Power inspection path planning method and system based on improved simulated annealing algorithm

Abstract

The invention discloses a power inspection path planning method and system based on an improved simulated annealing algorithm. The method comprises the following steps: acquiring line information and transmission tower information in a to-be-inspected area; preprocessing the transmission tower information, and constructing a line list according to the line information and the preprocessed transmission tower information; and generating and selecting an adjacent solution based on the inspection sequence of each line in the line list and the inspection sequence of the towers in the lines, and traversing the lines between the towers in the line list by adopting an improved simulated annealing algorithm to obtain an optimal path plan based on all the towers and line channels. According to the method, the line channel between the starting point and the ending point of the line is taken as an inevitable path, the routing inspection sequence of each line and the sequence from the starting point to the ending point or from the ending point to the starting point of the line are taken as important bases for adjacent solution comparison and selection in the improved simulated annealing algorithm, and lines between all points in the to-be-inspected area can be traversed; and theoretically, a relative optimal path for traversing the power grid line of the whole city is obtained.

Description

Technical Field

[0001] The present invention belongs to the technical field of electric power inspection path planning, and in particular relates to an electric power inspection path planning method and system based on an improved simulated annealing algorithm. Background Art

[0002] Line inspection is the key work of the transmission line team. With the expansion of the scale of the power grid, a large number of new lines, relocated lines, and retired lines will appear every year. It is necessary to arrange the line inspection tasks reasonably to improve quality and efficiency. The simulated annealing algorithm is a commonly used algorithm for calculating the shortest path. Since line inspection includes the inspection of towers and line channels, the traditional simulated annealing algorithm can generally only solve the shortest path planning of traversing all target towers, and cannot guarantee the coverage of the line channels between towers. Therefore, the traditional simulated annealing algorithm cannot be directly applied to the path planning of line inspection.

[0003] In the prior art, there are technical solutions for improving the simulated annealing algorithm, such as a method for optimizing the feasible solution and thus optimizing the inspection efficiency by involving a neighborhood search operation operator; the simulated annealing algorithm of the prior art is also used in the inspection line planning and there are the following technical problems: in the planning, only all target points in the area to be inspected are considered, and the target points include maintenance points, poles and towers, etc., and the optimal path traversing all target points is obtained. This method is similar to the traditional shortest path algorithm and is not suitable for daily inspection work to prevent external damage to large-scale power grids. Summary of the invention

[0004] In order to solve the deficiencies in the prior art, the present invention provides a power inspection path planning method based on an improved simulated annealing algorithm, which can consider traversing all towers and line channels between towers to perform optimal path planning.

[0005] The present invention adopts the following technical solution.

[0006] A method and system for planning a power inspection path based on an improved simulated annealing algorithm, comprising: Step 1, obtaining line information and transmission tower information in the area to be inspected; Step 2, preprocessing the transmission tower information, and constructing a line list according to the line information and the preprocessed transmission tower information; Step 3: Generate and select neighboring solutions based on the inspection order of each line in the line list and the inspection order of the towers in the line, and use the improved simulated annealing algorithm to traverse the towers in the line list and the lines between the towers to obtain the optimal path planning based on all towers and line channels.

[0007] Preferably, the obtaining of line information and transmission tower information in the area to be inspected specifically includes: Obtain all transmission tower information in the area to be inspected. The transmission tower information includes the line name where the tower is located, the tower number and the tower coordinates. The transmission tower coordinate information is the longitude and latitude of the tower.

[0008] Obtain line information within the area to be inspected. Each line has a unique line number, and the order of the pole tower numbers on each line represents the order from the starting pole tower to the end pole tower of the line.

[0009] Preferably, step 2 comprises: Step 2.1, preprocessing the tower coordinates, and calculating the surface distance between two towers based on the preprocessed tower coordinates; Step 2.2, construct a line list list_line, calculate the length of each line according to the surface distance between adjacent towers, and obtain the total length of the line.

[0010] Preferably, calculating the surface distance between two towers based on the preprocessed tower coordinates specifically includes:

[0011]

[0012] In the formula, [ X 1, Y 1] and [ X 2, Y 2] are the longitude and latitude coordinates of the two towers, R is the radius of the earth, which is 6371 km, C is the intermediate variable, and distance is the surface distance in km.

[0013] Preferably, the step 2.2 specifically includes: Separate each line individually according to its unique number in the area to be inspected, and calculate the length of each line based on the sum of the distances between adjacent towers in the line; The constructed line list list_line is as follows: Line name, line length, longitude and latitude coordinates of the tower at the line’s starting point, and longitude and latitude coordinates of the tower at the line’s end point.

[0014] Preferably, step 3 comprises: Step 3.1, based on the line list list_line, generate the initial path route and calculate the total length s of the path, and set the initial parameters; Step 3.2, determine whether the temperature T is greater than the minimum temperature Tmin If yes, go to step 3.3, otherwise output the path route and the total length s of the path and end step 3; Step 3.3, randomly swap two lines in the line list list_line and calculate the total length s1 of the swapped paths; Step 3.4, calculate the difference between the total length of the exchanged path s1 and the total length of the path s, and update the path route, total path length and isothermal steps according to the difference. step ; Step 3.5, determine the updated isothermal steps step Is it greater than the preset threshold? If so, return to step 3.2; otherwise, go to step 3.6; Step 3.6, update the temperature T and return to step 3.2.

[0015] Preferably, the step 3.1 specifically includes: Step 3.1.1, generate the initial path route according to the line list list_line obtained in step 2, in the following format: [[Line 1, start point], [Line 2, end point]…] Each element in the path contains two sub-elements. The first sub-element is the line name, and the second sub-element is the starting point or the end point, which means that the line starts from the No. 1 tower or the terminal tower. Step 3.1.2, calculate the total path length s of the initial path route; Step 3.1.3, set initial parameters, including setting initial temperature T= 1000 、 Isothermal steps step= 0. Parameters K =1.

[0016] Preferably, the calculation of the total path length specifically includes: The total length of the path includes the length of each line and the distance between lines. If two consecutive elements in the path are [line i, starting point] and [line j, end point], the distance between lines is the distance between the terminal tower of line i and the terminal tower of line j.

[0017] Preferably, the step 3.3 specifically includes: Step 3.3.1, randomly exchange route i and route j in the path route to generate a neighboring solution; Step 3.3.2, calculate the total path lengths corresponding to different patrol directions based on the exchanged paths, and record the shortest path total length s1 and the corresponding path route.

[0018] Preferably, the step 3.4 specifically includes: Calculate the path difference between the total length of the exchanged path s1 and the total length of the path s diff : diff =s1-s like diffIf it is less than 0, the path length s is updated to s1, and the path route is updated to the path corresponding to the shortest path length s1; like diff If it is greater than 0, then set the parameter K , with probability Accept the current result: Generate a random number between 0 and 1 n； like n Less than or equal to , then accept the current result, update route to the shortest exchange result of the current path, update s to s1, and update step for step +1; like n Greater than , the original result is retained and the path and path length are not updated.

[0019] The present invention also proposes a power inspection path planning system based on an improved simulated annealing algorithm, which is used to implement the power inspection path planning method based on the improved simulated annealing algorithm, comprising: A data acquisition unit is used to obtain line information and transmission tower information in the area to be inspected; A preprocessing unit, used to preprocess the transmission tower information to obtain preprocessed transmission line coordinate data; The path planning unit is used to construct a line list according to the line information and the pre-processed transmission line coordinate data, and traverse the constructed line list according to the improved simulated annealing algorithm to obtain the optimal path planning based on all towers and line channels.

[0020] The present invention also provides a terminal, comprising a processor and a storage medium; The storage medium is used to store instructions; The processor is used to operate according to the instructions to execute the steps of the power inspection path planning method based on the improved simulated annealing algorithm.

[0021] The present invention also proposes a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the power inspection path planning method based on the improved simulated annealing algorithm are implemented.

[0022] The beneficial effect of the present invention lies in that, compared with the prior art, the present invention improves the simulated annealing algorithm to make it suitable for the application of power inspection, takes the line channel between the line starting point and the end point as the only way, considers the inspection order of each line and the order from the line starting point to the end point or from the end point to the starting point, as an important basis for neighbor solution selection in the simulated annealing algorithm, can traverse all points and lines between points in the area to be inspected, and theoretically obtains the relatively optimal path traversing the city's power grid lines, which is suitable for daily inspection work to prevent external damage to large-scale power grids. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a flow chart of a method for planning a power inspection path based on an improved simulated annealing algorithm in the present invention; Figure 2 It is a structural diagram of the electric power inspection path planning system based on the improved simulated annealing algorithm in the present invention; Figure 3 It is a schematic diagram of the result of path planning using the improved simulated annealing algorithm proposed in the present invention. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The embodiments described in this application are only part of the embodiments of the present invention, not all of them. Based on the spirit of the present invention, other embodiments obtained by ordinary technicians in this field without creative work are all within the scope of protection of the present invention.

[0025] like Figure 1 As shown, the present invention proposes a power inspection path planning method based on an improved simulated annealing algorithm, and the method specifically includes the following steps: Step 1, obtaining line information and transmission tower information in the area to be inspected; Among them, all the transmission tower information in the area to be inspected is obtained, and the transmission tower information includes the line name where the tower is located, the tower number and the tower coordinates. The transmission tower coordinate information is the longitude and latitude of the tower.

[0026] Obtain line information within the area to be inspected. Each line has a unique line number, and the order of the pole tower numbers on each line represents the order from the starting pole tower to the end pole tower of the line.

[0027] Step 2, preprocessing the acquired transmission line coordinate data to obtain preprocessed transmission line coordinate data; Specifically, step 2 includes: Step 2.1, preprocessing the tower coordinates, and calculating the surface distance between two towers based on the preprocessed tower coordinates; Among them, the preprocessing of the tower coordinates includes: The longitude and latitude of the tower are retained to 4 decimal places respectively, so that the position accuracy is 10m.

[0028] Use the drop_duplicates function to remove the results obtained in step 2.1, removing the data with the same longitude and latitude, that is, for the distance between (10.1 2 +111 2 ) 0.5 Towers within ≈15m are merged.

[0029] The surface distance between two towers is calculated based on the preprocessed tower coordinates, including: The following formula is used to convert longitude and latitude to surface distance:

[0030]

[0031] Where, C represents the intermediate variable; [ X 1, Y 1] and [ X 2, Y 2] are the pre-processed longitude and latitude coordinates of the two towers, R is the radius of the earth, which is 6371 km, and distance is the surface distance between the towers, in km.

[0032] For example, in Jiangsu Province, if the longitude direction crosses 1°, the surface distance will cross 101 km, and if the latitude direction crosses 1°, the surface distance will cross 111 km.

[0033] Furthermore, for a single line, the present invention calculates the distance between two adjacent towers in the line and adds the distances to obtain the length of the line.

[0034] Step 2.2, separate each line by line name to obtain the line list list_line, calculate the length of each line according to step 2.1, and calculate the total length of the lines.

[0035] Separate each line individually according to its unique number in the area to be inspected, and calculate the length of each line based on the sum of the distances between adjacent towers in the line; The content of the obtained line list list_line is as follows: Line name, line length, longitude and latitude coordinates of the tower at the line’s starting point, and longitude and latitude coordinates of the tower at the line’s end point.

[0036] Step 3: Generate and select neighboring solutions based on the inspection order of each line in the line list and the inspection order of the towers in the line, and use the improved simulated annealing algorithm to traverse the towers in the line list and the lines between the towers to obtain the optimal path planning based on all towers and line channels.

[0037] Specifically, step 3 includes: Step 3.1, based on the line list list_line, generate the initial path route and calculate the total length s of the path, and set the initial parameters; Step 3.1.1, generate the initial path route according to the line list list_line obtained in step 2, in the following format: [[Line 1, start point], [Line 2, end point]…] Each element in the path contains two sub-elements. The first sub-element is the line name, and the second sub-element is the starting point or the end point, which respectively indicates that the line starts from the No. 1 tower or the terminal tower, and the inspection is carried out in the forward or reverse direction according to the tower number sequence. Further preferably, for the path route, the staff can select a fixed route start point and end point according to their work location. In this case, in generating the neighboring solution in step 3.5, the path start point and end point are not exchanged, and the rest remain unchanged.

[0038] Step 3.1.2, calculate the total path length s of the initial path route; Step 3.1.3, set initial parameters, including setting initial temperature T= 1000 、 Isothermal steps step= 0. Parameters K =1.

[0039] Step 3.2, determine whether the temperature T is greater than the minimum temperature Tmin If yes, go to step 3.3, otherwise output the path route and the total length s of the path and end step 3; Furthermore, the calculation of the total path length specifically includes: The total length of the path includes the length of each line and the distance between lines. The distance between adjacent lines is: the distance between the ending tower of the previous line inspection and the starting tower of the next line inspection; if two consecutive elements in the path are [line i, starting point] and [line j, end point], the distance between lines is the distance between the terminal tower of line i and the terminal tower of line j.

[0040] Step 3.3, randomly swap two lines in the line list list_line and calculate the total length s1 of the swapped paths; Step 3.3 specifically includes: Step 3.3.1, randomly exchange route i and route j in the path route to generate a neighboring solution; Specifically, any two routes in the initial route are randomly exchanged. For example, for the route: [[Route 1, starting point]...[Route i, starting point]...[Route j, end point]...] The paths obtained after exchanging two random lines i and line j are as follows: [[Route 1, starting point]...[Route j, starting point]...[Route i, end point]...] Further preferably, the staff can select a fixed path starting point and end point according to their work location. In this case, in generating the adjacent solution in step 3.5, the path starting point and end point are not changed, and the remaining steps remain unchanged.

[0041] For example, for a path route: [[route 1, starting point], [route 2, starting point]...[route N, end point]], N is the total number of end points of the path; if the staff chooses a fixed starting point or end point, then in the path, the position of [route 1, starting point] or [route N, end point] remains fixed, and the fixed routes are not exchanged when the routes are randomly exchanged.

[0042] Step 3.3.2, calculate the total path lengths corresponding to different patrol directions based on the exchanged paths, and record the shortest path total length s1 and the corresponding path route.

[0043] Specifically, after randomly exchanging line i and line j, the total path length is calculated by dividing the paths into the following four types according to different patrol directions: [[Line 1, starting point]…[Line j, starting point]…[Line i, starting point]…]; [[Line 1, start point] ... [Line j, start point] ... [Line i, end point] ... ]; [[Line 1, starting point] ... [Line j, end point] ... [Line i, starting point] ... ]; [[Line 1, start point] ... [Line j, end point] ... [Line i, end point] ... ]; For the above four cases, the total length of the corresponding paths is calculated respectively, and the method with the shortest total length is selected, and the obtained shortest path length is recorded as s1.

[0044] Step 3.4, calculate the difference between the total length of the exchanged path s1 and the total length of the path s, and update the path route, total path length and isothermal steps according to the difference. step ; Step 3.4 specifically includes: Calculate the path difference between the total length of the exchanged path s1 and the total length of the path sdiff : diff =s1-s like diff If it is less than 0, the updated path route is the shortest exchange result of the current path, and the updated path length s is s1; like diff If it is greater than 0, then set the parameter K , with probability Accept the current result: Generate a random number between 0 and 1 n； like n Less than or equal to , then accept the current result, update the path length s to s1, update the path route to the path corresponding to the shortest path length s1, and update step for step +1; like n Greater than , the original result is retained.

[0045] Among them, the parameters K The larger it is, the easier it is for the algorithm to accept a path result that is larger than the current s and the faster it converges. K If it is too small, it is easy to fall into the local optimum. The preferred setting of the present invention is K The value is 1, which makes the convergence speed and final result of the algorithm more appropriate.

[0046] Step 3.5, determine the updated isothermal steps step Is it less than or equal to the preset threshold? If so, return to step 3.2; otherwise, go to step 3.6; Preferably, the isothermal step number indicates the generation of neighboring solutions under isothermal conditions and the determination of whether to accept the neighboring solutions. If it is too large, the convergence speed will be slow, and if it is too small, the final result will be affected. The present invention sets the isothermal step number step The threshold is 10. If the isothermal step number step If it is less than or equal to 10, go to step 3.2; otherwise, go to step 3.6.

[0047] Step 3.6, update the temperature T and return to step 3.2.

[0048] Specifically, update T 0.99* T , 0.99 represents the temperature T If the temperature T value is too large, the convergence speed will be slow, and if it is too small, the convergence will be too fast and good results cannot be obtained. Therefore, the temperature is preferably set to T The drop rate is set to 0.99.

[0049] According to the judgment in step 3.2, when the updated temperature T is less than or equal to the preset minimum temperature Tmin When the final path route and the total length of the path s are output, the power inspection is performed according to the path route, and the total length of the inspection is s.

[0050] like Figure 2 As shown, the present invention also proposes a power inspection path planning system based on an improved simulated annealing algorithm, which is used to implement the above-mentioned power inspection path planning method based on the improved simulated annealing algorithm. The system includes: a data acquisition unit, a preprocessing unit and a path planning unit; The data acquisition unit is used to obtain line information and transmission tower information in the area to be inspected; A preprocessing unit, used to preprocess the transmission tower information to obtain preprocessed transmission line coordinate data; The path planning unit is used to construct a line list according to the line information and the preprocessed transmission line coordinate data, and traverse the constructed line list according to the improved simulated annealing algorithm to obtain the optimal path planning based on all towers and line channels.

[0051] In order to verify the effect of the inspection route planning method proposed in the present invention in practical application, the following experiments are carried out: The total length of a city's power transmission lines is 1,296 km. Since a large number of double-circuit lines on the same pole only need to be inspected once, after merging poles with similar distances, the total length of the lines is 788.89 km. Based on the planning and calculation method proposed in the present invention, the distance between poles and towers can reach a minimum of 191.23 km, that is, the total patrol length is 980.12 km, accounting for 75.6% of the original total length of the line, with a good effect.

[0052] For the above-mentioned area to be inspected, in the existing patrol route planning method, one of the nearest routes is randomly selected as the next patrol object, and the total length of the overall patrol path obtained is about 80% of the total length of the original route. The total length of the patrol path obtained by the improved simulated annealing algorithm proposed in the present invention is 75.6% of the total length of the original route, which is better than the current technical method.

[0053] Furthermore, Figure 3 This is the result of the improved simulated annealing algorithm. The horizontal axis of the result curve is the number of iterations, and the vertical axis is the temperature parameter in the algorithm. T ,. Since the line channel is a must-go route, the algorithm plans the path order between the lines, so the algorithm only calculates the distance between the lines, not the line length. At the beginning, a group of paths are randomly generated, and the sum of the distances between the lines is large. As the algorithm iterates, the temperature parameter T The result decreases gradually and eventually becomes stable, indicating that the patrol route planning algorithm proposed in the present invention can obtain better results.

[0054] The beneficial effect of the present invention lies in that, compared with the prior art, by improving the simulated annealing algorithm, the algorithm is suitable for the application of power inspection, the line channel between the starting point and the end point of the line is taken as the only way, the inspection order of each line and the order from the starting point to the end point or from the end point to the starting point of the line are considered as important basis for neighbor solution selection in the simulated annealing algorithm, and the lines between all points in the area to be inspected can be traversed, and the relatively optimal path for traversing the power grid lines in the whole city can be obtained theoretically.

[0055] The present disclosure may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present disclosure.

[0056] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above. More specific examples (a non-exhaustive list) of computer-readable storage media include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the above. The computer-readable storage medium used herein is not to be interpreted as a transient signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0057] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0058] The computer program instructions for performing the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect through the Internet). In some embodiments, by using the state information of the computer-readable program instructions to personalize an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), the electronic circuit may execute the computer-readable program instructions, thereby implementing various aspects of the present disclosure.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for power inspection path planning based on an improved simulated annealing algorithm, characterized in that: include: Step 1, obtaining line information and transmission tower information in the area to be inspected; Step 2, preprocessing the transmission tower information, and constructing a line list according to the line information and the preprocessed transmission tower information; Step 3: Generate and select neighboring solutions based on the inspection order of each line in the line list and the inspection order of the towers in the line, and use the improved simulated annealing algorithm to traverse the towers in the line list and the lines between the towers to obtain the optimal path planning based on all towers and line channels.

2. The method for planning a power inspection path based on an improved simulated annealing algorithm according to claim 1, characterized in that: The acquisition of line information and transmission tower information in the area to be inspected specifically includes: Obtain all the transmission tower information in the area to be inspected. The transmission tower information includes the line name, tower number and tower coordinates of the tower. The transmission tower coordinate information is the longitude and latitude of the tower. Obtain line information within the area to be inspected. Each line has a unique line number, and the order of the pole tower numbers on each line represents the order from the starting pole tower to the end pole tower of the line.

3. The method for planning a power inspection path based on an improved simulated annealing algorithm according to claim 2, characterized in that: Step 2 includes: Step 2.1, preprocessing the tower coordinates, and calculating the surface distance between two towers based on the preprocessed tower coordinates; Step 2.2, construct a line list list_line, calculate the length of each line according to the surface distance between adjacent towers, and obtain the total length of the line.

4. The method for planning a power inspection path based on an improved simulated annealing algorithm according to claim 3 is characterized in that: The surface distance between two towers is calculated based on the preprocessed tower coordinates, including: In the formula, [ X 1, Y 1] and [ X 2, Y 2] are the longitude and latitude coordinates of the two towers, R is the radius of the earth, which is 6371 km, C is the intermediate variable, and distance is the surface distance in km.

5. The method for planning a power inspection path based on an improved simulated annealing algorithm according to claim 3 is characterized in that: The step 2.2 specifically includes: Separate each line individually according to its unique number in the area to be inspected, and calculate the length of each line based on the sum of the ground distances of adjacent towers in the line; The constructed line list list_line is as follows: Line name, line length, longitude and latitude coordinates of the tower at the line’s starting point, and longitude and latitude coordinates of the tower at the line’s end point.

6. The method for planning a power inspection path based on an improved simulated annealing algorithm according to claim 1, characterized in that: Step 3 includes: Step 3.1, based on the line list list_line, generate the initial path route and calculate the total length s of the path, and set the initial parameters; Step 3.2, determine whether the temperature T is greater than the minimum temperature Tmin If yes, go to step 3.3, otherwise output the path route and the total length s of the path and end step 3; Step 3.3, randomly swap two lines in the line list list_line and calculate the total length s1 of the swapped paths; Step 3.4, calculate the difference between the total length of the exchanged path s1 and the total length of the path s, and update the path route, total path length and isothermal steps according to the difference. step ; Step 3.5, determine the updated isothermal steps step Is it greater than the preset threshold? If so, return to step 3.2; otherwise, go to step 3.6; Step 3.6, update the temperature T and return to step 3.

2.

7. The method for planning a power inspection path based on an improved simulated annealing algorithm according to claim 6, characterized in that: The step 3.1 specifically includes: Step 3.1.1, generate the initial path route according to the line list list_line obtained in step 2, in the following format: [[Line 1, start point], [Line 2, end point]…] Each element in the path contains two sub-elements. The first sub-element is the line name, and the second sub-element is the starting point or end point, which means that the line starts from the No. 1 tower or the terminal tower. Step 3.1.2, calculate the total path length s of the initial path route; Step 3.1.3, set initial parameters, including setting initial temperature T= 1000 、 Isothermal steps step= 0. Parameters K =1.

8. The method for planning a power inspection path based on an improved simulated annealing algorithm according to claim 7, characterized in that: The calculation of the total path length specifically includes: The total length of the path includes the length of each line and the distance between lines. If two consecutive elements in the path are [line i, starting point] and [line j, end point], the distance between lines is the distance between the terminal tower of line i and the terminal tower of line j.

9. The method for planning a power inspection path based on an improved simulated annealing algorithm according to claim 7, characterized in that: The step 3.3 specifically includes: Step 3.3.1, randomly exchange route i and route j in the path route to generate a neighboring solution; For the path route: [[Route 1, starting point]...[Route i, starting point]...[Route j, end point]...] After exchanging two random lines i and line j, the generated neighboring solution paths are as follows: [[Line 1, start point] ... [Line j, start point] ... [Line i, end point] ... ]; Step 3.3.2, calculate the total path lengths corresponding to different patrol directions based on the exchanged paths, and record the shortest path total length s1 and the corresponding path route.

10. The method for planning a power inspection path based on an improved simulated annealing algorithm according to claim 9, characterized in that: The step 3.4 specifically includes: Calculate the path difference between the total length of the exchanged path s1 and the total length of the path s diff : diff =s1-s like diff If it is less than 0, the path length s is updated to s1, and the path route is updated to the path corresponding to the shortest path length s1; like diff If it is greater than 0, then set the parameter K , with probability Accept the current result: Generate a random number between 0 and 1 n； like n Less than or equal to , then accept the current result, update route to the shortest exchange result of the current path, update s to s1, and update step for step +1; like n Greater than , the original result is retained and the path and path length are not updated.

11. A power inspection path planning system based on an improved simulated annealing algorithm, used to implement the power inspection path planning method based on an improved simulated annealing algorithm as described in any one of claims 1 to 10, characterized in that: include: A data acquisition unit is used to obtain line information and transmission tower information in the area to be inspected; A preprocessing unit, used to preprocess the transmission tower information to obtain preprocessed transmission line coordinate data; The path planning unit is used to construct a line list according to the line information and the preprocessed transmission line coordinate data, and traverse the constructed line list according to the improved simulated annealing algorithm to obtain the optimal path planning based on all towers and line channels.

12. A terminal comprising a processor and a storage medium; characterized in that: The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the steps of the method according to any one of claims 1-10.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 10 are implemented.

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