CN113935140A - Path planning method and device for wind power plant current collection line, electronic device and storage medium - Google Patents
Path planning method and device for wind power plant current collection line, electronic device and storage medium Download PDFInfo
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Abstract
The invention discloses a method and a device for path planning of a current collection circuit of a wind power plant, electronic equipment and a storage medium, and relates to the technical field of wind power plant engineering planning design, wherein the method comprises the steps of determining coordinate information of a plurality of fans to be subjected to path planning in the wind power plant and coordinate information of a booster station in the wind power plant; clustering the fans according to the coordinate information of the fans, the coordinate information of the booster station and a density-based clustering strategy to obtain at least one fan group; determining path planning information of each fan set according to region limit information in a three-dimensional grid map region to which a wind power plant belongs, coordinate information of fans in the fan sets, coordinate information of booster stations and an ant colony strategy, wherein the path planning information comprises planned paths from the fans in the fan sets to the booster stations; and determining path planning information of a current collection line in the wind power plant according to the path planning information of at least one fan set. The method can plan the path scheme of the current collecting line of the large wind power plant efficiently and economically, thereby reducing the construction cost and enhancing the reliability of the wind power generation system.
Description
Technical Field
The disclosure relates to the technical field of wind power plant engineering planning design, and in particular relates to a method and a device for planning a path of a current collection line of a wind power plant, electronic equipment and a storage medium.
Background
In recent years, wind farms have been increasingly constructed. At present, the electric field engineering planning and design mainly comprises wind resource assessment, fan type selection and site selection, booster station design, fan basic design, road design, current collection line design and the like. The current collection circuit collects the current generated by each fan and sends the current to the booster station, and the current collection circuit is an important infrastructure in the wind power plant and occupies a large proportion in the construction cost of the wind power plant.
In the related art, a designer often designs a design plan for an overhead power collection line path according to project experience and related standards. However, due to the difference in experience level of designers, it is difficult to obtain an economical and efficient design scheme for a current collecting line path for a large-scale wind farm base project.
Disclosure of Invention
The present disclosure provides a method and an apparatus for planning a path of a collector line in a wind farm, an electronic device, and a storage medium, so as to at least solve a problem that it is difficult to obtain an economical and efficient collector line path design scheme for designing a base project of a large-scale wind farm.
According to a first aspect of the present disclosure, a method for planning a path of a current collecting line of a wind farm is provided, including: determining coordinate information of a plurality of fans to be subjected to path planning in a wind power plant and coordinate information of a booster station in the wind power plant; clustering the fans according to the coordinate information of the fans, the coordinate information of the booster station and a density-based clustering strategy to obtain at least one fan group; for each fan group, determining path planning information of the fan group according to area limit information in a three-dimensional grid map region to which the wind power plant belongs, coordinate information of fans in the fan group, coordinate information of the booster station and an ant colony strategy, wherein the path planning information comprises a planned path from the fans in the fan group to the booster station; and determining path planning information of a current collection line in the wind power plant according to the path planning information of at least one fan set.
As a first possible situation of the embodiment of the present disclosure, the clustering the multiple fans according to the coordinate information of the multiple fans, the coordinate information of the booster station, and a density-based clustering policy to obtain at least one fan group includes: determining a scanning radius and the minimum contained point number; selecting coordinate information of any unprocessed fan; when the number of fans in an area with the radius of the scanning radius is larger than or equal to the minimum contained point number by taking the coordinate information of the fans as the circle center, determining the coordinate information of the fans as a core machine position point, and generating a fan set according to the fans and the fans with the corresponding coordinate information and the core machine position point; and repeating the process until the plurality of fans are processed.
As a second possible case of the embodiment of the present disclosure, the determining the scanning radius and the minimum contained point number includes: and determining the scanning radius and the minimum contained point number according to the capacity limit information of the current collecting line in the wind power plant and the number threshold of the fans in the group.
As a third possible case of the embodiment of the present disclosure, the area restriction information in the three-dimensional grid area is determined according to a blade rotation area, an area occupied by a road, an area occupied by a bridge, and an area occupied by a residential area of the plurality of fans.
As a fourth possible case of the embodiment of the present disclosure, the determining, for each fan group, the path planning information of the fan group according to the area restriction information in the three-dimensional grid map area to which the wind farm belongs, the coordinate information of the fans in the fan group, the coordinate information of the booster station, and the ant colony policy includes: aiming at each fan group, determining an initial pheromone matrix according to a three-dimensional grid map area to which the wind power plant belongs; initializing an pheromone matrix by taking the coordinate information of the booster station as a starting point and the coordinate information of a fan which is farthest away from the booster station in the fan set as an end point; for each fan in the fan group, determining a path from the fan to the booster station by combining a probability function, updating an pheromone of a corresponding coordinate point in the pheromone matrix according to a coordinate point related to the path, and completing the path determination of each fan in the fan group; when the pheromone matrix meets the preset condition, the path determining operation and the pheromone matrix updating operation are terminated; and when the pheromone matrix does not meet the preset condition, repeatedly executing the steps on each fan in the fan group until the pheromone matrix meets the preset condition.
As a fifth possible case of the embodiment of the present disclosure, a calculation formula of the probability function is as follows:
wherein all represents a fan group, τij(t) is a pheromone matrix in which the initial value of each pheromone is a predetermined constant, ηijAnd (t) is a heuristic function which is the reciprocal of the distance from the fan to the booster station.
As a sixth possible case of the embodiment of the present disclosure, the path planning information of the fan group further includes: an pheromone matrix is obtained when a fan in the fan set carries out path planning; the determining the path planning information of the current collection line in the wind power plant according to the path planning information of at least one fan set comprises the following steps: determining first candidate path planning information of a current collection line in the wind power plant according to the path planning information of at least one fan set; adjusting fan groups to which partial or all edge fans belong in at least one fan group, re-determining path planning information of at least one fan group, and re-determining second candidate path planning information of a current collection circuit in the wind power plant; and selecting the path planning information of the current collection line in the wind power plant from the first candidate path planning information and the second candidate path planning information.
According to a second aspect of the embodiments of the present disclosure, there is provided a path planning apparatus for a wind farm power collection line, including: the system comprises a first determination module, a second determination module and a control module, wherein the first determination module is used for determining coordinate information of a plurality of fans to be subjected to path planning in a wind power plant and coordinate information of booster stations in the wind power plant; the clustering module is used for clustering the fans according to the coordinate information of the fans, the coordinate information of the booster station and a density-based clustering strategy to obtain at least one fan group; the second determining module is used for determining path planning information of each fan group according to area limitation information in a three-dimensional grid map area to which the wind power plant belongs, coordinate information of fans in the fan groups, coordinate information of the booster station and an ant colony strategy, wherein the path planning information comprises a planned path from the fans in the fan groups to the booster station; and the third determining module is used for determining the path planning information of the current collecting line in the wind power plant according to the path planning information of at least one fan set.
As a first possible situation of the embodiment of the present disclosure, the clustering module is specifically configured to determine a scanning radius and a minimum contained point number; selecting coordinate information of any unprocessed fan; when the number of fans in an area with the radius of the scanning radius is larger than or equal to the minimum contained point number by taking the coordinate information of the fans as the circle center, determining the coordinate information of the fans as a core machine position point, and generating a fan set according to the fans and the fans with the corresponding coordinate information and the core machine position point; and repeating the process until the plurality of fans are processed.
As a second possible situation of the embodiment of the present disclosure, the clustering module is specifically configured to determine the scanning radius and the minimum number of points included according to capacity limit information of a collecting line in the wind farm and a number threshold of fans in a group.
As a third possible case of the embodiment of the present disclosure, the area restriction information in the three-dimensional grid area is determined according to a blade rotation area, an area occupied by a road, an area occupied by a bridge, and an area occupied by a residential area of the plurality of fans.
As a fourth possible situation of the embodiment of the present disclosure, the second determining module is specifically configured to determine, for each fan group, an initial pheromone matrix according to a three-dimensional grid map region to which the wind farm belongs; initializing an pheromone matrix by taking the coordinate information of the booster station as a starting point and the coordinate information of a fan which is farthest away from the booster station in the fan set as an end point; for each fan in the fan group, determining a path from the fan to the booster station by combining a probability function, updating an pheromone of a corresponding coordinate point in the pheromone matrix according to a coordinate point related to the path, and completing the path determination of each fan in the fan group; when the pheromone matrix meets the preset condition, the path determining operation and the pheromone matrix updating operation are terminated; and when the pheromone matrix does not meet the preset condition, repeatedly executing the steps on each fan in the fan group until the pheromone matrix meets the preset condition.
As a fifth possible case of the embodiment of the present disclosure, a calculation formula of the probability function is as follows:
wherein all represents a fan group, τij(t) a pheromone matrix in which an initial value of each pheromone is a predetermined constant,ηijand (t) is a heuristic function which is the reciprocal of the distance from the fan to the booster station.
As a sixth possible case of the embodiment of the present disclosure, the path planning information of the fan group further includes: an pheromone matrix is obtained when a fan in the fan set carries out path planning; the third determining module is specifically configured to determine first candidate path planning information of a current collecting line in the wind farm according to path planning information of at least one fan group; adjusting fan groups to which partial or all edge fans belong in at least one fan group, re-determining path planning information of at least one fan group, and re-determining second candidate path planning information of a current collection circuit in the wind power plant; and selecting the path planning information of the current collection line in the wind power plant from the first candidate path planning information and the second candidate path planning information.
According to a third aspect of the present disclosure, there is provided an electronic device comprising: a processor; a memory for storing the processor-executable instructions; the processor is configured to execute the instructions to implement the method for planning the path of the power collection line of the wind farm set forth in the embodiment of the first aspect of the disclosure.
According to a fourth aspect of the present disclosure, there is provided a computer-readable storage medium, wherein instructions, when executed by a processor of an electronic device, enable the electronic device to perform the method for path planning of a wind farm power collection line set forth in the disclosure above.
According to a fifth aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor of an electronic device, enables the electronic device to perform the method for path planning of a wind farm power collection line as set forth in the disclosure above.
The technical scheme provided by the embodiment of the disclosure at least brings the following beneficial effects:
determining coordinate information of a plurality of fans to be subjected to path planning in a wind power plant and coordinate information of a booster station in the wind power plant; clustering the fans according to the coordinate information of the fans, the coordinate information of the booster station and a density-based clustering strategy to obtain at least one fan group; determining path planning information of each fan set according to region limit information in a three-dimensional grid map region to which a wind power plant belongs, coordinate information of fans in the fan sets, coordinate information of booster stations and an ant colony strategy, wherein the path planning information comprises planned paths from the fans in the fan sets to the booster stations; and determining the path planning information of the current collection line in the wind power plant according to the path planning information of at least one fan set to obtain a globally optimized current collection line path design scheme. The method can obtain an efficient and economic large-scale wind power plant current collection line path planning scheme, reduces the current collection line laying cost, improves the reliability of the current collection line, and is a construction assistance for the large-scale wind power plant.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure and are not to be construed as limiting the disclosure.
FIG. 1 is a flow chart illustrating a method for path planning for a collection line of a wind farm in accordance with an exemplary embodiment;
FIG. 2 is a flow chart illustrating another method for path planning of a wind farm collection line in accordance with an exemplary embodiment;
FIG. 3 is a flow chart illustrating another method for path planning of a wind farm collection line in accordance with an exemplary embodiment;
FIG. 4 is a schematic diagram of a path planning device for a collection line of a wind farm, shown in accordance with an exemplary embodiment;
FIG. 5 is a block diagram illustrating an electronic device for path planning of a wind farm collection line, according to an exemplary embodiment.
Detailed Description
In order to make the technical solutions of the present disclosure better understood by those of ordinary skill in the art, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the disclosure described herein are capable of operation in sequences other than those illustrated or otherwise described herein. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
At present, the electric field engineering planning and design mainly comprises wind resource assessment, fan type selection and site selection, booster station design, fan basic design, road design, current collection line design and the like. The current collection circuit collects the current generated by each fan and sends the current to the booster station, and the current collection circuit is an important infrastructure in the wind power plant and occupies a large proportion in the construction cost of the wind power plant. In the related art, a designer often designs a design plan for an overhead power collection line path according to experience and related standards. However, due to the difference in experience level of designers, it is difficult to obtain an economical and efficient design scheme for a current collecting line path for a large-scale wind farm base project.
The method for planning the collecting line path of the wind power plant mainly aims at solving the problem that an economical and efficient collecting line path design scheme is difficult to obtain for a large-scale wind power plant base project. According to the path planning method for the wind power plant current collection line, coordinate information of a plurality of fans to be subjected to path planning in the wind power plant and coordinate information of booster stations in the wind power plant are determined; clustering the fans according to the coordinate information of the fans, the coordinate information of the booster station and a density-based clustering strategy to obtain at least one fan group; determining path planning information of each fan set according to region limit information in a three-dimensional grid map region to which a wind power plant belongs, coordinate information of fans in the fan sets, coordinate information of booster stations and an ant colony strategy, wherein the path planning information comprises planned paths from the fans in the fan sets to the booster stations; and determining the path planning information of the current collection line in the wind power plant according to the path planning information of at least one fan set to obtain a globally optimized current collection line path design scheme. Therefore, efficient planning design of the power collection line path of the large wind power plant is achieved, and accuracy and economy of power collection line planning are improved.
The three-dimensional reconstruction method provided by the embodiment of the present disclosure is described in detail below with reference to the accompanying drawings.
FIG. 1 is a flow chart illustrating a method for path planning for a collection line of a wind farm in accordance with an exemplary embodiment.
It should be noted that the main execution unit of the method for planning the path of the wind farm power collecting line according to the embodiment of the present disclosure may be a path planning device of the wind farm power collecting line, and the path planning device of the wind farm power collecting line may be configured in an electronic device to execute the method for planning the path of the wind farm power collecting line on the electronic device.
The electronic device may be any stationary or mobile computing device capable of performing data processing, for example, a mobile computing device such as a notebook computer and a wearable device, or a stationary computing device such as a desktop computer, or other types of computing devices, which is not limited in this disclosure.
As shown in fig. 1, the method for planning the path of the power collection line of the wind farm may include the following steps 101-104.
In step 101, coordinate information of a plurality of wind turbines to be subjected to path planning in a wind farm and coordinate information of a booster station in the wind farm are determined.
In the embodiment of the disclosure, the path planning device of the wind farm power collection line can import coordinate information of a plurality of fans to be subjected to path planning in the wind farm and coordinate information of a booster station in the wind farm from a data port.
In step 102, clustering is performed on the plurality of fans according to the coordinate information of the plurality of fans, the coordinate information of the booster station and a density-based clustering strategy to obtain at least one fan group.
In the embodiment of the disclosure, a density-based clustering strategy, coordinate information of a plurality of fans and coordinate information of a booster station are utilized to cluster and group the fans, one unprocessed fan is selected at will, and when the number of fans in a certain area of the fan meets a preset condition, the coordinate information of the fan is used as a core machine position point; generating a fan set according to a plurality of fans with the density capable of reaching the core machine position point and the core machine position point; and then, continuously selecting another core machine position point to determine the corresponding fan group until all the fan processing is completed. The Density-Based Clustering strategy may be, for example, a Density-Based noisy Spatial Clustering (DBSCAN) algorithm. Wherein, assuming X is in the neighborhood of core machine site Y, Y to X are said to be density through. Assuming that the density from the core machine position point Y to the core machine position point M is direct, the density from the core machine position point M to the core machine position point N is direct, and the density from the core machine position point N to the core machine position point X is direct, the relationship established by the core machine position points Y and X is called as the density reach. The preset condition is that the number of the fans in the area with the radius of the scanning radius is larger than or equal to the minimum contained point number by taking the coordinate information of the fans as the circle center.
In the embodiment of the disclosure, the density-based clustering strategy is utilized, the fans which are close to each other can be aggregated in the same fan group, and the fans which are far from each other are aggregated in different fan groups, so that the fans can share one long section of current collecting line aiming at the fans in the same fan group, the length of the shared current collecting line is increased, the arrangement of the current collecting line is facilitated, and the construction cost of the current collecting line is reduced.
In step 103, for each fan group, determining path planning information of the fan group according to area restriction information in a three-dimensional grid map area to which the wind farm belongs, coordinate information of fans in the fan group, coordinate information of a booster station and an ant colony strategy, wherein the path planning information includes a planned path from a fan in the fan group to the booster station.
In the embodiment of the present disclosure, the area restriction information in the three-dimensional grid area may be determined according to the blade rotation areas of the multiple fans, the areas occupied by roads, the areas occupied by bridges, the areas occupied by residential areas, and the like. That is to say, can restrict regional drawing according to the region that limit current collection circuit passed through such as fan blade rotation region and length information, road, bridge, residential block, avoid the circuit to collide with fan blade and other equipment, building, cause danger, improve the security of current collection circuit planning.
In the embodiment of the disclosure, when the ant colony algorithm is used for path optimization, the pheromone matrix can be updated according to the determined path, namely, the pheromone increment in the pheromone matrix is only related to the determined path, the ant colony algorithm adopts a positive feedback mechanism, and by using the principle that ants have the shortest path and leave more pheromones on the path when finding food, the longer the path is, the less pheromones on the path are; and when the path is shorter, the number of pheromones on the path is more, and pheromone increment is determined according to the pheromones on the path, so that the pheromone matrix is updated. Therefore, the searching process is continuously optimized, and finally the optimal solution is found by combining the updated pheromone matrix. When the pheromone matrix is updated, an ant surrounding system model can be adopted, and when ants finish walking from a starting point to an end point, the pheromone matrix is updated.
In step 104, path planning information of a current collection line in the wind farm is determined according to the path planning information of at least one fan set.
In the embodiment of the disclosure, first candidate path planning information for planning a current collecting line of a wind power plant is determined according to path information from a fan in a fan group to a booster station, some fans in edge positions in the group are considered, and if the fans are divided into adjacent groups, a path scheme with a better global effect may be provided, so that second candidate path planning information for planning the current collecting line of the wind power plant can be obtained. And finally, comprehensively judging and selecting which candidate path planning information is selected according to an pheromone matrix obtained by each candidate path planning information during planning, and using the candidate path planning information as the final path planning information of the current collecting line in the wind power plant.
According to the path planning method for the wind power plant current collection line, coordinate information of a plurality of fans to be subjected to path planning in the wind power plant and coordinate information of booster stations in the wind power plant are determined; clustering the fans according to the coordinate information of the fans, the coordinate information of the booster station and a density-based clustering strategy to obtain at least one fan group; determining path planning information of each fan set according to region limit information in a three-dimensional grid map region to which a wind power plant belongs, coordinate information of fans in the fan sets, coordinate information of booster stations and an ant colony strategy, wherein the path planning information comprises planned paths from the fans in the fan sets to the booster stations; and determining the path planning information of the current collection line in the wind power plant according to the path planning information of at least one fan set to obtain a globally optimized current collection line path design scheme. Therefore, efficient planning design of the power collection line path of the large wind power plant is achieved, and accuracy and economy of power collection line planning are improved.
Fig. 2 is a flowchart of another path planning method for a power collection line of a wind farm according to an exemplary embodiment, and on the basis of the embodiment shown in fig. 1, the process of clustering the plurality of wind turbines according to the coordinate information of the plurality of wind turbines, the coordinate information of the booster station, and the density-based clustering strategy in step 102 may be specifically divided into the following 4 steps 201 and 204.
In step 201, the scan radius and the minimum contained point number are determined.
In the embodiment of the disclosure, the process of finally determining the scanning radius and the minimum number of points included by path planning of the power collection line of the wind farm may be, for example, determining the scanning radius and the minimum number of points included according to capacity limit information of the power collection line in the wind farm and a number threshold of fans in a group.
In step 202, coordinate information for any unprocessed wind turbines is selected.
In the embodiment of the present disclosure, an unprocessed wind turbine is generally selected, a data set may be formed according to identification information or coordinate information of a plurality of wind turbines to be subjected to path planning in a wind farm, and each data in the data set is marked as an unprocessed state. And after a certain fan is grouped, modifying the state of the corresponding data in the data set into a processed state. Correspondingly, the blower that has not been processed may be the blower whose state of the corresponding data in the data set is the unprocessed state.
In step 203, when the number of fans in the area with the radius as the scanning radius is greater than or equal to the minimum number of contained points by taking the coordinate information of the fans as the circle center, determining the coordinate information of the fans as a core machine location point, and generating a fan group according to the fans and the fans of which the corresponding coordinate information is communicated with the core machine location point.
In the embodiment of the disclosure, whether the coordinate information of the fan is a core machine position point can be determined according to the number of fans in an area with the radius of the fan as a scanning radius; if the number of the fans in the area is larger than or equal to the minimum contained point number, determining that the coordinate information of the fans is a core machine point; and if the number of the fans in the area is smaller than the minimum contained number, determining that the coordinate information of the fan is not the core machine position point. And under the condition that the coordinate information of the fan is the core machine position point, determining the fan of which the corresponding coordinate information is communicated with the core machine position point, and generating a fan set.
The corresponding coordinate information is communicated with the core machine position point, and means that all the fan coordinates in an area with the core machine position point as a center radius as a scanning radius are combined.
In the embodiment of the present disclosure, if the number of fans in a certain fan area is smaller than the minimum number of fans, the coordinate information of the fan is determined as a noise machine location point, and the fan corresponding to the noise machine location point does not belong to any fan group, so that the noise machine location point can be ignored. During subsequent collection line path planning, collection line planning processing can be independently performed for noise engine sites.
In step 204, the above process is repeated until the multiple fan processing is completed.
The method and the device for clustering the fan coordinate group have the advantages that the fan coordinate group is grouped by utilizing the DBSCAN clustering algorithm, the coordinate information of any unprocessed fan is selected by determining the scanning radius and the minimum contained point number, when the coordinate information of the fan is taken as the circle center and the number of the fans in the area with the radius being the scanning radius is larger than or equal to the minimum contained point number, the coordinate information of the fan is determined to be the core machine position point, a fan group is generated according to the fan and the fan with the corresponding coordinate information communicated with the core machine position point, and the process is repeated until the multiple fans are processed. The method can be used for clustering dense data sets in any shapes, abnormal points can be found during clustering, the method is not influenced by factors such as terrain and the like, and clustering results are not biased.
Fig. 3 is a flowchart of another path planning method for a power collection line of a wind farm according to an exemplary embodiment, and on the basis of the embodiment shown in fig. 1, the process of determining the path planning information of the fan group according to the area limitation information in the three-dimensional grid map area to which the wind farm belongs, the coordinate information of the fans in the fan group, the coordinate information of the booster station, and the ant colony policy in step 103 may be specifically divided into the following 5 steps 301 and 305.
In step 301, for each fan group, an initial pheromone matrix is determined from a three-dimensional grid map region to which a wind farm belongs.
In the embodiment of the disclosure, the path planning device of the wind farm current collecting line can import actual measured qualitative three-dimensional coordinate points or discrete topographic information in a database from a data port to obtain three-dimensional coordinate points of a terrain, so as to generate a three-dimensional grid map, further obtain a query three-dimensional grid map of a region to which the wind farm belongs, and determine the three-dimensional grid map region to which the wind farm belongs.
In step 302, a pheromone matrix is initialized with the coordinate information of the booster station as a starting point and the coordinate information of the fan farthest from the booster station in the fan group as an end point.
In the embodiment of the disclosure, before determining a path from a fan to a booster station, an pheromone matrix needs to be determined according to a three-dimensional grid map region to which a wind farm belongs, coordinate information of the booster station, and coordinate information of a fan in a fan group which is farthest from the booster station, and the pheromone matrix is initialized.
In step 303, for each fan in the fan group, a path from the fan to the booster station is determined by combining the probability function, and according to the coordinate point related to the path, the pheromone of the corresponding coordinate point in the pheromone matrix is updated until the path determination of each fan in the fan group is completed.
In the embodiment of the disclosure, any fan in a fan group is selected first, a plurality of candidate paths from the fan to a booster station are determined, the probability of each candidate path is determined by combining a probability function, and then one of the candidate paths is selected by combining the probability as a path from the fan to the booster station; then updating the pheromone matrix based on the path; and repeatedly executing the process until the fans in the fan set are processed, namely determining to obtain the path from each fan in the fan set to the booster station.
In step 304, when the pheromone matrix meets the preset condition, the path determination operation and the pheromone matrix updating operation are terminated.
In step 305, when the pheromone matrix does not meet the preset condition, the above steps are repeatedly executed for each fan in the fan set until the pheromone matrix meets the preset condition.
The ant colony algorithm is utilized to perform the in-group path optimization in the embodiment of the disclosure, and by aiming at each fan unit, determining an initial pheromone matrix according to a three-dimensional grid map area to which a wind power plant belongs, initializing a plurality of fans in a fan group by taking coordinate information of a booster station as a starting point and coordinate information of a fan farthest from the booster station in the fan group as an end point, determining a path from the fan to the booster station by combining a probability function for each fan in the fan group, and updating pheromones of corresponding coordinate points in the pheromone matrix according to the coordinate points related to the paths, and completing the determination of the paths of all fans in the fan set, when the pheromone matrix meets the preset condition, the path determination operation and the pheromone matrix updating operation are terminated, and when the pheromone matrix does not meet the preset condition, and repeating the steps for each fan in the fan set until the pheromone matrix meets the preset condition. The ant colony algorithm adopts a positive feedback mechanism, so that the search process is continuously converged and finally approaches to an optimal solution, a distributed computing mode is adopted in the search process, and a plurality of individuals simultaneously perform parallel computing, thereby greatly improving the computing power and the operating efficiency of the algorithm.
In order to implement the above embodiments, the present disclosure provides a path planning device for a collecting line of a wind farm.
Fig. 4 is a schematic structural diagram of a path planning device for a power collection line of a wind farm according to an exemplary embodiment.
Referring to fig. 4, the path planning apparatus for a current collecting line of a wind farm may include: a first determining module 401, a clustering module 402, a second determining module 403, and a third determining module 404.
The first determining module 401 is configured to determine coordinate information of a plurality of fans to be subjected to path planning in a wind farm, and coordinate information of a booster station in the wind farm;
a clustering module 402, configured to cluster the multiple fans according to the coordinate information of the multiple fans, the coordinate information of the booster station, and a density-based clustering policy, so as to obtain at least one fan group;
a second determining module 403, configured to determine, for each fan group, path planning information of the fan group according to area restriction information in a three-dimensional grid map area to which the wind farm belongs, coordinate information of fans in the fan group, coordinate information of the booster station, and an ant colony policy, where the path planning information includes a planned path from a fan in the fan group to the booster station;
a third determining module 404, configured to determine path planning information of a current collecting line in the wind farm according to the path planning information of at least one fan group.
In an exemplary embodiment, the clustering module 402 is specifically configured to determine a scan radius and a minimum contained point number; selecting coordinate information of any unprocessed fan; when the number of fans in an area with the radius of the scanning radius is larger than or equal to the minimum contained point number by taking the coordinate information of the fans as the circle center, determining the coordinate information of the fans as a core machine position point, and generating a fan set according to the fans and the fans with the corresponding coordinate information and the core machine position point; and repeating the process until the plurality of fans are processed.
In an exemplary embodiment, the clustering module 402 is specifically configured to determine the scanning radius and the minimum number of included points according to capacity limit information of a collecting line in the wind farm and a threshold value of the number of fans in a group.
In an exemplary embodiment, the area restriction information in the three-dimensional grid area is determined according to a blade rotation area, an area occupied by a road, an area occupied by a bridge, and an area occupied by a residential area of the plurality of fans.
In an exemplary embodiment, the second determining module 403 is specifically configured to determine, for each fan group, an initial pheromone matrix according to a three-dimensional grid map region to which the wind farm belongs; initializing an pheromone matrix by taking the coordinate information of the booster station as a starting point and the coordinate information of a fan which is farthest away from the booster station in the fan set as an end point; for each fan in the fan group, determining a path from the fan to the booster station by combining a probability function, updating an pheromone of a corresponding coordinate point in the pheromone matrix according to a coordinate point related to the path, and completing the path determination of each fan in the fan group; when the pheromone matrix meets the preset condition, the path determining operation and the pheromone matrix updating operation are terminated; and when the pheromone matrix does not meet the preset condition, repeatedly executing the steps on each fan in the fan group until the pheromone matrix meets the preset condition.
In an exemplary embodiment, the probability function is calculated as follows:
wherein all represents a fan group, τij(t) is a pheromone matrix in which the initial value of each pheromone is a predetermined constant, ηijAnd (t) is a heuristic function which is the reciprocal of the distance from the fan to the booster station.
In an exemplary embodiment, the third determining module 404 is specifically configured to determine, according to path planning information of at least one fan group, first candidate path planning information of a current collection line in the wind farm; adjusting fan groups to which partial or all edge fans belong in at least one fan group, re-determining path planning information of at least one fan group, and re-determining second candidate path planning information of a current collection circuit in the wind power plant; and selecting the path planning information of the current collection line in the wind power plant from the first candidate path planning information and the second candidate path planning information.
The path planning device for the current collection circuit of the wind power plant determines coordinate information of a plurality of fans to be subjected to path planning in the wind power plant and coordinate information of booster stations in the wind power plant; clustering the fans according to the coordinate information of the fans, the coordinate information of the booster station and a density-based clustering strategy to obtain at least one fan group; determining path planning information of each fan set according to region limit information in a three-dimensional grid map region to which a wind power plant belongs, coordinate information of fans in the fan sets, coordinate information of booster stations and an ant colony strategy, wherein the path planning information comprises planned paths from the fans in the fan sets to the booster stations; and determining the path planning information of the current collection line in the wind power plant according to the path planning information of at least one fan set to obtain a globally optimized current collection line path design scheme. Therefore, efficient planning design of the power collection line path of the large wind power plant is achieved, and accuracy and economy of power collection line planning are improved.
In order to implement the above embodiments, the embodiment of the present disclosure further provides an electronic device.
Wherein, the electronic device 200 includes:
a processor 220;
a memory 210 for storing instructions executable by processor 220;
wherein the processor 220 is configured to execute the instructions to implement the method for path planning of the collector lines of a wind farm as described above.
As an example, fig. 5 is a block diagram of an electronic device 200 for path planning of a collecting line of a wind farm according to an exemplary embodiment, and as shown in fig. 5, the electronic device 200 may further include:
a memory 210 and a processor 220, a bus 230 connecting different components (including the memory 210 and the processor 220), wherein the memory 210 stores a computer program, and when the processor 220 executes the program, the method for planning the path of the current collecting line of the wind farm according to the embodiment of the present disclosure is implemented.
A program/utility 280 having a set (at least one) of program modules 270, including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination thereof may comprise an implementation of a network environment, may be stored in, for example, the memory 210. The program modules 270 generally perform the functions and/or methodologies of the embodiments described in this disclosure.
The processor 220 executes various functional applications and data processing by executing programs stored in the memory 210.
It should be noted that, for the implementation process and the technical principle of the electronic device of the embodiment, reference is made to the foregoing explanation of the path planning method for the current collecting line of the wind farm according to the embodiment of the present disclosure, and details are not described here again.
According to the electronic equipment provided by the embodiment of the disclosure, the coordinate information of a plurality of fans to be subjected to path planning in the wind power plant and the coordinate information of a booster station in the wind power plant are determined; clustering the fans according to the coordinate information of the fans, the coordinate information of the booster station and a density-based clustering strategy to obtain at least one fan group; determining path planning information of each fan set according to region limit information in a three-dimensional grid map region to which a wind power plant belongs, coordinate information of fans in the fan sets, coordinate information of booster stations and an ant colony strategy, wherein the path planning information comprises planned paths from the fans in the fan sets to the booster stations; and determining the path planning information of the current collection line in the wind power plant according to the path planning information of at least one fan set to obtain a globally optimized current collection line path design scheme. Therefore, efficient planning design of the power collection line path of the large wind power plant is achieved, and accuracy and economy of power collection line planning are improved.
In order to implement the above embodiments, the embodiments of the present disclosure also provide a computer-readable storage medium.
Wherein the instructions in the computer readable storage medium, when executed by the processor of the electronic device, enable the electronic device to perform the method of path planning for a collector line of a wind farm as described above.
In order to implement the above embodiments, the present disclosure also provides a computer program product, which, when executed by a processor of an electronic device, enables the electronic device to execute the method for path planning of a collector line of a wind farm as described above.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (17)
1. A path planning method for a wind power plant current collection line is characterized by comprising the following steps:
determining coordinate information of a plurality of fans to be subjected to path planning in a wind power plant and coordinate information of a booster station in the wind power plant;
clustering the fans according to the coordinate information of the fans, the coordinate information of the booster station and a density-based clustering strategy to obtain at least one fan group;
for each fan group, determining path planning information of the fan group according to area limit information in a three-dimensional grid map region to which the wind power plant belongs, coordinate information of fans in the fan group, coordinate information of the booster station and an ant colony strategy, wherein the path planning information comprises a planned path from the fans in the fan group to the booster station;
and determining path planning information of a current collection line in the wind power plant according to the path planning information of at least one fan set.
2. The method for planning the path of the collector line of the wind farm according to claim 1, wherein the clustering the plurality of wind turbines according to the coordinate information of the plurality of wind turbines, the coordinate information of the booster station and a density-based clustering strategy to obtain at least one wind turbine group comprises:
determining a scanning radius and the minimum contained point number;
selecting coordinate information of any unprocessed fan;
when the number of fans in an area with the radius of the scanning radius is larger than or equal to the minimum contained point number by taking the coordinate information of the fans as the circle center, determining the coordinate information of the fans as a core machine position point, and generating a fan set according to the fans and the fans with the corresponding coordinate information and the core machine position point;
and repeating the process until the plurality of fans are processed.
3. The method for planning the path of the wind farm collecting line according to claim 2, wherein the determining the scanning radius and the minimum contained point number comprises:
and determining the scanning radius and the minimum contained point number according to the capacity limit information of the current collecting line in the wind power plant and the number threshold of the fans in the group.
4. The method for planning the path of the current collecting line of the wind farm according to claim 1, wherein the area restriction information in the three-dimensional grid area is determined according to a blade rotation area, an area occupied by a road, an area occupied by a bridge, and an area occupied by a residential area of the plurality of wind turbines.
5. The method for planning the path of the power collection line of the wind farm according to claim 1, wherein the determining, for each fan group, the path planning information for the fan group based on the area restriction information in the three-dimensional grid map area to which the wind farm belongs, the coordinate information of the fan in the fan group, the coordinate information of the booster station, and the ant colony policy includes:
aiming at each fan group, determining an initial pheromone matrix according to a three-dimensional grid map area to which the wind power plant belongs;
initializing an pheromone matrix by taking the coordinate information of the booster station as a starting point and the coordinate information of a fan which is farthest away from the booster station in the fan set as an end point;
for each fan in the fan group, determining a path from the fan to the booster station by combining a probability function, updating an pheromone of a corresponding coordinate point in the pheromone matrix according to a coordinate point related to the path, and completing the path determination of each fan in the fan group;
when the pheromone matrix meets the preset condition, the path determining operation and the pheromone matrix updating operation are terminated;
and when the pheromone matrix does not meet the preset condition, repeatedly executing the steps on each fan in the fan group until the pheromone matrix meets the preset condition.
6. The method for planning the path of the wind farm collecting line according to claim 5, wherein the probability function is calculated as follows:
wherein all represents a fan group, τij(t) is a pheromone matrix in which the initial value of each pheromone is a predetermined constant, ηijAnd (t) is a heuristic function which is the reciprocal of the distance from the fan to the booster station.
7. The method for planning a path of a wind farm power collection line according to claim 1, wherein the path planning information for the fan group further comprises: an pheromone matrix is obtained when a fan in the fan set carries out path planning; the determining the path planning information of the current collection line in the wind power plant according to the path planning information of at least one fan set comprises the following steps:
determining first candidate path planning information of a current collection line in the wind power plant according to the path planning information of at least one fan set;
adjusting fan groups to which partial or all edge fans belong in at least one fan group, re-determining path planning information of at least one fan group, and re-determining second candidate path planning information of a current collection circuit in the wind power plant;
and selecting the path planning information of the current collection line in the wind power plant from the first candidate path planning information and the second candidate path planning information.
8. A path planning device for a wind power plant current collection line is characterized by comprising:
the system comprises a first determination module, a second determination module and a control module, wherein the first determination module is used for determining coordinate information of a plurality of fans to be subjected to path planning in a wind power plant and coordinate information of booster stations in the wind power plant;
the clustering module is used for clustering the fans according to the coordinate information of the fans, the coordinate information of the booster station and a density-based clustering strategy to obtain at least one fan group;
the second determining module is used for determining path planning information of each fan group according to area limitation information in a three-dimensional grid map area to which the wind power plant belongs, coordinate information of fans in the fan groups, coordinate information of the booster station and an ant colony strategy, wherein the path planning information comprises a planned path from the fans in the fan groups to the booster station;
and the third determining module is used for determining the path planning information of the current collecting line in the wind power plant according to the path planning information of at least one fan set.
9. The path planning device for a wind farm collection line according to claim 8, characterized in that the clustering module is specifically configured to,
determining a scanning radius and the minimum contained point number;
selecting coordinate information of any unprocessed fan;
when the number of fans in an area with the radius of the scanning radius is larger than or equal to the minimum contained point number by taking the coordinate information of the fans as the circle center, determining the coordinate information of the fans as a core machine position point, and generating a fan set according to the fans and the fans with the corresponding coordinate information and the core machine position point;
and repeating the process until the plurality of fans are processed.
10. The path planning device for a wind farm collection line according to claim 9, characterized in that the clustering module is specifically configured to,
and determining the scanning radius and the minimum contained point number according to the capacity limit information of the current collecting line in the wind power plant and the number threshold of the fans in the group.
11. The path planning device for the current collecting line of the wind farm according to claim 8, wherein the area limitation information in the three-dimensional grid area is determined according to a blade rotation area, an area occupied by a road, an area occupied by a bridge, and an area occupied by a residential area of the plurality of wind turbines.
12. The device for path planning for a wind farm power collection line according to claim 8, characterized in that the second determination module is specifically configured to,
aiming at each fan group, determining an initial pheromone matrix according to a three-dimensional grid map area to which the wind power plant belongs;
initializing an pheromone matrix by taking the coordinate information of the booster station as a starting point and the coordinate information of a fan which is farthest away from the booster station in the fan set as an end point;
for each fan in the fan group, determining a path from the fan to the booster station by combining a probability function, updating an pheromone of a corresponding coordinate point in the pheromone matrix according to a coordinate point related to the path, and completing the path determination of each fan in the fan group;
when the pheromone matrix meets the preset condition, the path determining operation and the pheromone matrix updating operation are terminated;
and when the pheromone matrix does not meet the preset condition, repeatedly executing the steps on each fan in the fan group until the pheromone matrix meets the preset condition.
13. The device for planning a path of a wind farm collecting line according to claim 12, wherein the probability function is calculated as follows:
wherein all represents a fan group, τij(t) is a pheromone matrix in which the initial value of each pheromone is a predetermined constant, ηijAnd (t) is a heuristic function which is the reciprocal of the distance from the fan to the booster station.
14. The device for planning a path of a wind farm power collection line according to claim 8, wherein the path planning information for the fan group further includes: an pheromone matrix is obtained when a fan in the fan set carries out path planning; the third determining means is specifically configured to,
determining first candidate path planning information of a current collection line in the wind power plant according to the path planning information of at least one fan set;
adjusting fan groups to which partial or all edge fans belong in at least one fan group, re-determining path planning information of at least one fan group, and re-determining second candidate path planning information of a current collection circuit in the wind power plant;
and selecting the path planning information of the current collection line in the wind power plant from the first candidate path planning information and the second candidate path planning information.
15. An electronic device, comprising:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to execute the instructions to implement a method of path planning for a wind farm collection line according to any of claims 1 to 7.
16. A computer readable storage medium, instructions in which, when executed by a processor of an electronic device, enable the electronic device to perform a method of path planning for a wind farm collection line according to any of claims 1 to 7.
17. A computer program product comprising a computer program which, when executed by a processor of an electronic device, enables the electronic device to carry out a method of path planning for a wind farm collection line according to any of claims 1 to 7.
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