CN110260865A - A kind of ultra-high voltage transformer station fortune inspection route planning method - Google Patents
A kind of ultra-high voltage transformer station fortune inspection route planning method Download PDFInfo
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- CN110260865A CN110260865A CN201910624774.4A CN201910624774A CN110260865A CN 110260865 A CN110260865 A CN 110260865A CN 201910624774 A CN201910624774 A CN 201910624774A CN 110260865 A CN110260865 A CN 110260865A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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Abstract
The present invention relates to a kind of ultra-high voltage transformer stations to transport inspection route planning method comprising the steps of: S1, carries out 3D modeling to ultra-high voltage transformer station, and to ultra-high voltage transformer station region division grid, the grid position each equipment to be inspected being corresponding in turn to where it；S2, pass through A* algorithm and GPS positioning, calculate patrol officer from initial position and reach the shortest path of final position by each equipment to be inspected in ultra-high voltage transformer station；Wherein, initial position is indicated with start node, and final position is indicated with destination node, and each equipment to be inspected of process by way of node n to indicate.The present invention by A* algorithm, can effectively calculate most short optimal polling path, improve routing inspection efficiency, save time cost according to carrying out 3D modeling in substation, mutually assist by high-precision GPS positioning.
Description
Technical field
The present invention relates to the fortune of a kind of fortune inspection route planning method, in particular to a kind of ultra-high voltage transformer station to examine route planning
Method belongs to equipment fortune inspection route intelligent algorithm planning field.
Background technique
Path planning is path planning can be divided into according to the assurance degree to environmental information based on priori Complete Information
Global path planning and local paths planning based on sensor information.
Wherein, global path planning needs to be grasped all environmental informations, carries out road according to all information of environmental map
Diameter planning.Local paths planning only needs to be acquired environmental information in real time by sensor, understands Environmental Map Information, then determines
The position of place map and its distribution of obstacles situation of part, so as to select from present node to a certain subgoal node
Optimal path.
Since ultra-high voltage transformer station area is big, environment is complicated, inspection content is changeable, also not according to voltage class inspection spacing
Identical, traditional path planning application currently on the market to the greatest extent, no methodology suit the intelligence fortune inspection in ultra-high voltage transformer station
The application of planning path.
Based on above-mentioned, the present invention proposes a kind of ultra-high voltage transformer station fortune inspection route planning method, in conjunction with global path planning
It is realized with local paths planning, effectively solves disadvantage existing in the prior art and limitation.
Summary of the invention
The object of the present invention is to provide a kind of ultra-high voltage transformer stations to transport inspection route planning method, carries out according to in substation
3D modeling is mutually assisted by high-precision GPS positioning, by A* algorithm, can effectively be calculated most short optimal polling path, be improved
Routing inspection efficiency saves time cost.
To achieve the above object, the present invention provides a kind of ultra-high voltage transformer station fortune inspection route planning method, includes following step
It is rapid:
S1,3D modeling is carried out to ultra-high voltage transformer station, and to ultra-high voltage transformer station region division grid, it will be each to be inspected
Equipment is corresponding in turn to the grid position where it；
S2, pass through A* algorithm and GPS positioning, calculate patrol officer from initial position, by ultra-high voltage transformer station
Each equipment to be inspected, reaches the shortest path of final position；Wherein, initial position is indicated with start node, final position with
Destination node indicates that each equipment to be inspected of process by way of node n to indicate.
In the S1, when carrying out 3D modeling, power transformation stop is obtained from the operation system of ultra-high voltage transformer station in real time
Condition, working region change information.
In the S2, A* algorithm specifically: construction cost estimation function F (n)=G (n)+H (n)；Wherein, F (n) is indicated
From start node by each by way of node, the cost estimated value of the shortest path of destination node is reached；G (n) is indicated from starting
When node is reached by way of node n, the actual cost value in path of having passed by；H (n) indicates to reach destination node from by way of node n
The cost estimated value of shortest path.
In the S2, comprising the following steps:
S21, one open list of setting and a closing list；Start node is added in open list as current
Node；
S22, searching the approach node adjacent with present node reject the approach section for wherein having been added to and closing list
The approach node not being removed is added in open list by point；And present node is set to these ways not being removed
The father node of diameter node, those approach nodes not being removed are child node；
S23, present node is removed from open list, and be added in closing list；
S24, paths ordering is carried out, according to the grid for dividing formation in S1, calculated cost estimation function F (n), selection is current
The optimal path of node finds the approach node of next process in path, and as the current of route searching next time
Node repeats S22~S24, until finding destination node.
In the S24, comprising the following steps:
S241, each child node for present node, according to the grid for dividing formation in S1, by laterally or longitudinally or
Cornerwise moving distance, calculates separately function G (n), i.e., from start node A be moved to the child node by path reality
Cost value；
S242, each child node for present node, according to the grid for dividing formation in S1, by laterally or longitudinally
Moving distance calculates separately function H (n), i.e., reaches the cost estimated value of the shortest path of destination node from child node；
S243, the G (n) being calculated is added with H (n), the cost estimation function F (n) of each child node can be obtained；
And therefrom find out the smallest child node of F (n)；
S244, the child node is taken out from open list, and is added in closing list.
In conclusion ultra-high voltage transformer station provided by the present invention fortune inspection route planning method, according to in substation into
Row 3D modeling is mutually assisted by high-precision GPS positioning, by A* algorithm, can effectively be calculated most short optimal polling path, be mentioned
High routing inspection efficiency saves time cost.
Detailed description of the invention
Fig. 1 is the schematic diagram of the path search algorithm A* algorithm used in the present invention；
Fig. 2 is the simulation schematic diagram of the ultra-high voltage transformer station inspection in the present invention；
Fig. 3 is the flow chart of the ultra-high voltage transformer station fortune inspection route planning method in the present invention；
Fig. 4 is the optimal path schematic diagram of the ultra-high voltage transformer station inspection in the present invention.
Specific embodiment
Below in conjunction with FIG. 1 to FIG. 4, by preferred embodiment to technology contents of the invention, construction feature, reached purpose
And effect is described in detail.
Path planning mainly solves the problems, such as: 1) currently wherein；2) where gone to；3) how to arrive at this
It goes.In the present invention, using A* algorithm as path search algorithm.A* algorithm is to solve shortest path in a kind of static road network most to have
The direct search method of effect, and solve the problems, such as the efficient algorithm of many search.Range estimation value and actual value in A* algorithm
Closer, final search speed is faster.As shown in Figure 1, there are barriers between starting point and target endpoint, it is clear that pass through A*
Advantageously, the path passed through is shorter in the path (in figure shown in right side arrow) of algorithm optimization.
As shown in Fig. 2, wherein cuboid 1-7 indicates each equipment for needing inspection in ultra-high voltage transformer station, Start is indicated
Patrol officer's present position, End indicate to need the last one equipment of inspection.The analog case of ultra-high voltage transformer station inspection
I.e. are as follows: it is required that the inspection to 1-7 equipment is completed within the shortest time in one shortest path of selection.Due to polling path
Multiple choices are had, wherein having excellent has difference.So pass through the use of A* algorithm in the present invention, it can be in the formulation of polling path
On, it provides to fortune inspection personnel and greatly helps.In fact, the number of devices often configured in an extra-high buckling station is very big,
In each different extra-high buckling station, the placement location of each equipment is also not quite similar.Therefore pass through 3D modeling in the present invention, according to
It is mutually assisted by A* algorithm and high-precision GPS positioning, to reach raising routing inspection efficiency, saves the purpose of time cost.
As shown in figure 3, for ultra-high voltage transformer station provided by the invention fortune inspection route planning method comprising the steps of:
S1,3D modeling is carried out to ultra-high voltage transformer station, and to ultra-high voltage transformer station region division grid, it will be each to be inspected
Equipment is corresponding in turn to the grid position where it；
S2, pass through A* algorithm and GPS positioning, calculate patrol officer from initial position, by ultra-high voltage transformer station
Each equipment to be inspected, reaches the shortest path of final position；Wherein, initial position is indicated with start node, final position with
Destination node indicates that each equipment to be inspected of process by way of node n to indicate.
In the S1, when carrying out 3D modeling, in real time for example, by network transmission means etc. from ultra-high voltage transformer station
The change information of substation's road conditions, working region etc. is obtained in each operation system.
In the S2, A* algorithm specifically: construction cost estimation function F (n)=G (n)+H (n)；Wherein, F (n) is indicated
From start node by each by way of node, the cost estimated value of the shortest path of destination node is reached；G (n) is indicated from starting
When node is reached by way of node n, the actual cost value in path of having passed by；H (n) indicates to reach destination node from by way of node n
The cost estimated value of shortest path.
The cost value of present node can be calculated according to F (n), and the node that can be reached next time can be commented
Estimate, all find the process that the smallest node of cost value is further continued for search by using each search, find step by step it is optimal most
Short path.
In conjunction with practical inspection process, the path values that cost estimation function F (n) is represented, must be it is shortest, one is completely patrolled
Inspection path is composed of the node path of multiple optimizations.
Further, in the S2, comprising the following steps:
S21, one open list (open list) of setting and a closing list (close list)；By start node A
(No. 1 equipment in Fig. 2) is added in open list as present node.
The opening list is a path white list, for recording the selection for the approach node that can be considered, when
Only one start node A in preceding opening list, with the continuation of algorithm, rear extended meeting gradually increases more approach nodes.
S22, searching the approach node adjacent with present node reject the approach section for wherein having been added to and closing list
The approach node not being removed is added in open list by point；And present node is set to these ways not being removed
The father node (parent node) of diameter node, those approach nodes not being removed are child node.
As shown in Fig. 2, the approach node adjacent with start node A is respectively No. 2 equipment and No. 3 equipment, therefore, it is necessary to will
The two approach nodes are added in open list.
Node in the opening list is the node that path may be passed through on the way, it is also possible to not through, because
This, it is after inspection starts, successively by some possible approach sections that open list, which is substantially a node listing to be checked,
Point is put into the opening list.
S23, present node is removed from open list, and be added in closing list；Each of the closing list
What is placed in grid is all the node for no longer needing to concern.
S24, progress paths ordering calculate the generation of each child node of present node according to the grid for dividing formation in S1
Valence estimation function F (n)=G (n)+H (n), selects the optimal path of present node, finds the approach section of next process in path
Point, and as the present node of route searching next time, S22~S24 is repeated, until finding destination node.
In the S24, comprising the following steps:
S241, each child node for present node calculate separately function G according to the grid for dividing formation in S1
(n), i.e., from start node A be moved to the child node by path actual cost value.
In a preferred embodiment of the invention, horizontal and vertical mobile cost value is 10, cornerwise mobile cost value
It is 14.Why these data are used, is because actual diagonal moving distance is 2 square root, is approximate 1.414
Lateral or longitudinal movement cost again.It the use of 10 and 14 is exactly for simplicity, while to ensure that ratio is substantially correct,
And it avoids evolution and decimal calculates.On the other hand, using these numbers it is also possible that calculating the time faster.
Since above-mentioned steps S241 is to calculate G value along the path for reaching specified approach node, then calculating the section
The method of G value of point is exactly to find out the G value of its father node, and then the positional relationship according to it between father node is in straight line or tiltedly
Line direction is calculated plus 10 or 14.
S242, each child node for present node calculate separately function H according to the grid for dividing formation in S1
(n), i.e., the cost estimated value of the shortest path of destination node is reached from child node.
In a preferred embodiment of the invention, H value is calculated using Manhattan algorithm, specifically: it is logical from current node
It crosses lateral or longitudinal movement and reaches the grid number that destination node is passed through, ignore diagonal movement, then multiply the total grid number of gained
(according to above-mentioned, the cost value of the moving distance of each grid laterally or longitudinally is the 10) cost value as estimated with 10
H。
Why it is called Manhattan algorithm, is because its similar statistics is passed through from one place to another place
Block number, and cannot be obliquely through block.Importantly, to ignore the barrier in path when calculating H.This is to residue
The estimated value of distance, rather than actual value, therefore also referred to as heuristic.
S243, the G (n) being calculated is added with H (n), the cost estimation function F (n) of each child node can be obtained；
And therefrom find out the smallest child node of F (n).
S244, the child node is taken out from open list, and is added in closing list.
Provided ultra-high voltage transformer station fortune inspection route planning method according to the present invention, as shown in figure 4, finally can be derived that
Best polling path is the order according to 1-2-5-4-3-6-7, carries out inspection to each equipment.
In conclusion ultra-high voltage transformer station provided by the present invention fortune inspection route planning method, according to in substation into
Row 3D modeling is mutually assisted by high-precision GPS positioning, by A* algorithm, can effectively be calculated most short optimal polling path, be mentioned
High routing inspection efficiency saves time cost.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (5)
1. a kind of ultra-high voltage transformer station fortune inspection route planning method, which is characterized in that comprise the steps of:
S1,3D modeling is carried out to ultra-high voltage transformer station, and to ultra-high voltage transformer station region division grid, by each equipment to be inspected
The grid position being corresponding in turn to where it；
S2, pass through A* algorithm and GPS positioning, calculate patrol officer from initial position, by each in ultra-high voltage transformer station
Equipment to be inspected reaches the shortest path of final position；
Wherein, initial position is indicated with start node, and final position is indicated with destination node, each equipment to be inspected of process with
It is indicated by way of node n.
2. ultra-high voltage transformer station fortune inspection route planning method as described in claim 1, which is characterized in that in the S1,
When carrying out 3D modeling, the change information of substation's road conditions, working region is obtained from the operation system of ultra-high voltage transformer station in real time.
3. ultra-high voltage transformer station fortune inspection route planning method as described in claim 1, which is characterized in that in the S2, A*
Algorithm specifically: construction cost estimation function F (n)=G (n)+H (n)；
Wherein, F (n) indicates from start node to reach the cost estimation of the shortest path of destination node by way of node by each
Value；When G (n) indicates to reach from start node by way of node n, the actual cost value in path of having passed by；H (n) is indicated from by way of section
Point n reaches the cost estimated value of the shortest path of destination node.
4. ultra-high voltage transformer station fortune inspection route planning method as claimed in claim 3, which is characterized in that in the S2, tool
Body comprises the steps of:
S21, one open list of setting and a closing list；Start node is added to be used as in open list and works as prosthomere
Point；
S22, searching the approach node adjacent with present node reject the approach node for wherein having been added to and closing list, will
The approach node not being removed is added in open list；And present node is set to these approach nodes not being removed
Father node, those approach nodes not being removed are child node；
S23, present node is removed from open list, and be added in closing list；
S24, paths ordering is carried out, according to the grid for dividing formation in S1, calculates cost estimation function F (n), selects present node
Optimal path, find the approach node of next process in path, and as the present node of route searching next time,
S22~S24 is repeated, until finding destination node.
5. ultra-high voltage transformer station fortune inspection route planning method as claimed in claim 4, which is characterized in that in the S24, tool
Body comprises the steps of:
S241, each child node for present node, according to the grid for dividing formation in S1, by laterally or longitudinally or diagonally
The moving distance of line, calculates separately function G (n), i.e., from start node A be moved to the child node by path actual cost
Value；
S242, each child node for present node pass through movement laterally or longitudinally according to the grid for dividing formation in S1
Distance calculates separately function H (n), i.e., reaches the cost estimated value of the shortest path of destination node from child node；
S243, the G (n) being calculated is added with H (n), the cost estimation function F (n) of each child node can be obtained；And
Therefrom find out the smallest child node of F (n)；
S244, the child node is taken out from open list, and is added in closing list.
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| CN111323036A (en) * | 2020-02-19 | 2020-06-23 | 中冶东方工程技术有限公司 | Method and system for intelligently optimizing path of stock yard, electronic equipment and storage medium |
| CN112033428A (en) * | 2020-09-02 | 2020-12-04 | 国网河北省电力有限公司保定供电分公司 | Path planning method for power distribution first-aid repair |
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| CN112286184A (en) * | 2020-09-30 | 2021-01-29 | 广东唯仁医疗科技有限公司 | Outdoor surveying robot control method and system based on 5G network |
| CN112286184B (en) * | 2020-09-30 | 2023-02-24 | 广东唯仁医疗科技有限公司 | Outdoor surveying robot control method based on 5G network |
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