CN115912183A - Method, system, and readable storage medium for inspecting ecological measures of high-voltage transmission lines - Google Patents

Abstract

The invention discloses a high-voltage transmission line ecological measure inspection method, system and readable storage medium. The method includes: acquiring the inspection route of the high-voltage transmission line at intervals of preset periods; Tour the line to obtain ecological pictures and ecological sensing data; analyze the ecological pictures and the ecological sensing data to obtain environmental ecological information, its own ecological information and ecological environment impact information; based on the environmental ecological information, its own ecological information and eco-environmental impact information, to complete the inspection of the ecological measures of the high-voltage transmission line. In the present invention, due to the environmental ecological information, its own ecological information and ecological environment impact information reflect the information of high-voltage transmission lines affected by the environment, its own state and the environment, etc., through this type of information, multi-dimensional ecological measures for high-voltage transmission lines are realized. comprehensive and accurate detection.

Description

High-voltage transmission line ecological measures inspection method, system and readable storage medium

Technical Field

The present invention relates to the field of communication technology, and in particular to a method and system for inspecting ecological measures for high-voltage transmission lines and a readable storage medium.

Background Art

As we all know, electric energy is generated by converting water energy, thermal energy from fossil fuels, nuclear energy, solar energy, wind energy, geothermal energy, ocean energy, etc. through power generation devices, and then distributed to thousands of households through transmission, transformation, and distribution for users to use. Among them, the transmission lines used to achieve electric energy transmission can be divided into overhead transmission lines and underground transmission lines according to their structural forms. Overhead transmission lines are composed of line towers, conductors, insulators, etc., and are erected on the ground; underground transmission lines mainly lay cables underground or underwater.

Overhead transmission lines are the main way of power transmission because they are easy to install and maintain, and the cost is low. However, overhead transmission lines are also susceptible to environmental factors such as strong winds and wildfires, and cause electromagnetic interference. This problem is particularly evident for high-voltage transmission lines that transmit power over long distances. In order to prevent such problems from affecting the distribution of electricity, it is usually necessary to test ecological measures around the transmission lines.

At present, the inspection is still mainly carried out by specialized maintenance personnel, which is difficult and inefficient. Although some areas have begun to experiment with drones for inspection, they are usually limited to the inspection of the line's own operating conditions, which is not comprehensive and accurate enough. Therefore, how to achieve comprehensive and accurate inspection of ecological measures for high-voltage transmission lines is a technical problem that needs to be solved urgently.

Summary of the invention

The main purpose of the present invention is to provide a method, system and readable storage medium for patrolling ecological measures of high-voltage transmission lines, aiming to solve the technical problem of how to achieve comprehensive and accurate detection of ecological measures of high-voltage transmission lines in the prior art.

To achieve the above object, the present invention provides a high-voltage transmission line ecological measures inspection method, the inspection method comprising:

Obtaining the patrol route of the high-voltage transmission line at every preset period;

Controlling the UAV to patrol the high-voltage transmission line along the patrol route to obtain ecological pictures and ecological sensing data;

Analyze the ecological image and the ecological sensing data to obtain environmental ecological information, self-ecological information and ecological environment impact information;

Based on the environmental ecological information, the self-ecological information and the ecological environmental impact information, the inspection of the ecological measures of the high-voltage transmission line is completed.

Optionally, the step of analyzing the ecological image and the ecological sensing data to obtain environmental ecological information, self-ecological information and ecological environment impact information includes:

Performing filtering, grayscale transformation and edge detection on the ecological pictures respectively to obtain a plurality of target pictures, and identifying the bird information in the ecological environment information and the damage information in the self-ecological information from each of the target pictures;

Based on the wildfire sensing data, the ambient wind sensing data and the line temperature sensing data of the plurality of sampling points in the ecological sensing data, the wildfire information and the ambient wind information in the environmental ecological information and the overheating information in the self ecological information are generated respectively;

Based on the electric field intensity sensing data and the noise sensing data of the plurality of sampling points in the ecological sensing data, the interference information and the noise information in the ecological environment impact information are generated.

Optionally, the step of generating interference information and noise information in the ecological environment impact information based on the electric field strength sensing data and noise sensing data of multiple sampling points in the ecological sensing data includes:

The electric field strength sensing data of multiple sampling points are obtained from the ecological sensing data, and the electromagnetic interference data are respectively calculated based on each of the electric field strength sensing data, and each of the electromagnetic interference data is generated as the interference information in the ecological environment impact information. The formula for calculating the electromagnetic interference data is:

；

;

Where E is the electromagnetic interference data, E0 is the electric field strength sensing data, k1 is the attenuation coefficient, h is the altitude of the sampling point, and x is the distance between the interference monitoring point and the sampling point;

The noise sensing data of multiple sampling points are obtained from the ecological sensing data, and the noise sensing data of each sampling point is corrected according to the weather correction coefficient and the altitude correction coefficient of each sampling point to obtain the audible noise data of each sampling point. The correction formula is:

；

;

Among them, P is the audible noise data, _P0 is the noise sensing data, k2 is the voltage level parameter, H is the altitude parameter, and k3 is the weather parameter;

Each of the audible noise data is compared with the preset noise data to generate the noise information in the ecological environment impact information.

Optionally, the step of respectively generating the wildfire information and the ambient wind information in the environmental ecological information and the overheating information in the self ecological information based on the wildfire sensing data, the ambient wind sensing data and the line temperature sensing data of the plurality of sampling points in the ecological sensing data comprises:

Acquire wildfire sensing data of multiple sampling points including ambient temperature data, ambient humidity data, and ambient oxygen content from the ecological sensing data;

Based on the ambient temperature data, the ambient humidity data and the ambient oxygen content, the wildfire index of each sampling point is calculated respectively, and each wildfire index is generated as wildfire information. The formula for calculating the wildfire index is:

W = (C + S) / n;

Among them, W is the wildfire index, C is the ambient temperature coefficient, S is the ambient humidity coefficient, and n is the ambient oxygen content;

Acquire environmental wind sensing data of a plurality of sampling points including wind force magnitude data and wind force direction data from the ecological sensing data, and generate the environmental wind information based on the wind force magnitude data, wind force direction data of each sampling point, and a wind force preset vector value of each sampling point;

The line temperature sensing data of multiple sampling points are obtained from the ecological sensing data, and each of the line temperature sensing data is compared with a preset line temperature to generate the overheating information.

Optionally, the step of identifying the bird information in the ecological environment information and the damage information in the self-ecological information from each of the target images includes:

Determine whether there is a picture containing a bird's nest or a bird scene in each of the target pictures based on a preset recognition model, and if so, recognize the bird's nest or the bird scene based on the preset recognition model to obtain the bird information;

Based on the target image containing the high-voltage transmission line scene and the preset template image, the image error is calculated using the following formula:

；

;

为高压输电线路在目标图片中的成像相对于参考方向的倾斜角度；Where S is the image error, M and N are the maximum values of the image pixel coordinates in the x and y directions, B (m, n) is the preset template image, and A (m, n) is the target image containing the high-voltage transmission line scene.

is the tilt angle of the imaging of the high-voltage transmission line in the target image relative to the reference direction;

According to the image error, it is determined whether there is damage in the high-voltage transmission line corresponding to the high-voltage transmission line scene. If there is damage, damage features are extracted from the high-voltage transmission line scene, and the damage features are identified based on a preset damage library to obtain the damage information.

Optionally, the step of completing the inspection of the ecological measures of the high-voltage transmission line based on the environmental ecological information, the self-ecological information and the ecological environmental impact information includes:

Based on the bird information, wildfire information and environmental wind information in the environmental ecological information, inspect the bird prevention measures, wildfire risk measures and environmental wind prevention measures in the ecological measures of the high-voltage transmission line;

Based on the damage information and overheating information in the self-ecological information, inspect the damage warning measures and overheating warning measures in the ecological measures of the high-voltage transmission line;

Based on the interference information and noise information in the ecological environmental impact information, the interference prevention measures and noise prevention measures in the ecological measures of the high-voltage transmission line are inspected.

Optionally, after completing the step of inspecting the ecological measures of the high-voltage transmission line, the inspection method further comprises:

Acquire a real-time patrol route of a current preset period, and compare the real-time patrol route with the patrol route to obtain a comparison difference value;

Determine whether the comparison difference value is greater than a preset threshold value, and if so, find the real-time factor causing the change in the real-time patrol route, and determine the type of the real-time factor;

If the type of the real-time factor is a dynamic type, the real-time patrol route is corrected based on the real-time factor, and based on the corrected real-time patrol route, the real-time patrol route is compared with the patrol route to obtain a comparison difference value;

If the type of the real-time factor is a static type, the patrol route is replaced by the real-time patrol route.

Optionally, after the step of controlling the drone to patrol the high-voltage transmission line along the patrol route, the patrol method further comprises:

Detecting whether there is an obstacle on the patrol route, identifying the contour of the obstacle if there is an obstacle, and planning an obstacle avoidance curve based on the contour;

A replaced route corresponding to the obstacle avoidance curve is searched from the patrol route, and it is determined whether there is a preset sampling point on the replaced route. If there is a preset sampling point, the starting point or the end point on the obstacle avoidance curve is used as a real-time sampling point.

Furthermore, to achieve the above-mentioned purpose, the present invention also provides a high-voltage transmission line ecological measures inspection system based on a drone, and the high-voltage transmission line ecological measures inspection system based on a drone includes: a memory, a processor, a communication bus, and a control program stored in the memory:

The communication bus is used to realize the connection and communication between the processor and the memory;

The processor is used to execute the control program to implement the steps of the high-voltage transmission line ecological measures inspection method based on drone as described above.

Furthermore, to achieve the above-mentioned purpose, the present invention also provides a readable storage medium, on which a control program is stored. When the control program is executed by a processor, the steps of the above-mentioned drone-based high-voltage transmission line ecological measures inspection method are implemented.

The method, system and readable storage medium for inspecting ecological measures of high-voltage transmission lines based on drones of the present invention pre-sets the inspection route and inspection period for the high-voltage transmission lines that need to be inspected, and obtains the inspection route of the high-voltage transmission lines at intervals of the preset period; then the drone is controlled to inspect the high-voltage transmission lines along the inspection route, and ecological pictures and ecological sensing data related to the ecological measures of the high-voltage transmission lines are obtained. Thereafter, the ecological pictures and ecological sensing data are analyzed to obtain environmental ecological information reflecting the environmental impact of the high-voltage transmission lines, the self-ecological information reflecting the status of the high-voltage transmission lines themselves, and the ecological environmental impact information reflecting the impact of the high-voltage transmission lines on the surrounding ecological environment; then, according to the environmental ecological information, the self-ecological information and the ecological environmental impact information, the inspection of the ecological measures of the high-voltage transmission lines is completed. Because the environmental ecological information, the self-ecological information and the ecological environmental impact information reflect the information of the high-voltage transmission lines being affected by the environment, their own status and the impact on the environment, the present invention realizes the comprehensive and accurate detection of the ecological measures of the high-voltage transmission lines in multiple dimensions through such information.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a flow chart of a first embodiment of a high-voltage transmission line ecological measures inspection method based on a drone according to the present invention;

FIG2 is a flow chart of a third embodiment of a method for inspecting ecological measures for high-voltage transmission lines based on drones according to the present invention;

3 is a flow chart of a fourth embodiment of a high-voltage transmission line ecological measures inspection method based on a drone according to the present invention;

FIG4 is a schematic diagram of the structure of the hardware operating environment involved in an embodiment of a high-voltage transmission line ecological measures inspection system based on a drone of the present invention.

The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings.

DETAILED DESCRIPTION

It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

The present invention provides a method for inspecting ecological measures of high-voltage transmission lines based on drones. Please refer to Figure 1, which is a flow chart of a first embodiment of the method for inspecting ecological measures of high-voltage transmission lines based on drones of the present invention.

The embodiment of the present invention provides an embodiment of a method for inspecting ecological measures of high-voltage transmission lines based on drones. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that here. Specifically, the method for inspecting ecological measures of high-voltage transmission lines based on drones in this embodiment includes:

Step S10, obtaining the patrol route of the high-voltage transmission line at every preset period;

The method for inspecting ecological measures of high-voltage transmission lines based on drones in this embodiment can be applied to drone control systems. The drones are controlled by the control system to collect pictures and sensing data on high-voltage transmission lines, and inspect the ecological measures of high-voltage transmission lines. Specifically, an inspection route is set in advance along the high-voltage transmission line, and a preset period is set based on the historical fault period of the high-voltage transmission line. The inspection route is updated according to the actual route of each inspection, and the latest inspection route is obtained every preset period to inspect the ecological measures of the high-voltage transmission line.

Step S20, controlling the drone to patrol the high-voltage transmission line along the patrol route to obtain ecological pictures and ecological sensing data;

Furthermore, the drone is equipped with a camera device, such as an industrial camera, and a detection device, such as a temperature sensor, a humidity sensor, etc. After obtaining the latest patrol route, the drone is controlled to patrol the high-voltage transmission line along the patrol route. Sampling points are set in the patrol route. After the drone arrives at the sampling point, it takes ecological pictures through the camera device and obtains ecological sensing data through detection through the detection device.

Step S30, analyzing the ecological image and the ecological sensing data to obtain environmental ecological information, self-ecological information and ecological environment impact information;

Understandably, the ecological picture reflects the scene of the environment where the high-voltage transmission line is located when the drone is patrolling, and the ecological sensing data reflects the temperature, humidity, radiation noise, etc. of the environment where the high-voltage transmission line is located. Therefore, by analyzing the ecological pictures and ecological sensing data, environmental ecological information reflecting the environmental impact on the high-voltage transmission line, self-ecological information reflecting the condition of the high-voltage transmission line itself, and ecological environmental impact information reflecting the impact of the high-voltage transmission line on the surrounding ecological environment are obtained. Specifically, the steps of analyzing the ecological pictures and the ecological sensing data to obtain environmental ecological information, self-ecological information and ecological environmental impact information include:

Step S31, filtering, grayscale conversion and edge detection are performed on the ecological pictures to obtain multiple target pictures, and bird information in the ecological environment information and damage information in the self-ecological information are identified from each of the target pictures;

Step S32, based on the wildfire sensing data, the ambient wind sensing data and the line temperature sensing data of the plurality of sampling points in the ecological sensing data, generating the wildfire information and the ambient wind information in the environmental ecological information and the overheating information in the self ecological information respectively;

Step S33 , generating interference information and noise information in the ecological environment impact information based on the electric field intensity sensing data and noise sensing data of multiple sampling points in the ecological sensing data.

Furthermore, in addition to the imaging of high-voltage transmission lines, ecological pictures may also contain environmental scenes such as the sky, trees, buildings, birds, and bird nests. The imaging of high-voltage transmission lines can reflect whether the high-voltage transmission lines are damaged, while birds and bird nests may cause short circuits or disconnections of high-voltage transmission lines. The sky, trees, and buildings do not have much impact on high-voltage transmission lines, so it is necessary to extract scene features related to high-voltage transmission lines from ecological pictures.

In addition, on the one hand, the ecological pictures collected by the camera device may be affected by factors such as lighting and shooting angle, and will inevitably generate noise, which will reduce the quality of the ecological pictures and affect the detection of picture features. On the other hand, the images collected by the camera device are in color and contain a large amount of color information, which is not conducive to the detection and extraction of picture features. Therefore, before feature extraction, the ecological pictures need to be filtered and grayscale transformed. In addition, the filtering process and grayscale transformation can be performed based on the following formulas (1) and (2), respectively.

（1）；

(1);

G=(p1*R+p2*Gr+p3*B)/p4 (2);

Among them, f(x, y) is the ecological image after filtering, f(x ₀ , y ₀ ) is the ecological image before filtering, M is the total number of pixels in the preset filtering template; G is the grayscale value of the ecological image after grayscale transformation, R is the brightness value related to red before grayscale transformation of the ecological image, Gr is the brightness value related to green before grayscale transformation of the ecological image, B is the brightness value related to blue before grayscale transformation of the ecological image, p1, p2, p3, and p4 are coefficients related to red brightness value, green brightness value, blue brightness value, and grayscale value, respectively.

Furthermore, after filtering and grayscale transformation of the ecological image, the edge features of the scene in the ecological image are detected, and the scene that affects the high-voltage transmission line in the ecological image is extracted based on the detected edge features to form multiple target images, one scene corresponds to one target image. Then, each target image is identified to determine whether there is a picture containing a bird's nest or a bird scene. If there is a picture containing a bird's nest or a bird scene, it is identified as the bird information in the ecological environment information. At the same time, the target image containing the scene of the high-voltage transmission line itself is identified to determine whether there is damage in the high-voltage transmission line. If there is damage, it is identified as the damage information in its own ecological information.

Furthermore, the ecological sensing data includes wildfire sensing data reflecting whether there is a wildfire risk at each sampling point of the high-voltage transmission line, environmental wind sensing data reflecting whether there is strong wind, and line temperature sensing data reflecting whether the temperature is too high. By analyzing these three types of data, wildfire information and environmental information in the environmental ecological information and overheating information in the ecological information itself are generated to determine whether the high-voltage transmission line is at risk of wildfire or strong wind at each sampling point, and whether its own temperature is too high.

In addition, the ecological sensing data also includes electric field strength sensing data and noise sensing data collected at each sampling point. The interference information and noise information in the ecological environment impact information are generated by analyzing the two types of data to determine whether the high-voltage transmission line generates excessive interference and noise at each sampling point.

It should be noted that the ecological image, like the ecological sensing data, includes multiple images collected from multiple sampling points. The processing method of each ecological image is the same as the processing method of the above ecological image, which will not be repeated here.

Step S40, based on the environmental ecological information, the self-ecological information and the ecological environmental impact information, complete the inspection of the ecological measures of the high-voltage transmission line.

Furthermore, after obtaining environmental ecological information, self-ecological information and ecological environmental impact information through analysis of ecological images and ecological sensing data, the ecological measures of the high-voltage transmission lines can be multi-dimensionally detected and analyzed based on the environmental ecological information, which reflects the impact of environmental factors such as wildfires and strong winds on the high-voltage transmission lines; whether the high-voltage transmission lines themselves are hot or damaged, as reflected by their own ecological information; and whether the high-voltage transmission lines cause interference, noise and other impacts on their surroundings, as reflected by the ecological environmental impact information. After the detection and analysis results are obtained, the ecological measures of the high-voltage transmission lines can be inspected for the preset period.

It should be noted that the detection and analysis of the ecological measures of the high-voltage transmission line in this embodiment can be that after the ecological pictures and ecological sensing data are collected at each sampling point, the ecological pictures and sensing data are uniformly analyzed and processed to obtain environmental ecological information, self-ecological information and ecological environmental impact information to perform detection and analysis of the ecological measures of the high-voltage transmission line. After all ecological pictures and sensing data are analyzed, the inspection of the ecological measures of the high-voltage transmission line is completed. It can also be that the ecological pictures and ecological sensing data are collected at each sampling point, that is, the ecological pictures and ecological sensing data are analyzed and processed in real time to obtain the environmental ecological information of the sampling point, self-ecological information and ecological environmental impact information to perform detection and analysis of the ecological measures of the high-voltage transmission line at the sampling point, and after sampling and analysis at each sampling point, the inspection of the ecological measures of the high-voltage transmission line is completed.

The step of completing the inspection of the ecological measures of the high-voltage transmission line based on the environmental ecological information, the self-ecological information and the ecological environmental impact information includes:

Step S41, based on the bird information, wildfire information and environmental wind information in the environmental ecological information, inspect the bird prevention measures, wildfire risk measures and environmental wind prevention measures in the ecological measures of the high-voltage transmission line;

Step S42, based on the damage information and overheating information in the self ecological information, inspect the damage warning measures and overheating warning measures in the ecological measures of the high-voltage transmission line;

Step S43: Based on the interference information and noise information in the ecological environment impact information, the interference prevention measures and noise prevention measures in the ecological measures of the high-voltage transmission line are inspected.

Furthermore, the bird information in the environmental ecological information indicates that there are bird nests in the high-voltage transmission lines. Birds living in the bird nests may affect the normal operation of the high-voltage transmission lines, so the birds need to be driven away. The driving method can be to drive away birds by emitting a specific sound through a sound generating device, or to drive away birds by emitting a specific light through a light generating device. Therefore, this type of method for achieving bird driving away is used as a bird prevention measure. Bird prevention measures are inspected through bird information to determine whether there are bird prevention measures and whether the existing bird prevention measures can achieve the driving away of the birds reflected in the bird information. If the bird driving away cannot be achieved, feedback information is generated and fed back to the relevant maintenance personnel for processing.

Furthermore, the wildfire information and environmental wind information in the environmental ecological information indicate that the high-voltage transmission line may be subject to wildfire risks or strong environmental winds that may affect normal operation. At this time, the wildfire risk prevention measures and environmental wind prevention measures in the ecological measures of the high-voltage transmission line are inspected to determine whether there are devices to avoid drought and high temperature in the high-voltage transmission line environment, such as humidification devices, and whether there are windproof devices, and whether such devices are operating normally. If it is not operating normally, feedback information is generated and fed back to the relevant maintenance personnel for processing.

Furthermore, the damage information and overheating information in the ecological information itself indicate that the high-voltage transmission line may be damaged or its operating temperature is too high, which affects normal operation. At this time, the damage warning measures and overheating warning measures in the ecological measures of the high-voltage transmission line are inspected to determine whether the damage warning and overheating warning are activated for the high-voltage transmission line, so as to remind the maintenance personnel to repair the damage or high temperature of the high-voltage transmission line in time through the warning. If the damage warning and overheating warning are not activated, feedback information is generated and fed back to the relevant maintenance personnel for processing.

Furthermore, the interference information and noise information in the ecological and environmental impact information illustrate the interference and noise level generated by the high-voltage transmission line on the surrounding environment. At this time, the interference prevention measures and noise prevention measures in the ecological measures of the high-voltage transmission line are inspected to determine whether there are relevant measures for reducing interference and reducing noise (such as surrounding vegetation) around the high-voltage transmission line, and whether such measures are sufficient to reduce interference and reduce noise. If there are no or insufficient measures to reduce interference and reduce noise in the surrounding area, feedback information is generated and fed back to the relevant maintenance personnel for processing.

The method for inspecting ecological measures of high-voltage transmission lines based on drones implemented in this embodiment pre-sets the inspection route and inspection cycle for the high-voltage transmission lines that need to be inspected, and obtains the inspection route of the high-voltage transmission lines at intervals of the preset cycle; then the drone is controlled to inspect the high-voltage transmission lines along the inspection route to obtain ecological pictures and ecological sensing data related to the ecological measures of the high-voltage transmission lines. After that, the ecological pictures and ecological sensing data are analyzed to obtain environmental ecological information reflecting the environmental impact of the high-voltage transmission lines, the self-ecological information reflecting the status of the high-voltage transmission lines themselves, and the ecological environmental impact information reflecting the impact of the high-voltage transmission lines on the surrounding ecological environment; then according to the environmental ecological information, the self-ecological information and the ecological environmental impact information, the inspection of the ecological measures of the high-voltage transmission lines is completed. Because the environmental ecological information, the self-ecological information and the ecological environmental impact information reflect the information of the high-voltage transmission lines affected by the environment, their own status and the impact on the environment, the present invention realizes the comprehensive and accurate detection of the ecological measures of the high-voltage transmission lines in multiple dimensions through such information.

Furthermore, based on the first embodiment of the high-voltage transmission line ecological measures inspection method based on a drone of the present invention, a second embodiment of the high-voltage transmission line ecological measures inspection method based on a drone of the present invention is proposed.

The difference between the second embodiment of the high-voltage transmission line ecological measures inspection method based on drones and the first embodiment of the high-voltage transmission line ecological measures inspection method based on drones is that the step of generating interference information and noise information in the ecological environment impact information based on the electric field strength sensing data and noise sensing data of multiple sampling points in the ecological sensing data includes:

Step S331, acquiring electric field strength sensing data of multiple sampling points from the ecological sensing data, calculating electromagnetic interference data based on each of the electric field strength sensing data, and generating each of the electromagnetic interference data as interference information in the ecological environment impact information;

Step S332, acquiring noise sensing data of multiple sampling points from the ecological sensing data, and correcting the noise sensing data of each sampling point according to the weather correction coefficient and the altitude correction coefficient of each sampling point to obtain audible noise data of each sampling point;

Step S333: Compare each of the audible noise data with the preset noise data to generate noise information in the ecological environment impact information.

In this embodiment, the drone is equipped with a detector for detecting electric field strength and a detector for detecting noise. When the drone flies to each sampling point, it will collect the electric field strength and noise of the point through the detector to obtain electric field strength sensing data and noise sensing data. The control system filters out the electric field strength sensing data from the electric field strength detector from the ecological sensing data, and the screening can be achieved by data identification. That is, each detection device carried on the drone is set with a unique identification, and the data detected by different detection devices carry different identifications accordingly. By identifying the identification carried by the data, the type of data can be known, thereby filtering out the required data.

Furthermore, after the electric field strength sensing data of each sampling point is screened out from the ecological sensing data, the electromagnetic interference data of multiple interference monitoring points at a certain distance from each sampling point are calculated through the electric field strength sensing data of each sampling point. For example, if three interference monitoring points are set at 0.5 meters, 1 meter, and 1.5 meters away from the sampling point, the electromagnetic interference data of the three interference detection points need to be calculated based on the electric field strength sensing data of the sampling point. The specific calculation formula can be seen in formula (3).

；（3）；

; (3);

Wherein, E is the electromagnetic interference data, E0 is the electric field strength sensing data, k1 is the attenuation coefficient, h is the altitude of the sampling point, and x is the distance between the interference monitoring point and the sampling point.

By calculating the electric field interference data of multiple interference monitoring points around each sampling point using formula (3), the interference magnitude of points at different distances from the sampling point can be determined.

Furthermore, in order to avoid interference affecting communication, preset interference data is pre-set, and each electric field interference data is compared with the preset interference data in order from near to far from the sampling point to determine whether the electric field interference data is greater than the preset interference data. If it is greater, it means that the interference generated by the high-voltage transmission line at this point is too large, which may affect communication. When it is determined that the electric field interference data less than the preset interference data appears for the first time, the distance between the interference monitoring point and the sampling point corresponding to the electric field interference data is used as the interference exclusion distance, and the electric field interference data and the interference exclusion distance are formed together as interference information in the ecological environment impact information, so as to conduct an inspection of interference measures based on the interference exclusion distance in the interference information, and determine whether interference reduction measures are set at the interference exclusion distance position, so as to achieve precise prevention and control of interference.

Furthermore, high-voltage transmission lines generate noise during operation, and the noise generated varies depending on the voltage level of the high-voltage transmission line, the altitude at which the high-voltage transmission line is located, and weather factors (such as rainy days and sunny days). In order to reflect the more accurate audible noise of the high-voltage transmission line, the control system uses parameters related to the voltage level, altitude, and weather to correct the noise sensing data after filtering out the noise sensing data from the ecological sensing data through data identification, so as to obtain accurate audible noise data for each sampling point. The specific correction formula can be seen in formula (4).

（4）；

(4);

Among them, P is the audible noise data, P0 is the noise sensing data, k2 is the voltage level parameter, H is the altitude parameter, and k3 is the weather parameter.

Different sampling points are located in different areas with different altitudes and weather conditions, so the audible noise data that accurately reflects the noise level of each sampling point can be corrected by formula (4). In addition, in order to reflect the noise level, preset noise data are set in advance. By comparing each audible noise data with the preset noise data, it is determined whether the audible noise data is greater than the preset noise data. If it is greater, it means that the noise generated by the high-voltage transmission line at the sampling point is too large, which may affect the lives of surrounding residents or animals. Therefore, this type of excessive audible noise data is formed as noise information in the ecological environment impact information, so as to inspect the noise reduction measures of each sampling point according to the noise level of each sampling point reflected by the noise information, thereby achieving accurate noise reduction.

Furthermore, in this embodiment, the step of respectively generating the mountain fire information and the ambient wind information in the environmental ecological information and the overheating information in the self ecological information based on the mountain fire sensing data, the ambient wind sensing data and the line temperature sensing data of the plurality of sampling points in the ecological sensing data includes:

Step S321, acquiring forest fire sensing data of multiple sampling points including ambient temperature data, ambient humidity data and ambient oxygen content from the ecological sensing data;

Step S322, based on the ambient temperature data, the ambient humidity data and the ambient oxygen content, respectively calculate the wildfire index of each sampling point, and generate each wildfire index as wildfire information;

Step S323, acquiring environmental wind sensing data of multiple sampling points including wind force magnitude data and wind force direction data from the ecological sensing data, and generating the environmental wind information based on the wind force magnitude data, wind force direction data of each sampling point, and the wind force preset vector value of each sampling point;

Step S324 , acquiring line temperature sensing data of a plurality of sampling points from the ecological sensing data, and comparing each of the line temperature sensing data with a preset line temperature to generate the overheating information.

Understandably, wildfires usually occur in hot and dry weather. In order to determine whether there is a risk of wildfire in the environment where the high-voltage transmission line is located, the drone is equipped with sensors for detecting the temperature, humidity and oxygen content of the environment where the high-voltage transmission line is located. The environmental temperature data, environmental humidity data and environmental oxygen content are detected by such sensors as wildfire sensing data in the ecological sensing data. The control system selects the wildfire sensing data of each sampling point from the ecological sensing data by data identification, and calculates the wildfire index of each sampling point according to the environmental temperature data, environmental humidity data and environmental oxygen content of each sampling point. The calculation formula is as follows: Formula (5).

W = (C + S) / n (5);

Among them, W is the wildfire index, C is the ambient temperature coefficient, S is the ambient humidity coefficient, and n is the ambient oxygen content.

The wildfire index of each sampling point reflects the probability of wildfires at each sampling point. In order to characterize the size of the probability, a preset index threshold is set in advance. Each wildfire index is compared with the preset index threshold. If the wildfire index of a sampling point is greater than the preset index threshold, it means that the possibility of a wildfire index at the sampling point is high, otherwise the possibility is low. Then, the sampling points with a high possibility of wildfire index and their wildfire index are generated as wildfire information, so as to conduct inspections and early warnings on the wildfire risk prevention measures of the corresponding sampling points based on the wildfire information, so as to achieve accurate and effective prevention of wildfires.

Furthermore, the drone is equipped with a sensor for detecting the wind force and wind direction in the environment where the high-voltage transmission line is located. The wind force data and wind direction data are detected by such sensors as environmental wind sensing data in the ecological sensing data. Considering that the wind force that the high-voltage transmission line can withstand at each sampling point is different, a wind force preset vector value is pre-set for each sampling point, and the wind force preset vector value is used to represent the maximum wind force that the sampling point can withstand in the preset direction.

The control system selects the environmental wind sensing data of each sampling point from the ecological sensing data by means of data identification, and for each sampling point, according to the angle relationship between the detected wind direction data and the preset direction corresponding to the preset wind vector value, converts the detected wind magnitude data into the wind magnitude value in the preset direction, and compares the wind magnitude value with the maximum wind value corresponding to the preset wind vector value to determine whether the wind magnitude value is greater than the maximum wind value. If it is greater, it means that the high-voltage transmission line may be affected by strong winds at the sampling point and its normal operation is affected. The wind magnitude data and wind direction data of each sampling point of this type are formed into environmental wind information, so as to conduct inspections and early warnings on the environmental wind prevention measures of the corresponding sampling points based on the environmental wind information, and realize accurate and effective prevention of environmental wind.

Furthermore, the drone is also equipped with a sensor for detecting the temperature of the high-voltage transmission line itself, and the temperature sensing data of multiple sampling points in the ecological sensing data are generated by detecting such sensors. A preset line temperature is set in advance for the high-voltage transmission line to characterize its normal operation. The control system selects the line temperature sensing data of each sampling point from the ecological sensing data by means of data identification, and compares the line temperature sensing data of each sampling point with the preset line temperature to determine whether the line temperature sensing data is greater than the preset line temperature. If it is greater, it means that the high-voltage transmission line may be affected by the excessively high line temperature at this sampling point. The line temperature sensing data of each sampling point of this type is formed into overheating information, so as to patrol the overheating warning of the corresponding sampling point based on the overheating information, and realize accurate and effective prevention of overheating operation of the high-voltage transmission line.

Furthermore, in this embodiment, the step of identifying the bird information in the ecological environment information and the damage information in the self-ecological information from each of the target images includes:

Step S311, determining whether there is a picture containing a bird's nest scene or a bird scene in each of the target pictures based on a preset recognition model, and if so, identifying the bird's nest scene or the bird scene based on the preset recognition model to obtain the bird information;

Step S312, calculating the image error based on the target image containing the high-voltage transmission line scene and the preset template image;

Step S313: Determine whether there is damage in the high-voltage transmission line corresponding to the high-voltage transmission line scene based on the image error; if there is damage, extract damage features from the high-voltage transmission line scene, and identify the damage features based on a preset damage library to obtain the damage information.

Furthermore, considering that birds nesting on high-voltage transmission lines may affect the normal operation of high-voltage transmission lines, it is necessary to drive away the birds. The initial model is trained in advance with a large number of bird samples and bird nest samples to generate a preset recognition model. According to the preset recognition model, each target image is identified to determine whether there is a picture containing a bird's nest scene or a bird scene in each target image. If so, it means that there are bird nests and birds in the high-voltage transmission line. In addition to being able to identify bird nest scenes or bird scenes, the preset recognition model can also identify the type of bird through pre-training. Therefore, the bird nest scene or bird scene can be identified based on the preset recognition model to determine the type of bird existing in the high-voltage transmission line, so as to inspect the bird prevention measures according to the type of bird and realize the accurate expulsion of birds.

Understandably, high-voltage transmission lines are exposed to the external environment and may suffer losses that affect normal operation, so it is necessary to inspect whether the high-voltage transmission lines are damaged. Specifically, a picture of a normal high-voltage transmission line is taken in advance as a preset template picture, and a target picture containing a scene of the high-voltage transmission line can be determined from each target picture through a preset recognition model. The image error between the target picture and the preset template picture determines whether the high-voltage transmission line is damaged. Considering the problem of shooting angles during the flight of the drone, the imaging angle of the high-voltage transmission line in the target picture is different from the imaging angle of the normal high-voltage transmission line in the preset template picture, resulting in the non-error content between the two being judged as an error. In order to avoid this problem, the length direction or width direction of the preset template picture is used as a reference direction, and the imaging direction of the normal high-voltage transmission line in the preset template picture is parallel to the reference direction. The target picture is corrected by the inclination angle of the imaging of the high-voltage transmission line in the target picture relative to the reference direction, thereby calculating the error between the two pictures. The calculation formula is as follows: Formula (6).

（6）；

(6);

为高压输电线路在目标图片中的成像相对于参考方向的倾斜角度。Where S is the image error, M and N are the maximum values of the image pixel coordinates in the x and y directions, B (m, n) is the preset template image, and A (m, n) is the target image containing the high-voltage transmission line scene.

is the tilt angle of the imaging of the high-voltage transmission line in the target image relative to the reference direction.

Furthermore, a preset error threshold characterizing the error size is pre-set. After the accurate image error is calculated by tilt angle correction, the image error is compared with the preset error threshold to determine whether the image error is greater than the preset error threshold. If it is greater, it means that the error between the two images is large and the high-voltage transmission line is damaged. At this time, the high-voltage transmission line scene is identified, the damaged part is determined, and the damage feature is extracted from the damaged part. In addition, a preset damage library is pre-set, and the preset damage library is used to identify the loss feature to obtain damage information. The damage information includes information such as the length, width, and depth of the damage, which is used to determine the severity of the damage and patrol whether to initiate the corresponding level of damage warning.

This embodiment accurately generates interference information, noise information, wildfire information, environmental wind information, overheating information, bird information and damage information, making interference prevention, noise prevention, wildfire risk prevention, environmental wind prevention, overheating warning, bird repelling and damage warning more accurate, thereby achieving accurate and comprehensive inspection of various factors affecting the normal operation of high-voltage transmission lines.

Further, please refer to Figure 2. Based on the first or second embodiment of the high-voltage transmission line ecological measures inspection method based on a drone of the present invention, a third embodiment of the high-voltage transmission line ecological measures inspection method based on a drone of the present invention is proposed.

The third embodiment of the high-voltage transmission line ecological measures inspection method based on a drone is different from the first or second embodiment of the high-voltage transmission line ecological measures inspection method based on a drone in that after completing the step of inspecting the ecological measures of the high-voltage transmission line, the inspection method further includes:

Step S50, obtaining a real-time patrol route of a current preset period, and comparing the real-time patrol route with the patrol route to obtain a comparison difference value;

Step S60, determining whether the comparison difference value is greater than a preset threshold value, and if so, finding a real-time factor causing the real-time patrol route to change, and determining the type of the real-time factor;

Step S70, if the type of the real-time factor is a dynamic type, the real-time patrol route is corrected based on the real-time factor, and based on the corrected real-time patrol route, the real-time patrol route is compared with the patrol route to obtain a comparison difference value;

Step S80: If the type of the real-time factor is a static type, the patrol route is replaced by the real-time patrol route.

Understandably, when the drone is inspecting the high-voltage transmission line along the inspection route, it may encounter obstacles, such as flying birds, flying objects, tall trees, or newly built buildings on the inspection route. The drone needs to avoid the obstacles on the inspection route, which makes the flight route of the drone different from the inspection route, and then the inspection route is updated based on the difference.

Specifically, after the inspection is completed, the control system obtains the real-time inspection route of the drone flight, and compares it with the inspection route obtained before the inspection to obtain the comparison difference value between the two. In order to characterize the size of the difference value, a preset threshold is set in advance, and the comparison difference value is compared with the preset threshold to determine whether the comparison difference value is greater than the preset threshold. If it is greater, the difference point between the two is found, and then based on the video shot during the flight of the drone, the factor that causes the change of the drone's flight route at the difference point is determined as a real-time factor, and the type of the real-time factor is determined based on whether the factor that causes the change in the flight route has dynamic characteristics.

Furthermore, if the factors causing the flight route change have dynamic characteristics, such as flying birds or flying objects, the type of the real-time factor is determined to be a dynamic type. If the factors causing the flight route change do not have dynamic characteristics, such as trees, buildings, etc., the type of the real-time factor is determined to be a static type. For the dynamic type, since the factors causing the flight route change will not stay on the patrol route for a long time, they may not be obstacles causing the patrol route change. In this regard, the flight section of the real-time patrol route at the difference point is corrected by the real-time factor, and the flight section of the real-time patrol route at the difference point is modified to the flight section of the original patrol route at the difference point. Thereafter, the corrected real-time patrol route is compared with the original patrol route to obtain a comparison difference value, and it is determined whether there are other real-time factors that make the difference between the two larger.

Furthermore, if the type of real-time factor is static, the factor causing the flight route change will stay on the patrol route for a long time, and the subsequent drones will also need to avoid the route. At this time, the flight route of the real-time patrol route at the difference point can be used to replace the flight route of the original patrol route at the difference point to update the patrol route.

After the real-time factors of all difference points are determined, if the obtained difference value is still greater than the preset threshold, it means that the difference between the actual route of the drone patrol and the original patrol route is large, so the original patrol route is replaced with the real-time patrol route. If the difference value is not greater than the preset threshold, it means that the difference between the actual route of the drone patrol and the original patrol route is not large, and the original patrol route can still be used as the drone's patrol flight route.

This embodiment targets the actual flight route of the drone during patrol, distinguishes the types of obstacles that cause route changes and handles them in different ways to obtain an accurate patrol route, thereby achieving efficient and accurate flight control of the drone and improving patrol efficiency.

Further, please refer to Figure 3. Based on the first, second or third embodiments of the high-voltage transmission line ecological measures inspection method based on drone of the present invention, a fourth embodiment of the high-voltage transmission line ecological measures inspection method based on drone of the present invention is proposed.

The fourth embodiment of the high-voltage transmission line ecological measures inspection method based on a drone is different from the first, second or third embodiments of the high-voltage transmission line ecological measures inspection method based on a drone in that after the step of controlling the drone to inspect the high-voltage transmission line along the inspection route, the inspection method further includes:

Step S21, detecting whether there is an obstacle on the patrol route, identifying the contour of the obstacle if there is an obstacle, and planning an obstacle avoidance curve based on the contour;

Step S22, searching for a replaced route corresponding to the obstacle avoidance curve from the patrol route, and determining whether there is a preset sampling point on the replaced route; if there is a preset sampling point, taking the starting point or the end point on the obstacle avoidance curve as a real-time sampling point.

Furthermore, during the flight inspection of the drone, if there are obstacles on the inspection route, it is necessary to avoid the obstacles. And, if the inspection route has sampling points set in the road section corresponding to the obstacles, it is necessary to redetermine the sampling points based on the avoidance route. Specifically, the control system controls the drone to detect whether there are obstacles on the inspection route. If there are obstacles, the contour line of the obstacle is identified, and the contour distribution position of the obstacle relative to the drone is determined by the contour line. Then, a new flight section is planned as an obstacle avoidance curve based on the contour distribution position to control the drone to fly according to the obstacle avoidance curve to avoid obstacles.

Understandably, if there are no obstacles on the patrol route, the drone can fly according to the original patrol route. Due to the existence of obstacles, the original patrol route changes at the obstacle section, that is, it changes to an obstacle avoidance curve. The section of the patrol route before it changes at the obstacle is taken as the replaced route, and it is determined whether there are preset sampling points on the replaced section. If there are preset sampling points, it means that ecological pictures and ecological sensing data need to be collected on the replaced route. At this time, the starting point or end point on the obstacle avoidance curve is taken as a new sampling point, that is, a real-time sampling point, and the ecological pictures and ecological sensing data of the high-voltage transmission line are collected at this real-time sampling point.

The starting point and the focus of the obstacle avoidance curve are the junction points of the replaced route and the original patrol route. Using them as new sampling points ensures that the sampling position is still on the original patrol route, which is more in line with the original sampling requirements. This allows the vehicle to avoid obstacles while achieving on-demand accurate sampling.

In addition, the embodiment of the present invention also provides a high-voltage transmission line ecological measures inspection system based on drones. Referring to Figure 4, Figure 4 is a schematic diagram of the structure of the equipment hardware operating environment involved in the embodiment of the high-voltage transmission line ecological measures inspection system based on drones of the present invention.

As shown in FIG4 , the high-voltage transmission line ecological measures inspection system based on drones may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

Those skilled in the art will understand that the hardware structure of the UAV-based high-voltage transmission line ecological measures inspection system shown in Figure 4 does not constitute a limitation of the UAV-based high-voltage transmission line ecological measures inspection system, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

As shown in FIG4 , the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a control program. The operating system is a program for managing and controlling the high-voltage transmission line ecological measures patrol system based on drones and software resources, and supports the operation of the network communication module, the user interface module, the control program, and other programs or software; the network communication module is used to manage and control the network interface 1004; and the user interface module is used to manage and control the user interface 1003.

In the hardware structure of the high-voltage transmission line ecological measures inspection system based on drones shown in FIG4 , the network interface 1004 is mainly used to connect to the background server and communicate data with the background server; the user interface 1003 is mainly used to connect to the client (user end) and communicate data with the client; the processor 1001 can call the control program stored in the memory 1005 and perform the following operations:

Obtaining the patrol route of the high-voltage transmission line at every preset period;

Controlling the UAV to patrol the high-voltage transmission line along the patrol route to obtain ecological pictures and ecological sensing data;

Analyze the ecological image and the ecological sensing data to obtain environmental ecological information, self-ecological information and ecological environment impact information;

Based on the environmental ecological information, the self-ecological information and the ecological environmental impact information, the inspection of the ecological measures of the high-voltage transmission line is completed.

Furthermore, the step of analyzing the ecological image and the ecological sensing data to obtain environmental ecological information, self-ecological information and ecological environment impact information includes:

Performing filtering, grayscale transformation and edge detection on the ecological pictures respectively to obtain a plurality of target pictures, and identifying the bird information in the ecological environment information and the damage information in the self-ecological information from each of the target pictures;

Based on the wildfire sensing data, the ambient wind sensing data and the line temperature sensing data of the plurality of sampling points in the ecological sensing data, the wildfire information and the ambient wind information in the environmental ecological information and the overheating information in the self ecological information are generated respectively;

Based on the electric field intensity sensing data and the noise sensing data of the plurality of sampling points in the ecological sensing data, the interference information and the noise information in the ecological environment impact information are generated.

Furthermore, the step of generating interference information and noise information in the ecological environment impact information based on the electric field strength sensing data and noise sensing data of multiple sampling points in the ecological sensing data includes:

The electric field strength sensing data of multiple sampling points are obtained from the ecological sensing data, and the electromagnetic interference data are calculated based on each of the electric field strength sensing data, and each of the electromagnetic interference data is generated as the interference information in the ecological environment impact information. The formula for calculating the electromagnetic interference data is:

；

;

Where E is the electromagnetic interference data, E0 is the electric field strength sensing data, k1 is the attenuation coefficient, h is the altitude of the sampling point, and x is the distance between the interference monitoring point and the sampling point;

The noise sensing data of multiple sampling points are obtained from the ecological sensing data, and the noise sensing data of each sampling point is corrected according to the weather correction coefficient and the altitude correction coefficient of each sampling point to obtain the audible noise data of each sampling point. The correction formula is:

；

;

Among them, P is the audible noise data, P0 is the noise sensing data, k2 is the voltage level parameter, H is the altitude parameter, and k3 is the weather parameter;

Each of the audible noise data is compared with the preset noise data to generate the noise information in the ecological environment impact information.

Furthermore, the step of respectively generating the wildfire information and the ambient wind information in the environmental ecological information and the overheating information in the self ecological information based on the wildfire sensing data, the ambient wind sensing data and the line temperature sensing data of the plurality of sampling points in the ecological sensing data comprises:

Acquire wildfire sensing data of multiple sampling points including ambient temperature data, ambient humidity data, and ambient oxygen content from the ecological sensing data;

Based on the ambient temperature data, the ambient humidity data and the ambient oxygen content, the wildfire index of each sampling point is calculated respectively, and each wildfire index is generated as wildfire information. The formula for calculating the wildfire index is:

W = (C + S) / n;

Among them, W is the wildfire index, C is the ambient temperature coefficient, S is the ambient humidity coefficient, and n is the ambient oxygen content;

Acquire environmental wind sensing data of a plurality of sampling points including wind force magnitude data and wind force direction data from the ecological sensing data, and generate the environmental wind information based on the wind force magnitude data, wind force direction data of each sampling point, and a wind force preset vector value of each sampling point;

The line temperature sensing data of multiple sampling points are obtained from the ecological sensing data, and each of the line temperature sensing data is compared with a preset line temperature to generate the overheating information.

Furthermore, the step of identifying the bird information in the ecological environment information and the damage information in the self-ecological information from each of the target images includes:

Determine whether there is a picture containing a bird's nest or a bird scene in each of the target pictures based on a preset recognition model, and if so, recognize the bird's nest or the bird scene based on the preset recognition model to obtain the bird information;

Based on the target image containing the high-voltage transmission line scene and the preset template image, the image error is calculated using the following formula:

；

;

为高压输电线路在目标图片中的成像相对于参考方向的倾斜角度；Where S is the image error, M and N are the maximum values of the image pixel coordinates in the x and y directions, B (m, n) is the preset template image, and A (m, n) is the target image containing the high-voltage transmission line scene.

is the tilt angle of the imaging of the high-voltage transmission line in the target image relative to the reference direction;

According to the image error, it is determined whether there is damage in the high-voltage transmission line corresponding to the high-voltage transmission line scene. If there is damage, damage features are extracted from the high-voltage transmission line scene, and the damage features are identified based on a preset damage library to obtain the damage information.

Furthermore, the step of completing the inspection of the ecological measures of the high-voltage transmission line based on the environmental ecological information, the self-ecological information and the ecological environmental impact information includes:

Based on the bird information, wildfire information and environmental wind information in the environmental ecological information, inspect the bird prevention measures, wildfire risk measures and environmental wind prevention measures in the ecological measures of the high-voltage transmission line;

Based on the damage information and overheating information in the self-ecological information, inspect the damage warning measures and overheating warning measures in the ecological measures of the high-voltage transmission line;

Based on the interference information and noise information in the ecological environmental impact information, the interference prevention measures and noise prevention measures in the ecological measures of the high-voltage transmission line are inspected.

Further, after completing the step of patrolling the ecological measures of the high-voltage transmission line, the processor 1001 may call the control program stored in the memory 1005 and perform the following operations:

Acquire a real-time patrol route of a current preset period, and compare the real-time patrol route with the patrol route to obtain a comparison difference value;

Determine whether the comparison difference value is greater than a preset threshold value, and if so, find the real-time factor causing the change in the real-time patrol route, and determine the type of the real-time factor;

If the type of the real-time factor is a dynamic type, the real-time patrol route is corrected based on the real-time factor, and based on the corrected real-time patrol route, the real-time patrol route is compared with the patrol route to obtain a comparison difference value;

If the type of the real-time factor is a static type, the patrol route is replaced by the real-time patrol route.

Further, after the step of controlling the drone to patrol the high-voltage transmission line along the patrol route, the processor 1001 may call the control program stored in the memory 1005 and perform the following operations:

Detecting whether there is an obstacle on the patrol route, identifying the contour of the obstacle if there is an obstacle, and planning an obstacle avoidance curve based on the contour;

A replaced route corresponding to the obstacle avoidance curve is searched from the patrol route, and it is determined whether there is a preset sampling point on the replaced route. If there is a preset sampling point, the starting point or the end point on the obstacle avoidance curve is used as a real-time sampling point.

The specific implementation of the high-voltage transmission line ecological measures inspection system based on drones of the present invention is basically the same as the various embodiments of the above-mentioned high-voltage transmission line ecological measures inspection method based on drones, and will not be repeated here.

The embodiment of the present invention further provides a readable storage medium having a control program stored thereon, and when the control program is executed by a processor, the steps of the above-mentioned method for inspecting ecological measures of high-voltage transmission lines based on drones are implemented.

The readable storage medium of the present invention may be a computer-readable storage medium, and its specific implementation method is basically the same as the above-mentioned embodiments of the high-voltage transmission line ecological measures inspection method based on drones, and will not be repeated here.

The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims. All equivalent structures or equivalent process changes made using the contents of the specification and drawings of the present invention, or directly or indirectly used in other related technical fields, are protected by the present invention.

Claims (10)

1. A method for inspecting ecological measures of high-voltage transmission lines, characterized in that the inspection method comprises: Obtaining the patrol route of the high-voltage transmission line at every preset period; Controlling the UAV to patrol the high-voltage transmission line along the patrol route to obtain ecological pictures and ecological sensing data; Analyze the ecological image and the ecological sensing data to obtain environmental ecological information, self-ecological information and ecological environment impact information; Based on the environmental ecological information, the self-ecological information and the ecological environmental impact information, the inspection of the ecological measures of the high-voltage transmission line is completed. 2. The patrol method according to claim 1, characterized in that the step of analyzing the ecological pictures and the ecological sensing data to obtain environmental ecological information, self-ecological information and ecological environment impact information comprises: Performing filtering, grayscale transformation and edge detection on the ecological pictures respectively to obtain a plurality of target pictures, and identifying the bird information in the ecological environment information and the damage information in the self-ecological information from each of the target pictures; Based on the wildfire sensing data, the ambient wind sensing data and the line temperature sensing data of the plurality of sampling points in the ecological sensing data, the wildfire information and the ambient wind information in the environmental ecological information and the overheating information in the self ecological information are generated respectively; Based on the electric field intensity sensing data and the noise sensing data of the plurality of sampling points in the ecological sensing data, the interference information and the noise information in the ecological environment impact information are generated. 3. The patrol method according to claim 2, characterized in that the step of generating interference information and noise information in the ecological environment impact information based on the electric field intensity sensing data and noise sensing data of multiple sampling points in the ecological sensing data comprises: The electric field strength sensing data of multiple sampling points are obtained from the ecological sensing data, and the electromagnetic interference data are calculated based on each of the electric field strength sensing data, and each of the electromagnetic interference data is generated as the interference information in the ecological environment impact information. The formula for calculating the electromagnetic interference data is:

; Where E is the electromagnetic interference data, E0 is the electric field strength sensing data, k1 is the attenuation coefficient, h is the altitude of the sampling point, and x is the distance between the interference monitoring point and the sampling point; The noise sensing data of multiple sampling points are obtained from the ecological sensing data, and the noise sensing data of each sampling point is corrected according to the weather correction coefficient and the altitude correction coefficient of each sampling point to obtain the audible noise data of each sampling point. The correction formula is:

; Among them, P is the audible noise data, _P0 is the noise sensing data, k2 is the voltage level parameter, H is the altitude parameter, and k3 is the weather parameter; Each of the audible noise data is compared with the preset noise data to generate the noise information in the ecological environment impact information. 4. The patrol method according to claim 2, characterized in that the step of generating the mountain fire information and the ambient wind information in the environmental ecological information and the overheating information in the self ecological information respectively based on the mountain fire sensing data, the ambient wind sensing data and the line temperature sensing data of the plurality of sampling points in the ecological sensing data comprises: Acquire wildfire sensing data of multiple sampling points including ambient temperature data, ambient humidity data, and ambient oxygen content from the ecological sensing data; Based on the ambient temperature data, the ambient humidity data and the ambient oxygen content, the wildfire index of each sampling point is calculated respectively, and each wildfire index is generated as wildfire information. The formula for calculating the wildfire index is: W = (C + S) / n; Among them, W is the wildfire index, C is the ambient temperature coefficient, S is the ambient humidity coefficient, and n is the ambient oxygen content; Acquire environmental wind sensing data of a plurality of sampling points including wind force magnitude data and wind force direction data from the ecological sensing data, and generate the environmental wind information based on the wind force magnitude data, wind force direction data of each sampling point, and a wind force preset vector value of each sampling point; The line temperature sensing data of multiple sampling points are obtained from the ecological sensing data, and each of the line temperature sensing data is compared with a preset line temperature to generate the overheating information. 5. The patrol method according to claim 2, characterized in that the step of identifying the bird information in the ecological environment information and the damage information in the self-ecological information from each of the target images comprises: Determine whether there is a picture containing a bird's nest or a bird scene in each of the target pictures based on a preset recognition model, and if so, recognize the bird's nest or the bird scene based on the preset recognition model to obtain the bird information; Based on the target image containing the high-voltage transmission line scene and the preset template image, the image error is calculated using the following formula:

; Where S is the image error, M and N are the maximum values of the image pixel coordinates in the x and y directions, B (m, n) is the preset template image, and A (m, n) is the target image containing the high-voltage transmission line scene.

is the tilt angle of the imaging of the high-voltage transmission line in the target image relative to the reference direction; According to the image error, it is determined whether there is damage in the high-voltage transmission line corresponding to the high-voltage transmission line scene. If there is damage, damage features are extracted from the high-voltage transmission line scene, and the damage features are identified based on a preset damage library to obtain the damage information. 6. The inspection method according to any one of claims 1 to 5, characterized in that the step of completing the inspection of the ecological measures of the high-voltage transmission line based on the environmental ecological information, the self-ecological information and the ecological environmental impact information comprises: Based on the bird information, wildfire information and environmental wind information in the environmental ecological information, inspect the bird prevention measures, wildfire risk measures and environmental wind prevention measures in the ecological measures of the high-voltage transmission line; Based on the damage information and overheating information in the self-ecological information, inspect the damage warning measures and overheating warning measures in the ecological measures of the high-voltage transmission line; Based on the interference information and noise information in the ecological environmental impact information, the interference prevention measures and noise prevention measures in the ecological measures of the high-voltage transmission line are inspected. 7. The inspection method according to any one of claims 1 to 5, characterized in that after completing the step of inspecting the ecological measures of the high-voltage transmission line, the inspection method further comprises: Acquire a real-time patrol route of a current preset period, and compare the real-time patrol route with the patrol route to obtain a comparison difference value; Determine whether the comparison difference value is greater than a preset threshold value, and if so, find the real-time factor causing the change in the real-time patrol route, and determine the type of the real-time factor; If the type of the real-time factor is a dynamic type, the real-time patrol route is corrected based on the real-time factor, and based on the corrected real-time patrol route, the real-time patrol route is compared with the patrol route to obtain a comparison difference value; If the type of the real-time factor is a static type, the patrol route is replaced by the real-time patrol route. 8. The patrol method according to any one of claims 1 to 5, characterized in that after the step of controlling the drone to patrol the high-voltage transmission line along the patrol route, the patrol method further comprises: Detecting whether there is an obstacle on the patrol route, identifying the contour of the obstacle if there is an obstacle, and planning an obstacle avoidance curve based on the contour; A replaced route corresponding to the obstacle avoidance curve is searched from the patrol route, and it is determined whether there is a preset sampling point on the replaced route. If there is a preset sampling point, the starting point or the end point on the obstacle avoidance curve is used as a real-time sampling point. 9. A high-voltage transmission line ecological measures inspection system, characterized in that the high-voltage transmission line ecological measures inspection system comprises: a memory, a processor, a communication bus and a control program stored in the memory: The communication bus is used to realize the connection and communication between the processor and the memory; The processor is used to execute the control program to implement the steps of the high-voltage transmission line ecological measures inspection method as described in any one of claims 1-8. 10. A readable storage medium, characterized in that a control program is stored on the readable storage medium, and when the control program is executed by a processor, the steps of the high-voltage transmission line ecological measures inspection method as described in any one of claims 1-8 are implemented.

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