To a2And b1To b2) in difference
Grid latitude coordinates points.Due to the length of selected section may distinguish it is larger, it is therefore desirable in time for closeness grade
The operation being rounded.Method from big to small is used for the selection in region, until arriving at the boundary length of minimum grid：
It is hereby achieved that the rough closeness situation of line walking figure, will carry out boundary differentiation later.It uses grid to expand
The method of exhibition selects a closeness and grid, and the closeness at the same level and more advanced region that will abut against is as one piece of closeness
The grid cluster of grade.It should be noted why advanced closeness region is also contained herein, it is because local is highly dense
Intensity region certainly will be built upon on a certain closeness region namely low closeness region includes high density region.
For concluding grid together, is equally classified with longitude and latitude and carry out small grid verification.
With the closenessAndTo carry out independent test, judgement referring to each grid in zonule：
Wherein, ai、ajAnd bi、bjFor the latitude and longitude coordinates of selected grid.If formula (2-30) or (2-31) are set up, then it is assumed that
The grid is in the closeness cluster.To just capable of obtaining the closeness region after trellis traversal in region.By to line walking figure
The division of closeness can help line attendant quickly to find optimal path, and the great advantage in the path can be exactly duplicate
Road.
3, optimum path planning method
If Fig. 2 is the line walking grid chart distinguished according to closeness.Not according to line attendant present position and direction of advance
Together, the planing method of optimal path will point three kinds of situation discussion.
(1) line walking in same closeness area
From Figure 2 it can be seen that in the same closeness region line attendant good route according to the rules is carried out according to warp or
The regular line walking of weft.It just can guarantee the comprehensive inspection for transmission line of electricity in this way.Line walking road in unified closeness area
Diameter will be determined by the regional export and entrance and direction of advance that have determined.When line attendant arrives at a grid and patrols wherein
After enough time, just think that he completes the line walking work of the grid.When practical application, the choosing of route can be carried out as needed
It selects.
(2) from low closeness area toward high density area line walking
When line attendant enters high density area from low closeness area, it is thus necessary to determine that first have to inspection in high density region
Grid and direction of advance.It is both that the path being had already passed through according to line attendant determines.Specifically, as long as selecting one
A outlet, so that line attendant leaves the line walking path behind the outlet and meets line walking path in low closeness region originally i.e.
It can.By the determination of outlet, initial mesh and direction of advance just can be further determined.
(3) from high density area toward low closeness area line walking：
When mobile when line attendant is from high density area to low closeness area, the point of required determination only one, that is just
It is direction of advance, because initial mesh is by only one, without being judged the reason of closeness.And the decision of direction of advance
It will be determined by the low closeness area direction of advance before entering high density area.If it is first entering the low closeness area
Domain will then export on the estimation and rearrange line walking path.
The division in closeness region is not necessarily completely stringent, according to actual needs, can carry out tearing open for same closeness region
Point or different closeness region merging.It deposits in the region that more high density may be also had when line walking in high density region
Optimum path planning still may be implemented by the iteration of the optimal path algorithm at that time.Due to the low closeness of the bottom
Region is the basis of entire line walking grid chart, therefore the line walking path for often taking the lead in carrying out different initial positions according to the region is selected
It selects, in this, as the general direction of optimum path planning later, optimal path is then carried out according to ready-portioned closeness region
Planning, is just able to achieve the optimal line walking path of unicursal type.Although the difference of initial position can be such that the result of optimal path generates
Very big variation, rudimentary algorithm are still similar.
Claims (1)
1. a kind of optimal path based on power-line patrolling grid chart closeness determines method, it is characterized in that：
1) by sharing the division mode of substrate grid, the comprehensive data cases such as line information and spatial geographic information are to line walking figure
Comprehensive division is carried out, and grid is encoded with latitude and longitude, obtains line walking grid chart；
2) it is distributed according to the space structure of specific line walking grid chart, the division of closeness is carried out using latitude and longitude as direction；
3) by the way of Mesh expansion, until minimum grid scale, the grid of same closeness is integrated into together.It is high
Closeness region will be built on low closeness region；
4) it is in unified closeness region according to path, is mobile and from highly dense from low closeness region to high density region
Intensity region carries out the classification of path planning to the mobile three kinds of situations in low closeness region, realizes the planning of optimal path；
5) optimal path is supplied to line attendant and carries out line walking work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810581312.4A CN108921328B (en) | 2018-06-07 | 2018-06-07 | Optimal path determination method based on power line patrol grid diagram density |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810581312.4A CN108921328B (en) | 2018-06-07 | 2018-06-07 | Optimal path determination method based on power line patrol grid diagram density |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108921328A true CN108921328A (en) | 2018-11-30 |
| CN108921328B CN108921328B (en) | 2022-01-07 |
Family
ID=64418987
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810581312.4A Active CN108921328B (en) | 2018-06-07 | 2018-06-07 | Optimal path determination method based on power line patrol grid diagram density |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108921328B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100138096A1 (en) * | 2008-11-28 | 2010-06-03 | National Taiwan University | Patrol Device And Patrol Path Planning Method For The Same |
| CN102375879A (en) * | 2011-08-22 | 2012-03-14 | 河南理工大学 | Mobile GIS (Geographic Information System) system based on intelligent mobile phone and application thereof |
| CN106447104A (en) * | 2016-09-27 | 2017-02-22 | 贵州电网有限责任公司输电运行检修分公司 | Power transmission line operation and maintenance area grid dividing and coding method |
| CN107274509A (en) * | 2017-05-31 | 2017-10-20 | 北京市燃气集团有限责任公司 | A kind of generation method of urban pipe network leak detection car polling path |
| CN107578133A (en) * | 2017-09-12 | 2018-01-12 | 武汉锐思图科技有限公司 | A kind of power circuit polling track optimizing method and system |
| CN107817509A (en) * | 2017-09-07 | 2018-03-20 | 上海电力学院 | Crusing robot navigation system and method based on the RTK Big Dippeves and laser radar |
-
2018
- 2018-06-07 CN CN201810581312.4A patent/CN108921328B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100138096A1 (en) * | 2008-11-28 | 2010-06-03 | National Taiwan University | Patrol Device And Patrol Path Planning Method For The Same |
| CN102375879A (en) * | 2011-08-22 | 2012-03-14 | 河南理工大学 | Mobile GIS (Geographic Information System) system based on intelligent mobile phone and application thereof |
| CN106447104A (en) * | 2016-09-27 | 2017-02-22 | 贵州电网有限责任公司输电运行检修分公司 | Power transmission line operation and maintenance area grid dividing and coding method |
| CN107274509A (en) * | 2017-05-31 | 2017-10-20 | 北京市燃气集团有限责任公司 | A kind of generation method of urban pipe network leak detection car polling path |
| CN107817509A (en) * | 2017-09-07 | 2018-03-20 | 上海电力学院 | Crusing robot navigation system and method based on the RTK Big Dippeves and laser radar |
| CN107578133A (en) * | 2017-09-12 | 2018-01-12 | 武汉锐思图科技有限公司 | A kind of power circuit polling track optimizing method and system |
Non-Patent Citations (1)
| Title |
|---|
| 姜英杰等: "栅格遗传算法的变电站巡检机器人路径规划", 《科技与创新》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108921328B (en) | 2022-01-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108508893A (en) | A kind of robot efficiency optimum path planning method based on improvement A algorithm | |
| US10753751B2 (en) | Systems and methods for street level routing | |
| CN109059926A (en) | Across floor paths planning method and system | |
| CN110488839A (en) | A kind of legged type robot paths planning method and device based on tangent line interior extrapolation method | |
| CN106895846B (en) | A kind of paths planning method and path planning apparatus | |
| Aleksandr et al. | Dynamic traffic re-routing as a method of reducing the congestion level of road network elements | |
| Jung et al. | High-coverage point-to-point transit: study of path-based vehicle routing through multiple hubs | |
| WO2012144956A1 (en) | A method for the construction of a water distribution model | |
| CN108596368A (en) | A kind of multiple exit evacuation method based on predicted time | |
| CN110426044A (en) | A kind of obstacle-avoiding route planning method calculated based on convex set and optimize ant group algorithm | |
| CN106323324B (en) | Quick shortest path planning method based on road chain | |
| Chen et al. | Network-level optimization of bus stop placement in urban areas | |
| van Eck et al. | Model complexities and requirements for multimodal transport network design: Assessment of classical, state-of-the-practice, and state-of-the-research models | |
| CN108921328A (en) | A kind of optimal path based on power-line patrolling grid chart closeness determines method | |
| Adacher et al. | The global optimization of signal settings and traffic assignment combined problem: a comparison between algorithms. | |
| CN115577420B (en) | Drawing method for building floor heating plane | |
| CN110211204A (en) | A kind of method, apparatus and storage medium of determining road task packet | |
| CN108599141A (en) | The quick dynamic self-adapting recognition methods of multiple-energy-source LAN | |
| CN109166307A (en) | A kind of visualization metaphor expression method and system of traffic network space-time accessibility | |
| Ma et al. | Boundary estimating of urban road network for traffic impact analysis when reconstructing intersections: methodology and evaluation | |
| Starkey et al. | A genetic type-2 fuzzy logic based approach for the optimal allocation of mobile field engineers to their working areas | |
| Ahmadi et al. | General time-dependent sequenced route queries in road networks | |
| CN108062592A (en) | The optimization algorithm of optimal path is asked for reference to dijkstra's algorithm and A* algorithms | |
| CN108447259A (en) | A kind of continuity Transportation Network Design Problem method based on SUE | |
| Zhao et al. | A novel strategy for distributed multi-robot coordination in area exploration |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |