CN106780739A - A kind of intelligent substation patrol three-dimension GIS system method for building up - Google Patents
A kind of intelligent substation patrol three-dimension GIS system method for building up Download PDFInfo
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Abstract
The invention discloses a kind of intelligent substation patrol three-dimension GIS system method for building up, it includes：Generation road network；Using in Garmin equipment collection transformer station in all routes longitude and latitude degrees of data a little；In the data inputting Map source that these are put, all key point composition adjacency lists are chosen, while the information that Garmin is got draws specific circuit and generates .shp formatted files by AutoCAD softwares；Step 2, set up three-dimensional scenic；Solve the electric power relevant industries of prior art, three-dimension GIS system is realized being primarily present from the point of view of technology with regard to it and renders that figure efficiency is low, geographic information displaying it is incomplete, and need substantial amounts of three-dimensional modeling work, it is difficult to the technical problem such as safeguard.
Description
Technical field
Technical field, more particularly to a kind of intelligent substation patrol three-dimension GIS system are patrolled and examined the invention belongs to crusing robot
Construction in a systematic way cube method.
Background technology
In transformer station build three-dimensional geographic information system fundamental starting point be in order to it is correct, comprehensive, obtain in time
The various information of power system, so as to ensure substation safety, efficiently operate, and more improve week for more users are provided
The service arrived.Three-dimension GIS system is come by traditional two-dimension GIS System Development, compared to two-dimension GIS system, three-dimension GIS
Geography information can more objectively be represented in terms of space.Generalized information system stays in traditional at present in the application of concerned power
Two-dimension GIS is described and expresses GIS geodatas and attribute data.In drafting basic geodata and analyze data, when
Preceding generalized information system serves good booster action in terms of figure demonstrates one's ability, but has important three dimension for some
According to electric power facility, such as building, shaft tower, transformer station, the expressive ability of conventional two-dimensional GIS is barely satisfactory；For two-dimension GIS
Can only expression plane geography information shortcoming, the research of GIS technology is started turned to by two dimension three-dimensional.Three-dimension GIS technology is from reason
The limitation of plan can only be drawn by two-dimension GIS is above breached, allows one to be carried out in the way of three-dimensional the application of geography information.
At present, in electric power relevant industries, three-dimension GIS systematic difference is also little, and this is primarily due to GIS-Geographic Information System and is just locating at present
In a transition period for 2 d-to-3 d, three-dimension GIS system realizes being primarily present from the point of view of technology that to render figure efficiency low with regard to it,
Geographic information displaying it is incomplete, and need the work of substantial amounts of three-dimensional modeling, it is difficult to the technical problem such as safeguard.
The content of the invention：
The technical problem to be solved in the present invention is：A kind of intelligent substation patrol three-dimension GIS system method for building up is provided, with
Solve the electric power relevant industries of prior art, three-dimension GIS system realizes being primarily present from the point of view of technology that to render figure efficiency low with regard to it,
Geographic information displaying it is incomplete, and need the work of substantial amounts of three-dimensional modeling, it is difficult to the technical problem such as safeguard.
Technical solution of the present invention：
A kind of intelligent substation patrol three-dimension GIS system method for building up, it includes：
Step 1, generation road network；Using in Garmin equipment collection transformer station in all routes the longitude and latitude number of degrees a little
According to；In the data inputting Map-source that these are put, all key point composition adjacency lists are chosen, while Garmin is got
Information draws specific circuit and generates .shp formatted files by AutoCAD softwares；
Step 2, set up three-dimensional scenic；Dem data and digital satellite map generation are loaded in Terra builder softwares
.mpt form topographic database；The file of the .mtp forms of generation is loaded in Terra Explorer Pro softwares；.mtp lattice
It is transformer station's dimensional topography scene that the file of formula is opened in Terra Explorer Pro, and GIS features are loaded in this scenario
Figure layer .shp files, plotting, textures, foundation and loading 3D models, so as to set up three-dimensional virtual scene.
It also includes：
Step 3, intelligent patrol detection layout of roads：Determine that the optimal path between two anchor points is advised using dijkstra's algorithm
Draw；Circuit is patrolled and examined to more than two inspectors or crusing robot equilibrium assignment using genetic algorithm.
The use dijkstra's algorithm determines that the optimum path planning between two anchor points includes：
Step 3.1, set S and set U when setting up initial, set S only include starting point s；Set U includes the summit in addition to s；
Step 3.2, " the most short summit k of distance " is selected from set U, and summit k is added in set S, while from U
Middle removal summit k；
Distance of each summit to starting point s in step 3.3, renewal U；
Step 3.4, repeat step 3.2 and 3.3, until having traveled through all summits, obtain the optimal road between two anchor points
Footpath.
The use genetic algorithm includes to the method that more than two inspector's equilibrium assignments patrol and examine circuit：
Step 3.5, unique and continuous array sequence number is given to all cities, use and entered with traveling through the sequential arrangement in city
The method of row coding, determines population size n, and n solution X is produced using random deviceiK () (1≤i≤n, k are generation number) constitutes
Initial solution group；
Step 3.6, for each individual XiK (), variable k is generation number, k=1 when initial calculates its fitness f (xi
(k))；
Step 3.7, for each individual XiK (), calculates its survival probabilityThen one is set at random
Selector, according to PiK () produces breeding individuality X with certain random devicei(k)；
Step 3.8, generation population of future generation, choose two breeding individuality X1(k)、X2(k), and advised according to certain combination
Then by X1(k)、X1K () is combined into two individual X of a new generation1(k+1)、x1(k+2), until the n bodily form of new generation is into complete
Finish；
Step 3.9,3.6 to 3.8 are repeated, until reaching the generation number finish condition of regulation.
Fitness f (the xi(k)) fitness function be：
In formulaIt is balance factor, Min (Di) is most short path in all travelling salesmans, dijFor
Distances of the city i to city j.
Beneficial effects of the present invention：
The present invention establishes a complete road network system and three-dimension GIS system.And operation is patrolled and examined in realization；Calculated by optimizing
Method is realized simultaneously for several inspectors plan optimal route, and can be in a balanced way that several inspectors distribute task；By right
The secondary development of skyline three-dimension GIS systems, transformer station's three-dimension GIS system of one superior performance of fast construction, typing road network
Etc. realizing intelligent patrol detection function after information；Three-dimensional data of the present invention be able to can naturally also be contained with dimensionality reduction to two dimension, therefore three-dimension GIS
The spatial analysis functions of two-dimension GIS.The powerful various dimensions spatial analysis functions of three-dimension GIS, are not only GIS spatial analysis functions
Once cross over, the characteristics of GIS has also been fully demonstrated to a greater extent and superiority；Using up to date technics and management means
Transformer station is managed, strengthens the operational management to substation equipment and ability to supervise, effectively prevent the generation of accident, in time
Accident has been sent out in treatment；The electric power relevant industries of prior art are solved, three-dimension GIS system is realized being primarily present from the point of view of technology with regard to it
Render that figure efficiency is low, geographic information displaying it is incomplete, and need substantial amounts of three-dimensional modeling work, it is difficult to the technology such as safeguard
Problem.
Specific embodiment：
The present invention uses transformer station's high definition image and dem data, builds true three-dimension scene.User can be inquired about in scene
The information such as Point Coordinates, elevation, system can be planned patrols and examines route.Realize that step is as follows：
Step one generates road network：
Four class data are needed in power transformation three-dimension GIS system：Transformer station's digital satellite map, transformer station's elevation information (longitude,
Latitude, height above sea level), the transformer station route network information, facility information.Transformer station's route network information of the present invention is by Garmin
All route longitude and latitude degrees of data are obtained in (equipment of record longitude and latitude) equipment collection transformer station.Patrol and examine algorithm data type all
It is point coordinates (longitude and latitude) data, the present invention is using all roads in Garmin (equipment of record longitude and latitude) equipment collections transformer station
If the longitude and latitude degrees of data done in line.Data inputting Map-source (a gps data pipes of Garmin exploitations that these are put
Reason software) in, it can be seen that the information of the route for constituting a little, chooses all keys in the map of Map-source softwares
Point (crossing and anchor point) constitutes adjacency list, while the road network information that Garmin is got is drawn specifically by AutoCAD softwares
Circuit simultaneously generates .shp formatted files.
The generation of step 2 three-dimensional scenic：
Terra-Builder is one of skyline three-dimension GIS systems using DEM (elevation mathematical model) data and distant
Feel image data to build the instrument of the three-dimensional scenic of oneself.
Terra Explorer Pro be in skyline three-dimension GIS systems one can load opening dimensional topography scene
(.mtp files), then can in the scene carry out the instrument of various edit operations, such as loading GIS features figure layer (.shp texts
Part), plotting, textures, foundation and loading 3D models etc., so as to set up truer and abundant three-dimensional virtual scene.
The generation of three-dimensional scenic is divided into two steps：
First loads DEM (elevation information) data and digital satellite map in Terra builder softwares.Ultimately generate
.mpt form topographic database.
Second, the file of the .mtp forms of first step generation, loading ground are loaded in Terra Explorer Pro softwares
Graphic data.Then the line that will be drawn by AutoCAD softwares draw topographic map data (including transformer station's route, substation equipment coordinate,
The figure layer data such as transformer station's building scope) corresponding .shp formatted files are generated, in Terra Explorer Pro softwares
Batch modeling is imported using figure layer instrument is added.Layer properties table addition attribute field is opened, the addition of building figure layer is given
Number fields, an attribute field value is assigned to each building.People two is led in Terra Explorer Pro softwares
Dimension GIS feature figure layers.Can not meet beautification to three-dimensional scenic due to only loading feature figure layer, thus need by textures,
Plotting etc. operates to realize protrusion and the beautification of the three-dimensional scenic to building and periphery.Building beautifies：Building is assigned first
The different height of thing, opens transformer station's building layer properties frame, the roof height option below selection position, and setting height is
(number*5), building different number attribute field values of addition according to before show different height.Next step
It is that mapping operations are carried out to building, building textures can take the different modes to carry out textures according to different attributes, scheme
Piece can be that transformer substation reality photo can also be the samples pictures in system database.Road beautifies：Route figure layer is opened, is made
Figure layer is in editing mode, and the Draw options of click menu Tools select Urban Design, according to skyline three-dimension GISs
Base map laying road in system, sets street lamp, trees, traffic lights etc..
Step 3 intelligent patrol detection layout of roads：
For the two large problems that robot used for intelligent substation patrol global optimal path planning needs to solve：One is any two
The Solve problems of shortest path between anchor point；Two is the Solve problems of all anchor point optimal combinations, proposes to use
Two methods of dijkstra's algorithm, genetic algorithm.
Algorithm data type is all point coordinates (longitude and latitude) data, and the present invention is using Garmin (equipment of record longitude and latitude)
If the longitude and latitude degrees of data done in all routes in equipment collection transformer station.The data inputting Mapsource that these are put
In (a gps data management software of Garmin exploitations), it can be seen that the road for constituting a little in the map of Mapsource
The information of line, chooses all key point (crossing and anchor point etc.) composition adjacency lists.
1.Dijkstra algorithms solve the optimum path planning between two anchor points, and dijkstra's algorithm process is as follows：
1) when initial, set S only includes starting point s；Distances of the set U comprising summit in other summits, and U in addition to s for "
Distances of the starting point s to the summit " (for example, in U vertex v distance for (s, v) length, then s and v are non-conterminous, then v away from
From being ∞).
2) " the most short summit k of distance " is selected from U, and summit k is added in S；Meanwhile, summit k is removed from U.
3) distance of each summit to starting point s in renewal U.The distance on summit in U why is updated, is due in previous step
It is the summit for obtaining shortest path that k is determined, such that it is able to update the distance on other summits using k；For example, (s, v) away from
From the distance for being likely larger than (s, k)+(k, v).
4) repeat step 2) and 3), until having traveled through all summits.
2. genetic algorithm solves the problems, such as that multiple inspector's equilibrium assignments are covered and all patrols and examines layout of roads
In the case of several inspectors or many crusing robots are sent simultaneously, how to be in a balanced way
Several inspectors plan the problem of optimal route.Multirobot is patrolled and examined all anchor point problems and can be generalized into multiple traveling salesmen problem
(the M set in city is provided, N number of travelling salesman walks an itinerary respectively from the city at respective place so that each
City one and only one travelling salesman pass by.Eventually pass back to it is original set out city and total route is most short).The present invention is using something lost
Propagation algorithm solves the above problems.
The process of genetic algorithm is as follows：
1) all cities give unique and continuous array sequence number, use to travel through what the sequential arrangement in city was encoded
Method, such as sequence 82631457 are represented since the city 8, successively through city 2,6,3, Isosorbide-5-Nitrae, 5,7, finally return to city 8 time
Go through path.Determine population size n (integer), producing n using random device may solve Xi(k) (1≤i≤n, k are generation number)
Composition initial solution group；
2) for each individual XiK () (variable k is generation number, initial when k=1), calculates its fitness f (xi(k))；
3) for each individual XiK (), calculates its survival probabilityThen a random selection is set
Device, according to PiK () produces breeding individuality X with certain random devicei(k)。
4) population of future generation is produced.Choose two breeding individuality X1(k)、X2(k), and according to certain rule of combination (as handed over
Fork, variation, reverse etc.) by X1(k)、X1K () is combined into two individual X of a new generation1(k+1)、x1(k+2), until a new generation n
Each and every one body is formed and finished.
5) repeat 2) to 4) step, until reaching the generation number finish condition of regulation.
Multiple traveling salesmen problem is converted to the upper problem of travelling by the present invention using the method for setting virtual point：Assuming that there is M trip
Doing business will walk N number of point, introduce M-1 virtual point, be designated as N+1, N+2...N+M-1.I-th (0 ＜ i ＜ N) individual point is to jth (N ＜ j
＜ M+N) distance definition of individual point is i-th point to the 1st distance of point.The distance between virtual point and to central point 1
It is defined as infinity.Under such hypothesis, the point that M bar circuits are passed through comprises at least out another point outside central point.
Genetic algorithm is many inspectors path planning in a balanced way, and object function has two：
1) total distance is most short, and formula is:
2) polling path of inspector is distributed in a balanced way, and formula is：Comprehensive two targets of Min { Max (Di)-Min (Di) }
The fitness function that function can obtain genetic algorithm is：
WhereinIt is balance factor, Min (Di) is most short path in all travelling salesmans, dijFor
Distances of the city i to city j.
Step 4 carries out secondary development using C# programming language combination skyline three-dimension GISs systems
Terra Explorer Pro instruments are loaded in the softwares of Visio studio 2010 and provides an ActiveX
Control set.In the interface of exploitation, embedded the 3D window, inforamtion tree and navigation map.Terra Explorer are called by C#
The user interface that Pro instruments are provided realizes the functional programming in three-dimension GIS system in systems.
Claims (5)
1. a kind of intelligent substation patrol three-dimension GIS system method for building up, it includes：
Step 1, generation road network；Using in Garmin equipment collection transformer station in all routes longitude and latitude degrees of data a little；Will
In the data inputting Map-source of these points, all key point composition adjacency lists are chosen, while the information that Garmin is got
Specific circuit is drawn by AutoCAD softwares and .shp formatted files are generated；
Step 2, set up three-dimensional scenic；Dem data and digital satellite map generation .mpt lattice are loaded in Terra builder softwares
Formula topographic database；The file of the .mtp forms of generation is loaded in Terra Explorer Pro softwares；.mtp the text of form
It is transformer station's dimensional topography scene that part is opened in Terra Explorer Pro, and GIS feature figure layers are loaded in this scenario
.shp file, plotting, textures, foundation and loading 3D models, so as to set up three-dimensional virtual scene.
2. a kind of intelligent substation patrol three-dimension GIS system method for building up according to claim 1, it is characterised in that it is also
Including：
Step 3, intelligent patrol detection layout of roads：Optimum path planning between two anchor points is determined using dijkstra's algorithm；Adopt
Circuit is patrolled and examined to more than two inspectors or crusing robot equilibrium assignment with genetic algorithm.
3. a kind of intelligent substation patrol three-dimension GIS system method for building up according to claim 2, it is characterised in that：Institute
State and determine that the optimum path planning between two anchor points includes using dijkstra's algorithm：
Step 3.1, set S and set U when setting up initial, set S only include starting point s；Set U includes the summit in addition to s；
Step 3.2, " the most short summit k of distance " is selected from set U, and summit k is added in set S, while the shifting from U
Except summit k；
Distance of each summit to starting point s in step 3.3, renewal U；
Step 3.4, repeat step 3.2 and 3.3, until having traveled through all summits, obtain the optimal path between two anchor points.
4. a kind of intelligent substation patrol three-dimension GIS system method for building up according to claim 2, it is characterised in that：Institute
State is included using genetic algorithm to the method that more than two inspector's equilibrium assignments patrol and examine circuit：
Step 3.5, unique and continuous array sequence number is given to all cities, use and compiled with traveling through the sequential arrangement in city
The method of code, determines population size n, and n solution X is produced using random deviceiK () (1≤i≤n, k are generation number) composition is initial
Xie Qun；
Step 3.6, for each individual XiK (), variable k is generation number, k=1 when initial calculates its fitness f (xi(k))；
Step 3.7, for each individual XiK (), calculates its survival probability Then a random selection is set
Device, according to PiK () produces breeding individuality X with certain random devicei(k)；
Step 3.8, generation population of future generation, choose two breeding individuality X1(k)、X2(k), and will according to certain rule of combination
X1(k)、X1K () is combined into two individual X of a new generation1(k+1)、X1(k+2), until the n bodily form of new generation is into finishing；
Step 3.9,3.6 to 3.8 are repeated, until reaching the generation number finish condition of regulation.
5. a kind of intelligent substation patrol three-dimension GIS system method for building up according to claim 4, it is characterised in that：Institute
State fitness f (xi(k)) fitness function be：
In formulaIt is balance factor, Min (Di) is most short path in all travelling salesmans, dijIt is city i
To the distance of city j.
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| CN110807219A (en) * | 2019-10-16 | 2020-02-18 | 湖北亿咖通科技有限公司 | Three-dimensional simulation modeling method, device, terminal and storage medium for road network |
| CN110807219B (en) * | 2019-10-16 | 2021-06-01 | 湖北亿咖通科技有限公司 | Three-dimensional simulation modeling method, device, terminal and storage medium for road network |
| CN111158358A (en) * | 2019-11-29 | 2020-05-15 | 中国电力科学研究院有限公司 | A method and system for self-optimizing inspection of substation/converter station based on three-dimensional model |
| CN112712183A (en) * | 2020-12-23 | 2021-04-27 | 北京旋极伏羲科技有限公司 | Transformer substation unmanned inspection equipment data management method based on space grid |
| CN112902970A (en) * | 2021-02-25 | 2021-06-04 | 深圳市朗驰欣创科技股份有限公司 | Routing inspection path planning method and routing inspection robot |
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