CN108921328B - Optimal path determination method based on power line patrol grid diagram density - Google Patents

Optimal path determination method based on power line patrol grid diagram density Download PDF

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CN108921328B
CN108921328B CN201810581312.4A CN201810581312A CN108921328B CN 108921328 B CN108921328 B CN 108921328B CN 201810581312 A CN201810581312 A CN 201810581312A CN 108921328 B CN108921328 B CN 108921328B
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张怡
刘均
刘炯
林奕文
杨健擘
解大
吴昊
曹勇
王昭夏
查文俊
厉优栋
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State Grid Shanghai Electric Power Co Ltd
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Abstract

An optimal path determination method based on the density of a power line patrol grid diagram belongs to the field of patrol. The shared base grid of the routing graph is divided into grids, so that the grids are changed into the grid graph. And then, dividing the line patrol grid map into large and small density areas by a density calculation method of longitude and latitude double lines, and quickly providing an optimal path according to the relation of density through the specific position of a line patrol worker during line patrol. The algorithm can ensure the traversal of the route and the non-repetition of the route, and has effects on the line patrol work at different initial positions.

Description

Optimal path determination method based on power line patrol grid diagram density
Technical Field
The invention relates to the field of power inspection and graph theory, in particular to an optimal path algorithm based on the density of an inspection grid graph.
Background
The line patrol is essential key work for ensuring stable operation of the power transmission line, and the working range is often large, and the time is long, so that the selected path during line patrol can greatly distinguish the overall line patrol efficiency of line patrol operators during working.
In graph theory, many algorithms for the optimal path are provided, however, most algorithms are difficult to combine with the patrol diagram, and for the blocked patrol diagram, the equivalent of the grid-to-path is often required again, so that the shortest path can be further solved by using the Floyd algorithm, the Dijkastra algorithm and the like. This obscures the meaning of the patrol diagram blocks.
In fact, the optimal planning of the line patrol path can be directly performed based on the divided line patrol grid diagram, so that the line patrol personnel can smoothly complete line patrol tasks in different grids.
Disclosure of Invention
In view of the above technical problems, an object of the present invention is to provide an optimal path determining method based on the density of a power routing grid diagram.
In order to realize the purpose, the invention is realized according to the following technical scheme:
an optimal path determining method based on the density of a power line patrol grid diagram comprises the following technical parts:
1. a mesh division part: the patrol map is comprehensively divided by the division mode of the shared base grid, the data conditions of comprehensive line information, space geographic information and the like, and the grid is coded by the longitude and latitude lines to obtain the patrol grid map.
2. A density region dividing section: the densities will be layered according to the different structures of the particular routing grid map. The layering is realized according to longitude and latitude coordinates of grid vertexes, the grid density degree in the selected area is judged according to the number of edges of other grids in the same coordinate interval, and the grid density is divided according to the grid density degree. In the dividing process, the high-level density area is bound to be established above the low-level density area, and a jump with larger density exists.
3. An optimal path planning part: through the division of the grids and the densities, the line patrol diagram is divided into areas with large sizes and small sizes and different densities. The optimal path planning is divided into line patrol in the same density area, line patrol from the area with high density to the area with low density and line patrol from the area with low density to the area with high density. Through the discussion of the situations, the optimal path planning of the patrol officer from different positions under different conditions can be obtained in a short time, and the patrol weight can be distributed according to the density of the grid.
Compared with the prior art, the invention has the following beneficial effects:
the invention relates to an optimal path determining method based on the density of a power line patrol grid diagram, which can very quickly calculate optimal paths for line patrollers at different positions by dividing blocks and the density of a line patrol diagram.
Drawings
FIG. 1 is a schematic diagram of the density partition of the present invention;
FIG. 2 is a schematic diagram of the intensity optimal path algorithm of the present invention;
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be further described below with reference to the drawings in the embodiments of the present invention.
An optimal path determining method based on power line patrol grid diagram density comprises the following specific technical parts:
1. part of mesh division
The patrol map is comprehensively divided by the division mode of the shared base grid, the data conditions of comprehensive line information, space geographic information and the like, and the grid is coded by the longitude and latitude lines to obtain the patrol grid map.
2. Density region dividing section
The densities will be layered according to the different structures of the particular routing grid map. The layering is realized according to longitude and latitude coordinates of grid vertexes, the grid density degree in the selected area is judged according to the number of edges of other grids in the same coordinate interval, and the grid density is divided according to the grid density degree. In the dividing process, the high-level density area is bound to be established above the low-level density area, and a jump with larger density exists.
FIG. 1 is a schematic diagram of a grid for distinguishing different density regions according to the present invention.
The density is judged according to the longitude and latitude coordinates of the grid, and the longitude and latitude are divided into two parts of density components which are counted separately, and comprehensive evaluation is carried out, because the non-uniformity of grid division can cause the density difference in the longitude and latitude directions. In a coordinate region (a)1,a2) And (b)1,b2) For example, the concentration component calculation formula is as follows:
Figure RE-GDA0001806720400000031
Figure RE-GDA0001806720400000032
wherein, caAnd cbRespectively, the selected areas (a) in the weft and warp directions1To a2And b1To b2) The longitude and latitude coordinate points of different grids in the grid. Since the length of the selected segments may be very different, rounding operations for the intensity levels need to be performed in time. The selection of the region is done in a big-to-small way until the boundary length of the minimum grid is reached:
Figure RE-GDA0001806720400000041
Figure RE-GDA0001806720400000042
therefore, the approximate concentration situation of the routing graph can be obtained, and then boundary distinguishing is needed. The method adopts a grid expansion method, selects a density and a grid, and takes an adjacent same-level and higher-level density area as a grid cluster of the density level. It should be noted that the high-density region is also contained herein because the local high-density region is necessarily established above a certain first-density region, i.e., the low-density region includes the high-density region. For the grids summarized together, the small grid check is carried out by latitude and longitude classification.
At the density
Figure RE-GDA0001806720400000043
And
Figure RE-GDA0001806720400000044
and (3) independently testing each grid in the small area for reference, and judging:
Figure RE-GDA0001806720400000045
Figure RE-GDA0001806720400000046
wherein, ai、ajAnd bi、bjIs the latitude and longitude coordinates of the selected grid. If equation (2-30) or (2-31) holds, the grid is considered to be in the dense cluster. The density region can be obtained after the grids in the region are traversed. By dividing the density of the line patrol diagram, the line patrol personnel can be helped to find the optimal path more quickly, and the path has the greatest advantage of not taking repeated paths.
3. Optimal path planning method
Fig. 2 is a patrol grid diagram distinguished according to the density. According to the different positions and advancing directions of the patrol officers, the planning method of the optimal path of the patrol officers is discussed in three cases.
(1) Line patrol in same concentration area
As can be seen from fig. 2, the patrol officer in the same density area will patrol according to the specified route according to the regular pattern of the longitude or the latitude. Therefore, the comprehensive inspection of the power transmission line can be ensured. The routing path in the uniform concentration zone will be determined by the well-defined zone exits and entrances and heading. When the inspector arrives at a grid and inspects the grid for a sufficient time, the inspector is considered to complete the inspection work of the grid. In practical application, the route can be selected according to the requirement.
(2) Line patrol from low-density area to high-density area
When a patrol inspector enters a high-density area from a low-density area, a grid to be patrolled first in the high-density area and a forward direction need to be determined. Both are determined according to the route the patrolman has traversed. Specifically, only one exit is selected, so that the routing path of the patrol officer leaving the exit corresponds to the routing path in the originally low-density area. By determining the exit, the initial grid and the heading can be further determined.
(3) Line patrol from the high-density area to the low-density area:
when the patrol officer moves from the high-density area to the low-density area, only one point to be determined is needed, namely the advancing direction, and because of the density, only one initial grid is needed, and judgment is not needed. And the decision of the heading will be determined by the heading of the low-density region before entering the high-density region. If the low intensity region is entered for the first time, the routing path will be rearranged according to the expected exit.
The division of the density areas is not always completely strict, and the splitting of the same density area or the combination of different density areas can be carried out according to actual needs. When the line is patrolled in a high-density area, areas with higher density may exist, and the optimal path planning can still be realized through the iteration of the optimal path algorithm. Because the low-density area at the bottommost layer is the basis of the whole line patrol grid diagram, line patrol path selection at different initial positions is usually performed according to the area, the line patrol path selection is taken as the approximate direction of the optimal path planning, and then the optimal path planning is performed according to the divided density areas, so that the one-stroke optimal line patrol path can be realized. Although the initial position difference can cause great variation in the result of the optimal path, the basic algorithm is similar.

Claims (1)

1. An optimal path algorithm based on the intensity of an inspection grid diagram is characterized in that:
1) grid division:
comprehensively dividing the line patrol diagram by integrating the line information and the space geographic information data conditions in a division mode of sharing a base grid, and coding the grid by using longitude and latitude lines to obtain a line patrol grid diagram;
2) dividing the concentration area:
according to the spatial structure distribution of a specific line patrol grid diagram, layering is realized according to longitude and latitude coordinates of grid vertexes, the grid density degree in a selected area is judged according to the number of edges of other grids in the same coordinate interval, and the grid density degree is divided according to the number;
3) adopting a grid expansion mode until the minimum grid size, merging grids with the same density together, and establishing a high-density area above a low-density area;
4) planning an optimal path:
the method comprises the following steps of classifying path planning according to three conditions that paths are in the same density area, move from a low density area to a high density area and move from the high density area to the low density area, and planning the optimal path;
5) and providing the optimal path for a patrolman to carry out line patrol work.
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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
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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
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