Automatic path planning method and device for overhead collector lines

Abstract

The present invention discloses a method and device for automatically planning the path of an overhead collector line, which belongs to the technical field of photovoltaic power generation. The method is as follows: determining a box transformer connection path that meets the first goal in a single-circuit tower mode; in the box transformer connection path that meets the first goal, using a serpentine exploratory path correction strategy to correct it, and then using a multi-circuit tower optimization strategy to optimize it to obtain a box transformer connection path that meets the second goal; selecting the box transformer connection path with the lowest cost among the box transformer connection paths that meet the second goal. The box transformer connection path with the lowest theoretical cost is directly obtained based on the three-dimensional coordinates, and then corrected using a serpentine exploratory path correction strategy to make it closer to the actual situation and more accurate. A hierarchical multi-circuit tower optimization method is used, which makes the calculation faster and more efficient and the result better, that is, the planned path is the shortest and the cost is the lowest.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic power generation, and in particular to a method and device for automatically planning the path of an overhead collector line. Background Art

[0002] Currently, with the continued release of favorable policies in the new energy sector, it is foreseeable that the proportion of non-fossil energy, represented by photovoltaics and wind power, will further increase significantly. For various design processes that currently rely primarily on manual experience, the explosive growth of installed capacity, increased business volume, and intensified competition have not only put the industry understaffed, but also placed higher demands on low-cost innovation. To reduce the high cost of laying long-distance lines, especially in complex scenarios such as mountainous areas, the industry generally adopts overhead lines for collector line design. Currently, the optimization design of overhead collector lines, whether for photovoltaic or wind power projects, is still mainly manual, with significant shortcomings in work efficiency and design quality.

[0003] To address the low efficiency and poor quality of overhead line collector line design, methods for 3D collector line design and 2D path optimization have emerged. However, these methods are still in the exploratory stage. The 3D model employed is simply a manual design process based on the 3D model, serving only as a display and design aid, and still falls far short of achieving the goal of automated planning. Furthermore, 2D optimization methods suffer from inaccurate data and a significant discrepancy between optimization results and actual results.

[0004] Therefore, faced with the complex scenarios and huge amounts of theoretical data for overhead collector lines, design based solely on manual experience has become one of the bottlenecks restricting the development of the industry. There is an urgent need to find an automatic path planning method for overhead collector lines that is faster in calculation, produces better results, and is more practical, so as to further improve design efficiency and quality. Summary of the Invention

[0005] The main purpose of the present invention is to provide a method and device for automatically planning the path of an overhead collector line, aiming to solve the technical problems in the prior art that the planned path of the overhead collector line is not the shortest, the cost is not the lowest, and the planning efficiency is low.

[0006] To achieve the above object, the present invention provides a method for automatically planning a path for an overhead collector line, the method comprising:

[0007] Determine the box-type transformer connection path that meets the first objective in the single-circuit tower mode;

[0008] In the box-type transformer connection path that meets the first goal, after being corrected using the serpentine exploration path correction strategy, it is optimized using the multi-circuit tower optimization strategy to obtain a box-type transformer connection path that meets the second goal;

[0009] The box-type transformer connection path with the lowest cost is selected from the box-type transformer connection paths that meet the second objective.

[0010] Optionally, the step of determining a box-type transformer connection path that meets the first objective in the single-circuit tower mode includes:

[0011] Calculate the straight-line distance between any two box-type substations in three-dimensional space;

[0012] A preset number of box-type transformer connection paths that meet the first objective in a single-circuit tower mode are determined based on the straight-line distance.

[0013] Optionally, the step of determining a preset number of box-type transformer connection paths that meet a first objective in a single-circuit tower mode according to the straight-line distance includes:

[0014] If the number of the box-type substations is not greater than a preset threshold, determining all the preset number of box-type substation connection paths obtained by permutation and combination;

[0015] If the number of the box-type substations is greater than a preset threshold, a preset number of box-type substation connection paths are determined according to a preset path algorithm and a random calculation algorithm.

[0016] Optionally, the step of determining a preset number of box-type transformer connection paths according to a preset path algorithm and a random calculation algorithm includes:

[0017] Determine the first box-type transformer connection path based on the preset path algorithm;

[0018] Among all the combined connection paths determined by the random calculation algorithm, a remaining box-type transformer connection path is determined, wherein the remaining box-type transformer connection path is a combined connection path with the lowest cost among all the combined connection paths determined by the random calculation algorithm.

[0019] Optionally, the step of correcting the path using a serpentine exploratory path correction strategy includes:

[0020] Determine the reciprocating motion trajectory under ideal conditions based on the connection direction between adjacent box-type transformers to be connected, the effective left and right swing width W, and the effective forward distance S of a single swing of the serpentine exploratory path correction strategy;

[0021] According to the reciprocating motion trajectory and the predicted surrounding elevation information, the connection direction between adjacent box-type transformers to be connected, the effective left and right swing width W, and the effective forward distance S of a single swing are corrected, and the corrected reciprocating motion trajectory is determined;

[0022] According to the corrected reciprocating motion trajectory, a fitting connection path corrected by using a serpentine exploratory path correction strategy is determined.

[0023] Optionally, the step of correcting the connection direction between adjacent box-type transformers to be connected, the effective left-right swing width W, and the effective forward distance S of a single swing includes:

[0024] If the predicted surrounding elevation information meets the definition of the preset flat area, the effective width W of the left and right swing is reduced and the effective forward distance S of a single swing is increased;

[0025] If the predicted surrounding elevation information meets the definition of the preset steep area, the effective width W of the left and right swing is increased and the effective forward distance S of a single swing is reduced;

[0026] The new connection direction between the adjacent box-type transformers to be connected is determined based on the adjusted left and right swing effective width W and the single swing effective forward distance S.

[0027] Optionally, the step of determining a corrected fitting connection path using a serpentine exploratory path correction strategy based on the corrected reciprocating motion trajectory includes:

[0028] Determining all three-dimensional coordinates of the adjacent minimum single motion trajectory of the corrected reciprocating motion trajectory;

[0029] Determine adjacent coordinates that meet the definition of a preset flat area based on all three-dimensional coordinates of adjacent minimum single motion trajectories;

[0030] A fitting connection path is determined according to the adjacent coordinates.

[0031] Optionally, the step of optimizing using a multi-circuit tower optimization strategy includes:

[0032] After the temporary box-type transformer connection path is obtained through correction using the serpentine exploratory path correction strategy, the temporary box-type transformer connection path having a distance less than a preset distance threshold is optimized using a multi-circuit tower optimization strategy.

[0033] Optionally, the step of optimizing using a multi-circuit tower optimization strategy further includes:

[0034] Determine the maximum number of circuits on the tower;

[0035] The fitting connection paths corresponding to the number of loops are determined according to the sequence from a single loop to the loop with the maximum number of loops.

[0036] Optionally, the step of optimizing using a multi-circuit tower optimization strategy further includes:

[0037] All fitting connection paths are compared and selected based on the comprehensive cost, and the fitting connection path with the lowest cost is determined as the box-type transformer connection path that meets the second objective.

[0038] In addition, to achieve the above-mentioned purpose, the present invention also provides an automatic path planning device for an overhead collector line, and the automatic path planning device for an overhead collector line includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the automatic path planning method for an overhead collector line as described above.

[0039] An embodiment of the present invention proposes a method and device for automatically planning the path of an overhead collector line. The method comprises: determining a box-type transformer connection path that meets a first objective in a single-circuit tower mode; in the box-type transformer connection path that meets the first objective, correcting it using a serpentine exploration path correction strategy, and then optimizing it using a multi-circuit tower optimization strategy to obtain a box-type transformer connection path that meets a second objective; and selecting the box-type transformer connection path with the lowest cost from the box-type transformer connection path that meets the second objective.

[0040] The lowest theoretical cost box-type transformer connection path is directly obtained based on 3D coordinates, and then modified using a serpentine-like exploration-based path correction strategy, making the result closer to reality and more accurate. A hierarchical multi-circuit tower optimization method is also used, resulting in faster and more efficient calculations and better results, namely, the shortest planned path with the lowest cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the structure of the operating equipment of the hardware operating environment involved in the embodiment of the present invention;

[0042] Figure 2 This is a flow chart of an embodiment of a method for automatic path planning of an overhead collector line according to the present invention;

[0043] Figure 3 A top view of a serpentine exploratory route according to an embodiment of a method for automatically planning a path for an overhead collector line according to the present invention;

[0044] Figure 4 A top view of a serpentine exploratory route with an avoidance zone according to an embodiment of a method for automatically planning a path for an overhead collector line of the present invention;

[0045] Figure 5 A side view of the relative positions of the box-type transformers according to an embodiment of a method for automatic path planning of an overhead collector line according to the present invention;

[0046] Figure 6 A schematic diagram of a single-circuit tower connection according to an embodiment of a method for automatic path planning of an overhead collector line according to the present invention;

[0047] Figure 7 A schematic diagram of double-circuit tower connections according to an embodiment of a method for automatic path planning of an overhead collector line according to the present invention;

[0048] Figure 8 A schematic diagram of a three-circuit tower connection according to an embodiment of a method for automatically planning a path for an overhead collector line according to the present invention;

[0049] Figure 9 Another schematic diagram of three-circuit tower connections for an embodiment of a method for automatic path planning of an overhead collector line according to the present invention;

[0050] Figure 10 The figure is a schematic diagram of four-circuit tower connections according to an embodiment of a method for automatic path planning of an overhead collector line according to the present invention.

[0051] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0052] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0053] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of the operating equipment of the hardware operating environment involved in the embodiment of the present invention.

[0054] like Figure 1 As shown, the operating device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the user interface 1003 may optionally include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may optionally be a storage device independent of the aforementioned processor 1001.

[0055] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the operating device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0056] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module and a computer program.

[0057] exist Figure 1 In the operating device shown, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the operating device of the present invention can be set in the operating device, and the operating device calls the computer program stored in the memory 1005 through the processor 1001 and performs the following operations:

[0058] Determine the box-type transformer connection path that meets the first objective in the single-circuit tower mode;

[0059] In the box-type transformer connection path that meets the first goal, after being corrected using the serpentine exploration path correction strategy, it is optimized using the multi-circuit tower optimization strategy to obtain a box-type transformer connection path that meets the second goal;

[0060] The box-type transformer connection path with the lowest cost is selected from the box-type transformer connection paths that meet the second objective.

[0061] Furthermore, the processor 1001 may call a computer program stored in the memory 1005 and perform the following operations:

[0062] The step of determining a box-type transformer connection path that meets the first objective in the single-circuit tower mode includes:

[0063] Calculate the straight-line distance between any two box-type substations in three-dimensional space;

[0064] A preset number of box-type transformer connection paths that meet the first objective in a single-circuit tower mode are determined based on the straight-line distance.

[0065] Furthermore, the processor 1001 may call a computer program stored in the memory 1005 and perform the following operations:

[0066] The step of determining a preset number of box-type transformer connection paths that meet the first objective in a single-circuit tower mode according to the straight-line distance includes:

[0067] If the number of the box-type substations is not greater than a preset threshold, determining all the preset number of box-type substation connection paths obtained by permutation and combination;

[0068] If the number of the box-type substations is greater than a preset threshold, a preset number of box-type substation connection paths are determined according to a preset path algorithm and a random calculation algorithm.

[0069] Furthermore, the processor 1001 may call a computer program stored in the memory 1005 and perform the following operations:

[0070] The step of determining a preset number of box-type transformer connection paths according to a preset path algorithm and a random calculation algorithm includes:

[0071] Determine the first box-type transformer connection path based on the preset path algorithm;

[0072] Among all the combined connection paths determined by the random calculation algorithm, a remaining box-type transformer connection path is determined, wherein the remaining box-type transformer connection path is a combined connection path with the lowest cost among all the combined connection paths determined by the random calculation algorithm.

[0073] Furthermore, the processor 1001 may call a computer program stored in the memory 1005 and perform the following operations:

[0074] The step of using the snake-like heuristic path correction strategy to correct the path includes:

[0075] Determine the reciprocating motion trajectory under ideal conditions based on the connection direction between adjacent box-type transformers to be connected, the effective left and right swing width W, and the effective forward distance S of a single swing of the serpentine exploratory path correction strategy;

[0076] According to the reciprocating motion trajectory and the predicted surrounding elevation information, the connection direction between adjacent box-type transformers to be connected, the effective left and right swing width W, and the effective forward distance S of a single swing are corrected, and the corrected reciprocating motion trajectory is determined;

[0077] According to the corrected reciprocating motion trajectory, a fitting connection path corrected by using a serpentine exploratory path correction strategy is determined.

[0078] Furthermore, the processor 1001 may call a computer program stored in the memory 1005 and perform the following operations:

[0079] The step of correcting the connection direction between adjacent box-type transformers to be connected, the effective left-right swing width W, and the effective forward distance S of a single swing includes:

[0080] If the predicted surrounding elevation information meets the definition of the preset flat area, the effective width W of the left and right swing is reduced and the effective forward distance S of a single swing is increased;

[0081] If the predicted surrounding elevation information meets the definition of the preset steep area, the effective width W of the left and right swing is increased and the effective forward distance S of a single swing is reduced;

[0082] The new connection direction between the adjacent box-type transformers to be connected is determined based on the adjusted left and right swing effective width W and the single swing effective forward distance S.

[0083] Furthermore, the processor 1001 may call a computer program stored in the memory 1005 and perform the following operations:

[0084] The step of determining a corrected fitting connection path using a serpentine exploratory path correction strategy based on the corrected reciprocating motion trajectory includes:

[0085] Determining all three-dimensional coordinates of the adjacent minimum single motion trajectory of the corrected reciprocating motion trajectory;

[0086] Determine adjacent coordinates that meet the definition of a preset flat area based on all three-dimensional coordinates of adjacent minimum single motion trajectories;

[0087] A fitting connection path is determined according to the adjacent coordinates.

[0088] Furthermore, the processor 1001 may call a computer program stored in the memory 1005 and perform the following operations:

[0089] The step of optimizing using the multi-circuit tower optimization strategy includes:

[0090] After the temporary box-type transformer connection path is obtained through correction using the serpentine exploratory path correction strategy, the temporary box-type transformer connection path having a distance less than a preset distance threshold is optimized using a multi-circuit tower optimization strategy.

[0091] Furthermore, the processor 1001 may call a computer program stored in the memory 1005 and perform the following operations:

[0092] The step of optimizing using the multi-circuit tower optimization strategy also includes:

[0093] Determine the maximum number of circuits on the tower;

[0094] The fitting connection paths corresponding to the number of loops are determined according to the sequence from a single loop to the loop with the maximum number of loops.

[0095] Furthermore, the processor 1001 may call a computer program stored in the memory 1005 and perform the following operations:

[0096] The step of optimizing using the multi-circuit tower optimization strategy also includes:

[0097] All fitting connection paths are compared and selected based on the comprehensive cost, and the fitting connection path with the lowest cost is determined as the box-type transformer connection path that meets the second objective.

[0098] The embodiment of the present invention provides a method for automatically planning the path of an overhead collector line, referring to Figure 2 , Figure 2 The figure is a flow chart of an embodiment of a method for automatic path planning of an overhead collector line according to the present invention.

[0099] In this embodiment, the method for automatically planning a path for an overhead collector line includes:

[0100] Step S10: Determine a box-type transformer connection path that meets the first objective in a single-circuit tower mode.

[0101] Step S20: in the box-type transformer connection path that meets the first objective, after being corrected using the serpentine exploration path correction strategy, it is optimized using the multi-circuit tower optimization strategy to obtain the box-type transformer connection path that meets the second objective.

[0102] Step S30: Selecting the box-type transformer connection path with the lowest cost from the box-type transformer connection paths that meet the second objective.

[0103] In new energy power station projects, whether photovoltaic or wind power projects, collection line planning is an essential link. For complex scenarios such as mountainous areas and long-distance transmission, overhead line design is mostly adopted. In order to solve the technical problems of low efficiency, inaccurate results, non-shortest planning paths, and non-lowest costs in overhead collection line planning, a hierarchical multi-circuit tower hybrid optimization method is proposed in this embodiment: 1. The equipment line connection method of the simulated snake exploration type (such as S-shaped, N-shaped, W-shaped, Z-shaped, etc.) is adopted, which is closer to the actual situation and the results are more accurate. 2. An overhead line planning method is proposed, which introduces the idea of ​​hierarchical multi-circuit tower combination optimization, making the calculation faster and the results better.

[0104] The details are as follows: First, in a single-circuit tower mode, the top N lowest-cost combinations (preset by the system or specified by the user) are identified. These combinations represent the box-type transformers to be connected along the box-type transformer connection path. Using a simple single-circuit connection model, a theoretically optimal connection scheme based on overhead collector lines is quickly calculated and initially proposed.

[0105] Then, for the N resulting combinations and connection methods, i.e., the box-type transformer connection path with the lowest theoretical cost that meets the first objective, a snake-like exploratory path correction strategy is used to modify it, avoiding dangerous or inappropriate areas where towers cannot be installed based on the actual terrain. After this correction, the multi-circuit tower optimization strategy is used for optimization. The tower optimization principle is to gradually upgrade from single circuit to double circuit to triple circuit, etc., to obtain the box-type transformer connection path with the lowest actual cost that meets the second objective. The first objective can be to minimize theoretical cable length, such as the shortest theoretical total length of direct cable connections, while the second objective can be to minimize actual cable length, such as the shortest total length of actual connections.

[0106] In this embodiment, a box-type transformer connection path that meets the first objective is determined in a single-circuit tower mode; in the box-type transformer connection path that meets the first objective, after correction using a serpentine exploration path correction strategy, optimization is performed using a multi-circuit tower optimization strategy to obtain a box-type transformer connection path that meets the second objective; and in the box-type transformer connection path that meets the second objective, the box-type transformer connection path with the lowest cost is selected.

[0107] The lowest theoretical cost box-type transformer connection path is directly obtained based on 3D coordinates, and then modified using a serpentine-like exploration-based path correction strategy, making the result closer to reality and more accurate. A hierarchical multi-circuit tower optimization method is also used, resulting in faster and more efficient calculations and better results, namely, the shortest planned path with the lowest cost.

[0108] Optionally, the step of determining a box-type transformer connection path that meets the first objective in the single-circuit tower mode includes:

[0109] Calculate the straight-line distance between any two box-type substations in three-dimensional space;

[0110] A preset number of box-type transformer connection paths that meet the first objective in a single-circuit tower mode are determined based on the straight-line distance.

[0111] Optionally, the step of determining a preset number of box-type transformer connection paths that meet a first objective in a single-circuit tower mode according to the straight-line distance includes:

[0112] If the number of the box-type substations is not greater than a preset threshold, determining all the preset number of box-type substation connection paths obtained by permutation and combination;

[0113] If the number of the box-type substations is greater than a preset threshold, a preset number of box-type substation connection paths are determined according to a preset path algorithm and a random calculation algorithm.

[0114] Optionally, the step of determining a preset number of box-type transformer connection paths according to a preset path algorithm and a random calculation algorithm includes:

[0115] Determine the first box-type transformer connection path based on the preset path algorithm;

[0116] Among all the combined connection paths determined by the random calculation algorithm, a remaining box-type transformer connection path is determined, wherein the remaining box-type transformer connection path is a combined connection path with the lowest cost among all the combined connection paths determined by the random calculation algorithm.

[0117] In this embodiment, the total number of collector lines (the number of box-type transformer connections) and the range of box-type transformers that can be connected to each collector line are calculated based on user input, including the total number of box-type transformers, transformer type, cable specifications, and coordinates of each box-type transformer. The box-type transformer coordinates can be the locations of box-type transformers, wind turbines, or box-type transformers. Pole towers are installed between the box-type transformers to route cables and prevent high-voltage cables from sagging.

[0118] After the cable specifications are finalized, a larger number of small-power box-type transformers can be connected. A range of box-type transformers must be determined: the minimum number corresponds to the maximum-power box-type transformers, while the maximum number corresponds to the minimum-power box-type transformers. Two methods are available: In the hybrid method, assuming a smaller 2MW box-type transformer and a larger 5MW box-type transformer, the maximum cable specifications support connecting eight small box-type transformers, while only three of the larger 5MW box-type transformers can be connected. In the manual designation method, four box-type transformers are manually designated, and the five specified routes are used. The number and type of box-type transformers connected to each route are determined based on the four box-type transformers.

[0119] In the single-circuit tower mode, the top N combinations (either system preset or user-specified) with the best cost are found through permutations and combinations.

[0120] First, calculate the straight-line distance between any two equipment points in three-dimensional space, that is, the shortest distance in space. Since only the position coordinates of two box-type transformers need to be considered to calculate their distance value, the advantages are fast calculation speed, reduced calculation amount, and more realistic reflection of the spatial distance between each box-type transformer.

[0121] Then, calculate the top N (preset number) combinations with the lowest theoretical cost. There are two cases: (1) When the number of box-type transformers is small (the number of box-type substations is not greater than the preset threshold), and the theoretical total number of combinations is not greater than N, return all possible combinations. Assume that there are two lines, each with three box-type transformers, and a total of six box-type transformers. The theoretical maximum number of permutations and combinations is small. Return all these box-type transformer combinations and their connection relationships.

[0122] (2) There are a large number of box-type transformers (the number of box-type substations is greater than the preset threshold). When the total number of theoretical combinations is greater than N, for example, if there are a large number of box-type transformers in a wind turbine plant, the results of the permutation and combination are in the hundreds of millions. It is impossible to exhaustively select one thousand or ten thousand solutions at random, and the best solution may be missed. Therefore, it is necessary to improve the computational efficiency as much as possible according to the subsequent algorithm. To ensure the accuracy of the combination results, a two-step solution is adopted at this time. First, the best combination is found based on a path algorithm such as a simulated annealing algorithm; then, m combinations are found by random calculation, and the top N-1 combinations with the lowest calculation cost are calculated. In theory, the larger m is, the better the result may be, but the time will be longer, so it is necessary to give an appropriate range based on the actual situation.

[0123] The reason for first finding the best combination and then randomly calculating the remaining combinations is that this may result in a local optimum rather than a global optimum. Therefore, a fallback combination is found and then compared with the subsequently determined solution. Assuming there are 100,000 combinations, the result of each random selection may be different. Using the pre-set path algorithm, the result is likely to be the same each time. By increasing the number of iterations, the combination with the highest probability and the most occurrences is considered the best combination. The reason for finding m combinations is to escape the local optimum, as the pre-set path algorithm may also be constrained to a local optimum. Too few iterations can also lead to the same local optimum.

[0124] Because the bottom-line combination is found in a set number of paths, and the randomly found m combinations are also found in another set number of paths, it is a dynamic adjustment process.

[0125] Optionally, the step of correcting the path using a serpentine exploratory path correction strategy includes:

[0126] Determine the reciprocating motion trajectory under ideal conditions based on the connection direction between adjacent box-type transformers to be connected, the effective left and right swing width W, and the effective forward distance S of a single swing of the serpentine exploratory path correction strategy;

[0127] According to the reciprocating motion trajectory and the predicted surrounding elevation information, the connection direction between adjacent box-type transformers to be connected, the effective left and right swing width W, and the effective forward distance S of a single swing are corrected, and the corrected reciprocating motion trajectory is determined;

[0128] According to the corrected reciprocating motion trajectory, a fitting connection path corrected by using a serpentine exploratory path correction strategy is determined.

[0129] Optionally, the step of correcting the connection direction between adjacent box-type transformers to be connected, the effective left-right swing width W, and the effective forward distance S of a single swing includes:

[0130] If the predicted surrounding elevation information meets the definition of the preset flat area, the effective width W of the left and right swing is reduced and the effective forward distance S of a single swing is increased;

[0131] If the predicted surrounding elevation information meets the definition of the preset steep area, the effective width W of the left and right swing is increased and the effective forward distance S of a single swing is reduced;

[0132] The new connection direction between the adjacent box-type transformers to be connected is determined based on the adjusted left and right swing effective width W and the single swing effective forward distance S.

[0133] Optionally, the step of determining a corrected fitting connection path using a serpentine exploratory path correction strategy based on the corrected reciprocating motion trajectory includes:

[0134] Determining all three-dimensional coordinates of the adjacent minimum single motion trajectory of the corrected reciprocating motion trajectory;

[0135] Determine adjacent coordinates that meet the definition of a preset flat area based on all three-dimensional coordinates of adjacent minimum single motion trajectories;

[0136] A fitting connection path is determined according to the adjacent coordinates.

[0137] In this embodiment, referring to Figure 3 , Figure 3 This is a top view of a serpentine exploratory route of an embodiment of a method for automatically planning a path for an overhead collector line according to the present invention; Figure 4 , Figure 4 A top view of a serpentine exploratory route with an avoidance zone in an embodiment of an automatic path planning method for an overhead collector line according to the present invention; Figure 5 , Figure 5 This is a side view of the relative positions of the box-type transformers in an embodiment of a method for automatic path planning of an overhead collector line according to the present invention.

[0138] The line segment between the current exploration position and the target position is the main direction. Assuming that the adjacent box transformers A and B to be connected are the devices to be connected, the line connecting the line segments AB is initially used as the main direction of advance. The effective width W of the left and right swings and the effective forward distance S of a single swing are both input parameters (preset by the system or input by the user). In the existing scheme, the method for determining the box transformer connection path is to divide the preset installation area into a grid and find the optimal path in the grid. The process is relatively complicated. However, in this embodiment, there are many box transformers, and its grid method is not applicable to this embodiment.

[0139] According to the connection direction between adjacent box-type transformers to be connected, in the width area divided by the left and right swing effective width W of the serpentine exploratory path correction strategy, the reciprocating motion trajectory under the ideal state is determined by scanning forward with a single swing effective forward distance S, that is, Figure 3 、 Figure 4 A solid line with height information in the middle.

[0140] Based on the reciprocating motion trajectory and predicted surrounding elevation information, the connection direction between adjacent box-type transformers to be connected, as well as the effective left-right swing width W and the effective forward distance S of a single swing, are dynamically adjusted and corrected. In principle, areas with gentle elevation changes should be selected. Given that overhead lines are used, overly sensitive elevation changes are not required; adjustments are only made when the elevation change per unit horizontal distance reaches a certain level. Figure 3 is the forward trajectory under ideal conditions, Figure 4 If there are adjustments during the process, Figure 4 The middle shaded area is a low-lying area that needs to be avoided. Based on the reciprocating motion trajectory, a trajectory line that takes into account both short distance and high altitude changes is found, which is the corrected reciprocating motion trajectory.

[0141] Specifically, in a flat area, it swings normally, is narrower left to right, and larger front to back, so that it moves forward more straightly. In a steep area, it is wider left to right, and smaller front to back, so that it moves forward more safely. This is equivalent to dividing a safe area between AB, and selecting the path with the lowest cost and the largest span in the safe area, so that the height change of the tower is as gentle as possible. In the left-right swinging path (the broken solid line between AB), the first swing from left to right finds a point that takes into account both a short distance and meets the height change requirements. Then, the second swing from right to left finds another point. Connecting these two points is the corrected fitting connection path. That is, the broken solid line is calculated based on the 3D terrain map: first, based on a large amount of 3D terrain data, a range is selected, and within the range, the points that the fitting connection path must pass through are selected: points that take into account both a short distance and meet the height change requirements.

[0142] In addition, when determining the location of towers, if the reciprocating motion trajectory after fitting correction is steep, additional towers will be automatically added to ensure the stability of the line. For relatively flat sections, towers can be arranged at equal intervals.

[0143] Among them, due to the huge amount of data, assuming an area of ​​20KM*30KM, there is basically a point every few dozen meters, so the surrounding elevation information needs to be predicted by an artificial intelligence-based prediction algorithm.

[0144] Optionally, the step of optimizing using a multi-circuit tower optimization strategy includes:

[0145] After the temporary box-type transformer connection path is obtained through correction using the serpentine exploratory path correction strategy, the temporary box-type transformer connection path having a distance less than a preset distance threshold is optimized using a multi-circuit tower optimization strategy.

[0146] Optionally, the step of optimizing using a multi-circuit tower optimization strategy further includes:

[0147] Determine the maximum number of circuits on the tower;

[0148] The fitting connection paths corresponding to the number of loops are determined according to the sequence from a single loop to the loop with the maximum number of loops.

[0149] Optionally, the step of optimizing using a multi-circuit tower optimization strategy further includes:

[0150] All fitting connection paths are compared and selected based on the comprehensive cost, and the fitting connection path with the lowest cost is determined as the box-type transformer connection path that meets the second objective.

[0151] In this embodiment, referring to Figures 6 to 10 In the diagram, 0 represents a booster station, while 1, 2, 3, and 20 represent box-type transformers, which are the power generation end. For example, electricity generated by a wind turbine is transmitted through a box-type transformer, where it is boosted and connected to the grid. A box-type transformer is installed below the wind turbine, and these can be installed together or separately. The towers are located between the box-type transformers 1, 2, 3, and 20.

[0152] Single circuit: The number of circuits that the pole tower can support and connect is 1. A single pole or cement pole is connected to one circuit, and the distance is short. Double circuit: Steel frame double towers (between 5 and 6, between 15 and 16) can support and connect 2 circuits, and the distance is slightly farther.

[0153] The number of circuits a tower can support is determined by the type of tower. For example, a four-circuit tower can support one, two, three, or four circuits. Generally, a fully connected tower can support as many circuits as the number of circuits it has.

[0154] After using the serpentine-like heuristic path correction strategy to obtain a temporary box-type transformer connection path, the multi-circuit tower optimization strategy is applied to temporary box-type transformer connection paths with distances less than a preset distance threshold. This optimization is performed on the resulting single-circuit results, resulting in at least N multi-circuit tower solutions. It should be noted that the maximum number of circuits a single tower can support is an input parameter or a system-estimated parameter based on distance.

[0155] The optimization strategy for multi-circuit towers follows the following principles:

[0156] (1) The tower upgrade method is only used for the lines with shorter distances. The distance threshold is the system input data, that is, the multi-circuit tower optimization strategy is used to optimize the temporary box-type transformer connection path with a distance less than the preset distance threshold. For example, assuming Figure 6 The 11-15 and 16-20 loops are far apart and therefore do not need to be on the same loop. Instead, they can be split into two loops to avoid waste. If the 1-5 and 6-10 loops are close together, they can be merged into the same loop (by upgrading the tower loop), saving on land acquisition costs for the towers and concrete poles.

[0157] (2) Gradually upgrade from single circuit to double circuit to triple circuit, that is, determine the fitting connection path corresponding to each number of circuits according to the order of single circuit, double circuit, triple circuit, and finally the maximum number of circuits. For example: first try to change the single circuit tower to double circuit mode, get one or more results, then try the triple circuit tower mode, get another one or more results. In this case, the tower upgrade method is implemented for each combination in N, first performing the inner loop and then the outer loop.

[0158] (3) Calculate the minimum cost of each combination, that is, compare all the fitting connection paths according to the comprehensive cost, and determine the fitting connection path with the lowest cost as the actual lowest cost box transformer connection path. For multiple combination results of a result evolution: Figure 6 Is the foundation, all subsequent expansion combinations are based on Figure 6 The optimization result based on the single loop shown in the figure is obtained by using the serpentine exploration path correction strategy, and the cost of each fitting connection path is calculated for economic evaluation. The result of finding the lowest cost (cable cost, tower cost, etc.) is the box-type transformer connection path with the lowest actual cost.

[0159] In addition, an embodiment of the present invention also provides an automatic path planning device for an overhead collector line, wherein the automatic path planning device for an overhead collector line includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the computer program is configured to implement the steps of the automatic path planning method for an overhead collector line as described above.

[0160] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0161] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0162] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0163] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for automatically planning the path of an overhead collector line, characterized in that: The method for automatically planning the path of an overhead collector line comprises the following steps: Determine the box-type transformer connection path that meets the first objective in the single-circuit tower mode; In the box-type transformer connection path that meets the first goal, after being corrected using the serpentine exploration path correction strategy, it is optimized using the multi-circuit tower optimization strategy to obtain a box-type transformer connection path that meets the second goal; Selecting the box-type transformer connection path with the lowest cost among the box-type transformer connection paths that meet the second objective; The step of using the snake-like heuristic path correction strategy to correct the path includes: Determine the reciprocating motion trajectory under ideal conditions based on the connection direction between adjacent box-type transformers to be connected, the effective left and right swing width W, and the effective forward distance S of a single swing of the serpentine exploratory path correction strategy; According to the reciprocating motion trajectory and the predicted surrounding elevation information, the connection direction between adjacent box-type transformers to be connected, the effective left and right swing width W, and the effective forward distance S of a single swing are corrected, and the corrected reciprocating motion trajectory is determined; Determining a fitted connection path corrected by using a serpentine exploratory path correction strategy according to the corrected reciprocating motion trajectory; The step of optimizing using the multi-circuit tower optimization strategy also includes: Determine the maximum number of circuits on the tower; The fitting connection paths corresponding to the number of loops are determined according to the sequence from a single loop to the loop with the maximum number of loops.

2. The method for automatically planning the path of an overhead collector line according to claim 1, wherein: The step of determining a box-type transformer connection path that meets the first objective in the single-circuit tower mode includes: Calculate the straight-line distance between any two box-type substations in three-dimensional space; A preset number of box-type transformer connection paths that meet the first objective in a single-circuit tower mode are determined based on the straight-line distance.

3. The method for automatically planning the path of an overhead collector line according to claim 2, wherein: The step of determining a preset number of box-type transformer connection paths that meet the first objective in a single-circuit tower mode according to the straight-line distance includes: If the number of the box-type substations is not greater than a preset threshold, determining all the preset number of box-type substation connection paths obtained by permutation and combination; If the number of the box-type substations is greater than a preset threshold, a preset number of box-type substation connection paths are determined according to a preset path algorithm and a random calculation algorithm.

4. The method for automatically planning the path of an overhead collector line according to claim 3, wherein: The step of determining a preset number of box-type transformer connection paths according to a preset path algorithm and a random calculation algorithm includes: Determine the first box-type transformer connection path based on the preset path algorithm; Among all the combined connection paths determined by the random calculation algorithm, a remaining box-type transformer connection path is determined, wherein the remaining box-type transformer connection path is a combined connection path with the lowest cost among all the combined connection paths determined by the random calculation algorithm.

5. The method for automatically planning the path of an overhead collector line according to claim 1, wherein: The step of correcting the connection direction between adjacent box-type transformers to be connected, the effective left-right swing width W, and the effective forward distance S of a single swing includes: If the predicted surrounding elevation information meets the definition of the preset flat area, the effective width W of the left and right swing is reduced and the effective forward distance S of a single swing is increased; If the predicted surrounding elevation information meets the definition of the preset steep area, the effective width W of the left and right swing is increased and the effective forward distance S of a single swing is reduced; The new connection direction between the adjacent box-type transformers to be connected is determined based on the adjusted left and right effective swing width W and the single swing effective forward distance S.

6. The method for automatically planning the path of an overhead collector line according to claim 1, wherein: The step of determining a corrected fitting connection path using a serpentine exploratory path correction strategy based on the corrected reciprocating motion trajectory includes: Determining all three-dimensional coordinates of the adjacent minimum single motion trajectory of the corrected reciprocating motion trajectory; Determine adjacent coordinates that meet the definition of a preset flat area based on all three-dimensional coordinates of adjacent minimum single motion trajectories; A fitting connection path is determined according to the adjacent coordinates.

7. The method for automatically planning the path of an overhead collector line according to claim 1, wherein: The step of optimizing using the multi-circuit tower optimization strategy includes: After the temporary box-type transformer connection path is obtained through correction using the serpentine exploratory path correction strategy, the temporary box-type transformer connection path having a distance less than a preset distance threshold is optimized using a multi-circuit tower optimization strategy.

8. The method for automatically planning the path of an overhead collector line according to claim 1, wherein: The step of optimizing using the multi-circuit tower optimization strategy also includes: All fitting connection paths are compared and selected based on the comprehensive cost, and the fitting connection path with the lowest cost is determined as the box-type transformer connection path that meets the second objective.

9. An automatic path planning device for overhead collector lines, characterized in that: The automatic path planning device for the overhead collector line includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the automatic path planning method for the overhead collector line according to any one of claims 1 to 8.

Images