WO2018010471A1 - Method and system for optimizing obstacle avoidance path of offshore wind farm current collection system - Google Patents

Method and system for optimizing obstacle avoidance path of offshore wind farm current collection system Download PDF

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WO2018010471A1
WO2018010471A1 PCT/CN2017/082796 CN2017082796W WO2018010471A1 WO 2018010471 A1 WO2018010471 A1 WO 2018010471A1 CN 2017082796 W CN2017082796 W CN 2017082796W WO 2018010471 A1 WO2018010471 A1 WO 2018010471A1
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path
obstacle
area
wind farm
offshore wind
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PCT/CN2017/082796
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French (fr)
Chinese (zh)
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谭茂强
黄伟
闫彬禹
谭任深
陈楠
郑明�
徐龙博
杨源
车文学
李玟萱
刘琦
李宁坤
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中国能源建设集团广东省电力设计研究院有限公司
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/18—Network design, e.g. design based on topological or interconnect aspects of utility systems, piping, heating ventilation air conditioning [HVAC] or cabling
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/06—Energy or water supply
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

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  • the invention relates to the technical field of power system submarine cable planning, in particular to a method and a system for optimizing an obstacle avoidance path of an offshore wind farm collecting system.
  • the offshore wind farm is generally composed of a wind turbine group, a current collecting system, a boosting station, and a power transmission system.
  • the current collecting system is the main part of the offshore wind farm, and also includes the cable line, the circuit breaker and the bus bar. Its main function is to concentrate the electric energy through the submarine cable and the switch equipment to the confluence bus of the wind farm outlet in a certain topology. Therefore, the topology optimization design of the current collection system is of great significance to the stability and economy of offshore wind farm operation.
  • the design scheme of the topology of the collector system mainly focuses on the topology layout research, the topology switch configuration research, the topology electrical performance research, the power transmission system comparison method, etc., and the common method for the topology connection design of the collector system is to adopt the minimum method.
  • the spanning tree algorithm which gradually enlarges the number of vertices contained in the tree until all the vertices of the connected graph extend beyond the current connected graph, but expands simultaneously from multiple connected graphs. The execution speed is faster.
  • Dijkstra algorithm Bellman-Ford algorithm, A* algorithm and so on are commonly used.
  • the Dijkstra algorithm is considered to be one of the best algorithms at present.
  • An obstacle avoidance path optimization method for an offshore wind farm collector system comprising:
  • the optimal path algorithm is used to find the optimal path to avoid obstacles on the path view, and the topology design of the offshore wind farm collector system is completed.
  • An obstacle avoidance path optimization system for an offshore wind farm collector system comprising:
  • a layering processing module is used to obtain an obstacle region in the topology design of the offshore wind farm collector system, and the zoning process is performed on the obstacle region by using GIS technology;
  • the geometric processing module is configured to perform geometric processing on the obstacle area after the GIS processing, and obtain a minimum area rectangular bounding box of the obstacle area;
  • a path area range determining module configured to determine a start point and an end point of the path optimization of the obstacle area, and determine a path area range according to the start point and the end point;
  • a path viewable obtaining module configured to acquire a path viewable view including the obstacle area according to the path area range and the minimum area rectangular bounding box;
  • the optimal path finding module is configured to search for an optimal path avoiding obstacles on the path viewable view by using an optimal path algorithm, and complete topology design of the offshore wind farm collector system.
  • the above-mentioned method and system for avoiding obstacles in the collection system of offshore wind farms firstly use the geographic information system to layer the obstacle regions, and then geometrically deal with the obstacle regions by the minimum area rectangular bounding box method to determine the path optimization of the obstacle regions.
  • the starting point and the end point and the range of the path area, and then by forming a path containing the obstacle area, the view can be used to find the optimal path to avoid the obstacle, and the topology of the offshore wind farm collecting system is planned.
  • the invention fully considers the shadow of the obstacle zone during the construction of the offshore wind farm It reduces the workload of finding the optimal path and improves the accuracy of finding results.
  • FIG. 1 is a flow chart of an obstacle avoidance path optimization method for an offshore wind farm current collecting system according to the present invention
  • FIG. 2 is a schematic view of a minimum area rectangular bounding box of a barrier area
  • Figure 3 is a layout diagram of a wind turbine and booster station for an offshore wind farm containing obstacles
  • 4 to 7 are schematic views of the minimum area rectangular bounding box of the obstacle zones 1 to 4, respectively;
  • Figure 8 shows a view of the obstacle area of a certain path area
  • FIG. 9 is a structural diagram of an obstacle avoidance path optimization system for an offshore wind farm current collecting system according to the present invention.
  • Figure 10 is a top view of the collector system in the obstacle zone of the offshore wind farm.
  • FIG. 1 is a flowchart of an obstacle avoidance path optimization method for an offshore wind farm current collecting system according to the present invention, including:
  • Step S10 Obtain an obstacle area in the path design of the power collection system, and perform a layering process on the obstacle area by using a Geographic Information System (GIS) technology.
  • GIS Geographic Information System
  • Land use type areas for example, offshore oil exploration platforms, docks, bridge piles, artificial islands, military installations, etc.;
  • Geological and geomorphological areas such as geological disaster zones, reefs, sea rocks, etc.;
  • the step of layering the obstacle area using GIS technology may be To include the process:
  • each pixel in the land type layer of the GIS map within the path area Judging by the type of land use, if it is a military installation, an offshore oil exploration platform, or an artificial island, the coordinates of this point are marked as obstacle areas.
  • the layers such as “local planning”, “geology and geomorphology” and “sea sediment” are scanned one by one. If a point has been marked as an obstacle area in a previous layer scan, you can skip scanning for that layer.
  • the points marked as "obstacle zones” are integrated as obstacle areas, and the remaining points are used as non-obstacle areas.
  • Step S20 performing geometric processing on the obstacle area after the GIS processing, and acquiring a minimum area rectangular bounding box of the obstacle area.
  • the GIS-based maritime obstacle area is not a regular geometric polygon. Therefore, before designing the optimal path, the obstacle area can be further processed by the minimum area rectangular bounding box method.
  • step S20 may include the following:
  • the circumscribed rectangle is a rectangle formed by a maximum and minimum x coordinate and a maximum and minimum y coordinate; rotating the coordinates of the circumscribed rectangle by an arbitrary angle ⁇ , so that the area surrounding the obstacle region after the rotation is the smallest; Calculate the coordinates of the circumscribed rectangle in the uv coordinate system after rotating the arbitrary angle ⁇ according to the coordinates in the xy coordinate system; calculate the circumscribed rectangle area in the new uv coordinate, and obtain the minimum circumscribed rectangle area of the circumscribed rectangle as an obstacle
  • the minimum area rectangle of the area outline encloses the box and stores the coordinates of the four vertices of the minimum area rectangle bounding box under the xy coordinate axis.
  • FIG. 2 is a schematic diagram of a minimum area rectangular bounding box of the obstacle area, and the contour of the obstacle area can be obtained by using AABB (Aixe align bounding box) method.
  • the circumscribing rectangle that is, the rectangle formed by the maximum and minimum x coordinates and the maximum and minimum y coordinates; then rotate the coordinates by an arbitrary angle ⁇ (in increments of ⁇ /180, and ⁇ ⁇ [0, ⁇ /2]), so that after rotation
  • the area surrounding the obstacle zone is the smallest.
  • the circumscribed rectangle of the smallest area among these circumstances is the minimum area rectangle bounding box of the obstacle area contour; the storage rectangle enclosing the box four vertices under the xy coordinate axis coordinate.
  • FIG. 3 is a layout diagram of a wind turbine and booster station for an offshore wind farm containing obstacles; there are 14 points such as a booster station and an offshore wind farm fan, among which there are obstacle zones 1 to 4,
  • the obstacle regions 1 to 4 are as shown in FIG. 4 to FIG. 7 , and FIG. 4 to FIG. 7 are schematic diagrams showing the minimum area rectangular bounding boxes of the obstacle regions 1 to 4 respectively;
  • Step S30 determining a starting point and an ending point of the path optimization of the obstacle zone, and determining a range of the path area according to the starting point and the ending point.
  • the position coordinates of the wind power generator may be respectively set as the starting point and the ending point of the path, and marked on the GIS map.
  • the designer of the offshore wind farm provides the location of each wind turbine, sets the location of the two wind turbines as the start and end points of the path, and marks them on the GIS map.
  • the rectangle By measuring the linear distance between the start point and the end point (unit km, the same below), based on the start point and the end point, respectively, extending in the north-south direction and the east-west direction on the map to construct a rectangle. In order to leave a certain margin, the rectangle is used as a reference. Each side extends outward to construct a new rectangle, that is, a range of path regions. The resulting path range coordinates follow the default coordinates of the GIS map.
  • Step S40 Acquire a path viewable view including the obstacle area according to the path area and the minimum area rectangular bounding box.
  • the method of obtaining a path viewable view may include the following:
  • the minimum area rectangular bounding box of each obstacle area is marked on the GIS map; taking the starting point and the ending point as the starting point and the target point, obtaining a feasible path from the starting point to the target point through the minimum area rectangular bounding box may be view.
  • Obstacle, s, g represent the starting point and the target point, respectively, O 1 and O 2 represent two obstacles, and the dotted line is a feasible path from the starting point s to the target point g.
  • Step S50 using an optimal path algorithm to find an optimal path avoiding obstacles on the path viewable view; the paths of the offshore wind farm collector system can be planned by the paths.
  • the present invention adopts the Path-best algorithm for optimization, considering the actual engineering situation, and proposes a comprehensive shortest path spanning tree algorithm for the obstacle region in the offshore wind farm, combined with the Path-best algorithm and the Prim algorithm. .
  • the step of optimizing the path may include the following:
  • Searching on the path viewable by using the shortest path spanning tree algorithm When searching for the obstacle area, the shortest path of the obstacle is avoided by using the shortest path method, and then the searched edge is placed in all edges of the topology optimization. In the set, then continue with the shortest path spanning tree algorithm until all the vertices of the view are traversable.
  • the process of searching for an optimal path algorithm for avoiding obstacles includes the following:
  • step (3) From the set of vertex S 1 s, and determines whether the edge f i s connected to the smallest area of the rectangular region of the barrier intersects the bounding box edge, if not intersect, free of obstacles between the two fans described points, Select the edge with the smallest weight (s, f) from all the edges associated with s into L, put f into S 1 and remove it from set F; if they intersect, it means that there is a barrier between the two points , then perform step (3);
  • step (4) It is judged whether there is an obstacle area between m 2 and the end point q, and if it exists, m 2 is taken as a new starting point p, and step (4) is repeatedly performed; if not, p, m, m 2 , q are Connected and placed in S 2 , and put the shortest path found into the set L;
  • step (6) Repeat step (6) until the collection So far, at this time, a minimum spanning tree of the graph is composed of the edges in the set L, thereby obtaining an optimal path.
  • a comprehensive shortest path spanning tree algorithm is proposed.
  • the Prim algorithm when searching for an obstacle region, the shortest path avoiding the obstacle is obtained by the method of finding the shortest path, and then the edges are placed. Enter L (the set of all edges in the topology optimization) and continue to use the Prim algorithm until all the vertices have been traversed.
  • FIG. 9 is a structural diagram of an obstacle avoidance path optimization system for an offshore wind farm current collecting system according to the present invention, including:
  • a layering processing module for obtaining an obstacle area in a topology design of an offshore wind farm collector system Domain, using GIS technology to layer the obstacle area;
  • the geometric processing module is configured to perform geometric processing on the obstacle area after the GIS processing, and obtain a minimum area rectangular bounding box of the obstacle area;
  • a path area range determining module configured to determine a start point and an end point of the path optimization of the obstacle area, and determine a path area range according to the start point and the end point;
  • a path viewable obtaining module configured to acquire a path viewable view including the obstacle area according to the path area range and the minimum area rectangular bounding box;
  • An optimal path finding module is configured to search for an optimal path avoiding obstacles on the path viewable view by using an optimal path algorithm, and complete topology design of the offshore wind farm collector system.
  • the obstacle avoidance path optimization system for the offshore wind farm collector system of the present invention corresponds to the obstacle avoidance path optimization method for the offshore wind farm collector system of the present invention, and the embodiment of the obstacle avoidance path optimization method for the above-mentioned offshore wind farm collector system is illustrated.
  • the technical features and the beneficial effects thereof are all applicable to the embodiment of the obstacle avoidance path optimization system for the offshore wind farm collector system, and are hereby declared.
  • FIG. 10 is a topological view of a current collecting system in which an offshore wind farm has an obstacle zone obtained by using the obstacle avoidance path optimization technology of the offshore wind farm collecting system of the present invention.

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Abstract

A method and a system for optimizing an obstacle avoidance path of an offshore wind farm current collection system. The method comprises: acquiring an obstacle region in an offshore wind farm current collection system topology design, using a GIS technique to perform image layering process on the obstacle region (S10); performing geometrization processing on the obstacle region processed using GIS, acquiring a rectangular boundary box of the obstacle region with the minimum area (S20); determining a starting point and an ending point for obstacle region path optimization, and determining a path region range according to the starting point and the end point (S30); acquiring, according to the path region range and the rectangular boundary box with the minimum area, a path visibility graph including the obstacle region (S40); using an optimal path algorithm to search an optimal path for avoiding an obstacle on the path visibility graph, and completing the offshore wind farm current collection system topology design (S50). This method fully takes the influence of the obstacle region in an offshore wind farm construction process into consideration, reduces the workload for finding the optimal path, and improves the accuracy of searching for results.

Description

海上风电场集电***避障路径优化方法和***Method and system for avoiding obstacles in power collection system of offshore wind farm 技术领域Technical field
本发明涉及电力***海底电缆规划技术领域，特别是涉及一种海上风电场集电***避障路径优化方法和***。The invention relates to the technical field of power system submarine cable planning, in particular to a method and a system for optimizing an obstacle avoidance path of an offshore wind farm collecting system.
背景技术Background technique
风能作为一种清洁的可再生能源，在环境问题和气候变化日益突出的背景下得到了广泛的开发和应用。电力负荷较大的沿海地带却由于传统能源储量低而常常出现用电紧张的现象。因此稳定性更高的海上风电成为本领域的研究热点。海上风电场一般由风机群、集电***、升压站、输电***等部分组成。其中，集电***作为海上风电场的主要部分，又包含电缆线路、断路器、汇流母线，其主要作用是将电能通过海底电缆和开关设备以一定的拓扑集中到风电场出口的汇流母线上。因此，集电***的拓扑优化设计对海上风电场运行的稳定性和经济性具有重要意义。As a clean and renewable energy source, wind energy has been widely developed and applied in the context of environmental issues and climate change. In coastal areas with large power loads, electricity shortages often occur due to low traditional energy reserves. Therefore, offshore wind power with higher stability has become a research hotspot in this field. The offshore wind farm is generally composed of a wind turbine group, a current collecting system, a boosting station, and a power transmission system. Among them, the current collecting system is the main part of the offshore wind farm, and also includes the cable line, the circuit breaker and the bus bar. Its main function is to concentrate the electric energy through the submarine cable and the switch equipment to the confluence bus of the wind farm outlet in a certain topology. Therefore, the topology optimization design of the current collection system is of great significance to the stability and economy of offshore wind farm operation.
目前，关于集电***拓扑的设计方案，主要集中在拓扑布局研究，拓扑开关配置研究，拓扑电气性能研究，集电***输电方式比较等，其中集电***拓扑连线设计常用的方法是采用最小生成树算法，Prim算法是逐步扩大树中所含顶点的数目，直到遍及连通图的所有顶点，它不止从当前一次连通图向外扩展，而是从多个连通图上同时向外扩展，其执行速度比较快。对于最短路径优化设计，常用的是Dijkstra算法、Bellman-Ford算法、A*算法等。在所有求解最短路径的算法中，Dijkstra算法被认为是目前最好的算法之一。Dijkstra算法虽然在理论上可行，但在实际应用中，由于顶点数太多，因而导致搜索算法的效率很低。由于这些算法在应用的时候，都是基于传统的地图和路径资料进行的，工作量大，准确性低，而且通常没有考虑到海上风电场建设过程中障碍区的影响。At present, the design scheme of the topology of the collector system mainly focuses on the topology layout research, the topology switch configuration research, the topology electrical performance research, the power transmission system comparison method, etc., and the common method for the topology connection design of the collector system is to adopt the minimum method. The spanning tree algorithm, which gradually enlarges the number of vertices contained in the tree until all the vertices of the connected graph extend beyond the current connected graph, but expands simultaneously from multiple connected graphs. The execution speed is faster. For the shortest path optimization design, Dijkstra algorithm, Bellman-Ford algorithm, A* algorithm and so on are commonly used. Among all the algorithms for solving the shortest path, the Dijkstra algorithm is considered to be one of the best algorithms at present. Although the Dijkstra algorithm is theoretically feasible, in practical applications, the number of vertices is too large, resulting in low efficiency of the search algorithm. Because these algorithms are applied based on traditional maps and path data, they have a large workload and low accuracy, and usually do not take into account the impact of obstacles in the construction of offshore wind farms.
发明内容Summary of the invention
基于此，有必要针对上述技术问题，提供一种海上风电场集电***避障 路径优化方法和***。Based on this, it is necessary to provide an offshore wind farm collector system to avoid obstacles in response to the above technical problems. Path optimization methods and systems.
一种海上风电场集电***避障路径优化方法，包括：An obstacle avoidance path optimization method for an offshore wind farm collector system, comprising:
获取海上风电场集电***拓扑设计中的障碍区域，利用GIS技术对障碍区域进行图层化处理；Obtaining obstacle areas in the topology design of the offshore wind farm collector system, and using GIS technology to layer the obstacle area;
对GIS处理后的障碍区域进行几何化处理，获取障碍区域的最小面积矩形包围盒；Geometrically processing the obstacle area after the GIS processing, and obtaining a minimum area rectangular bounding box of the obstacle area;
确定障碍区路径优化的起点和终点，并根据所述起点和终点确定路径区域范围；Determining a starting point and an ending point of the path optimization of the obstacle zone, and determining a range of the path area according to the starting point and the ending point;
根据所述路径区域范围和最小面积矩形包围盒获取含有障碍区的路径可视图；Obtaining a path viewable view including the obstacle area according to the path area range and the minimum area rectangular bounding box;
利用最佳路径算法在所述路径可视图上寻找避开障碍物的最优路径，并完成海上风电场集电***的拓扑设计。The optimal path algorithm is used to find the optimal path to avoid obstacles on the path view, and the topology design of the offshore wind farm collector system is completed.
一种海上风电场集电***避障路径优化***，包括：An obstacle avoidance path optimization system for an offshore wind farm collector system, comprising:
图层化处理模块，用于获取海上风电场集电***拓扑设计中的障碍区域，利用GIS技术对障碍区域进行图层化处理；A layering processing module is used to obtain an obstacle region in the topology design of the offshore wind farm collector system, and the zoning process is performed on the obstacle region by using GIS technology;
几何化处理模块，用于对GIS处理后的障碍区域进行几何化处理，获取障碍区域的最小面积矩形包围盒；The geometric processing module is configured to perform geometric processing on the obstacle area after the GIS processing, and obtain a minimum area rectangular bounding box of the obstacle area;
路径区域范围确定模块，用于确定障碍区路径优化的起点和终点，并根据所述起点和终点确定路径区域范围；a path area range determining module, configured to determine a start point and an end point of the path optimization of the obstacle area, and determine a path area range according to the start point and the end point;
路径可视图获取模块，用于根据所述路径区域范围和最小面积矩形包围盒获取含有障碍区的路径可视图；a path viewable obtaining module, configured to acquire a path viewable view including the obstacle area according to the path area range and the minimum area rectangular bounding box;
最优路径寻找模块，用于利用最佳路径算法在所述路径可视图上寻找避开障碍物的最优路径，并完成海上风电场集电***的拓扑设计。The optimal path finding module is configured to search for an optimal path avoiding obstacles on the path viewable view by using an optimal path algorithm, and complete topology design of the offshore wind farm collector system.
上述海上风电场集电***避障路径优化方法和***，先利用地理信息***对障碍区域进行图层化处理，然后结合最小面积矩形包围盒法对障碍区域进行几何化处理，确定障碍区路径优化的起点和终点及路径区域范围，再通过形成含有障碍区的路径可视图寻找避开障碍物的最优路径，并规划海上风电场集电***的拓扑。本发明充分考虑到海上风电场建设过程中障碍区的影 响，减少了寻找最优路径的工作量大，提高了寻找结果的准确性。The above-mentioned method and system for avoiding obstacles in the collection system of offshore wind farms firstly use the geographic information system to layer the obstacle regions, and then geometrically deal with the obstacle regions by the minimum area rectangular bounding box method to determine the path optimization of the obstacle regions. The starting point and the end point and the range of the path area, and then by forming a path containing the obstacle area, the view can be used to find the optimal path to avoid the obstacle, and the topology of the offshore wind farm collecting system is planned. The invention fully considers the shadow of the obstacle zone during the construction of the offshore wind farm It reduces the workload of finding the optimal path and improves the accuracy of finding results.
附图说明DRAWINGS
图1为本发明的海上风电场集电***避障路径优化方法流程图；1 is a flow chart of an obstacle avoidance path optimization method for an offshore wind farm current collecting system according to the present invention;
图2为障碍区域的最小面积矩形包围盒的示意图；2 is a schematic view of a minimum area rectangular bounding box of a barrier area;
图3为某一含有障碍物的海上风电场风机和升压站布置图；Figure 3 is a layout diagram of a wind turbine and booster station for an offshore wind farm containing obstacles;
图4至图7分别为障碍区1～4的最小面积矩形包围盒的示意图；4 to 7 are schematic views of the minimum area rectangular bounding box of the obstacle zones 1 to 4, respectively;
图8表示某路径区域障碍区的可视图；Figure 8 shows a view of the obstacle area of a certain path area;
图9为本发明的海上风电场集电***避障路径优化***结构图。FIG. 9 is a structural diagram of an obstacle avoidance path optimization system for an offshore wind farm current collecting system according to the present invention.
图10海上风电场存在障碍区的集电***拓扑图。Figure 10 is a top view of the collector system in the obstacle zone of the offshore wind farm.
具体实施方式detailed description
下面结合附图阐述本发明的海上风电场集电***避障路径优化方法和***的实施例。Embodiments of an obstacle avoidance path optimization method and system for an offshore wind farm current collecting system according to the present invention will be described below with reference to the accompanying drawings.
参考图1所示，图1为本发明的海上风电场集电***避障路径优化方法流程图，包括：Referring to FIG. 1 , FIG. 1 is a flowchart of an obstacle avoidance path optimization method for an offshore wind farm current collecting system according to the present invention, including:
步骤S10，获取集电***路径设计中的障碍区域，利用GIS(Geographic Information System，地理信息***)技术对障碍区域进行图层化处理。Step S10: Obtain an obstacle area in the path design of the power collection system, and perform a layering process on the obstacle area by using a Geographic Information System (GIS) technology.
在集电***路径设计中，由于海区障碍物数量多，应该考虑风机之间存在障碍物时对路径设计的影响，若风机之间有障碍物，则不宜直接铺设海底电缆，而应改变路径以避开障碍区。一般情况下，以下地区都可被视为障碍区域：In the design of the current collection system path, due to the large number of obstacles in the sea area, the influence of the obstacles on the path design should be considered. If there are obstacles between the fans, it is not appropriate to directly lay the submarine cable, but the path should be changed. Avoid obstacles. In general, the following areas can be considered as obstacle areas:
(1)用地类型区域：例如海上石油勘探平台、码头、桥梁桩、人工岛屿、军事设施等；(1) Land use type areas: for example, offshore oil exploration platforms, docks, bridge piles, artificial islands, military installations, etc.;
(2)地方规划区域：例如海底动物栖息地、海洋渔业等；(2) Local planning areas: for example, seabed animal habitats, marine fisheries, etc.;
(3)地质地貌区域：例如地质灾害带、礁石、海岩等；(3) Geological and geomorphological areas: such as geological disaster zones, reefs, sea rocks, etc.;
(4)海底沉积物区域：沉船。(4) Submarine sediment area: shipwreck.
在一个实施例中，利用GIS技术对障碍区域进行图层化处理的步骤，可 以包括过程：In one embodiment, the step of layering the obstacle area using GIS technology may be To include the process:
首先，选取路径区域范围内的一个GIS图层，对图层中每个像素进行判断，如果符合障碍区域的判断条件，则将该区域标记为障碍区；然后选取其他图层的像素点逐个进行扫描标记，其中，若一像素点在之前图层扫描中已标记为障碍区，则跳过该图层的扫描；再将所有图层标记为障碍区域的像素点进行整合，得到障碍区域，其他像素点整合为非障碍区域。First, select a GIS layer in the path area to judge each pixel in the layer. If the judgment condition of the obstacle area is met, mark the area as an obstacle area; then select the pixel points of other layers one by one. Scanning the mark, wherein if a pixel has been marked as an obstacle in the previous layer scan, the scan of the layer is skipped; and all the pixels marked as obstacles are integrated to obtain an obstacle area, and the other Pixels are integrated into non-obstacle areas.
以障碍区域“用地类型”这层为例，对路径区域范围内的GIS地图的用地类型图层中每个像素(对应到实际中的长度为米/像素，视GIS地图分辨率而定)中用地类型进行判断，如果为军事设施、海上石油勘探平台或人工岛屿等，则将此点坐标标记为障碍区域。“用地类型”图层扫描标记完后，对“地方规划”“地质地貌”“海底沉积物”等图层逐个进行扫描标记。如果某一点在之前图层扫描中已标记为障碍区域，则可以跳过这一图层的扫描。将标记为“障碍区”的点整合起来作为障碍区域，其余点作为非障碍区域。Taking the layer of “land type” of the obstacle area as an example, each pixel in the land type layer of the GIS map within the path area (corresponding to the actual length in meters/pixel, depending on the resolution of the GIS map) Judging by the type of land use, if it is a military installation, an offshore oil exploration platform, or an artificial island, the coordinates of this point are marked as obstacle areas. After the “land type” layer scan marks, the layers such as “local planning”, “geology and geomorphology” and “sea sediment” are scanned one by one. If a point has been marked as an obstacle area in a previous layer scan, you can skip scanning for that layer. The points marked as "obstacle zones" are integrated as obstacle areas, and the remaining points are used as non-obstacle areas.
步骤S20，对GIS处理后的障碍区域进行几何化处理，获取障碍区域的最小面积矩形包围盒。Step S20, performing geometric processing on the obstacle area after the GIS processing, and acquiring a minimum area rectangular bounding box of the obstacle area.
基于GIS处理过的海上障碍区域并不是规则的几何多边形，因此，在设计最优路径之前，可以用最小面积矩形包围盒法进一步处理障碍区域。The GIS-based maritime obstacle area is not a regular geometric polygon. Therefore, before designing the optimal path, the obstacle area can be further processed by the minimum area rectangular bounding box method.
在一个实施例中，步骤S20获取障碍区域的最小面积矩形包围盒的步骤，可以包括如下：In an embodiment, the step of acquiring the minimum area rectangular bounding box of the obstacle area in step S20 may include the following:
计算障碍区域轮廓的外接矩形，其中，所述外接矩形为最大最小x坐标和最大最小y坐标所构成的矩形；将外接矩形的坐标旋转任意角度θ，使得旋转后包围障碍区域的面积为最小；根据在x-y坐标系下的坐标，计算在旋转任意角度θ后，所述外接矩形在u-v坐标系下的坐标；在新的u-v坐标计算外接矩形面积，获取外接矩形面积最小外接矩形面积的作为障碍区轮廓的最小面积矩形包围盒，并存储该最小面积矩形包围盒四个顶点在x-y坐标轴下的坐标。Calculating a circumscribed rectangle of the contour of the obstacle region, wherein the circumscribed rectangle is a rectangle formed by a maximum and minimum x coordinate and a maximum and minimum y coordinate; rotating the coordinates of the circumscribed rectangle by an arbitrary angle θ, so that the area surrounding the obstacle region after the rotation is the smallest; Calculate the coordinates of the circumscribed rectangle in the uv coordinate system after rotating the arbitrary angle θ according to the coordinates in the xy coordinate system; calculate the circumscribed rectangle area in the new uv coordinate, and obtain the minimum circumscribed rectangle area of the circumscribed rectangle as an obstacle The minimum area rectangle of the area outline encloses the box and stores the coordinates of the four vertices of the minimum area rectangle bounding box under the xy coordinate axis.
如图2所示，图2为障碍区域的最小面积矩形包围盒的示意图，可以采用AABB(Aixe align bounding box，轴向平行包围盒)法求出障碍区轮廓的 外接矩形，即最大最小x坐标和最大最小y坐标所构成的矩形；然后将坐标旋转任意角度θ(以π/180为步长递增，且θ∈[0,π/2])，使得旋转后包围障碍区的面积为最小。As shown in FIG. 2, FIG. 2 is a schematic diagram of a minimum area rectangular bounding box of the obstacle area, and the contour of the obstacle area can be obtained by using AABB (Aixe align bounding box) method. The circumscribing rectangle, that is, the rectangle formed by the maximum and minimum x coordinates and the maximum and minimum y coordinates; then rotate the coordinates by an arbitrary angle θ (in increments of π/180, and θ ∈ [0, π/2]), so that after rotation The area surrounding the obstacle zone is the smallest.
假设封闭的障碍区包围盒轮廓线上任意一点在x-y坐标系下的坐标为(a，b)，在旋转任意角度θ后，该点在u-v坐标系下的坐标设为(m，n)，坐标变换如式：Assume that the coordinates of any point in the enclosed symmetry area bounded by the box in the xy coordinate system are (a, b). After rotating the arbitrary angle θ, the coordinates of the point in the uv coordinate system are set to (m, n). The coordinate transformation is as follows:
m＝acosθ+bsinθm=acosθ+bsinθ
n＝bcosθ-asinθn=bcosθ-asinθ
S＝(mmax-mmin)(nmax-nmin)   (1)S=(m max -m min )(n max -n min ) (1)
求出在新的u-v坐标下AABB法求得的外接矩形面积S，这些外接中最小面积的外接矩形即为障碍区域轮廓的最小面积矩形包围盒；存储矩形包围盒四顶点在x-y坐标轴下的坐标。Find the circumscribed rectangle area S obtained by the AABB method under the new uv coordinate. The circumscribed rectangle of the smallest area among these circumstances is the minimum area rectangle bounding box of the obstacle area contour; the storage rectangle enclosing the box four vertices under the xy coordinate axis coordinate.
如图3所示，图3为某一含有障碍物的海上风电场风机和升压站布置图；图中有升压站和海上风电场风机等14个点，其中有障碍区1～4，求取障碍区1～4如图4至图7所示，图4至图7分别为障碍区1～4的最小面积矩形包围盒的示意图；As shown in Fig. 3, Fig. 3 is a layout diagram of a wind turbine and booster station for an offshore wind farm containing obstacles; there are 14 points such as a booster station and an offshore wind farm fan, among which there are obstacle zones 1 to 4, The obstacle regions 1 to 4 are as shown in FIG. 4 to FIG. 7 , and FIG. 4 to FIG. 7 are schematic diagrams showing the minimum area rectangular bounding boxes of the obstacle regions 1 to 4 respectively;
步骤S30，确定障碍区路径优化的起点和终点，并根据所述起点和终点确定路径区域范围。Step S30, determining a starting point and an ending point of the path optimization of the obstacle zone, and determining a range of the path area according to the starting point and the ending point.
在一个实施例中，对于确定障碍区路径优化的起点和终点的方法，可以将风力发电机的位置坐标分别设为路径的起点与终点，并在GIS地图上进行标注。In one embodiment, for determining the starting point and the ending point of the obstacle path optimization, the position coordinates of the wind power generator may be respectively set as the starting point and the ending point of the path, and marked on the GIS map.
例如，由海上风电场的设计人员提供各台风力发电机的位置，将两个风力发电机位置设置为路径的起点与终点，并在GIS地图上进行标注。For example, the designer of the offshore wind farm provides the location of each wind turbine, sets the location of the two wind turbines as the start and end points of the path, and marks them on the GIS map.
通过测量所述起点与终点的直线距离，以起点和终点为基准，分别在GIS地图上进行延伸，构造矩形；以所述矩形为基准各边向外延伸构造新矩形，获得路径区域范围。By measuring the linear distance between the starting point and the ending point, based on the starting point and the ending point, respectively, extending on the GIS map to construct a rectangle; and constructing a new rectangle outward from each side of the rectangle to obtain a path area range.
测量所述起点与终点的直线距离，以起点和终点为基准，分别在GIS地图上的南北方向和东西方向延伸，构造矩形；以所述矩形为基准各边向外延 伸构造新矩形，获得路径区域范围；其中，所述路径范围坐标沿用GIS地图默认坐标。Measuring the linear distance between the starting point and the ending point, starting from the starting point and the ending point, respectively extending in the north-south direction and the east-west direction on the GIS map, constructing a rectangle; and extending the sides according to the rectangle Stretching a new rectangle to obtain a range of path regions; wherein the path range coordinates follow the default coordinates of the GIS map.
通过测量起点与终点的直线距离(单位km，下同)，以起点和终点为基准，分别在地图上的南北方向和东西方向延伸，构造矩形，为了留有一定裕度，以此矩形为基准，各边向外延伸，构造新矩形，即路径区域范围。得到的路径范围坐标沿用GIS地图的默认坐标。By measuring the linear distance between the start point and the end point (unit km, the same below), based on the start point and the end point, respectively, extending in the north-south direction and the east-west direction on the map to construct a rectangle. In order to leave a certain margin, the rectangle is used as a reference. Each side extends outward to construct a new rectangle, that is, a range of path regions. The resulting path range coordinates follow the default coordinates of the GIS map.
步骤S40，根据所述路径区域和最小面积矩形包围盒获取含有障碍区的路径可视图。Step S40: Acquire a path viewable view including the obstacle area according to the path area and the minimum area rectangular bounding box.
在一个实施例中，获取路径可视图的方法，可以包括如下：In one embodiment, the method of obtaining a path viewable view may include the following:
将每个障碍区域的最小面积矩形包围盒在GIS地图上进行标注；以所述起点与终点为起始点和目标点，获取从起始点经过所述最小面积矩形包围盒到目标点的可行路径可视图。The minimum area rectangular bounding box of each obstacle area is marked on the GIS map; taking the starting point and the ending point as the starting point and the target point, obtaining a feasible path from the starting point to the target point through the minimum area rectangular bounding box may be view.
参考图8所示，图8表示某路径区域障碍区的可视图，将每个障碍区域的矩形包围盒用Oi(i＝1,2,...n)表示，在GIS地图上对应为障碍物，s、g分别表示起始点和目标点，O1和O2表示两个障碍物，虚线为从起始点s到目标点g的可行路径。Referring to FIG. 8, FIG. 8 shows a view of an obstacle area of a certain path area, and the rectangular bounding box of each obstacle area is represented by O i (i=1, 2, . . . n), and corresponds to the GIS map. Obstacle, s, g represent the starting point and the target point, respectively, O 1 and O 2 represent two obstacles, and the dotted line is a feasible path from the starting point s to the target point g.
步骤S50，利用最佳路径算法在所述路径可视图上寻找避开障碍物的最优路径；由这些路径可以规划海上风电场集电***的拓扑。Step S50, using an optimal path algorithm to find an optimal path avoiding obstacles on the path viewable view; the paths of the offshore wind farm collector system can be planned by the paths.
在此，本发明采用Path-best算法进行寻优，考虑实际工程情况，针对海上风电场中存在障碍物区域，结合Path-best算法和Prim两种算法，提出一种综合型最短路径生成树算法。Here, the present invention adopts the Path-best algorithm for optimization, considering the actual engineering situation, and proposes a comprehensive shortest path spanning tree algorithm for the obstacle region in the offshore wind farm, combined with the Path-best algorithm and the Prim algorithm. .
在一个实施例中，最优路径的步骤可以包括如下：In one embodiment, the step of optimizing the path may include the following:
利用最短路径生成树算法在所述路径可视图上进行搜索，当搜索到障碍区域时，采用求取最短路径方法避开障碍物的最短边，然后将搜索到的边放入拓扑优化中所有边的集合中，然后继续最短路径生成树算法算法，直到遍历路径可视图的所有顶点。Searching on the path viewable by using the shortest path spanning tree algorithm. When searching for the obstacle area, the shortest path of the obstacle is avoided by using the shortest path method, and then the searched edge is placed in all edges of the topology optimization. In the set, then continue with the shortest path spanning tree algorithm until all the vertices of the view are traversable.
作为一个实施例，所述寻找避开障碍物的最优路径算法流程，包括如下： As an embodiment, the process of searching for an optimal path algorithm for avoiding obstacles includes the following:
(1)确定初始集合：S1＝{s}，F＝{fi|i＝1,2,...n-1}，R＝{ri k|i＝1,2,3,4,k＝1,2,3,4}，L＝{}；其中，s为图中升压站，即最小生成树的初始点，fi为各个风机点，ri k为第k个障碍区域的最小面积矩形包围盒的各顶点，L为拓扑优化中所有边的集合；(1) determining an initial set: S 1 = {s}, F = {f i | i = 1,2, ... n-1}, R = {r i k | i = 1,2,3,4 , k=1, 2, 3, 4}, L={}; where s is the boosting station in the figure, ie the initial point of the minimum spanning tree, f i is the individual fan point, r i k is the kth obstacle The smallest area rectangle of the area encloses the vertices of the box, and L is the set of all edges in the topology optimization;
(2)从集合S1中的顶点s出发，判断s与fi相连的边是否与障碍区域的最小面积矩形包围盒的边相交，若不相交，说明两风机点之间不含障碍物，从所有与s关联的边中选择权值最小的边(s,f)放入L中，将f放入S1中并将其从集合F中删除；若相交，说明两点之间存在障碍物，则执行步骤(3)；(2) From the set of vertex S 1 s, and determines whether the edge f i s connected to the smallest area of the rectangular region of the barrier intersects the bounding box edge, if not intersect, free of obstacles between the two fans described points, Select the edge with the smallest weight (s, f) from all the edges associated with s into L, put f into S 1 and remove it from set F; if they intersect, it means that there is a barrier between the two points , then perform step (3);
(3)将s和fi分别设为p和q，其中，p为起点，q为终点，令S2＝{p}；(3) Let s and f i be set to p and q, respectively, where p is the starting point and q is the ending point, so that S 2 ={p};
从集合R中选取一个距离p最小的顶点m，把m放入S2中，如果m和q之间无障碍区域，直接将p,m,q相连接，放到S2中，并将寻找到的最短路径放入L中，如果有障碍区域，在m所属最小面积矩形包围盒的顶点中选取下一个点m2，其中，m2满足与m相邻且距终点q最近的条件；Select a vertex m with the smallest distance p from the set R, and put m into S 2. If there is no barrier between m and q, connect p, m, q directly, put it in S 2 , and find The shortest path to be placed into L, if there is an obstacle area, the next point m 2 is selected among the vertices of the minimum area rectangular bounding box to which m belongs, where m 2 satisfies the condition adjacent to m and closest to the end point q;
(4)判断m2和终点q之间是否存在障碍区域，若存在，则把m2作为新的起点p，重复执行步骤(4)；若不存在，则将p、m、m2、q相连接，并放入S2中，并将寻找到的最短路径放入集合L中；(4) It is judged whether there is an obstacle area between m 2 and the end point q, and if it exists, m 2 is taken as a new starting point p, and step (4) is repeatedly performed; if not, p, m, m 2 , q are Connected and placed in S 2 , and put the shortest path found into the set L;
(5)若f与ft相连的边同障碍物的外接最小矩形的边不相交，择权值最小的边(f,ft)放入L中，将ft放入S1中并将其从集合F中删除，其中f∈S1，ft∈F；若相交，则依次执行步骤(3)、(4)、(5)；(5) If f is connected to f t and the edge of the outermost smallest rectangle of the obstacle does not intersect, the edge with the smallest weight (f, f t ) is placed in L, and f t is placed in S 1 and It is deleted from the set F, where f ∈ S 1 , f t ∈ F; if intersected, steps (3), (4), (5) are performed in sequence;
(6)重复执行步骤(6)，直到集合
Figure PCTCN2017082796-appb-000001
为止，此时，由集合L中的边组成图的一个最小生成树，从而得到最优路径。(6) Repeat step (6) until the collection
Figure PCTCN2017082796-appb-000001
So far, at this time, a minimum spanning tree of the graph is composed of the edges in the set L, thereby obtaining an optimal path.
上述实施例，提出一种综合型最短路径生成树算法，随着Prim算法的进行，当搜索到障碍区时，采用求取最短路径的方法获得避开障碍物的最短边，然后将这些边放入L(拓扑优化中所有边的集合)中，然后继续采用Prim算法，直到所有顶点都已遍历。In the above embodiment, a comprehensive shortest path spanning tree algorithm is proposed. With the implementation of the Prim algorithm, when searching for an obstacle region, the shortest path avoiding the obstacle is obtained by the method of finding the shortest path, and then the edges are placed. Enter L (the set of all edges in the topology optimization) and continue to use the Prim algorithm until all the vertices have been traversed.
参考图9所示，图9为本发明的海上风电场集电***避障路径优化***结构图，包括：Referring to FIG. 9, FIG. 9 is a structural diagram of an obstacle avoidance path optimization system for an offshore wind farm current collecting system according to the present invention, including:
图层化处理模块，用于获取海上风电场集电***拓扑设计中的障碍区 域，利用GIS技术对障碍区域进行图层化处理；A layering processing module for obtaining an obstacle area in a topology design of an offshore wind farm collector system Domain, using GIS technology to layer the obstacle area;
几何化处理模块，用于对GIS处理后的障碍区域进行几何化处理，获取障碍区域的最小面积矩形包围盒；The geometric processing module is configured to perform geometric processing on the obstacle area after the GIS processing, and obtain a minimum area rectangular bounding box of the obstacle area;
路径区域范围确定模块，用于确定障碍区路径优化的起点和终点，并根据所述起点和终点确定路径区域范围；a path area range determining module, configured to determine a start point and an end point of the path optimization of the obstacle area, and determine a path area range according to the start point and the end point;
路径可视图获取模块，用于根据所述路径区域范围和最小面积矩形包围盒获取含有障碍区的路径可视图；a path viewable obtaining module, configured to acquire a path viewable view including the obstacle area according to the path area range and the minimum area rectangular bounding box;
最优路径寻找模块，用于利用最佳路径算法在所述路径可视图上寻找避开障碍物的最优路径，并完成海上风电场集电***拓扑设计。An optimal path finding module is configured to search for an optimal path avoiding obstacles on the path viewable view by using an optimal path algorithm, and complete topology design of the offshore wind farm collector system.
本发明的海上风电场集电***避障路径优化***与本发明的海上风电场集电***避障路径优化方法一一对应，在上述海上风电场集电***避障路径优化方法的实施例阐述的技术特征及其有益效果均适用于海上风电场集电***避障路径优化***的实施例中，特此声明。The obstacle avoidance path optimization system for the offshore wind farm collector system of the present invention corresponds to the obstacle avoidance path optimization method for the offshore wind farm collector system of the present invention, and the embodiment of the obstacle avoidance path optimization method for the above-mentioned offshore wind farm collector system is illustrated. The technical features and the beneficial effects thereof are all applicable to the embodiment of the obstacle avoidance path optimization system for the offshore wind farm collector system, and are hereby declared.
参考图10所示，图10为一个采用本发明的海上风电场集电***避障路径优化技术获得的海上风电场存在障碍区的集电***拓扑图。Referring to FIG. 10, FIG. 10 is a topological view of a current collecting system in which an offshore wind farm has an obstacle zone obtained by using the obstacle avoidance path optimization technology of the offshore wind farm collecting system of the present invention.
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above-described embodiments may be arbitrarily combined. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be considered as the scope of this manual.
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。 The above-described embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

Claims (9)

  1. 一种海上风电场集电***避障路径优化方法，其特征在于，包括：A method for optimizing an obstacle avoidance path of a current collecting system for an offshore wind farm, comprising:
    获取海上风电场集电***拓扑设计中的障碍区域，利用GIS技术对障碍区域进行图层化处理；Obtaining obstacle areas in the topology design of the offshore wind farm collector system, and using GIS technology to layer the obstacle area;
    对GIS处理后的障碍区域进行几何化处理，获取障碍区域的最小面积矩形包围盒；Geometrically processing the obstacle area after the GIS processing, and obtaining a minimum area rectangular bounding box of the obstacle area;
    确定障碍区路径优化的起点和终点，并根据所述起点和终点确定路径区域范围；Determining a starting point and an ending point of the path optimization of the obstacle zone, and determining a range of the path area according to the starting point and the ending point;
    根据所述路径区域范围和最小面积矩形包围盒获取含有障碍区的路径可视图；Obtaining a path viewable view including the obstacle area according to the path area range and the minimum area rectangular bounding box;
    利用最佳路径算法在所述路径可视图上寻找避开障碍物的最优路径，并完成海上风电场集电***的拓扑设计。The optimal path algorithm is used to find the optimal path to avoid obstacles on the path view, and the topology design of the offshore wind farm collector system is completed.
  2. 根据权利要求1所述的海上风电场集电***避障路径优化方法，其特征在于，所述障碍区域包括：The obstacle avoidance path optimization method for an offshore wind farm collector system according to claim 1, wherein the obstacle area comprises:
    用地类型区域、地方规划区域、地质地貌区域、海底沉积物区域。Land use type area, local planning area, geological landform area, seabed sediment area.
  3. 根据权利要求1所述的海上风电场集电***避障路径优化方法，其特征在于，利用GIS技术对障碍区域进行图层化处理的步骤包括：The method for optimizing obstacle avoidance path of an offshore wind farm current collecting system according to claim 1, wherein the step of layering the obstacle area by using the GIS technology comprises:
    选取路径区域范围内的一个GIS图层，对图层中每个像素进行判断，如果符合障碍区域的判断条件，则将该区域标记为障碍区；Select a GIS layer in the path area to judge each pixel in the layer. If the judgment condition of the obstacle area is met, mark the area as an obstacle area;
    选取其他图层的像素点逐个进行扫描标记，其中，若一像素点在之前图层扫描中已标记为障碍区，则跳过该图层的扫描；Selecting pixels of other layers to perform scanning marks one by one, wherein if a pixel has been marked as an obstacle in the previous layer scan, the scanning of the layer is skipped;
    将所有图层标记为障碍区域的像素点进行整合，得到障碍区域，其他像素点整合为非障碍区域。All the pixels marked as obstacle areas are integrated to obtain an obstacle area, and other pixels are integrated into a non-obstacle area.
  4. 根据权利要求1所述的海上风电场集电***避障路径优化方法，其特征在于，对GIS处理后的障碍区域进行几何化处理，获取障碍区域的最小面积矩形包围盒的步骤包括：The method for optimizing an obstacle avoidance path of an offshore wind farm collector system according to claim 1, wherein the step of geometrically processing the obstacle area after the GIS processing to obtain the minimum area rectangular bounding box of the obstacle area comprises:
    计算障碍区域轮廓的外接矩形，其中，所述外接矩形为最大最小x坐标和最大最小y坐标所构成的矩形； Calculating a circumscribed rectangle of the contour of the obstacle region, wherein the circumscribed rectangle is a rectangle formed by a maximum and minimum x coordinate and a maximum and minimum y coordinate;
    将外接矩形的坐标旋转任意角度θ，使得旋转后包围障碍区域的面积为最小；Rotating the coordinates of the circumscribed rectangle by an arbitrary angle θ, so that the area surrounding the obstacle area after rotation is minimized;
    根据在x-y坐标系下的坐标，计算在旋转任意角度θ后，所述外接矩形在u-v坐标系下的坐标；Calculating the coordinates of the circumscribed rectangle in the u-v coordinate system after rotating the arbitrary angle θ according to the coordinates in the x-y coordinate system;
    在新的u-v坐标计算外接矩形面积，获取外接矩形面积最小的外接矩形作为障碍区轮廓的最小面积矩形包围盒，并存储该最小面积矩形包围盒四个顶点在x-y坐标轴下的坐标。Calculate the circumscribed rectangle area in the new u-v coordinate, obtain the circumscribed rectangle with the smallest circumscribed rectangle area as the minimum area rectangle bounding box of the obstacle area outline, and store the coordinates of the four vertices of the minimum area rectangle bounding box under the x-y coordinate axis.
  5. 根据权利要求1所述的海上风电场集电***避障路径优化方法，其特征在于，确定障碍区路径优化的起点和终点的步骤包括：The method for optimizing an obstacle avoidance path of an offshore wind farm current collecting system according to claim 1, wherein the step of determining a starting point and an ending point of the path optimization of the obstacle area comprises:
    将风力发电机的位置坐标分别设为路径的起点与终点，并在GIS地图上进行标注。The position coordinates of the wind turbine are set as the start and end points of the path, respectively, and marked on the GIS map.
  6. 根据权利要求1所述的海上风电场集电***避障路径优化方法，其特征在于，根据所述路径区域范围和最小面积矩形包围盒获取含有障碍区的路径可视图的步骤包括：The method for optimizing an obstacle avoidance path of an offshore wind farm collector system according to claim 1, wherein the step of obtaining a path viewable view including the obstacle area according to the path area range and the minimum area rectangular bounding box comprises:
    将每个障碍区域的最小面积矩形包围盒在GIS地图上进行标注；以所述起点与终点为起始点和目标点，获取从起始点经过所述最小面积矩形包围盒到目标点的可行路径可视图。The minimum area rectangular bounding box of each obstacle area is marked on the GIS map; taking the starting point and the ending point as the starting point and the target point, obtaining a feasible path from the starting point to the target point through the minimum area rectangular bounding box may be view.
  7. 根据权利要求1所述的海上风电场集电***避障路径优化方法，其特征在于，利用最佳路径算法在所述路径可视图上寻找避开障碍物的最优路径的步骤包括：The method for optimizing an obstacle avoidance path of an offshore wind farm collector system according to claim 1, wherein the step of finding an optimal path to avoid obstacles on the path view by using an optimal path algorithm comprises:
    利用最短路径生成树算法在所述路径可视图上进行搜索，当搜索到障碍区域时，采用求取最短路径方法避开障碍物的最短边，然后将搜索到的边放入拓扑优化中所有边的集合中，然后继续采用最小生成树算法，直到遍历路径可视图的所有顶点。Searching on the path viewable by using the shortest path spanning tree algorithm. When searching for the obstacle area, the shortest path of the obstacle is avoided by using the shortest path method, and then the searched edge is placed in all edges of the topology optimization. In the collection, then continue to adopt the minimum spanning tree algorithm until the traversal path can be all the vertices of the view.
  8. 根据权利要求7所述的海上风电场集电***避障路径优化方法，其特征在于，利用最佳路径算法在所述路径可视图上寻找避开障碍物的最优路径的步骤包括：The method for optimizing an obstacle avoidance path of an offshore wind farm collector system according to claim 7, wherein the step of finding an optimal path avoiding the obstacle on the path view by using an optimal path algorithm comprises:
    (1)确定初始集合：S1＝{s}，F＝{fi|i＝1,2,...n-1}， R＝{ri k|i＝1,2,3,4,k＝1,2,3,4}，L＝{}；其中，s为图中升压站，fi为各个风机点，ri k为第k个障碍区域的最小面积矩形包围盒的各顶点，L为拓扑优化中所有边的集合；(1) Determine the initial set: S 1 ={s}, F={f i |i=1,2,...n-1}, R={r i k |i=1,2,3,4 , k=1, 2, 3, 4}, L={}; where s is the boosting station in the figure, f i is the individual fan point, and r i k is the minimum area rectangular bounding box of the kth obstacle area For each vertex, L is the set of all edges in the topology optimization;
    (2)从集合S1中的顶点s出发，判断s与fi相连的边是否与障碍区域的最小面积矩形包围盒的边相交，若不相交，从所有与s关联的边中选择权值最小的边(s,f)放入L中，将f放入S1中并将其从集合F中删除；若相交，则执行步骤(3)；(2) From the set of vertex S 1 s, and determines whether the edge f i s connected to the smallest area of the rectangular region of the barrier intersects the bounding box edge, if not intersect all selected weights from the side associated with the s The smallest edge (s, f) is placed in L, f is placed in S 1 and removed from the set F; if intersected, step (3) is performed;
    (3)将s和fi分别设为p和q，其中，p为起点，q为终点，令S2＝{p}；(3) Let s and f i be set to p and q, respectively, where p is the starting point and q is the ending point, so that S 2 ={p};
    (4)从集合R中选取一个距离p最小的顶点m，把m放入S2中，如果m和q之间无障碍区域，将p,m,q相连接，放到S2中，并将寻找到的最短路径放入L中，如果有障碍区域，在m所属最小面积矩形包围盒的顶点中选取下一个点m2，其中，m2满足与m相邻且距终点q最近的条件；(4) Select a vertex m with the smallest distance p from the set R, and put m into S 2 . If there is no barrier between m and q, connect p, m, q, and put it into S 2 , and Put the shortest path found into L. If there is an obstacle area, select the next point m 2 among the vertices of the minimum area rectangular bounding box to which m belongs, where m 2 satisfies the condition adjacent to m and closest to the end point q ;
    (5)判断m2和终点q之间是否存在障碍区域，若存在，则把m2作为新的起点p，重复执行步骤(4)；若不存在，则将p、m、m2、q相连接，并放入S2中，并将寻找到的最短路径放入集合L中；(5) It is judged whether there is an obstacle area between m 2 and the end point q, and if it exists, m 2 is taken as a new starting point p, and step (4) is repeatedly performed; if not, p, m, m 2 , q are Connected and placed in S 2 , and put the shortest path found into the set L;
    (6)若f与ft相连的边同障碍物的外接最小矩形的边不相交，择权值最小的边(f,ft)放入L中，将ft放入S1中并将其从集合F中删除，其中f∈S1，ft∈F；若相交，则依次执行步骤(3)、(4)、(5)；(6) If the edge of f connected to f t does not intersect the edge of the circumscribed minimum rectangle of the obstacle, the edge with the smallest weight (f, f t ) is placed in L, and f t is placed in S 1 and It is deleted from the set F, where f ∈ S 1 , f t ∈ F; if intersected, steps (3), (4), (5) are performed in sequence;
    (7)重复执行步骤(6)，直到集合
    Figure PCTCN2017082796-appb-100001
    为止，集合L中的边组成图的一个最小生成树为最优路径。    (7) Repeat step (6) until the collection
    Figure PCTCN2017082796-appb-100001
    So far, a minimum spanning tree of the edge composition graphs in the set L is the optimal path.
  9. 一种海上风电场集电***避障路径优化***，其特征在于，包括：An obstacle avoidance path optimization system for an offshore wind farm collector system, characterized in that it comprises:
    图层化处理模块，用于获取海上风电场集电***拓扑设计中的障碍区域，利用GIS技术对障碍区域进行图层化处理；A layering processing module is used to obtain an obstacle region in the topology design of the offshore wind farm collector system, and the zoning process is performed on the obstacle region by using GIS technology;
    几何化处理模块，用于对GIS处理后的障碍区域进行几何化处理，获取障碍区域的最小面积矩形包围盒；The geometric processing module is configured to perform geometric processing on the obstacle area after the GIS processing, and obtain a minimum area rectangular bounding box of the obstacle area;
    路径区域范围确定模块，用于确定障碍区路径优化的起点和终点，并根据所述起点和终点确定路径区域范围；a path area range determining module, configured to determine a start point and an end point of the path optimization of the obstacle area, and determine a path area range according to the start point and the end point;
    路径可视图获取模块，用于根据所述路径区域范围和最小面积矩形包围 盒获取含有障碍区的路径可视图；a path viewable module for enclosing the path area range and the smallest area rectangle The box acquires a view of the path containing the obstacle zone;
    最优路径寻找模块，用于利用最佳路径算法在所述路径可视图上寻找避开障碍物的最优路径，并完成海上风电场集电***的拓扑设计。 The optimal path finding module is configured to search for an optimal path avoiding obstacles on the path viewable view by using an optimal path algorithm, and complete topology design of the offshore wind farm collector system.
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