Application of slope-based intelligent path planning method in power transmission line construction
By calculating the gradient of the terrain slope and using the optimization technology of the stochastic gradient descent method, the smoothest path in the construction of transmission lines in complex terrain is solved, and the problem that the existing technology cannot find the smoothest path is reduced and transportation costs are increased. Construction efficiency and safety.
Patent Information
- Application Number
- CN202411330154.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-24
- Publication Date
- 2025-02-07
AI Technical Summary
The existing path planning methods cannot find the smoothest path under complex terrain conditions, resulting in a large amount of manpower and material resources spent during transportation during transmission lines, increasing construction costs and risks.
By calculating the gradient of the terrain slope and using optimization techniques similar to the stochastic gradient descent method, we gradually find the smoothest path from the starting position to the end position.
It has achieved the smoothest path in complex terrain, reduced manpower and material consumption during transportation, and improved construction efficiency and safety.
Smart Images
Figure CN119394303A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of path planning technology, and in particular, to the application of a slope-based intelligent path planning method in the construction of power transmission lines. Background Art
[0002] In the application of power transmission line construction, finding the flattest path is of great significance for reducing construction and transportation costs and improving efficiency. Existing path planning methods, such as the A* algorithm and the Dijkstra algorithm, usually focus on the shortest path or the fastest path. However, under complex terrain conditions, the shortest path or the fastest path may not always be the flattest path. Therefore, it is necessary to develop a method that can find the flattest path in complex terrain.
[0003] Especially in power transmission line construction projects, materials and equipment need to be transported from the material station to the specific construction site through complex terrain (transportation from the material station to the unloading point is called the long transportation distance, and transportation from the unloading point to the construction site is called the short transportation distance). Traditional path planning methods cannot fully consider the steepness of the terrain, resulting in a large amount of manpower and material resources being consumed during transportation, increasing construction costs and risks. Summary of the invention
[0004] The purpose of this application is to overcome the existing technical defects and provide an application of a slope-based intelligent path planning method in the construction of power transmission lines. By calculating the gradient of the terrain slope and using an optimization technique similar to the stochastic gradient descent method, the smoothest path from the starting position to the ending position is gradually found.
[0005] The purpose of this application is achieved through the following technical solutions:
[0006] In the first aspect, the present application proposes an application of a slope-based intelligent path planning method in the construction of power transmission lines, including:
[0007] Calculate the slope information of the current location based on the input terrain height data;
[0008] Calculate the gradient information of the current position according to the slope information;
[0009] Update the current position using gradient information;
[0010] Output the planned path when the current position meets the termination conditions.
[0011] In a possible implementation, the calculation formula of the slope information S(x, y) is:
[0012]
[0013] Where h(x,y) represents the terrain height data of the current position (x,y).
[0014] In a possible implementation, the calculation formula of the gradient information is:
[0015]
[0016] Where S(x,y) represents the slope information of the current position (x,y).
[0017] In one possible implementation, the current position is updated using a stochastic gradient descent method in the opposite direction:
[0018]
[0019] Where η is the step size, (x k+1 ,y k+1 ) is the updated position.
[0020] In a possible implementation, the termination condition is that the distance between the current position and the termination position is less than or equal to a preset threshold or a flat path cannot be found.
[0021] In a second aspect, the present application proposes a slope-based intelligent path planning device, the device comprising:
[0022] A first calculation module, used to calculate the slope information of the current position according to the input terrain height data;
[0023] A second calculation module is used to calculate the gradient information of the current position according to the slope information;
[0024] An update module, used to update the current position using gradient information;
[0025] The output module is used to output the planned path when the current position meets the termination conditions.
[0026] In a possible implementation, the calculation formula of the slope information S(x, y) is:
[0027]
[0028] Where h(x,y) represents the terrain height data of the current position (x,y).
[0029] In a possible implementation, the calculation formula of the gradient information is:
[0030]
[0031] Where S(x,y) represents the slope information of the current position (x,y).
[0032] In one possible implementation, the current position is updated using a stochastic gradient descent method in the opposite direction:
[0033]
[0034] Where η is the step size, (x k+1 ,y k+1 ) is the updated position.
[0035] In a possible implementation, the termination condition is that the distance between the current position and the termination position is less than or equal to a preset threshold or a flat path cannot be found.
[0036] The above-mentioned main scheme of the present application and its further options can be freely combined to form multiple schemes, all of which are schemes that can be adopted and claimed for protection in the present application; and in the present application, (non-conflicting options) options and other options can also be freely combined. After understanding the scheme of the present application, those skilled in the art can understand that there are multiple combinations based on the prior art and common knowledge, all of which are technical schemes to be protected by the present application, and they are not exhaustively listed here.
[0037] The present application discloses an application of a slope-based intelligent path planning method in the construction of power transmission lines. First, the slope information of the current position is calculated according to the input terrain height data, and then the gradient information of the current position is calculated according to the slope information. Then, the current position is updated using the gradient information. Finally, when the current position meets the termination condition, the planned path is output. By calculating the gradient of the terrain slope and using an optimization technique similar to the stochastic gradient descent method, a smooth path from the starting position to the ending position is gradually found, thereby reducing the consumption of manpower and material resources in the transportation process and improving construction efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS
[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.
[0039] Figure 1 A flow chart of the intelligent path planning method proposed in an embodiment of the present application is shown. DETAILED DESCRIPTION
[0040] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.
[0041] Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of this application.
[0042] In the prior art, since the A* algorithm and the Dijkstra algorithm usually focus on the shortest path or the fastest path. However, under complex terrain conditions, the shortest path or the fastest path may not always be the gentlest path. Therefore, it is necessary to develop a method that can find the gentlest path in complex terrain.
[0043] Especially in power transmission line construction projects, materials and equipment need to be transported from the material station to the specific construction site through complex terrain (transportation from the material station to the unloading point is called the long transportation distance, and transportation from the unloading point to the construction site is called the short transportation distance). Traditional path planning methods cannot fully consider the steepness of the terrain, resulting in a large amount of manpower and material resources being consumed during transportation, increasing construction costs and risks.
[0044] Therefore, in order to solve the above problems, an embodiment of the present application proposes the application of a slope-based intelligent path planning method in the construction of transmission lines, which is used to find the flattest path under complex terrain conditions. By calculating the gradient of the terrain slope and using an optimization technique similar to the stochastic gradient descent method, the flattest path from the starting position to the ending position is gradually found, which is described in detail below.
[0045] The intelligent path planning method in the embodiment of the present application can be applied in an intelligent path planning device, so that users can use the intelligent path planning device to perform path planning in various scenarios, which is suitable for the planning of transmission lines. Its application scenario is the planning of short transportation distances from material stations to construction sites: because in the actual construction process, materials and equipment need to be transported from material stations to specific construction sites. Traditional methods may cause the transportation route to be too steep, increasing the difficulty and cost of construction. The application of the slope-based intelligent path planning method proposed in the embodiment of the present application in the construction of transmission lines can effectively find the most gentle transportation path, reduce the consumption of manpower and material resources during transportation, and improve construction efficiency and safety.
[0046] Please refer to Figure 1 , Figure 1The following is a flow chart of an intelligent path planning method according to an embodiment of the present application, wherein the method comprises the following steps:
[0047] Step S100: Calculate the slope information of the current position according to the input terrain height data.
[0048] First, we need to determine the starting position (x0, y0) and the ending position (x f ,y f ), then obtain a two-dimensional array representing the terrain height as terrain height data, and then calculate the slope information of the current position (x, y) based on the input terrain height data. The slope information represents the height change of the ground within a unit horizontal distance.
[0049] The calculation formula of slope information S(x,y) is:
[0050]
[0051] Where h(x,y) represents the terrain height data of the current position (x,y).
[0052] Step S200: Calculate the gradient information of the current position according to the slope information.
[0053] After obtaining the slope information S(x, y), it is necessary to calculate the gradient information of the current position, and the gradient information can indicate the direction in which the slope increases fastest.
[0054] The calculation formula of gradient information is:
[0055]
[0056] Where S(x,y) represents the slope information of the current position (x,y).
[0057] Step S300: Update the current position using gradient information.
[0058] According to the gradient information, the direction with the smallest slope is selected to update the current position. The method of updating the current position adopts the stochastic gradient descent method in the opposite direction:
[0059]
[0060] Where η is the step size, (x k+1 ,y k+1 ) is the updated position.
[0061] Step S400: output the planned path when the current position meets the termination condition.
[0062] The termination condition is that the distance between the current position and the termination position is less than or equal to the preset threshold or a smooth path cannot be found.
[0063] The termination condition is judged while the current position is continuously updated. When the current position is close to the termination position or a smoother path cannot be found, the process ends and the planned path is output. If the termination condition is not met, the current position will continue to be updated.
[0064] Therefore, the embodiments of the present application Figure 1 The present invention shows a flow chart of the intelligent path planning method proposed in the embodiment of the present application, and uses an optimization technology similar to the stochastic gradient descent method, which is suitable for short-distance planning in transmission line construction, can reduce transportation costs, and improve construction efficiency and safety. It can also be applied to other fields that require path planning, and has important engineering value and application prospects.
[0065] A possible implementation of a slope-based intelligent path planning device is provided below, which is used to execute the various execution steps and corresponding technical effects of the intelligent path planning method shown in the above embodiment and possible implementation. The device includes:
[0066] A first calculation module, used to calculate the slope information of the current position according to the input terrain height data;
[0067] A second calculation module is used to calculate the gradient information of the current position according to the slope information;
[0068] An update module, used to update the current position using gradient information;
[0069] The output module is used to output the planned path when the current position meets the termination conditions.
[0070] In a possible implementation, the calculation formula of the slope information S(x, y) is:
[0071]
[0072] Where h(x,y) represents the terrain height data of the current position (x,y).
[0073] In a possible implementation, the calculation formula of the gradient information is:
[0074]
[0075] Where S(x,y) represents the slope information of the current position (x,y).
[0076] In one possible implementation, the current position is updated using a stochastic gradient descent method in the opposite direction:
[0077]
[0078] Where η is the step size, (x k+1 ,y k+1 ) is the updated position.
[0079] In a possible implementation, the termination condition is that the distance between the current position and the termination position is less than or equal to a preset threshold or a flat path cannot be found.
[0080] This preferred embodiment provides a computer device, which can implement the steps in any embodiment of the application of the slope-based intelligent path planning method provided in the embodiments of the present application in the construction of transmission lines. Therefore, the beneficial effects of the application of the slope-based intelligent path planning method provided in the embodiments of the present application in the construction of transmission lines can be achieved. For details, please refer to the previous embodiments and will not be repeated here.
[0081] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructions, or by controlling related hardware through instructions, and the instructions can be stored in a computer-readable storage medium and loaded and executed by a processor. To this end, an embodiment of the present application provides a storage medium, which stores a plurality of instructions, which can be loaded by a processor to execute the steps of any embodiment of the application of the slope-based intelligent path planning method in the construction of power transmission lines provided in the embodiments of the present application.
[0082] The storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.
[0083] Since the instructions stored in the storage medium can execute the steps in the application embodiment of any slope-based intelligent path planning method provided in the embodiments of the present application in the construction of transmission lines, the beneficial effects that can be achieved by the application of any slope-based intelligent path planning method provided in the embodiments of the present application in the construction of transmission lines can be achieved. For details, please refer to the previous embodiments and will not be repeated here.
[0084] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims
1. Application of the slope-based intelligent path planning method in transmission line construction, characterized in that: include: Calculate the slope information of the current location based on the input terrain height data; Calculate the gradient information of the current position according to the slope information; Update the current position using gradient information; Output the planned path when the current position meets the termination conditions.
2. The application of the slope-based intelligent path planning method in power transmission line construction according to claim 1, characterized in that: The calculation formula of slope information S(x, y) is: Where h(x, y) represents the terrain height data of the current position (x, y).
3. The application of the slope-based intelligent path planning method in power transmission line construction according to claim 1, characterized in that: The calculation formula of gradient information is: Where S(x, y) represents the slope information of the current position (x, y).
4. The application of the slope-based intelligent path planning method in power transmission line construction according to claim 1, characterized in that: The way to update the current position is to use the stochastic gradient descent method in the opposite direction: Where η is the step size, (x k+1 ,y k+1 ) is the updated position.
5. The application of the slope-based intelligent path planning method in power transmission line construction according to claim 1, characterized in that: The termination condition is that the distance between the current position and the termination position is less than or equal to the preset threshold or a smooth path cannot be found.
6. A slope-based intelligent path planning device, characterized in that: The device is applied to the application of the slope-based intelligent path planning method of claims 1 to 5 in the construction of power transmission lines, comprising: A first calculation module, used to calculate the slope information of the current position according to the input terrain height data; A second calculation module is used to calculate the gradient information of the current position according to the slope information; An update module, used to update the current position using gradient information; The output module is used to output the planned path when the current position meets the termination conditions.
7. The intelligent path planning device according to claim 6, characterized in that: The calculation formula of slope information S(x, y) is: Where h(x, y) represents the terrain height data of the current position (x, y).
8. The intelligent path planning device according to claim 6, characterized in that: The calculation formula of gradient information is: Where S(x, y) represents the slope information of the current position (x, y).
9. The intelligent path planning device according to claim 6, characterized in that: The way to update the current position is to use the stochastic gradient descent method in the opposite direction: Where η is the step size, (x k+1 ,y k+1 ) is the updated position.
10. The intelligent path planning device according to claim 6, characterized in that: The termination condition is that the distance between the current position and the termination position is less than or equal to the preset threshold or a smooth path cannot be found.