Power Patrol Route Planning Method and System Based on Improved Simulated Annealing Algorithm

Abstract

Power inspection path planning method and system based on improved simulated annealing algorithm, including: obtaining line information and transmission tower information in the area to be inspected; preprocessing the transmission tower information, and constructing a line list according to the line information and the preprocessed transmission tower information; generating and selecting neighboring solutions based on the inspection sequence of each line in the line list and the inspection sequence of the towers within the line, and using the improved simulated annealing algorithm to traverse the towers and the lines between the towers in the line list to obtain the optimal path planning based on all towers and line channels. The present invention takes the line channel between the starting point and the ending point of the line as the necessary path, considers the 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, as an important basis for neighboring solution comparison and selection in the improved simulated annealing algorithm, and can traverse all points and the lines between points in the area to be inspected, and theoretically obtain a relatively optimal path for traversing the power grid lines of the whole city.

Description

Technical Field

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

[0002] Line inspection is a key task of the transmission line team. With the expansion of the power grid scale, a large number of newly erected lines, relocated lines, retired lines, etc. appear every year, and it is necessary to reasonably arrange the line inspection tasks 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 poles and towers and line corridors, and the traditional simulated annealing algorithm can generally only solve the shortest path planning for traversing all target point poles and towers, and cannot guarantee the coverage of the line corridors between poles and towers, so the traditional simulated annealing algorithm cannot be directly applied to the path planning of line inspection.

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

[0004] 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 poles and towers and the line corridors between them for optimal path planning.

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

[0006] A power inspection path planning method and system based on an improved simulated annealing algorithm, comprising:

[0007] Step 1, obtaining the line information and transmission tower information in the area to be inspected;

[0008] Step 2, preprocessing the transmission tower information, and constructing a line list according to the line information and the preprocessed transmission tower information;

[0009] Step 3, generating and selecting 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 using the improved simulated annealing algorithm to traverse the towers and the line corridors between the towers in the line list to obtain the optimal path planning based on all towers and line corridors.

[0010] Preferably, the obtaining of the line information and transmission tower information in the area to be inspected specifically includes:

[0011] Obtain all the 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.

[0012] Obtain the line information in the area to be inspected. Each line has a unique line number, and the order of the tower numbers on each line represents the arrangement order from the starting tower to the ending tower of the line.

[0013] Preferably, step 2 includes:

[0014] Step 2.1, preprocess the tower coordinates, and calculate the surface distance between two towers based on the preprocessed tower coordinates;

[0015] 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 line length.

[0016] Preferably, calculating the surface distance between two towers based on the preprocessed tower coordinates specifically includes:

[0017]

[0018]

[0019] In the formula, X 1, Y 1] and X 2, Y 2] are the longitude and latitude coordinates of two towers, R is the radius of the earth, taken as 6371 km, C is an intermediate variable, distance is the surface distance, and the unit is km.

[0020] Preferably, step 2.2 specifically includes:

[0021] Separate each line separately according to the unique number of each line in the area to be inspected, and calculate the length of each line according to the sum of the distances between adjacent towers in the line;

[0022] The constructed line list list_line is specifically as follows:

[0023] Line name, line length, longitude and latitude coordinates of the starting tower of the line, longitude and latitude coordinates of the ending tower of the line.

[0024] Preferably, step 3 includes:

[0025] Step 3.1, generate an initial path route according to the line list list_line, calculate the total path length s, and set the initial parameters;

[0026] Step 3.2, determine whether the temperature T is greater than the minimum temperature Tmin . If so, go to Step 3.3; otherwise, output the path route and the total path length s and end Step 3;

[0027] Step 3.3, randomly swap two lines in the line list list_line and calculate the total path length s1 after the swap;

[0028] Step 3.4, calculate the difference between the total path length s1 after the swap and the total path length s, and update the path route, the total path length, and the isothermal step count according to the size of the difference step ;

[0029] Step 3.5, determine whether the updated isothermal step count step is greater than the preset threshold. If so, return to Step 3.2; otherwise, go to Step 3.6;

[0030] Step 3.6, update the temperature T and return to Step 3.2.

[0031] Preferably, the specific content of Step 3.1 includes:

[0032] Step 3.1.1, generate an initial path route according to the line list list_line obtained in Step 2, in the following form:

[0033] [[Line 1, starting point], [Line 2, ending point]…]

[0034] 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 ending point, respectively indicating that this line starts the inspection from Tower No. 1 or the terminal tower;

[0035] Step 3.1.2, calculate the total path length s of the initial path route;

[0036] Step 3.1.3, set the initial parameters, including setting the initial temperature T= 1000 、 isothermal step count step= 0, the parameter K = 1.

[0037] Preferably, the calculation of the total path length specifically includes:

[0038] The total path length includes the lengths of each line and the distances between the lines. If two consecutive elements in the path are [Line i, starting point] and [Line j, ending point], then the distance between the lines is the distance between the terminal tower of Line i and the terminal tower of Line j.

[0039] Preferably, step 3.3 specifically includes:

[0040] Step 3.3.1: Randomly exchange line i and line j in path route to generate a neighboring solution;

[0041] Step 3.3.2: Calculate the total path lengths corresponding to different inspection directions according to the exchanged path respectively, and record the shortest total path length s1 and the corresponding path route.

[0042] Preferably, step 3.4 specifically includes:

[0043] Calculate the path difference between the total path length s1 of the exchanged path and the total path length s diff :

[0044] diff = s1 - s

[0045] If diff is less than 0, update the path length s to s1, and update the path route to the path corresponding to the shortest total path length s1;

[0046] If diff is greater than 0, set the parameter K , and accept the current result with a probability :

[0047] Generate a random number between 0 and 1 n；

[0048] If n is less than or equal to , then accept the current result, update route to the shortest exchanged result of the current path, update s to s1, and update step to step + 1;

[0049] If n is greater than , then retain the original result and do not update the path and path length.

[0050] The present invention also proposes a power inspection path planning system based on an improved simulated annealing algorithm for implementing the power inspection path planning method based on the improved simulated annealing algorithm, including:

[0051] A data acquisition unit for obtaining line information and transmission tower information within the area to be inspected;

[0052] A preprocessing unit for preprocessing the transmission tower information to obtain preprocessed transmission line coordinate data;

[0053] A path planning unit is configured to construct a line list based on line information and preprocessed coordinate data of transmission lines, and traverse the constructed line list according to an improved simulated annealing algorithm to obtain an optimal path plan based on all poles and line channels.

[0054] The present invention also provides a terminal, including a processor and a storage medium;

[0055] The storage medium is used for storing instructions;

[0056] The processor is configured to operate according to the instructions to execute the steps of the power inspection path planning method based on the improved simulated annealing algorithm.

[0057] The present invention also provides a computer-readable storage medium, on which a computer program is stored, and 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.

[0058] The beneficial effects of the present invention are as follows. Compared with the prior art, by improving the simulated annealing algorithm to make it applicable to the application of power inspection, taking the line channel between the starting point and the ending point of the line as a necessary path, considering the inspection order of each line and the order from the starting point to the ending point or from the ending point to the starting point of the line, as an important basis for selecting neighboring solutions in the simulated annealing algorithm, it can traverse all points and lines between points in the area to be inspected, and theoretically obtain a relatively optimal path for traversing the power grid lines of the whole city, which is applicable to the daily anti-external damage inspection work of large-scale power grids. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 is a flowchart of the power inspection path planning method based on the improved simulated annealing algorithm in the present invention;

[0060] Figure 2 is a structural diagram of the power inspection path planning system based on the improved simulated annealing algorithm in the present invention;

[0061] Figure 3 is a schematic diagram of the result of path planning using the improved simulated annealing algorithm proposed by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0062] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. The embodiments described in this application are only a part of the embodiments of the present invention, rather than all embodiments. Based on the spirit of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0063] As Figure 1As shown in the figure, 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:

[0064] Step 1: Obtain the line information and transmission tower information in the area to be inspected;

[0065] Among them, all the transmission tower information in the area to be inspected is obtained. 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.

[0066] Obtain the line information in the area to be inspected. Each line has a unique line number, and the tower number sequence on each line represents the arrangement order from the starting tower to the ending tower of the line.

[0067] Step 2: Preprocess the obtained transmission line coordinate data to obtain the preprocessed transmission line coordinate data;

[0068] Specifically, Step 2 includes:

[0069] Step 2.1: Preprocess the tower coordinates and calculate the surface distance between two towers based on the preprocessed tower coordinates;

[0070] Among them, preprocessing the tower coordinates includes:

[0071] Retain the longitude and latitude of the tower to 4 decimal places respectively, so that the position accuracy is 10m.

[0072] Use the drop_duplicates function to remove duplicates from the results obtained in Step 2.1, and remove the data with the same longitude and latitude, that is, merge the towers within a distance of (10.1 2 +111 2 ) 0.5 ≈15m.

[0073] Calculating the surface distance between two towers based on the preprocessed tower coordinates specifically includes:

[0074] Use the following formula for the conversion between longitude and latitude and the surface distance:

[0075]

[0076]

[0077] In the formula, C represents an intermediate variable; X 1, Y 1] and X 2, Y2] are the preprocessed longitude and latitude coordinates of two poles and towers, R is the radius of the earth, taken as 6371 km, and distance is the surface distance between the poles and towers, with the unit of km.

[0078] For example, in the Jiangsu region, when crossing 1° in the longitude direction, the surface distance crosses 101 km, and when crossing 1° in the latitude direction, the surface distance crosses 111 km.

[0079] Furthermore, for a single line, in the present invention, the distance between adjacent poles and towers in the line is calculated, and the distances are added to obtain the length of the line.

[0080] Step 2.2: Separate each line separately according to the line name to obtain the line list list_line, calculate the length of each line according to Step 2.1, and calculate the total line length.

[0081] Separate each line separately according to the unique number of each line in the area to be inspected, and calculate the length of each line according to the sum of the distances between adjacent poles and towers in the line;

[0082] The content included in the obtained line list list_line is specifically as follows:

[0083] Line name, line length, longitude and latitude coordinates of the starting pole and tower of the line, and longitude and latitude coordinates of the ending pole and tower of the line.

[0084] Step 3: Generate and select a neighboring solution based on the inspection order of each line in the line list and the inspection order of the poles and towers within the line, and use an improved simulated annealing algorithm to traverse the poles and towers and the lines between the poles and towers in the line list to obtain the optimal path planning based on all the poles and towers and the line channels.

[0085] Specifically, Step 3 includes:

[0086] Step 3.1: According to the line list list_line, generate an initial path route and calculate the total path length s, and set the initial parameters;

[0087] Step 3.1.1: Generate an initial path route according to the line list list_line obtained in Step 2, in the following form:

[0088] [[Line 1, starting point], [Line 2, ending point]…]

[0089] 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 ending point, indicating that this line starts the inspection from the No. 1 pole or tower or the terminal tower, and the inspection is carried out in the forward or reverse order according to the pole number order;

[0090] Further preferably, for the path route, the staff can select the starting point and the ending point of the fixed route according to their working location. Then, in the generation of the neighboring solution in step 3.5, the starting point and the ending point of the path are not exchanged, and the rest remains unchanged.

[0091] Step 3.1.2, calculate the total path length s of the initial path route;

[0092] Step 3.1.3, set the initial parameters, including setting the initial temperature T= 1000 、 the number of isothermal steps step= 0, the parameter K = 1.

[0093] Step 3.2, determine whether the temperature T is greater than the minimum temperature Tmin , if so, enter step 3.3; otherwise, output the path route and the total path length s and end step 3;

[0094] Further, the calculation of the total path length specifically includes:

[0095] The total path length includes the lengths of each line and the distance between lines. The distance between adjacent lines is: the distance between the end pole tower inspected by the previous line and the starting pole tower of the next line; if two consecutive elements in the path are [line i, starting point] and [line j, ending point], then the distance between lines is the distance between the terminal tower of line i and the terminal tower of line j.

[0096] Step 3.3, randomly exchange two lines in the line list list_line and calculate the total path length s1 after the exchange;

[0097] Step 3.3 specifically includes:

[0098] Step 3.3.1, randomly exchange line i and line j in the path route to generate a neighboring solution;

[0099] Specifically, randomly exchange any two lines in the initial path route. For example, for the path route:

[0100] [[line 1, starting point]... [line i, starting point]... [line j, ending point]...]

[0101] The path obtained after randomly exchanging two lines i and j is as follows:

[0102] [[line 1, starting point]... [line j, starting point]... [line i, ending point]...]

[0103] Further preferably, the staff can select the starting point and ending point of the fixed path according to their working location. Then, in the generation of adjacent solutions in step 3.5, the starting point and ending point of the path remain unchanged, and the remaining steps remain the same.

[0104] For example, for the path route: [[line 1, starting point], [line 2, starting point]... [line N, ending point]], where N is the total number of final lines of the path; if the staff selects a fixed starting point or ending point of the path, then in this path, the position of [line 1, starting point] or [line N, ending point] remains fixed, and the fixed lines are not exchanged when randomly swapping lines.

[0105] Step 3.3.2, calculate the total path lengths corresponding to different inspection directions according to the swapped path respectively, and record the shortest total path length s1 and the corresponding path route.

[0106] Specifically, after randomly swapping line i and line j, according to different inspection directions, the total path lengths are calculated for the following four paths:

[0107] [[line 1, starting point]... [line j, starting point]... [line i, starting point]...];

[0108] [[line 1, starting point]... [line j, starting point]... [line i, ending point]...];

[0109] [[line 1, starting point]... [line j, ending point]... [line i, starting point]...];

[0110] [[line 1, starting point]... [line j, ending point]... [line i, ending point]...];

[0111] Calculate the corresponding total path lengths for the above 4 cases of the path route respectively, and select the method with the shortest total path length among them. Record the obtained shortest path length as s1.

[0112] Step 3.4, calculate the difference between the total path length s1 of the swapped path and the total path length s, and update the path route, the total path length, and the isothermal step number according to the size of the difference step ;

[0113] Step 3.4 specifically includes:

[0114] Calculate the path difference between the total path length s1 of the swapped path and the total path length s diff :

[0115] diff = s1 - s

[0116] If diff is less than 0, then update the path route to the current shortest swap result, and update the path length s to s1;

[0117] If diff is greater than 0, then set the parameter K , and with probability accept the current result:

[0118] Generate a random number between 0 and 1 n；

[0119] If n is 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 total path length s1, and update step to step +1;

[0120] If n is greater than , then retain the original result.

[0121] Among them, the parameter K The larger it is, the easier it is for the algorithm to accept a path result larger than the current s and the faster the convergence speed. K If it is too small, it is easy to fall into a local optimum. In the present invention, it is preferably set that K is 1, so that both the convergence speed and the final result of the algorithm are more appropriate.

[0122] Step 3.5, determine whether the updated isothermal step number step is less than or equal to a preset threshold. If so, return to Step 3.2; otherwise, go to Step 3.6;

[0123] Preferably, the isothermal step number represents generating a neighboring solution and determining whether to accept the neighboring solution under isothermal conditions. If it is too large, the convergence speed will be slow; if it is too small, the final result will be affected. In the present invention, the threshold of the isothermal step number step is set to 10. If the isothermal step number step is less than or equal to 10, then go to Step 3.2; otherwise, go to Step 3.6.

[0124] Step 3.6, update the temperature T and return to Step 3.2.

[0125] Specifically, update T to 0.99* T , 0.99 represents the temperature T The larger the temperature T value is, the slower the convergence speed will be; the smaller it is, the faster the convergence will be and thus a better result cannot be obtained. Therefore, in the present invention, it is preferably set that the temperature T The descent rate is set to 0.99.

[0126] According to the judgment in Step 3.2, when the updated temperature T is less than or equal to the preset minimum temperature TminWhen it is time, output the final path "route" and the total path length "s", and perform power inspection according to the path "route", and the total length of the inspection is "s".

[0127] As Figure 2 shown, the present invention also proposes a power inspection path planning system based on an improved simulated annealing algorithm for implementing the above-mentioned power inspection path planning method based on an improved simulated annealing algorithm. The system includes: a data acquisition unit, a preprocessing unit, and a path planning unit;

[0128] Among them, the data acquisition unit is used to obtain line information and transmission tower information within the area to be inspected;

[0129] The preprocessing unit is used to preprocess the transmission tower information to obtain the preprocessed transmission line coordinate data;

[0130] 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 an optimal path planning based on all towers and line channels.

[0131] In order to verify the effect of the inspection line planning method proposed by the present invention in practical applications, the following experiments are carried out:

[0132] The total length of the transmission lines in a certain city is 1296 km. Since a large number of double-circuit lines on the same pole only need to be inspected once, after merging the towers with similar distances, the total length of the lines is 788.89 km. Based on the method proposed by the present invention, the minimum sum of the distances between the towers is calculated to be 191.23 km, that is, the total length of the inspection line is 980.12 km, accounting for 75.6% of the original total line length, and the effect is good.

[0133] For the above-mentioned area to be inspected, in the existing inspection line planning method, randomly select one of the nearest lines as the next inspection object, and the total length of the overall inspection path obtained is about 80% of the original total line length, while the total length of the inspection path obtained based on the improved simulated annealing algorithm proposed by the present invention is 75.6% of the original total line length, which is better than the current technical method.

[0134] Furthermore, Figure 3 is the result of the improved simulated annealing algorithm. The abscissa of the result curve graph is the number of iterations, and the ordinate is the temperature parameter in the algorithm T ,. Since the line channel is a necessary path, the algorithm plans the path order between the lines, so the algorithm only calculates the distance between the lines and does not include the line length. At the beginning, a group of paths is randomly generated, and the sum of the distances between the lines is very large. As the algorithm iterates, the temperature parameter TIt decreases, and the result gradually decreases and finally stabilizes, indicating that the patrol route planning algorithm proposed based on the present invention can obtain good results.

[0135] The beneficial effects of the present invention are as follows. Compared with the prior art, by improving the simulated annealing algorithm to make it applicable to the application of power inspection, taking the line channel between the starting point and the ending point of the line as the necessary path, considering the inspection order of each line and the order from the starting point to the ending point or from the ending point to the starting point of the line, as an important basis for selecting adjacent solutions in the simulated annealing algorithm, it can traverse all points and the lines between points in the area to be inspected, and theoretically obtain a relatively optimal path for traversing the power grid lines of the whole city.

[0136] 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 having thereon computer-readable program instructions for causing a processor to implement various aspects of the present disclosure.

[0137] The computer-readable storage medium may be a tangible device that can retain and store instructions for use by an instruction execution device. The computer-readable storage medium may be, for example, but is 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 foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium 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 disc read-only memory (CD-ROM), a digital versatile disc (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punched card or raised structures in grooves having instructions stored thereon, and any suitable combination of the foregoing. The computer-readable storage medium used herein is not construed as being a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., an optical pulse through an optical fiber cable), or an electrical signal transmitted through a wire.

[0138] The computer-readable program instructions described herein may be downloaded from the computer-readable storage medium to various computing / processing devices, or downloaded to an external computer or external storage device through a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network may include a copper transmission cable, an optical fiber transmission, a wireless transmission, a router, a firewall, a switch, a gateway computer, and / or an edge server. The network adapter 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.

[0139] Computer program instructions for performing the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related 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 the "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, executed as a stand-alone software package, partially on the user's computer and 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., through the Internet using an Internet service provider). In some embodiments, by using the status information of the computer-readable program instructions to customize an electronic circuit, such as a programmable logic circuit, a field-programmable gate array (FPGA), or a programmable logic array (PLA), the electronic circuit can execute the computer-readable program instructions to implement various aspects of the present disclosure.

[0140] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: it is still possible to modify the specific implementation manners of the present invention or make equivalent replacements, and any modification or equivalent replacement that does not depart from the spirit and scope of the present invention shall be covered by the protection scope of the claims of the present invention.

Claims

1. A power inspection path planning method based on an improved simulated annealing algorithm, characterized in that Including: Step 1: Obtain the line information and transmission tower information within the area to be inspected. Step 2: Preprocess the transmission tower information, and construct a line list according to the line information and the preprocessed transmission tower information. Step 3: Generate and select a neighboring solution based on the inspection order of each line in the line list and the inspection order of the towers within the line, and use an improved simulated annealing algorithm to traverse the towers and the lines between the towers in the line list to obtain the optimal path planning for all towers and line channels. Step 3 includes: Step 3.1: Generate an initial path route according to the line list list_line, calculate the total path length s, and set the initial parameters. The specific content of Step 3.1 includes: Step 3.1.1: Generate an initial path route according to the line list list_line obtained in Step 2, in the following form: [[Line 1, starting point], [Line 2, ending 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 ending point, respectively indicating that this line starts the inspection from Tower No. 1 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 the initial temperature T= 1000 、 Number of isothermal steps step= 0, parameter K = 1; The specific calculation of the total path length includes: The total path length includes the lengths of each line and the distances between the lines. If two consecutive elements in the path are [Line i, starting point] and [Line j, ending point], then the distance between the lines is the distance between the terminal tower of Line i and the terminal tower of Line j. Step 3.2, determine whether the temperature T is greater than the minimum temperature Tmin , if yes, proceed to Step 3.3, otherwise output the path route and the total path length s and end Step 3; Step 3.3: Randomly exchange two lines in the line list list_line and calculate the total path length s1 after the exchange. The specific content of Step 3.3 includes: Step 3.3.1: Randomly exchange Line i and Line j in the path route to generate a neighboring solution. For the path route: [[Line 1, starting point]……[Line i, starting point]……[Line j, ending point]……] After randomly exchanging two lines i and j, the neighboring solution path generated is as follows: [[Line 1, starting point]……[Line j, starting point]……[Line i, ending point]……]; Step 3.3.2: Calculate the total path lengths corresponding to different inspection directions according to the path after the exchange, and record the shortest total path length s1 and the corresponding path route. After randomly exchanging Line i and Line j, according to different inspection directions, it is divided into the following four paths to calculate the total path length: [[Line 1, starting point]……[Line j, starting point]……[Line i, starting point]……]; [[Line 1, starting point]……[Line j, starting point]……[Line i, ending point]……]; [[Line 1, starting point]……[Line j, ending point]……[Line i, starting point]……]; [[Line 1, starting point]……[Line j, ending point]……[Line i, ending point]……]; Calculate the corresponding total path lengths for the path route in the above 4 cases respectively, and select the way with the shortest total path length among them, and record the obtained shortest path length as s1.

2. The method for power inspection path planning based on an improved simulated annealing algorithm according to claim 1, wherein: The obtaining of the line information and transmission tower information within the area to be inspected specifically includes: Obtaining all the transmission tower information within the area to be inspected, where the transmission tower information includes the line name where the tower is located, the tower number, and the tower coordinates, and the transmission tower coordinate information is the longitude and latitude of the tower; Obtaining the line information within the area to be inspected, each line has a unique line number, and the order of the tower numbers on each line represents the arrangement order from the starting tower to the ending tower of the line.

3. The method for power inspection path planning based on an improved simulated annealing algorithm according to claim 2, wherein: 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, constructing a line list list_line, calculating the length of each line according to the surface distance between adjacent towers, and obtaining the total line length.

4. The method for power inspection path planning based on an improved simulated annealing algorithm according to claim 3, wherein: Calculating the surface distance between two towers based on the preprocessed tower coordinates specifically includes: In the formula, X 1, Y 1] and X 2, Y 2] are the latitude and longitude coordinates of two poles and towers, R is the radius of the earth, taking 6371 km, C is an intermediate variable, and distance is the surface distance, with the unit of km.

5. The method for power inspection path planning based on an improved simulated annealing algorithm according to claim 3, wherein: The specific content of step 2.2 includes: Separating each line separately according to the unique number of each line in the area to be inspected, and calculating the length of each line according to the sum of the surface distances between adjacent towers in the line; The constructed line list list_line is specifically as follows: Line name, line length, longitude and latitude coordinates of the starting tower of the line, longitude and latitude coordinates of the ending tower of the line.

6. The method for power inspection path planning based on an improved simulated annealing algorithm according to claim 1, wherein: Step 3 further includes: Step 3.4, calculate the difference between the total length s1 of the exchanged path and the total length s of the path, and update the path route, the total length of the path, and the isothermal step number according to the size of the difference step ; Step 3.5, determine whether the updated number of isothermal steps step is greater than a preset threshold value. If so, return to Step 3.2; otherwise, proceed to Step 3.6; Step 3.6, updating the temperature T and returning to step 3.

2.

7. The method for power inspection path planning based on an improved simulated annealing algorithm according to claim 6, wherein: The specific content of step 3.4 includes: Calculate the path difference between the total path length s1 after the exchange and the total path length s diff : diff =s1-s If diff is less than 0, update the path length s to s1 and update the path route to the path corresponding to the shortest total path length s1; If diff is greater than 0, set the parameter K , and with probability accept the current result: Generate a random number between 0 and 1 n； If n is less than or equal to , then accept the current result, update route to the swapping result with the shortest current path, update s to s1, and update step to step + 1; If n is greater than , the original result is retained without updating the path and path length.

8. An electric power inspection path planning system based on an improved simulated annealing algorithm, which is used to implement the electric power inspection path planning method based on the improved simulated annealing algorithm according to any one of claims 1-7, characterized in that includes: A data acquisition unit for obtaining the line information and transmission tower information within the area to be inspected; A preprocessing unit for preprocessing the transmission tower information to obtain the preprocessed transmission line coordinate data; A path planning unit for constructing a line list according to the line information and the preprocessed transmission line coordinate data, and traversing the constructed line list according to the improved simulated annealing algorithm to obtain the optimal path planning based on all towers and line channels.

9. A terminal, including a processor and a storage medium; wherein: The storage medium is used to store instructions; The processor is used to operate according to the instructions to execute the steps of the method according to any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the method according to any one of claims 1-7.

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