CN115810036A - Submarine cable terminal field living body foreign body expelling laser path planning method and related device - Google Patents
Submarine cable terminal field living body foreign body expelling laser path planning method and related device Download PDFInfo
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Abstract
The invention relates to the technical field of operation and maintenance of power systems, and provides a laser path planning method for expelling living foreign bodies in a submarine cable terminal field and a related device, wherein the method comprises the following steps: determining a background template by acquiring an environment image of a submarine cable terminal field, and establishing a space coordinate system; comparing the difference between the background template image and each real-time image; recognizing a living body foreign matter image in which a living body foreign matter exists; acquiring coordinates of the living foreign bodies around a submarine cable terminal field in the living foreign body image, and determining an expulsion coordinate point; mutually connecting the expelling coordinate points to obtain an expelling path, and sending the expelling path to a laser transmitter; the coordinate that the live body foreign matter frequently appears is obtained to real-time image recognition to the expulsion route of the coordinate planning that the live body foreign matter frequently appears has corresponding the activity law of live body foreign matter, makes laser emitter according to the expulsion route transmission laser, can be accurate carry out the expulsion to the live body foreign matter, improves expulsion efficiency, increases the operational reliability in submarine cable terminal field.
Description
Technical Field
The invention relates to the technical field of operation and maintenance of power systems, in particular to a laser path planning method for expelling living foreign bodies in a submarine cable terminal field and a related device.
Background
The submarine cable terminal field is used as an important component of a submarine cable line, and the operation state of the submarine cable terminal field is related to the safety of the whole power system. The submarine cable terminal field is an unattended station, and the built position is extremely remote, so that the submarine cable terminal field can often be invaded and climbed by field animals, and the submarine cable terminal field has uncontrollable potential safety hazards or equipment damage risks.
Along with technical development, the electric wire netting realizes the prevention and cure expulsion of live body foreign matter through progressively installing the expulsion device based on means such as sound, light, electricity, but the prevention and cure strategy of this type of expulsion measure is comparatively simple to passive expulsion is given first place to discover living body foreign matter back, has certain blindness, and the expulsion device is all carrying out meaningless protection most of the time, and the expulsion is inefficient.
Disclosure of Invention
The invention provides potential safety hazard closed loop auditing and a related device, which are used for solving the problem of low expelling efficiency caused by blindness of the existing living foreign body passive expelling scheme in the prior art.
The invention provides a submarine cable terminal field living body foreign body expulsion laser path planning method, which comprises the following steps:
acquiring environment images of a submarine cable terminal field, and determining a background template according to relatively static parts in each environment image; establishing a background template image and establishing a space coordinate system based on the background template;
acquiring real-time images of a submarine cable terminal field, and comparing the difference between the background template image and each real-time image; identifying a real-time image with a living body foreign body to obtain a living body foreign body image;
acquiring coordinates and times of the living body foreign body around a submarine cable terminal field in the living body foreign body image; selecting a coordinate with the occurrence frequency of the living foreign body larger than a preset threshold value to obtain an expulsion coordinate point; mutually connecting the evicted coordinate points to obtain a plurality of connecting lines; and acquiring an equation of the connecting line in a space coordinate system to obtain an expulsion path, and sending the expulsion path to the laser transmitter.
Optionally, the coordinates of which the number of times of occurrence of the living body foreign matter is greater than a preset threshold are selected to obtain an eviction coordinate point, which specifically includes:
selecting a coordinate with the occurrence frequency of the living foreign body larger than a preset threshold value to obtain a foreign body movement coordinate point; the expelling range of presetting the expelling pattern is obtained to the expelling range filters foreign matter activity coordinate point, obtains the expelling coordinate point, it includes snake mouse expelling pattern and birds expelling pattern to preset the expelling pattern.
Optionally, after sending the expelling path to the laser emitter, the method further includes:
and sending the laser scanning speed and the frequency of the corresponding time period to a laser transmitter according to a preset eviction mode.
Optionally, the eviction coordinate points are connected to each other to obtain a plurality of connecting lines, specifically:
and acquiring a time period of the corresponding living body foreign body image of the expulsion coordinate points, and mutually connecting the expulsion coordinate points in the same time period to obtain a plurality of connecting lines and connecting line time information.
Optionally, the equation of the connection line in the spatial coordinate system is obtained to obtain an eviction path, and the eviction path is sent to the laser transmitter, specifically:
acquiring an equation of the connecting line in a space coordinate system to obtain an eviction path; and acquiring the coordinates of the laser transmitter in a space coordinate system, calculating the laser emission angle direction of the laser transmitter according to the coordinates of the laser transmitter and the expelling path, obtaining scanning information and sending the scanning information to the laser transmitter.
Optionally, after obtaining the scanning information and sending the scanning information to the laser emitter, the method further includes:
and calculating the shortest line passing through the connection expelling path according to the expelling path equation and sending the shortest line to the laser transmitter.
This application second aspect provides a submarine cable terminal field live body foreign matter expulsion laser path planning device, includes:
the background template establishing module is used for acquiring environment images of the submarine cable terminal field and determining a background template according to relatively static parts in each environment image; establishing a background template image and establishing a space coordinate system based on the background template;
the living body foreign body image identification module is used for acquiring real-time images of a submarine cable terminal field and comparing the difference between the background template image and each real-time image; identifying a real-time image with the living body foreign body to obtain a living body foreign body image;
the expelling path setting module is used for acquiring the coordinates and times of the living foreign bodies in the living foreign body image around the submarine cable terminal field; selecting a coordinate with the occurrence frequency of the living foreign body larger than a preset threshold value to obtain an expulsion coordinate point; connecting the expulsion coordinate points with each other to obtain a plurality of connecting lines; and acquiring an equation of the connecting line in a space coordinate system to obtain an expulsion path, and sending the expulsion path to the laser transmitter.
Optionally, the system further comprises an energy supply module;
the energy supply module is used for controlling the solar cell panel and the storage battery to provide energy required by operation for the laser transmitter.
The third aspect of the application provides a submarine cable termination field living body foreign body expulsion laser path planning device, the device comprises a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the method for planning the route of the live foreign object eviction laser in the submarine cable terminal field according to any one of the first aspect of the present invention according to instructions in the program code.
A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is configured to store program codes, and the program codes are configured to execute the submarine cable terminal field living body foreign body dislodging laser path planning method according to any one of the first aspects of the present invention.
According to the technical scheme, the invention has the following advantages: determining a background template according to a relatively static part in each environment image by acquiring the environment image of the submarine cable terminal field; establishing a background template image and establishing a space coordinate system based on the background template; acquiring real-time images of a submarine cable terminal field, and comparing the difference between the background template image and each real-time image; identifying a real-time image with the living body foreign body to obtain a living body foreign body image; acquiring coordinates and times of the living body foreign body around a submarine cable terminal field in the living body foreign body image; selecting a coordinate with the occurrence frequency of the living foreign body larger than a preset threshold value to obtain an expulsion coordinate point; mutually connecting the evicted coordinate points to obtain a plurality of connecting lines; acquiring an equation of a connecting line in a space coordinate system to obtain an expulsion path, and sending the expulsion path to a laser transmitter; the coordinate that the live body foreign matter frequently appears is obtained to real-time image recognition to the expulsion route of the coordinate planning that the live body foreign matter frequently appears has corresponding the activity law of live body foreign matter, makes laser emitter according to the expulsion route transmission laser, can be accurate carry out the expulsion to the live body foreign matter, improves expulsion efficiency, increases the operational reliability in submarine cable terminal field.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive labor.
FIG. 1 is a first flowchart of a submarine cable termination field live body foreign body expulsion laser path planning method;
FIG. 2 is a second flowchart of a submarine cable termination field in-vivo foreign object expelling laser path planning method;
fig. 3 is a diagram of a submarine cable termination field living body foreign body expulsion laser path planning device.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a submarine cable terminal field living body foreign body expulsion laser path planning method which is used for solving the problem that in the prior art, the expulsion efficiency is low due to the fact that the existing living body foreign body passive expulsion scheme is blindness.
Referring to fig. 1, fig. 1 is a first flowchart of a method for planning a laser path for expelling living foreign objects in a submarine cable termination field according to an embodiment of the present invention.
S100, acquiring environment images of a submarine cable terminal field, and determining a background template according to relatively static parts in each environment image; establishing a background template image and establishing a space coordinate system based on the background template;
it should be noted that the environmental image of the submarine cable terminal field is an image taken at a plurality of angles around the submarine cable terminal field, and by comparing a plurality of environmental images at the same angle, a part which does not change at the same pixel point position can be regarded as a relatively static part, in this embodiment, the relatively static part corresponds to an equipment structure of the submarine cable terminal field and a static object such as a stone tree in the environment; only a relatively static part is reserved for the image at the same angle, and a background template image can be established; and establishing a three-dimensional space coordinate system according to the size parameters which can be extracted from the image by the background template, so that any point in the space where the submarine cable terminal field is located has a corresponding coordinate.
S200, acquiring real-time images of a submarine cable terminal field, and comparing the difference between the background template image and each real-time image; identifying a real-time image with the living body foreign body to obtain a living body foreign body image;
it should be noted that the camera setting positions and parameters for acquiring the real-time image of the submarine cable terminal field and the environmental image are the same, so as to facilitate the difference comparison between the subsequent images; the real-time images acquire the moving condition of the living foreign bodies near the submarine cable terminal field in different time periods, wherein the time periods comprise various conditions in the embodiment, can be different seasons in a year, and can also divide the time of a day into various time periods; in determining the specific time period, it may be specifically determined according to seasons, work and rest habits of different living beings, activity frequencies of different living beings, and destructiveness of different living beings at different times.
Taking the background template image as a reference, carrying out difference comparison on the real-time image and the reference image one by one pixel point or one by one area, and judging whether the living body foreign matter is shot in the real-time image according to a comparison result, wherein the judgment mode can be that the area filled with the difference reaches a preset area; if so, identifying the corresponding real-time image as a living body foreign body image; the preset area can be set according to the volume of common living foreign matters in the submarine cable terminal site, for example, when the living bodies are birds, the larger the average bird volume is, the larger the preset area is.
S300, acquiring coordinates and times of the living foreign bodies in the living foreign body image appearing around a submarine cable terminal field; selecting a coordinate with the number of times of occurrence of the living foreign body larger than a preset threshold value to obtain an expulsion coordinate point; connecting the expulsion coordinate points with each other to obtain a plurality of connecting lines; and acquiring an equation of the connecting line in a space coordinate system to obtain an expulsion path, and sending the expulsion path to the laser transmitter.
It should be noted that, according to the camera position captured by the living body foreign object image and the relative position information of each object in the image, in combination with the calibration principle of the camera, the coordinates of the living body foreign object in the space coordinate system can be obtained, and the times of the same coordinates of the living body foreign object appearing in different images of the living body foreign object are accumulated, so that the times corresponding to the coordinates of the living body foreign object appearing can be obtained. It can be understood that there is randomness in the activity position of the living foreign matter, and therefore the coordinates with the occurrence times less than or equal to the preset threshold value cannot reflect the activity rule, and in this embodiment, only the coordinates with the occurrence times greater than the preset threshold value are selected as the expelling coordinate points, and the expelling coordinate points reflect the position rule of the appearance or activity of the living foreign matter in the space around the submarine cable terminal field.
After all the eviction coordinate points in the space coordinate system are mutually connected, an equation of a connecting line can be obtained according to the principle that two points in the space can determine a straight line, a plurality of formed connecting lines are filled in the space of a submarine cable terminal place, the connecting lines pass through the positions where the living foreign bodies frequently appear, and the connecting lines are matched with the moving tracks of the living foreign bodies; in this embodiment, the equation of the connection line corresponds to the scanning path for laser eviction, and the eviction path can be determined by obtaining the equation of the connection line; after sending the expulsion route for laser emitter, laser emitter is according to the connecting wire equation at submarine cable terminal place along expulsion route transmission laser in the space, can realize carrying out accurate expulsion at living body foreign matter normal activity position.
In the embodiment, the background template is determined according to the relatively static part in each environment image by acquiring the environment image of the submarine cable terminal field; establishing a background template image and establishing a space coordinate system based on the background template; acquiring real-time images of a submarine cable terminal field, and comparing the difference between the background template image and each real-time image; identifying a real-time image with the living body foreign body to obtain a living body foreign body image; acquiring coordinates and times of the living body foreign body around a submarine cable terminal field in the living body foreign body image; selecting a coordinate with the number of times of occurrence of the living foreign body larger than a preset threshold value to obtain an expulsion coordinate point; connecting the expulsion coordinate points with each other to obtain a plurality of connecting lines; acquiring an equation of a connecting line in a space coordinate system to obtain an expulsion path, and sending the expulsion path to a laser transmitter; the coordinate that the live body foreign matter frequently appears is obtained to real-time image recognition to the expulsion route of the coordinate planning that the live body foreign matter frequently appears has corresponding the activity law of live body foreign matter, makes laser emitter according to the expulsion route transmission laser, can be accurate carry out the expulsion to the live body foreign matter, improves expulsion efficiency, increases the operational reliability in submarine cable terminal field.
The above is a detailed description of a first embodiment of the submarine cable terminal field living body foreign body expelling laser path planning method provided by the present application, and the following is a detailed description of a second embodiment of the submarine cable terminal field living body foreign body expelling laser path planning method provided by the present application.
In this embodiment, a specific embodiment of step S200 in a submarine cable termination field living body foreign body expelling laser path planning method is further provided, please refer to fig. 2, step S300 specifically includes steps S301 to S304, and the details are as follows:
s301, acquiring coordinates and times of the living foreign bodies in the living foreign body image appearing around a submarine cable terminal field; selecting a coordinate with the occurrence frequency of the living foreign body larger than a preset threshold value to obtain a foreign body activity coordinate point;
s302, acquiring a repellent range of a preset repellent mode, and screening foreign body activity coordinate points in the repellent range to obtain repellent coordinate points, wherein the preset repellent mode comprises a snake mouse repellent mode and a bird repellent mode;
it should be noted that, the foreign body activities of different submarine cable terminal fields are different, birds in some submarine cable terminal fields frequently move to cause serious bird damage, and snakerats in some submarine cable terminal fields frequently move to cause serious snake and mouse damage, because the areas where birds and snakerats move are different in height, a worker can preset a dispelling mode and a dispelling range according to the specific situation of the submarine cable terminal fields, perform living body foreign body dispelling in a targeted manner, and improve the dispelling efficiency; it can be understood that, because the bird activity is aerial flight, the snake and mouse activity is ground crawling, the spatial coordinate systems corresponding to the expelling ranges of different expelling modes have different height coordinates, for the bird expelling mode, the top of the submarine cable terminal field can be used as a boundary, and an upper area above the boundary of the top is set as the expelling range, so that birds are prevented from staying and bird droppings are prevented from falling; to snake mouse expulsion mode, can submarine cable terminal field base or terminal sheath be the border, set up the ground area below the boundary into the expulsion scope, prevent that the snake mouse climbing is close to.
S303, acquiring a time period of the corresponding living body foreign body image of the eviction coordinate points, and mutually connecting the eviction coordinate points in the same time period to obtain a plurality of connecting lines and connecting line time information;
it should be noted that the eviction coordinate points are obtained according to the real-time images of the time periods, so that the eviction coordinate points also contain time information of the corresponding time periods, and it can be understood that eviction coordinate points identified in the same time period are connected, so that corresponding activity ranges of the living foreign bodies in different activity times can be evicted more accurately;
further, the staff can set up the expulsion mode according to the specific environment condition in submarine cable terminal field, for example mainly carries out the night expulsion mode of expulsion in the night time section, further filters the expulsion coordinate point.
Further, the operation and maintenance importance degree of the equipment structure of the submarine cable terminal field is obtained, the expulsion coordinate points are adjusted according to the operation and maintenance importance degree, if the protection distance is preset in important operation and maintenance equipment, the density of the expulsion coordinate points is increased in an area formed by the important operation and maintenance equipment with the protection distance in proportion, the protection effect on the important operation and maintenance equipment is improved, the density of the expulsion coordinate points is reduced near the non-important operation and maintenance equipment, the generation of non-essential expulsion paths is reduced, and the expulsion efficiency is improved.
S304, acquiring an equation of the connecting line in a space coordinate system to obtain an eviction path; and acquiring the coordinates of the laser transmitter in a space coordinate system, calculating the laser emission angle direction of the laser transmitter according to the coordinates of the laser transmitter and the expelling path, obtaining scanning information and sending the scanning information to the laser transmitter.
It should be noted that, the laser scanning mode for the laser emitter to perform the expelling is to emit laser to a specified expelling path, the expelling path corresponds to a linear equation in a space coordinate system, and after the coordinates of the laser emitter in the space coordinate system are obtained, the problems of the emitting angle and the direction of the laser emitted by the laser emitter are set, that is, the problems can be converted into the calculation problem of a line equation from one point in the space to one line in the space, and the parameters of the line equation can obtain the angle direction of the laser emitter; the laser emitter emits laser along the emitting angle direction, so that the frequent movement route of the living foreign body can be expelled forcefully along the driving route;
further, when a plurality of expelling paths of the same laser emitter need to be scanned, calculating a shortest line passing through the connection of the expelling paths according to an expelling path equation, and sending the shortest line to the laser emitter; the sequence of executing the expelling route scanning of the laser emitter can be planned in an optimal path planning mode, so that the time of the laser emitter when the laser emitter moves among different expelling paths is shorter, the scanning expelling with higher frequency is carried out in a limited living body foreign body activity time period, and the expelling efficiency is improved.
Further, the night activities of birds are weakened in the night time period, so that for the bird repelling mode, an instruction for reducing the laser scanning speed and frequency in the night time period can be sent to the laser transmitter, and the repelling power consumption is reduced; for the snake and mouse expelling mode, because the snake and mouse are organisms going on night, the activity can be enhanced at night, and an instruction for improving the laser scanning speed and frequency at night time can be sent to the laser emitter, so that the expelling efficiency is improved; the night time may be set according to the local sunset and sunrise time.
In this embodiment, through setting up the expulsion mode to different kinds of live body foreign matters, further select the expulsion coordinate point with the expulsion scope to and according to the expulsion route that becomes more meticulous of expulsion coordinate point time quantum, make the directive property of laser expulsion live body foreign matter more accurate, the expulsion efficiency is higher.
The above is a detailed description of a second embodiment of the submarine cable terminal field living body foreign body expelling laser path planning method provided by the present application, and the following is a detailed description of a submarine cable terminal field living body foreign body expelling laser path planning device provided by the second aspect of the present application.
Referring to fig. 3, fig. 3 is a diagram of a laser path planning apparatus for expelling living foreign bodies in a submarine cable termination field. The embodiment provides a submarine cable terminal field living body foreign matter expulsion laser path planning device, includes:
a background template establishing module 10, configured to obtain an environment image of a submarine cable terminal field, and determine a background template according to a relatively static portion in each environment image; establishing a background template image and establishing a space coordinate system based on the background template;
the living body foreign body image identification module 20 is used for acquiring real-time images of a submarine cable terminal field and comparing the difference between the background template image and each real-time image; identifying a real-time image with the living body foreign body to obtain a living body foreign body image;
an expelling path setting module 30, configured to obtain coordinates and times of appearance of the living body foreign body around the submarine cable termination field in the living body foreign body image; selecting a coordinate with the occurrence frequency of the living foreign body larger than a preset threshold value to obtain an expulsion coordinate point; connecting the expulsion coordinate points with each other to obtain a plurality of connecting lines; and acquiring an equation of the connecting line in a space coordinate system to obtain an expulsion path, and sending the expulsion path to the laser transmitter.
Further, still include the energy module, energy module is used for controlling solar cell panel and battery to provide the required energy of operation for laser emitter. In the embodiment, the device adopts a double energy supply system to realize energy optimization, and the double energy supply system comprises a solar cell panel and a storage battery; ensure the device can work continuously and stably in remote areas
Further, the laser of the laser emitter adopts green wave laser; through studying the sensitivity and the stimulation degree of various organisms to the laser with different wavelengths and the stress reaction of the organisms which can be generated under irradiation, the optimal frequency and the effective laser wavelength of the laser are comprehensively judged and determined from various factors, the optimal repelling effect of the green wave laser on the birds and the snakemouse organisms can be found through comparison, and the bunching effect is also the best after the green wave laser is generated, so that the accurate scanning is more facilitated.
Further, the laser transmitter is connected with a singlechip PIC16D70 which is mainly responsible for the designation of a laser light path, the selection and the signal conduction of each interactive mode, the driving of a holder and the laser transmitting instruction for driving living foreign matters and the like; information is transmitted to the control unit in an integrated mode to serve as a basic unit for laser path planning, and module control and interaction such as point location design, time adjustment and strength adjustment are conducted on the basis of serial port communication. The laser transmitter realizes the effective intensity adjustment of the laser beam through a single chip microcomputer DC mode, the intensity can be adjusted to be 500-1000mW, and the wavelength of the laser can be adjusted to be 520-532nm according to actual requirements for output.
The laser emitter can be fixedly carried on the holder and is installed by combining with the pivotable box body, and parameters of the holder and the pivotable box body are adjusted according to a specific expelling path and a laser emission angle direction, so that the laser emitter performs laser scanning according to the expelling path; in order to prevent the laser from influencing the mistaken entering personnel, the moving range of the holder is limited to 35 degrees up and down in the laser scanning process, the horizontal rotating amplitude is controlled to 350 degrees, and reciprocating three-dimensional motion is carried out in the range.
The third aspect of the present application further provides a submarine cable termination field living body foreign body expulsion laser path planning device, which includes a processor and a memory: the memory is used for storing the program codes and transmitting the program codes to the processor; the processor is used for executing the submarine cable terminal field living body foreign body expelling laser path planning method according to instructions in the program codes.
A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is configured to store program codes, and the program codes are configured to execute the above-mentioned submarine cable terminal field living body foreign body eviction laser path planning method.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and devices may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the scheme of the embodiment Is/are as follows 。
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A submarine cable terminal field living body foreign body expulsion laser path planning method is characterized by comprising the following steps:
acquiring environment images of a submarine cable terminal field, and determining a background template according to relatively static parts in each environment image; establishing a background template image and establishing a space coordinate system based on the background template;
acquiring real-time images of a submarine cable terminal field, and comparing the difference between the background template image and each real-time image; identifying a real-time image with a living body foreign body to obtain a living body foreign body image;
acquiring coordinates and times of the living body foreign body around a submarine cable terminal field in the living body foreign body image; selecting a coordinate with the occurrence frequency of the living foreign body larger than a preset threshold value to obtain an expulsion coordinate point; connecting the expulsion coordinate points with each other to obtain a plurality of connecting lines; and acquiring an equation of the connecting line in a space coordinate system to obtain an expulsion path, and sending the expulsion path to the laser transmitter.
2. The submarine cable termination field living body foreign body expulsion laser path planning method according to claim 1, wherein the coordinates with the number of occurrences of the living body foreign body greater than a preset threshold are selected to obtain an expulsion coordinate point, specifically:
selecting a coordinate with the occurrence frequency of the living foreign body larger than a preset threshold value to obtain a foreign body activity coordinate point; the expelling range of presetting the expelling pattern is obtained to the expelling range filters foreign matter activity coordinate point, obtains the expelling coordinate point, it includes snake mouse expelling pattern and birds expelling pattern to preset the expelling pattern.
3. The submarine cable termination field living body foreign body eviction laser path planning method according to claim 2, wherein after sending the eviction path to the laser transmitter, the method further comprises:
and sending the laser scanning speed and the frequency of the corresponding time period to a laser transmitter according to a preset eviction mode.
4. The method for planning the laser path for expelling the living foreign bodies in the submarine cable termination field according to claim 1, wherein the expelling coordinate points are connected to each other to obtain a plurality of connecting lines, specifically:
and acquiring a time period of the corresponding living body foreign body image of the expulsion coordinate points, and mutually connecting the expulsion coordinate points in the same time period to obtain a plurality of connecting lines and connecting line time information.
5. The planning method for the submarine cable termination field living body foreign body eviction laser path according to claim 1, wherein the equation of the connection line in the space coordinate system is obtained to obtain an eviction path, and the eviction path is sent to a laser transmitter, specifically:
acquiring an equation of the connecting line in a space coordinate system to obtain an eviction path; and acquiring the coordinates of the laser transmitter in a space coordinate system, calculating the laser emission angle direction of the laser transmitter according to the coordinates of the laser transmitter and the expelling path, obtaining scanning information and sending the scanning information to the laser transmitter.
6. The method for planning the laser path for expelling the living foreign bodies in the submarine cable termination field according to claim 4, wherein after obtaining the scanning information and sending the scanning information to the laser transmitter, the method further comprises:
and calculating the shortest line passing through the connection eviction path according to the eviction path equation, and sending the shortest line to the laser transmitter.
7. The utility model provides a submarine cable terminal field live body foreign matter expulsion laser path planning device which characterized in that includes:
the background template establishing module is used for acquiring environment images of the submarine cable terminal field and determining a background template according to relatively static parts in each environment image; establishing a background template image and establishing a space coordinate system based on the background template;
the living body foreign body image identification module is used for acquiring real-time images of a submarine cable terminal field and comparing the difference between the background template image and each real-time image; identifying a real-time image with the living body foreign body to obtain a living body foreign body image;
the expelling path setting module is used for acquiring the coordinates and times of the living foreign bodies in the living foreign body image around the submarine cable terminal field; selecting a coordinate with the occurrence frequency of the living foreign body larger than a preset threshold value to obtain an expulsion coordinate point; connecting the expulsion coordinate points with each other to obtain a plurality of connecting lines; and acquiring an equation of the connecting line in a space coordinate system to obtain an expulsion path, and sending the expulsion path to the laser transmitter.
8. The submarine cable termination field living body foreign body expulsion laser path planning device according to claim 7, further comprising an energy supply module;
the energy supply module is used for controlling the solar cell panel and the storage battery to provide energy required by operation for the laser transmitter.
9. A submarine cable termination field living body foreign body expulsion laser path planning device, its characterized in that, the equipment includes processor and memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is used for executing the submarine cable terminal field living body foreign body expelling laser path planning method according to any one of claims 1 to 6 according to instructions in the program code.
10. A computer-readable storage medium for storing program code for executing the submarine cable terminal field living body foreign body dislodging laser path planning method according to any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310011889.2A CN115810036A (en) | 2023-01-05 | 2023-01-05 | Submarine cable terminal field living body foreign body expelling laser path planning method and related device |
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| CN117351425A (en) * | 2023-10-23 | 2024-01-05 | 国网山东省电力公司青岛市即墨区供电公司 | Bird object expelling method, device, medium and equipment for transformer substation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117351425A (en) * | 2023-10-23 | 2024-01-05 | 国网山东省电力公司青岛市即墨区供电公司 | Bird object expelling method, device, medium and equipment for transformer substation |
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