CN106202744A - Wind power collection system of offshore wind power plant avoidance method for optimizing route and system - Google Patents
Wind power collection system of offshore wind power plant avoidance method for optimizing route and system Download PDFInfo
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Abstract
The present invention relates to a kind of wind power collection system of offshore wind power plant avoidance method for optimizing route and system, described method includes: obtains the barrier zone in wind power collection system of offshore wind power plant topology design, utilizes GIS technology that barrier zone carries out figure stratification process；Barrier zone after processing GIS carries out geometrization process, obtains the minimum area Rectangular Bounding Volume of barrier zone；Determine the beginning and end of barrier path optimization, and determine passage zone scope according to described beginning and end；The path Visual Graph containing barrier is obtained according to described passage zone scope and minimum area Rectangular Bounding Volume；Utilize best path algorithm to find the optimal path of avoiding obstacles on the Visual Graph of described path, and complete the topology design of wind power collection system of offshore wind power plant.The present invention fully takes into account the impact of barrier in marine wind electric field process of construction, decreases and finds the workload of optimal path greatly, improves the accuracy finding result.
Description
Technical field
The present invention relates to power system submarine cable planning technology field, particularly relate to a kind of marine wind electric field current collection system
System avoidance method for optimizing route and system.
Background technology
Wind energy, as the regenerative resource of a kind of cleaning, obtains under the background that environmental problem and climate change become increasingly conspicuous
Development and application widely.Owing to traditional energy reserves are low, the coastal area that electric load is bigger but usually occurs that electricity consumption is tight
The phenomenon opened.Therefore the higher offshore wind farm of stability becomes the study hotspot of this area.Marine wind electric field typically by draught fan group,
The part composition such as slip ring system, booster stations, transmission system.Wherein, slip ring system, as the major part of marine wind electric field, wraps again
Containing cable run, chopper, bus rod, its Main Function is to be opened up with certain by submarine cable and switchgear by electric energy
Flutter on the bus rod focusing on wind energy turbine set outlet.Therefore, marine wind electric field is run by the topology optimization design of slip ring system
Stability and economy are significant.
Currently, with respect to the design of slip ring system topology, being concentrated mainly on topological layout's research, Topology Switch configuration is ground
Studying carefully, topology electric property research, slip ring system power transmission mode compares, the method that wherein design of slip ring system topology line is conventional
Being to use minimal spanning tree algorithm, Prim algorithm is progressively to expand the number on contained summit in tree, until throughout the institute of connected graph
Having summit, it is incessantly from a current connected graph outward expansion, but outward expansion simultaneously from multiple connected graphs, it performs speed
Degree ratio is very fast.Designing for shortest path first, conventional is dijkstra's algorithm, bellman-ford algorithm, A* algorithm etc..
In all algorithms solving shortest path, dijkstra's algorithm is considered as one of the most best algorithm.Dijkstra calculates
Although method is the most feasible, but in actual applications, owing to number of vertex is too many, the efficiency thus resulting in searching algorithm is the lowest.
Owing to these algorithms are application when, being all based on traditional map and path data is carried out, workload is big, accuracy
Low, and usually not in view of the impact of barrier in marine wind electric field process of construction.
Summary of the invention
Based on this, it is necessary to for above-mentioned technical problem, it is provided that a kind of wind power collection system of offshore wind power plant avoidance path optimization
Method and system.
A kind of wind power collection system of offshore wind power plant avoidance method for optimizing route, including:
Obtain the barrier zone in wind power collection system of offshore wind power plant topology design, utilize GIS technology that barrier zone is carried out
Figure stratification processes；
Barrier zone after processing GIS carries out geometrization process, obtains the minimum area Rectangular Bounding Volume of barrier zone；
Determine the beginning and end of barrier path optimization, and determine passage zone scope according to described beginning and end；
The path Visual Graph containing barrier is obtained according to described passage zone scope and minimum area Rectangular Bounding Volume；
Utilize best path algorithm to find the optimal path of avoiding obstacles on the Visual Graph of described path, and complete sea
The topology design of wind energy turbine set slip ring system.
A kind of wind power collection system of offshore wind power plant avoidance path optimizing system, including:
Figure stratification processing module, for obtaining the barrier zone in wind power collection system of offshore wind power plant topology design, utilizes GIS
Technology carries out figure stratification process to barrier zone；
Geometrization processing module, the barrier zone after processing GIS carries out geometrization process, obtains barrier zone
Minimum area Rectangular Bounding Volume；
Passage zone range determination module, for determining the beginning and end of barrier path optimization, and according to described
Point and terminal determine passage zone scope；
Path Visual Graph acquisition module, contains for obtaining according to described passage zone scope and minimum area Rectangular Bounding Volume
There is the path Visual Graph of barrier；
Optimal path finds module, is used for utilizing best path algorithm to find avoiding obstacles on the Visual Graph of described path
Optimal path, and complete the topology design of wind power collection system of offshore wind power plant.
Above-mentioned wind power collection system of offshore wind power plant avoidance method for optimizing route and system, first with GIS-Geographic Information System to obstacle
Region carries out figure stratification process, then in conjunction with minimum area Rectangular Bounding Volume method, barrier zone is carried out geometrization process, determines
The beginning and end of barrier path optimization and passage zone scope, then find by forming the path Visual Graph containing barrier
The optimal path of avoiding obstacles, and plan the topology of wind power collection system of offshore wind power plant.The present invention fully takes into account offshore wind farm
The impact of barrier in the process of construction of field, decreases and finds the workload of optimal path greatly, improve the accuracy finding result.
Accompanying drawing explanation
Fig. 1 is the wind power collection system of offshore wind power plant avoidance method for optimizing route flow chart of the present invention；
Fig. 2 is the schematic diagram of the minimum area Rectangular Bounding Volume of barrier zone；
Fig. 3 is a certain marine wind electric field fan containing barrier and booster stations layout drawing；
Fig. 4 to Fig. 7 is respectively the schematic diagram of the minimum area Rectangular Bounding Volume of barrier 1～4；
Fig. 8 represents the Visual Graph of certain passage zone barrier；
Fig. 9 is the wind power collection system of offshore wind power plant avoidance path optimizing system structure chart of the present invention.
There is the slip ring system topological diagram of barrier in Figure 10 marine wind electric field.
Detailed description of the invention
Illustrate wind power collection system of offshore wind power plant avoidance method for optimizing route and the reality of system of the present invention below in conjunction with the accompanying drawings
Execute example.
With reference to shown in Fig. 1, Fig. 1 is the wind power collection system of offshore wind power plant avoidance method for optimizing route flow chart of the present invention, bag
Include:
Step S10, obtains the barrier zone in the design of slip ring system path, utilizes GIS (Geographic
Information System, GIS-Geographic Information System) technology carries out figure stratification process to barrier zone.
In slip ring system path is designed, owing to sea area barrier quantity is many, it is contemplated that there is barrier between blower fan
Time on path design impact, if there being barrier between blower fan, then should not directly build a submarine cable, and path should be changed to keep away
Open barrier.Generally, following area all can be considered barrier zone:
(1) land-use style region: such as offshore oil exploration platform, harbour, Bridge Pile, artificial island, military installations etc.；
(2) local plan region: such as infauna habitat, sea fishery etc.；
(3) geology and geomorphology region: such as geological disaster band, reef, marial rocks etc.；
(4) sea-bottom deposit object area: shipwreck.
In one embodiment, utilize GIS technology that barrier zone is carried out the step of figure stratification process, can include
Journey:
First, a GIS figure layer in path selection regional extent, pixel each in figure layer is judged, if symbol
Close the Rule of judgment of barrier zone, be then barrier by this zone marker；Then the pixel choosing other figure layers is carried out one by one
Passing marker, wherein, if a pixel has been labeled as barrier in scheming layer scanning before, then skips the scanning of this figure layer；Again
The pixel that All Layers is labeled as barrier zone is integrated, and obtains barrier zone, and other pixels are integrated into non-obstacle
Region.
Land-use style figure layer as a example by barrier zone " land-use style " this layer, to the GIS map in the regional extent of path
In in each pixel (corresponding to a length of rice/pixel in reality, depending on GIS map resolution) land-use style sentence
Disconnected, if military installations, offshore oil exploration platform or artificial island etc., then this point coordinates is labeled as barrier zone." use
Ground type " after figure layer passing marker is complete, figure layers such as " local plan " " geology and geomorphology " " bottom sediments " is scanned one by one
Labelling.If certain point has been labeled as barrier zone in scheming layer scanning before, then can skip the scanning of this figure layer.Will mark
The o'clock sharp being designated as " barrier " is together as barrier zone, and remaining point is as non-barrier zone.
Step S20, the barrier zone after processing GIS carries out geometrization process, obtains the minimal face product moment of barrier zone
Shape bounding box.
The marine barrier zone processed based on GIS is not regular geometry polygon, therefore, at design optimal path
Before, barrier zone can be processed further by minimum area Rectangular Bounding Volume method.
In one embodiment, step S20 obtains the step of the minimum area Rectangular Bounding Volume of barrier zone, can include
As follows:
Calculating the boundary rectangle of barrier zone profile, wherein, described boundary rectangle is minimax x coordinate and minimax
The rectangle that y-coordinate is constituted；By the coordinate any rotation θ of boundary rectangle so that surround the area of barrier zone after rotation
For minimum；According to the coordinate under x-y coordinate system, calculating after any rotation θ, described boundary rectangle is in u-v coordinate system
Under coordinate；Calculate boundary rectangle area at new u-v coordinate, obtain the conduct of boundary rectangle area minimum enclosed rectangle area
The minimum area Rectangular Bounding Volume of barrier profile, and store four summits of this minimum area Rectangular Bounding Volume at x-y axle
Under coordinate.
As in figure 2 it is shown, the schematic diagram of the minimum area Rectangular Bounding Volume that Fig. 2 is barrier zone, AABB (Aixe can be used
Align bounding box, axially in parallel bounding box) method obtains the boundary rectangle of barrier profile, i.e. minimax x coordinate
The rectangle constituted with minimax y-coordinate；Then coordinate any rotation θ (is incremented by with π/180 for step-length, and θ ∈
[0, pi/2]) so that the area surrounding barrier after rotation is minimum.
Assume that on the barrier bounding box contour line closed, any point coordinate under x-y coordinate system is for (a, b), in rotation
Turn after arbitrarily angled θ, this coordinate under u-v coordinate system be set to (m, n), coordinate transform such as formula
Obtain the boundary rectangle area S that AABB method is tried to achieve under new u-v coordinate, these external middle minimum areas external
Rectangle is the minimum area Rectangular Bounding Volume of barrier zone profile；Storage rectangle bounding box four summit is under x-y axle
Coordinate.
As it is shown on figure 3, Fig. 3 is a certain marine wind electric field fan containing barrier and booster stations layout drawing；Figure has liter
14 points such as pressure station and marine wind electric field fan, wherein have barrier 1～4, ask for barrier 1～4 as shown in Figures 4 to 7, figure
4 to Fig. 7 is respectively the schematic diagram of the minimum area Rectangular Bounding Volume of barrier 1～4；
Step S30, determines the beginning and end of barrier path optimization, and determines datapath section according to described beginning and end
Territory scope.
In one embodiment, for the method determining the beginning and end of barrier path optimization, wind-force can be sent out
The position coordinates of motor is set to the Origin And Destination in path, and is labeled in GIS map.
Such as, the designer of marine wind electric field provide the position of each typhoon power generator, by two wind-driven generators
Position is set to the Origin And Destination in path, and is labeled in GIS map.
By measuring the air line distance of described Origin And Destination, on the basis of beginning and end, enterprising in GIS map respectively
Row extends, and constructs rectangle；On the basis of described rectangle each limit stretch out structure new rectangle, it is thus achieved that passage zone scope.
Measure the air line distance of described Origin And Destination, on the basis of beginning and end, the north and south in GIS map respectively
Direction and east-west direction extend, and construct rectangle；On the basis of described rectangle each limit stretch out structure new rectangle, it is thus achieved that datapath section
Territory scope；Wherein, described path domain coordinate continues to use GIS map default coordinate.
By measuring the air line distance (unit km, lower same) of Origin And Destination, on the basis of beginning and end, respectively on ground
North and South direction on figure and east-west direction extend, and construct rectangle, in order to leave certain nargin, on the basis of this rectangle, each limit to
Outer extension, constructs new rectangle, i.e. passage zone scope.The path domain coordinate obtained continues to use the default coordinate of GIS map.
Step S40, visual according to the path that described passage zone and minimum area Rectangular Bounding Volume obtain containing barrier
Figure.
In one embodiment, the method for acquisition approach Visual Graph, can include the following:
The minimum area Rectangular Bounding Volume of each barrier zone is labeled in GIS map；With described starting point
Be starting point and impact point with terminal, obtain from starting point through described minimum area Rectangular Bounding Volume to impact point can walking along the street
Footpath Visual Graph.
With reference to shown in Fig. 8, Fig. 8 represents the Visual Graph of certain passage zone barrier, is surrounded by the rectangle of each barrier zone
Box Oi(i=1,2 ... n) representing, corresponding to barrier in GIS map, s, g represent starting point and impact point, O respectively1With
O2Representing two barriers, dotted line is to the feasible path of impact point g from starting point s.
Step S50, utilizes best path algorithm to find the optimal path of avoiding obstacles on the Visual Graph of described path；By
The topology of wind power collection system of offshore wind power plant can be planned in these paths.
Here, the present invention uses Path-best algorithm to carry out optimizing, it is considered to Practical Project situation, for marine wind electric field
In there is barrier region, in conjunction with Path-best algorithm and two kinds of algorithms of Prim, a kind of comprehensive most short-path spanning tree is proposed
Algorithm.
In one embodiment, the step of optimal path can include the following:
Most short-path spanning tree algorithm is utilized to scan on the Visual Graph of described path, when searching barrier zone,
Use the minor face asking for shortest-path method avoiding obstacles, then the limit searched is put into all limits in topological optimization
In set, then proceed to most short-path spanning tree algorithm algorithm, until all summits of traverse path Visual Graph.
As an embodiment, the optimal path algorithm flow process of described searching avoiding obstacles, include the following:
(1) initial sets is determined: S1={ s}, F={fi| i=1,2 ... n-1},L=
{}；Wherein, s is the initial point of booster stations in figure, i.e. minimum spanning tree, fiFor each blower fan point,For kth barrier zone
Each summit of minimum area Rectangular Bounding Volume, L is the set on all limits in topological optimization；
(2) from set S1In summit s set out, it is judged that s and fiThe limit being connected whether with the minimum area rectangle of barrier zone
The limit of bounding box is intersected, if non-intersect, illustrates between 2 blower fan points without barrier, right to choose from all limits associated with s
(s f) puts in L, f is put into S on the limit of value minimum1In and by its from set F delete；If intersecting, illustrate to exist between 2
Barrier, then perform step (3)；
(3) by s and fiBeing set to p and q, wherein, p is starting point, and q is terminal, makes S2={ p}；
Choose, from set R, the summit m that distance p is minimum, m is put into S2In, if clear area between m and q,
Directly by p, m, q are connected, and are put into S2In, and the shortest path searched out is put in L, if there being barrier zone, belonging to m
The summit of minimum area Rectangular Bounding Volume is chosen next some m2, wherein, m2Meet adjacent with m and nearest for q from home bar
Part；
(4) m is judged2And whether there is barrier zone between terminal q, if existing, then m2As new starting point p, repeat to hold
Row step (4)；If not existing, then by p, m, m2, q is connected, and puts into S2In, and the shortest path searched out is put into set L
In；
(5) if f and ftThe limit being connected is non-intersect with the limit of the external minimum rectangle of barrier, select the minimum limit of weights (f,
ft) put in L, by ftPut into S1In and by its from set F delete, wherein f ∈ S1, ft∈F；If intersecting, perform step the most successively
Suddenly (3), (4), (5)；
(6) repeated execution of steps (6), until setTill, now, by of limit composition diagram in set L
Little spanning tree, thus obtain optimal path.
Above-described embodiment, proposes a kind of comprehensive most short-path spanning tree algorithm, along with the carrying out of Prim algorithm, works as search
During to barrier, use the method asking for shortest path to obtain the minor face of avoiding obstacles, then L is put on these limits and (open up
Flutter the set on all limits in optimization) in, then proceed to use Prim algorithm, until all summits travel through the most.
With reference to shown in Fig. 9, Fig. 9 is the wind power collection system of offshore wind power plant avoidance path optimizing system structure chart of the present invention, bag
Include:
Figure stratification processing module, for obtaining the barrier zone in wind power collection system of offshore wind power plant topology design, utilizes GIS
Technology carries out figure stratification process to barrier zone；
Geometrization processing module, the barrier zone after processing GIS carries out geometrization process, obtains barrier zone
Minimum area Rectangular Bounding Volume；
Passage zone range determination module, for determining the beginning and end of barrier path optimization, and according to described
Point and terminal determine passage zone scope；
Path Visual Graph acquisition module, contains for obtaining according to described passage zone scope and minimum area Rectangular Bounding Volume
There is the path Visual Graph of barrier；
Optimal path finds module, is used for utilizing best path algorithm to find avoiding obstacles on the Visual Graph of described path
Optimal path, and complete wind power collection system of offshore wind power plant topology design.
The marine wind electric field current collection system of the wind power collection system of offshore wind power plant avoidance path optimizing system of the present invention and the present invention
System avoidance method for optimizing route one_to_one corresponding, the embodiment at above-mentioned wind power collection system of offshore wind power plant avoidance method for optimizing route is explained
The technical characteristic stated and beneficial effect thereof all be applicable to the embodiment of wind power collection system of offshore wind power plant avoidance path optimizing system,
Hereby give notice that.
With reference to shown in Figure 10, Figure 10 is a wind power collection system of offshore wind power plant avoidance path optimization technology using the present invention
There is the slip ring system topological diagram of barrier in the marine wind electric field obtained.
Each technical characteristic of embodiment described above can combine arbitrarily, for making description succinct, not to above-mentioned reality
The all possible combination of each technical characteristic executed in example is all described, but, as long as the combination of these technical characteristics is not deposited
In contradiction, all it is considered to be the scope that this specification is recorded.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes more concrete and detailed, but also
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that, come for those of ordinary skill in the art
Saying, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement, these broadly fall into the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (9)
1. a wind power collection system of offshore wind power plant avoidance method for optimizing route, it is characterised in that including:
Obtain the barrier zone in wind power collection system of offshore wind power plant topology design, utilize GIS technology that barrier zone is carried out figure layer
Change processes；
Barrier zone after processing GIS carries out geometrization process, obtains the minimum area Rectangular Bounding Volume of barrier zone；
Determine the beginning and end of barrier path optimization, and determine passage zone scope according to described beginning and end；
The path Visual Graph containing barrier is obtained according to described passage zone scope and minimum area Rectangular Bounding Volume；
Utilize best path algorithm to find the optimal path of avoiding obstacles on the Visual Graph of described path, and complete offshore wind farm
The topology design of field slip ring system.
Wind power collection system of offshore wind power plant avoidance method for optimizing route the most according to claim 1, it is characterised in that described barrier
Region is hindered to include:
Land-use style region, local plan region, geology and geomorphology region, sea-bottom deposit object area.
Wind power collection system of offshore wind power plant avoidance method for optimizing route the most according to claim 1, it is characterised in that utilize
GIS technology carries out the step of figure stratification process and includes barrier zone:
A GIS figure layer in path selection regional extent, judges pixel each in figure layer, if meeting barrier zone
Rule of judgment, then be barrier by this zone marker；
The pixel choosing other figure layers is scanned labelling, one by one wherein, if a pixel is marked in scheming layer scanning before
It is designated as barrier, then skips the scanning of this figure layer；
The pixel that All Layers is labeled as barrier zone is integrated, and obtains barrier zone, and other pixels are integrated into non-
Barrier zone.
Wind power collection system of offshore wind power plant avoidance method for optimizing route the most according to claim 1, it is characterised in that to GIS
Barrier zone after process carries out geometrization process, and the step of the minimum area Rectangular Bounding Volume obtaining barrier zone includes:
Calculating the boundary rectangle of barrier zone profile, wherein, described boundary rectangle is minimax x coordinate and minimax y seat
The rectangle that mark is constituted；
By the coordinate any rotation θ of boundary rectangle so that the area surrounding barrier zone after rotation is minimum；
According to the coordinate under x-y coordinate system, calculating after any rotation θ, described boundary rectangle is under u-v coordinate system
Coordinate；
Calculate boundary rectangle area at new u-v coordinate, obtain the minimum boundary rectangle of boundary rectangle area and take turns as barrier
Wide minimum area Rectangular Bounding Volume, and store four summits of this minimum area Rectangular Bounding Volume coordinate under x-y axle.
Wind power collection system of offshore wind power plant avoidance method for optimizing route the most according to claim 1, it is characterised in that determine barrier
The step hindering the beginning and end of path optimization of district includes:
The position coordinates of wind-driven generator is set to the Origin And Destination in path, and is labeled in GIS map.
Wind power collection system of offshore wind power plant avoidance method for optimizing route the most according to claim 1, it is characterised in that according to institute
The step stating passage zone scope and the minimum area Rectangular Bounding Volume acquisition path Visual Graph containing barrier includes:
The minimum area Rectangular Bounding Volume of each barrier zone is labeled in GIS map；With described starting point and end
Point is for starting point and impact point, and obtaining can through the feasible path of described minimum area Rectangular Bounding Volume to impact point from starting point
View.
Wind power collection system of offshore wind power plant avoidance method for optimizing route the most according to claim 1, it is characterised in that utilize
The step of the optimal path that good routing algorithm finds avoiding obstacles on the Visual Graph of described path includes:
Utilize most short-path spanning tree algorithm to scan on the Visual Graph of described path, when searching barrier zone, use
Ask for the minor face of shortest-path method avoiding obstacles, then the limit searched is put into the set on all limits in topological optimization
In, then proceed to use minimal spanning tree algorithm, until all summits of traverse path Visual Graph.
Wind power collection system of offshore wind power plant avoidance method for optimizing route the most according to claim 7, it is characterised in that utilize
The step of the optimal path that good routing algorithm finds avoiding obstacles on the Visual Graph of described path includes:
(1) initial sets is determined: S1={ s}, F={fi| i=1,2 ... n-1}, R={ri k| i=1,2,3,4, k=1,2,3,
4}, L={}；Wherein, s is booster stations in figure, fiFor each blower fan point, ri kMinimum area rectangle bag for kth barrier zone
Enclosing each summit of box, L is the set on all limits in topological optimization；
(2) from set S1In summit s set out, it is judged that s and fiThe limit being connected whether minimum area rectangle with barrier zone surrounds
The limit of box is intersected, if non-intersect, (s f) puts in L, f is put into S on the limit that selection weights are minimum from all limits associated with s1
In and by its from set F delete；If intersecting, then perform step (3)；
(3) by s and fiBeing set to p and q, wherein, p is starting point, and q is terminal, makes S2={ p}；
(4) choose, from set R, the summit m that distance p is minimum, m is put into S2In, if clear area between m and q, will
P, m, q are connected, and are put into S2In, and the shortest path searched out is put in L, if there being barrier zone, at minimal face belonging to m
The summit of long-pending Rectangular Bounding Volume is chosen next some m2, wherein, m2Meet adjacent with m and nearest for q from home condition；
(5) m is judged2And whether there is obstacle barrier zone between terminal q, if existing, then m2As new starting point p, repeat to hold
Row step (4)；If not existing, then by p, m, m2, q is connected, and puts into S2In, and the shortest path searched out is put into set L
In；
(6) if f and ftThe limit being connected is non-intersect with the limit of the external minimum rectangle of barrier, selects limit (f, f that weights are minimumt) put
Enter in L, by ftPut into S1In and by its from set F delete, wherein f ∈ S1, ft∈F；If intersecting, perform step the most successively
(3)、(4)、(5)；
(7) repeated execution of steps (6), until setTill, a minimum spanning tree of the limit composition diagram in set L is
Shortest path.
9. a wind power collection system of offshore wind power plant avoidance path optimizing system, it is characterised in that including:
Figure stratification processing module, for obtaining the barrier zone in wind power collection system of offshore wind power plant topology design, utilizes GIS technology
Barrier zone is carried out figure stratification process；
Geometrization processing module, the barrier zone after processing GIS carries out geometrization process, obtains the minimum of barrier zone
Area Rectangular Bounding Volume；
Passage zone range determination module, for determining the beginning and end of barrier path optimization, and according to described starting point and
Terminal determines passage zone scope；
Path Visual Graph acquisition module, for obtaining containing barrier according to described passage zone scope and minimum area Rectangular Bounding Volume
Hinder the path Visual Graph in district；
Optimal path finds module, for utilizing best path algorithm to find avoiding obstacles on the Visual Graph of described path
Shortest path, and complete the topology design of wind power collection system of offshore wind power plant.
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| PCT/CN2017/082796 WO2018010471A1 (en) | 2016-07-12 | 2017-05-03 | Method and system for optimizing obstacle avoidance path of offshore wind farm current collection system |
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