CN-122022100-A - Three-dimensional laying obstacle avoidance path planning method for cable of water pumping power storage station

CN122022100ACN 122022100 ACN122022100 ACN 122022100ACN-122022100-A

Abstract

The invention relates to the technical field of data processing and discloses a three-dimensional laying obstacle avoidance path planning method for a cable of a pumping power storage station, which comprises the following steps of carrying out standardized integration on multi-source basic data to obtain standardized data; the method comprises the steps of carrying out obstacle correlation analysis on standardized data to obtain obstacle characteristic data, carrying out characteristic vector mapping on the obstacle characteristic data to obtain a classified characteristic vector set, carrying out hierarchical spatial clustering on the classified characteristic vector set to obtain a hierarchical obstacle spatial tree, carrying out constraint matching mapping on the hierarchical obstacle spatial tree to obtain a multi-dimensional constraint set, carrying out connectivity topology construction on the hierarchical obstacle spatial tree based on the multi-dimensional constraint set to obtain a candidate path network, carrying out multi-dimensional collaborative evaluation on candidate paths in the candidate path network to obtain path evaluation data, and carrying out situational decision on the path evaluation data to obtain an optimal cable laying path.

Inventors

LIU WENHUI
XU JUNYANG
ZHENG YINGXIA
WU YUECHAO
WANG CE
LIU MINRUI
MA JINPENG

Assignees

中国电建集团华东勘测设计研究院有限公司

Dates

Publication Date: 20260512
Application Date: 20260210

Claims (10)

1. The method for planning the three-dimensional laying obstacle avoidance path of the cable of the water pumping power storage station is characterized by comprising the following steps of: S1, carrying out standardization integration on multisource basic data of a cable laying area in a water-storage power station to obtain standardized multisource data of the cable laying area; S2, performing obstacle correlation analysis on the standardized basic data to obtain obstacle characteristic data of a cable laying area, and performing characteristic vector mapping on the obstacle characteristic data to obtain a classification characteristic vector set of the obstacle characteristic data; S3, hierarchical spatial clustering is carried out on the hierarchical feature vector set, and a hierarchical obstacle spatial tree of the cable laying area is obtained; S4, carrying out constraint matching mapping on the layering barrier space tree based on a preset laying constraint rule to obtain a multi-dimensional constraint set of the cable laying area; s5, based on the multidimensional constraint set, performing connectivity topology construction on the hierarchical barrier space tree to obtain a candidate path network of the cable laying area; and S6, carrying out multidimensional collaborative evaluation on the candidate paths in the candidate path network to obtain path evaluation data of the candidate paths, and carrying out contextualization decision on the path evaluation data to obtain the optimal cable laying path of the water-storage power station.
2. The method for planning a three-dimensional cable installation obstacle avoidance path of a pumped storage station according to claim 1, wherein the step of performing normalized integration on multi-source basic data of a cable installation area in the pumped storage station to obtain normalized basic data of the cable installation area comprises the following steps: carrying out space normalization on multi-source basic data of a cable laying area in the water pumping power station to obtain space unified basic data of the cable laying area; Carrying out format standardization processing on the space unified basic data to obtain structured basic data of a cable laying area; carrying out data cleaning on the structured basic data to obtain clean basic data of a cable laying area; And carrying out multidimensional information synchronous registration on the clean basic data to obtain standardized basic data of the cable laying area.
3. The method for planning a three-dimensional laying obstacle avoidance path of a cable of a pumped storage station according to claim 1, wherein the step of performing obstacle correlation analysis on standardized basic data to obtain obstacle feature data of a cable laying area, and performing feature vector mapping on the obstacle feature data to obtain a classification feature vector set of the obstacle feature data comprises the steps of: performing obstacle correlation analysis on the standardized basic data to obtain an obstacle data set of the cable laying area; Extracting geometric features of the obstacle data set to obtain obstacle feature data of the cable laying area; Performing attribute driving classification on the obstacle characteristic data based on the characteristic attribute of the obstacle characteristic data to obtain classified obstacle characteristic data of the cable laying area; And carrying out feature vectorization on the classified obstacle feature data to obtain a classified feature vector set of the obstacle feature data.
4. The method for planning a three-dimensional laying obstacle avoidance path of a cable of a pumped storage station according to claim 1, wherein the hierarchical spatial clustering of the classified feature vector sets is performed to obtain a hierarchical obstacle spatial tree of a cable laying area, and the method comprises the following steps: based on the space layout of the cable laying area, space area grouping is carried out on the classified feature vector sets, so that an area feature vector set of the cable laying area is obtained; carrying out multi-layer semantic labeling on the regional feature vector group based on an obstacle engineering semantic classification system of the cable laying region to obtain a semantic hierarchical structure of the regional feature vector group; constructing topological connection relation of the semantic hierarchy based on the spatial adjacent relation of the barriers in the semantic hierarchy to obtain a barrier spatial connection network of the cable laying area; and performing tree structure conversion on the barrier space connection network to obtain barrier tree structure data of the cable laying area, and performing hierarchical index construction on the barrier tree structure data to obtain a hierarchical barrier space tree of the cable laying area.
5. The three-dimensional laying obstacle avoidance path planning method for the pumped storage station cable according to claim 4, wherein the obstacle engineering semantic classification system based on the cable laying area performs multi-layer semantic labeling on the area feature vector group to obtain a semantic hierarchical structure of the area feature vector group, and the method comprises the following steps: Performing functional attribute identification on the barriers in the regional feature vector group based on a barrier engineering semantic classification system of the cable laying region to obtain barrier functional semantic data of the regional feature vector group; Based on construction safety influence levels in the obstacle engineering semantic classification system, carrying out safety level marking on obstacle function semantic data to obtain obstacle safety semantic data of the regional feature vector group; performing operation and maintenance attribute identification on the barrier safety semantic data based on operation and maintenance accessibility evaluation rules in the barrier engineering semantic classification system to obtain barrier operation and maintenance semantic data of the regional feature vector group; And carrying out hierarchical node association on the obstacle operation and maintenance semantic data, the obstacle safety semantic data and the obstacle function semantic data to obtain a semantic hierarchical structure of the regional feature vector group.
6. The method for planning a three-dimensional laying obstacle avoidance path of a cable of a pumped storage station according to claim 1, wherein the performing constraint matching mapping on a layered obstacle space tree based on a preset laying constraint rule to obtain a multi-dimensional constraint set of a cable laying area comprises: performing geometric matching verification on space parameters of barrier nodes in the layering barrier space tree based on a cable mechanical performance constraint rule in a preset laying constraint rule to obtain space geometric constraint of the barrier nodes; Based on construction safety operation specifications in the laying constraint rules, carrying out safety influence evaluation on the spatial attribute of the barrier node to obtain construction safety constraint of the barrier node; based on equipment operation environment standards in the laying constraint rules, carrying out environment adaptability evaluation on environment parameters of the barrier nodes to obtain thermal environment constraints of the barrier nodes; and carrying out corresponding node structural mapping on the space geometric constraint, the construction constraint and the thermal environment constraint to obtain a multi-dimensional constraint set of the cable laying area.
7. The method for planning a three-dimensional laying obstacle avoidance path of a cable of a pumped storage station according to claim 6, wherein the constructing a connectivity topology of a hierarchical obstacle space tree based on a multidimensional constraint set to obtain a candidate path network of a cable laying area comprises: Based on space geometric constraint and construction safety constraint, performing space accessibility analysis on adjacent nodes in the layering barrier space tree to obtain a preliminary communication relationship of the adjacent nodes; Based on thermal environment constraint, carrying out environment feasibility screening on the preliminary communication relationship to obtain a feasible connection relationship of the adjacent nodes; carrying out multi-level topology network construction on the layering barrier space tree and the feasible connection relation to obtain a path topology network of the cable laying area; and removing redundant paths from the path topology network to obtain candidate path networks of the cable laying area.
8. The method for planning a three-dimensional laying obstacle avoidance path of a cable of a pumped storage station according to claim 7, wherein the constructing a multi-level topology network by using the hierarchical obstacle space tree and the feasible connection relation to obtain a path topology network of a cable laying area comprises the following steps: performing space hierarchy mapping on the cable laying area based on the hierarchical barrier space tree to obtain a hierarchy space partition of the hierarchical barrier space tree; constructing a topological relation of connection paths among barrier nodes in the hierarchical space partition based on the feasible connection relation to obtain a hierarchical connected subnetwork of the hierarchical space partition; carrying out hierarchical structure fusion on the hierarchical connected subnetworks to obtain an aggregation topology network of hierarchical space partition; And carrying out global path connectivity verification on the aggregation topology network to obtain a path topology network of the cable laying area.
9. The method for planning a three-dimensional laying obstacle avoidance path of a cable of a pumped storage station according to claim 1, wherein the steps of performing multidimensional collaborative evaluation on candidate paths in a candidate path network to obtain path evaluation data of the candidate paths, and performing contextualization decision on the path evaluation data to obtain an optimal laying path of the cable of the pumped storage station comprise the following steps: based on a cable laying engineering evaluation index system of the water-storage power station, carrying out multi-dimensional quantification on candidate paths in a candidate path network to obtain multi-dimensional scoring data of the candidate paths, and carrying out structural integration on the multi-dimensional scoring data to obtain a path scoring matrix of the candidate paths; dynamically adjusting the multidimensional weight in the path scoring matrix based on the design working condition and the environmental working condition plan of the cable laying of the pumping power storage station to obtain a weighted scoring matrix of the candidate path; performing comprehensive utility evaluation on the weighted scoring matrix and the candidate paths to obtain comprehensive utility scores of the candidate paths, and taking the candidate paths with the comprehensive utility scores exceeding a preset threshold as feasible laying paths; And carrying out adaptability optimization on the feasible laying paths based on a preset engineering decision rule to obtain the optimal cable laying path of the water-storage power station.
10. The method for planning a three-dimensional laying obstacle avoidance path of a pumped storage station cable according to claim 9, wherein the dynamically adjusting the multi-dimensional weights in the path scoring matrix based on a design condition and an environment condition plan of the pumped storage station cable laying to obtain a weighted scoring matrix of candidate paths comprises: performing stage suitability configuration on construction feasibility dimension weights in a path scoring matrix based on a design working condition plan of the cable laying of the water pumping power storage station to obtain a construction weight scheme of a candidate path; based on an environmental condition plan of the cable laying of the pumping electricity storage station, performing scene responsiveness configuration on the safety risk dimension weight in the path scoring matrix to obtain an environmental scene weight plan of the candidate path; performing resource optimization configuration on the economic dimension weight in the path scoring matrix based on the resource scheduling scheme in the design working condition plan to obtain a resource optimization weight scheme of the candidate path; And based on the construction weight scheme, the environment scene weight scheme and the resource optimization weight scheme, multidimensional weight coupling is carried out on the path scoring matrix, and the weighting scoring matrix of the candidate path is obtained.

Description

Three-dimensional laying obstacle avoidance path planning method for cable of water pumping power storage station Technical Field The invention relates to the technical field of data processing, in particular to a three-dimensional laying obstacle avoidance path planning method for a cable of a pumping power storage station. Background In the cable laying design of large-scale power projects such as water pumping and storage stations, the traditional path planning method mainly relies on two-dimensional plane drawings and field experience of engineers to conduct manual planning. The prior art generally adopts simplified two-dimensional projection or linear programming based on fixed rules, and is difficult to accurately process the problem of dense obstacle avoidance in a complex three-dimensional space. The method has insufficient mechanical performance constraint, construction safety requirement and long-term operation environment factors of the cable, so that the planned path often has the problems of too small turning radius, insufficient safety distance from equipment or high risk area crossing and the like, the construction difficulty and safety risk are increased, and the long-term operation life of the cable and the overall reliability of a power station can be influenced. The prior art lacks systematic support for engineering multi-objective collaborative optimization, and cannot effectively balance multi-dimensional constraints such as construction feasibility, economic cost, safety level, operation and maintenance convenience and the like in a planning stage. The traditional method is stiff when dealing with dynamically-changed construction working conditions and environmental conditions, and is difficult to generate an optimal path scheme with engineering adaptability, so that the design scheme is frequently adjusted in the construction stage, and engineering cost and construction period uncertainty are obviously increased. Along with the development of the water pumping and storage station to the large-scale and high-complexity direction, the prior art has difficulty in meeting the engineering requirements of intelligent and fine cable laying design, so that the planning efficiency of the three-dimensional cable laying obstacle avoidance path is improved, and the problem to be solved is urgent. Disclosure of Invention The invention provides a three-dimensional laying obstacle avoidance path planning method for a cable of a water-storage power station, which aims to solve the problems in the background technology. In order to achieve the above purpose, the invention provides a three-dimensional cable laying obstacle avoidance path planning method for a water-storage power station, which comprises the following steps: S1, carrying out standardization integration on multisource basic data of a cable laying area in a water-storage power station to obtain standardized multisource data of the cable laying area; S2, performing obstacle correlation analysis on the standardized basic data to obtain obstacle characteristic data of a cable laying area, and performing characteristic vector mapping on the obstacle characteristic data to obtain a classification characteristic vector set of the obstacle characteristic data; S3, hierarchical spatial clustering is carried out on the hierarchical feature vector set, and a hierarchical obstacle spatial tree of the cable laying area is obtained; S4, carrying out constraint matching mapping on the layering barrier space tree based on a preset laying constraint rule to obtain a multi-dimensional constraint set of the cable laying area; s5, based on the multidimensional constraint set, performing connectivity topology construction on the hierarchical barrier space tree to obtain a candidate path network of the cable laying area; and S6, carrying out multidimensional collaborative evaluation on the candidate paths in the candidate path network to obtain path evaluation data of the candidate paths, and carrying out contextualization decision on the path evaluation data to obtain the optimal cable laying path of the water-storage power station. In a preferred embodiment, the normalizing integration of the multisource base data of the cabling area in the water-pumping and water-storing power station, to obtain the normalized base data of the cabling area, includes: carrying out space normalization on multi-source basic data of a cable laying area in the water pumping power station to obtain space unified basic data of the cable laying area; Carrying out format standardization processing on the space unified basic data to obtain structured basic data of a cable laying area; carrying out data cleaning on the structured basic data to obtain clean basic data of a cable laying area; And carrying out multidimensional information synchronous registration on the clean basic data to obtain standardized basic data of the cable laying area. In a preferred embodiment, the performing