CN115912183A

CN115912183A - High-voltage transmission line ecological measure inspection method and system and readable storage medium

Info

Publication number: CN115912183A
Application number: CN202310223076.XA
Authority: CN
Inventors: 陈曦; 杭翠翠; 邓丽; 李辉; 刘平; 张焱哲
Original assignee: Hubei Anyuan Safety Environmental Protection And Technology Co ltd; Economic and Technological Research Institute of State Grid Hubei Electric Power Co Ltd
Current assignee: Hubei Anyuan Safety Environmental Protection And Technology Co ltd; Economic and Technological Research Institute of State Grid Hubei Electric Power Co Ltd
Priority date: 2023-03-09
Filing date: 2023-03-09
Publication date: 2023-04-04
Anticipated expiration: 2043-03-09
Also published as: CN115912183B

Abstract

The invention discloses a method, a system and a readable storage medium for patrolling ecological measures of a high-voltage transmission line, wherein the method comprises the following steps: acquiring a patrol route of the high-voltage transmission line at preset intervals; controlling an unmanned aerial vehicle to patrol the high-voltage power transmission line along the patrol route to obtain ecological pictures and ecological sensing data; analyzing the ecological picture and the ecological sensing data to obtain environmental ecological information, self ecological information and ecological environment influence information; and finishing inspection of the ecological measures of the high-voltage transmission line based on the environmental ecological information, the self ecological information and the ecological environment influence information. According to the invention, the environmental ecological information, the self ecological information and the ecological environment influence information reflect information of the high-voltage transmission line in various aspects such as environmental influence, self state and influence environment, and the multi-dimensional comprehensive and accurate detection of ecological measures of the high-voltage transmission line is realized through the information.

Description

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

Technical Field

The invention relates to the technical field of communication, in particular to a method and a system for patrolling ecological measures of a high-voltage transmission line and a readable storage medium.

Background

As is well known, electrical energy is generated by converting water energy, fossil fuel heat energy, nuclear energy, solar energy, wind energy, geothermal energy, ocean energy and the like through a power generation power device, and is distributed to thousands of users in the manners of power transmission, power transformation and power distribution. The power transmission line for realizing electric energy transmission can be divided into an overhead power transmission line and an underground power transmission line according to the structural form. The overhead transmission line consists of a line tower, a lead, an insulator and the like and is erected on the ground; the underground transmission line mainly lays the cable underground or underwater.

Overhead transmission lines are a main power transmission mode because the overhead transmission lines are convenient to erect and maintain and low in cost. However, the overhead transmission line also has the problems of being easily influenced by environmental factors such as strong wind, mountain fire and the like and causing electromagnetic interference. The problems are more obvious especially for the high-voltage transmission line for long-distance transmission. In order to avoid the problem that the distribution of the electric energy is affected, ecological measures around the transmission line are generally detected.

At present, detection is mainly carried out by special maintainers, the detection difficulty is high, and the efficiency is low. Although the test is realized by the unmanned aerial vehicle in some areas, the test is generally limited to the detection of the running condition of the line, and the test is not comprehensive and accurate. Therefore, how to realize comprehensive and accurate detection of ecological measures of the high-voltage transmission line is a technical problem to be solved urgently at present.

Disclosure of Invention

The invention mainly aims to provide a method and a system for patrolling ecological measures of a high-voltage transmission line and a readable storage medium, and aims to solve the technical problem of how to realize comprehensive and accurate detection of the ecological measures of the high-voltage transmission line in the prior art.

In order to achieve the purpose, the invention provides a patrol method for ecological measures of a high-voltage transmission line, which comprises the following steps:

acquiring a patrol route of the high-voltage transmission line at preset intervals;

controlling an unmanned aerial vehicle to patrol the high-voltage power transmission line along the patrol route to obtain ecological pictures and ecological sensing data;

analyzing the ecological picture and the ecological sensing data to obtain environmental ecological information, self ecological information and ecological environment influence information;

and finishing inspection of the ecological measures of the high-voltage transmission line based on the environmental ecological information, the self ecological information and the ecological environment influence information.

Optionally, the step of analyzing the ecological picture and the ecological sensing data to obtain the environmental ecological information, the self ecological information and the ecological environment influence information includes:

respectively carrying out filtering processing, gray level transformation and edge detection on the ecological pictures to obtain a plurality of target pictures, and identifying bird information in the ecological environment information and damage information in the self ecological information from each target picture;

respectively generating mountain fire information and environment wind information in the environment ecological information and overheating information in the self ecological information based on mountain fire sensing data, environment wind sensing data and line temperature sensing data of a plurality of sampling points in the ecological sensing data;

generating interference information and noise information in the ecological environment influence information based on electric field strength sensing data and noise sensing data of a plurality of sampling points in the ecological sensing data.

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

acquiring electric field intensity sensing data of a plurality of sampling points from the ecological sensing data, respectively calculating electromagnetic interference data based on the electric field intensity sensing data, and generating the electromagnetic interference data into interference information in the ecological environment influence information, wherein a formula for calculating the electromagnetic interference data is as follows:

；

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

acquiring noise sensing data of a plurality of sampling points from the ecological sensing data, and correcting the noise sensing data of each sampling point according to a weather correction coefficient and an altitude correction coefficient of each sampling point to obtain audible noise data of each sampling point, wherein a correction formula is as follows:

；

where P is audible noise data, P ₀ For noise sensing data, k2 is a voltage level parameter, H is an altitude parameter, and k3 is a weather parameterCounting;

and comparing each audible noise data with preset noise data to generate noise information in the ecological environment influence information.

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

acquiring forest fire sensing data of a plurality of sampling points comprising environmental temperature data, environmental humidity data and environmental oxygen content from the ecological sensing data;

respectively calculating the mountain fire indexes of the sampling points based on the environmental temperature data, the environmental humidity data and the environmental oxygen content, and generating the mountain fire indexes into mountain fire information, wherein the formula for calculating the mountain fire indexes is as follows:

W=（C+S）/n；

wherein W is the mountain fire index, C is the environmental temperature coefficient, S is the environmental humidity coefficient, and n is the environmental oxygen content;

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

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

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

determining whether a picture containing a bird nest scene or a bird scene exists in each target picture based on a preset identification model, and if so, identifying the bird nest scene or the bird scene based on the preset identification model to obtain bird information;

calculating the picture error based on the target picture containing the scene of the high-voltage transmission line and a preset template picture, wherein the calculation formula is as follows:

；

wherein S is a picture error, M and N are maximum values of picture pixel coordinates in the x direction and the y direction, B (M, N) is a preset template picture, A (M, N) is a target picture containing a high-voltage transmission line scene,

the inclination angle of the imaging of the high-voltage transmission line in the target picture relative to the reference direction is determined;

and determining whether the high-voltage transmission line corresponding to the high-voltage transmission line scene has damage or not according to the picture error, extracting damage characteristics from the high-voltage transmission line scene if the high-voltage transmission line scene has damage, and identifying the damage characteristics based on a preset damage library to obtain the damage information.

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

patrolling bird precautionary measures, mountain fire risk measures and environment wind precautionary measures in the ecological measures of the high-voltage power transmission line based on bird information, mountain fire information and environment wind information in the environment ecological information;

patrolling damage early warning measures and overheating early warning measures in the ecological measures of the high-voltage transmission line based on damage information and overheating information in the ecological information of the high-voltage transmission line;

and inspecting the interference countermeasure and the noise countermeasure in the ecological measures of the high-voltage transmission line based on the interference information and the noise information in the ecological environment influence information.

Optionally, after the step of completing the patrol of the ecological measures of the high-voltage transmission line, the patrol method further includes:

acquiring 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;

judging whether the comparison difference value is larger than a preset threshold value or not, if so, searching a real-time factor causing the real-time patrol route change, and determining the type of the real-time factor;

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

and if the type of the real-time factor is a static type, replacing the patrol route with the real-time patrol route.

Optionally, after the step of controlling the unmanned aerial vehicle to patrol the high voltage transmission line along the patrol route, the patrol method further includes:

detecting whether an obstacle exists on the inspection route, if so, identifying a contour line of the obstacle, and planning an obstacle avoidance curve based on the contour line;

and searching a replaced route corresponding to the obstacle avoidance curve from the inspection route, judging whether a preset sampling point exists on the replaced route, and if so, taking a starting point or an end point on the obstacle avoidance curve as a real-time sampling point.

Further, in order to achieve the above object, the present invention further provides an unmanned aerial vehicle-based high voltage transmission line ecological measure patrol system, which includes: a memory, a processor, a communication bus, and a control program stored on the memory:

the communication bus is used for realizing connection communication between the processor and the memory;

the processor is used for executing the control program to realize the steps of the unmanned aerial vehicle-based high-voltage transmission line ecological measure patrolling method.

Further, in order to achieve the above object, the present invention further provides a readable storage medium, where a control program is stored, and when the control program is executed by a processor, the steps of the unmanned aerial vehicle-based high voltage transmission line ecological measure patrolling method are implemented.

The high-voltage transmission line ecological measure inspection method, the system and the readable storage medium based on the unmanned aerial vehicle, provided by the invention, have the advantages that an inspection route and an inspection cycle are preset for the high-voltage transmission line needing inspection, and the inspection route of the high-voltage transmission line is obtained at intervals of the preset cycle; and then the unmanned aerial vehicle is controlled to patrol the high-voltage transmission line along the patrol route, and ecological pictures and ecological sensing data related to ecological measures of the high-voltage transmission line are obtained. Analyzing the ecological picture and the ecological sensing data to obtain environmental ecological information reflecting the environmental influence on the high-voltage transmission line, self ecological information reflecting the self condition of the high-voltage transmission line and ecological environmental influence information reflecting the influence of the high-voltage transmission line on the surrounding ecological environment; and then, according to the environmental ecological information, the self ecological information and the ecological environment influence information, the patrol of the ecological measures of the high-voltage transmission line is completed. Because the environmental ecological information, the self ecological information and the ecological environment influence information reflect information of the high-voltage transmission line in various aspects such as environmental influence, self state, influence environment and the like, the invention realizes comprehensive and accurate multi-dimensional detection of ecological measures of the high-voltage transmission line through the information.

Drawings

Fig. 1 is a schematic flow diagram of a first embodiment of an unmanned aerial vehicle-based high-voltage transmission line ecological measure inspection method according to the invention;

fig. 2 is a schematic flow chart of a third embodiment of the high-voltage transmission line ecological measure patrolling method based on the unmanned aerial vehicle;

fig. 3 is a schematic flow chart of a fourth embodiment of the high-voltage transmission line ecological measure patrolling method based on the unmanned aerial vehicle;

fig. 4 is a schematic structural diagram of a hardware operating environment related to the scheme of an embodiment of the high-voltage transmission line ecological measure patrol system based on the unmanned aerial vehicle.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The invention provides an unmanned aerial vehicle-based high-voltage transmission line ecological measure patrolling method, and please refer to fig. 1, wherein fig. 1 is a schematic flow chart of a first embodiment scheme of the unmanned aerial vehicle-based high-voltage transmission line ecological measure patrolling method.

The embodiment of the present invention provides an embodiment of a high voltage transmission line ecological measure patrol method based on an unmanned aerial vehicle, and it should be noted that although a logical sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a different sequence from that here. Specifically, the high-voltage transmission line ecological measure patrol method based on the unmanned aerial vehicle in the embodiment includes:

s10, acquiring a tour route of the high-voltage transmission line at intervals of a preset period;

the high-voltage transmission line ecological measure inspection method based on the unmanned aerial vehicle can be suitable for an unmanned aerial vehicle control system, the unmanned aerial vehicle is controlled by the control system to collect pictures and sensing data on the high-voltage transmission line, and inspection of ecological measures of the high-voltage transmission line is achieved. Specifically, a patrol route is set in advance along the high-voltage power transmission line, and a preset period is set based on a historical fault period of the high-voltage power transmission line. The patrol route is updated according to the actual route of each patrol, and the latest patrol route is obtained at intervals of the preset period to patrol the ecological measures of the high-voltage transmission line.

S20, controlling an unmanned aerial vehicle to patrol the high-voltage transmission line along the patrol route to obtain an ecological picture and ecological sensing data;

furthermore, unmanned aerial vehicle is last to be equipped with camera device, for example industrial camera, still carries detection device, for example temperature sensor, humidity transducer etc.. And after the latest patrol route is obtained, controlling the unmanned aerial vehicle to patrol the high-voltage transmission line along the patrol route. Be provided with the sampling point in the tour route, unmanned aerial vehicle reachs the sampling point after, shoots ecological picture through camera device to and detect through detection device and obtain ecological sensing data.

Step S30, analyzing the ecological picture and the ecological sensing data to obtain environmental ecological information, self ecological information and ecological environment influence information;

understandably, the scene of the environment where the high-voltage transmission line is located when the unmanned aerial vehicle patrols is reflected by the ecological picture, and the humiture, the radiation noise and the like of the environment where the high-voltage transmission line is located are reflected by the ecological sensing data. Therefore, by analyzing the ecological picture and the ecological sensing data, the environmental ecological information reflecting the environmental influence on the high-voltage transmission line, the self ecological information reflecting the self condition of the high-voltage transmission line and the ecological environmental influence information reflecting the influence of the high-voltage transmission line on the surrounding ecological environment are obtained. Specifically, the step of analyzing the ecological picture and the ecological sensing data to obtain the environmental ecological information, the self ecological information and the ecological environment influence information includes:

step S31, respectively carrying out filtering processing, gray level conversion and edge detection on the ecological pictures to obtain a plurality of target pictures, and identifying bird information in the ecological environment information and damage information in the self ecological information from each target picture;

step S32, respectively generating mountain fire information and environment wind information in the environment ecological information and overheating information in the self ecological information based on mountain fire sensing data, environment wind sensing data and line temperature sensing data of a plurality of sampling points in the ecological sensing data;

step S33, generating interference information and noise information in the ecological environment influence information based on electric field intensity sensing data and noise sensing data of a plurality of sampling points in the ecological sensing data.

Further, the ecological picture may include environmental scenes such as sky, trees, buildings, birds, bird nests, and the like, in addition to the image of the high-voltage transmission line. The imaging of the high-voltage transmission line can reflect whether the high-voltage transmission line is damaged or not, birds and bird nests can cause short circuit and open circuit of the high-voltage transmission line, and sky, trees and buildings do not have too much influence on the high-voltage transmission line, so that scene characteristics related to the high-voltage transmission line need to be extracted from ecological pictures.

In addition, on one hand, the ecological picture collected by the camera device may be affected by factors such as illumination, shooting angle, and the like, so that noise is inevitably generated, and the quality of the ecological picture is reduced to affect the detection of picture characteristics. On the other hand, images acquired by the camera device are colorful and contain a large amount of color information, which is not beneficial to detecting and extracting picture characteristics. Therefore, before feature extraction, filtering processing and gradation conversion processing are performed on the moving picture. Also, the filtering process and the gradation conversion may be performed based on the following formula (1) and formula (2), respectively.

（1）；

G=（p1*R+p2*Gr+p3*B）/p4 （2）；

Wherein f (x, y) is the filtered ecological picture, and f (x) ₀ ，y ₀ ) M is the total number of pixels in a preset filtering template for the ecological picture before filtering; g is a gray value after the gray level of the biological picture is transformed, R is a brightness value related to red before the gray level of the biological picture is transformed, gr is a brightness value related to green before the gray level of the biological picture is transformed, B is a brightness value related to blue before the gray level of the biological picture is transformed, and p1, p2, p3 and p4 are coefficients related to the brightness value of red, the brightness value of green, the brightness value of blue and the gray value respectively.

Further, after filtering and gray level conversion are carried out on the ecological picture, edge characteristics of scenes in the ecological picture are detected, scenes affecting the high-voltage transmission line in the ecological picture are extracted based on the detected edge characteristics, a plurality of target pictures are formed, and one scene corresponds to one target picture. And identifying each target picture, determining whether a picture containing a bird nest or bird scene exists, and identifying the picture as bird information in the ecological environment information if the picture containing the bird nest or bird scene exists. And meanwhile, identifying a target picture containing scenes of the high-voltage transmission line, determining whether the high-voltage transmission line has damage, and identifying the high-voltage transmission line as damage information in the ecological information if the high-voltage transmission line has the damage.

Furthermore, the ecological sensing data comprises mountain fire sensing data reflecting whether the high-voltage transmission line has mountain fire risks at each sampling point, environmental wind sensing data whether the high-voltage transmission line has strong wind, line temperature sensing data whether the temperature is too high, mountain fire information and environmental information in the environmental ecological information and overheating information in the self ecological information are generated through analysis of the three types of data, and the ecological sensing data are used for determining whether the high-voltage transmission line has the risks of suffering from mountain fire and strong wind at each sampling point and determining whether the temperature is too high.

In addition, the ecological sensing data further includes electric field strength sensing data and noise sensing data collected at respective sampling points. And generating interference information and noise information in the ecological environment influence information through the analysis of the two types of data so as to determine whether the high-voltage transmission line generates overhigh interference and noise at each sampling point.

It should be noted that the ecological picture, like the ecological sensing data, includes a plurality of pictures collected by a plurality of sampling points. The processing method of each ecological picture is the same as that of the ecological picture, and is not described herein.

And S40, finishing the patrol of the ecological measures of the high-voltage transmission line based on the environmental ecological information, the self ecological information and the ecological environment influence information.

Further, after the environmental ecological information, the self ecological information and the ecological environment influence information are obtained through the analysis of the ecological picture and the ecological sensing data, the condition of the high-voltage transmission line, which is reflected by the environmental ecological information, that is, the high-voltage transmission line is influenced by the environment, such as mountain fire, strong wind and the like, whether the high-voltage transmission line is high in heat and damaged or not, which is reflected by the self ecological information, and whether the high-voltage transmission line interferes with the surrounding environment or not, noise and the like, which is reflected by the ecological environment influence information, are detected and analyzed in a multi-dimensional manner, and after the detection and analysis result is obtained, the patrol of the ecological measures of the high-voltage transmission line in the preset period is completed.

It should be noted that, in the embodiment, the detection and analysis of the ecological measures of the high-voltage power transmission line may be performed by collecting the ecological picture and the ecological sensing data at each sampling point, then analyzing and processing the ecological picture and the sensing data in a unified manner to obtain the environmental ecological information, performing detection and analysis of the ecological measures of the high-voltage power transmission line on the own ecological information and the ecological environment influence information, and completing the inspection of the ecological measures of the high-voltage power transmission line after all the ecological pictures and the sensing data are analyzed. The ecological picture and the ecological sensing data can be collected at each sampling point, namely, the ecological picture and the ecological sensing data are analyzed and processed in real time to obtain the environmental ecological information of the sampling point, the ecological information and the ecological environment influence information of the ecological picture and the ecological sensing data detect and analyze the ecological measures of the high-voltage transmission line at the sampling point, and after the sampling and analysis are carried out at each sampling point, the patrol of the ecological measures of the high-voltage transmission line is completed.

Wherein, the step of completing the patrol of the ecological measures of the high-voltage transmission line based on the environmental ecological information, the self ecological information and the ecological environment influence information comprises the following steps:

step S41, patrolling bird precautionary measures, mountain fire risk measures and environment wind precautionary measures in the ecological measures of the high-voltage power transmission line based on bird information, mountain fire information and environment wind information in the environment ecological information;

s42, patrolling damage early warning measures and overheating early warning measures in the ecological measures of the high-voltage transmission line based on damage information and overheating information in the ecological information of the high-voltage transmission line;

and S43, patrolling the interference precaution measures and the noise precaution measures in the ecological measures of the high-voltage transmission line based on the interference information and the noise information in the ecological environment influence information.

Further, bird information in the environmental ecological information indicates that a bird nest exists in the high-voltage power transmission line, and birds possibly influence the normal operation of the high-voltage power transmission line in life in the bird nest, so that the birds need to be repelled. The mode of driving can be through sound generating device send specific sound to drive, also can send specific light through light generating device to drive, so with this kind of mode that is used for realizing birds to drive as birds precaution. Patrol birds precaution through birds information, confirm whether to have birds precaution to and whether birds precaution that exists can realize showing driving of birds to birds information. If the birds cannot be driven, feedback information is generated and fed back to relevant maintenance personnel for processing.

Furthermore, the forest fire information and the environmental wind information in the environmental ecological information indicate that the high-voltage transmission line may be affected by the risk of forest fire or the environmental strong wind to affect the normal operation. At the moment, the mountain fire risk precautionary measure and the environmental wind precautionary measure in the ecological measure of the high-voltage transmission line are patrolled, and whether a device for avoiding drought high temperature, such as a humidifying device, exists or not, and whether the device normally operates or not are determined. And if the operation is not normal, generating feedback information and feeding the feedback information back to relevant maintenance personnel for processing.

Furthermore, damage information and overheating information in the self ecological information indicate that the high-voltage transmission line is damaged or the normal operation is influenced due to the fact that the operating temperature of the high-voltage transmission line is too high. At the moment, the damage early warning measure and the overheating early warning measure in the ecological measures of the high-voltage transmission line are patrolled, whether the high-voltage transmission line starts damage early warning and overheating early warning is determined, and therefore maintainers are reminded of timely overhauling the high-voltage transmission line in a damage or high temperature mode through early warning. And if the damage early warning and the overheating early warning are not started, generating feedback information and feeding the feedback information back to relevant maintenance personnel for processing.

Furthermore, the interference information and the noise information in the ecological environment influence information indicate the interference and the noise generated by the high-voltage transmission line to the surrounding environment. At this time, the interference countermeasure and the noise countermeasure in the ecological measures of the high-voltage transmission line are patrolled, whether the periphery of the high-voltage transmission line is provided with relevant measures (such as peripheral vegetation) for reducing interference and noise or not is determined, and whether the measures are enough to reduce interference and noise or not is determined. If no measures for reducing interference and noise exist or are not enough in the periphery, feedback information is generated and fed back to relevant maintenance personnel for processing.

The high-voltage transmission line ecological measure inspection method based on the unmanned aerial vehicle is characterized in that an inspection route and an inspection cycle are preset for a high-voltage transmission line needing inspection, and the inspection route of the high-voltage transmission line is acquired at intervals of the preset cycle; and then the unmanned aerial vehicle is controlled to patrol the high-voltage transmission line along a patrol route, and ecological pictures and ecological sensing data related to ecological measures of the high-voltage transmission line are obtained. Analyzing the ecological picture and the ecological sensing data to obtain environmental ecological information reflecting the environmental influence on the high-voltage transmission line, self ecological information reflecting the self condition of the high-voltage transmission line and ecological environmental influence information reflecting the influence of the high-voltage transmission line on the surrounding ecological environment; and then, according to the environmental ecological information, the self ecological information and the ecological environment influence information, the patrol of the ecological measures of the high-voltage transmission line is completed. Because the environmental ecological information, the self ecological information and the ecological environment influence information reflect information of the high-voltage transmission line in various aspects such as environmental influence, self state, influence environment and the like, the invention realizes comprehensive and accurate detection of multiple dimensions of ecological measures of the high-voltage transmission line through the information.

Further, based on the first embodiment of the high-voltage transmission line ecological measure patrolling method based on the unmanned aerial vehicle, the second embodiment of the high-voltage transmission line ecological measure patrolling method based on the unmanned aerial vehicle is provided.

The second embodiment of the high-voltage transmission line ecological measure patrol method based on the unmanned aerial vehicle is different from the first embodiment of the high-voltage transmission line ecological measure patrol method based on the unmanned aerial vehicle in that the step of generating the interference information and the noise information in the ecological environment influence information based on the electric field strength sensing data and the noise sensing data of a plurality of sampling points in the ecological sensing data comprises the following steps of:

step S331 of obtaining electric field strength sensing data of a plurality of 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 influence information;

step S332, acquiring noise sensing data of a plurality of 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 acquire audible noise data of each sampling point;

step S333, comparing each audible noise data with preset noise data, and generating noise information in the ecological environment influence information.

In this embodiment, unmanned aerial vehicle carries the detector that is used for detecting electric field intensity, the detector of detection noise, and unmanned aerial vehicle flies to each sampling point and all can obtain electric field intensity sensing data and noise sensing data through having changed electric field intensity and the noise that the detector gathered this point. The control system screens the electric field strength sensing data from the electric field strength detector from the ecological sensing data, and the screening can be realized in a data identification mode. That is, set up respective unique sign to the detection device who carries on the unmanned aerial vehicle, the corresponding different signs that carry of data that different detection device detected and obtained, the type of data can be known through the sign that identification data carried to the data of screening out the demand.

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 a plurality of interference monitoring points at a certain distance away from each sampling point is calculated according to the electric field strength sensing data of each sampling point. For example, if three interference monitoring points 0.5 m, 1 m, and 1.5 m away from the sampling point are set, the electromagnetic interference data of the three interference monitoring points need to be calculated according to the electric field strength sensing data of the sampling point. The specific calculation formula can be seen in formula (3).

；（3）；

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

And (3) calculating electric field interference data of a plurality of interference monitoring points around each sampling point through a formula (3), and determining the interference magnitude of the points with different distances from the sampling point.

And in order to avoid interference from influencing communication, preset interference data is preset, each electric field interference data is compared with the preset interference data respectively according to a sequence from near to far away from a sampling point, whether the electric field interference data is larger than the preset interference data or not is judged, and if the electric field interference data is larger than the preset interference data, the interference generated by the high-voltage transmission line at the point is too large, so that the communication is possibly influenced. When electric field interference data smaller than the preset interference data appears for the first time, the distance between the interference monitoring point corresponding to the electric field interference data and the sampling point is used as an interference elimination distance, the electric field interference data and the interference elimination distance are formed into interference information in the ecological environment influence information together, so that the interference measures can be conveniently patrolled according to the interference elimination distance in the interference information, whether interference reduction measures are arranged at the interference elimination distance position is determined, and accurate interference prevention and control are realized.

Furthermore, the high voltage transmission line generates noise during operation, and the generated noise is different 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 (e.g., rainy days and sunny days). In order to reflect more accurate audible noise of the high-voltage transmission line, the control system screens out noise sensing data from the ecological sensing data in a data identification mode, and then corrects the noise sensing data by adopting parameters related to voltage level, parameters related to altitude and parameters related to weather so as to obtain accurate audible noise data of each sampling point. The specific modification formula can be shown in formula (4).

（4）；/>

Wherein, P is audible noise data, P0 is noise sensing data, k2 is a voltage level parameter, H is an altitude parameter, and k3 is a weather parameter.

Different sampling points are located in different areas and have different altitudes and weather, so that audible noise data accurately reflecting the noise magnitude of each sampling point can be obtained by correcting the formula (4). And in order to reflect the noise magnitude, preset noise data is preset, each audible noise data is compared with the preset noise data respectively, whether the audible noise data is larger than the preset noise data or not is judged, if so, the fact that the noise generated by the high-voltage transmission line at the sampling point is too large possibly influencing the lives of surrounding residents or animals is indicated, and therefore the too large audible noise data is formed into noise information in ecological environment influence information, the inspection of noise reduction measures of the sampling points is facilitated according to the noise magnitude of the sampling points embodied by the noise information, and accurate noise reduction is achieved.

Further, in this embodiment, the step of generating the wildfire information and the environmental wind information in the environmental ecological information and the overheating information in the self ecological information respectively based on the wildfire sensing data, the environmental 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 a plurality of sampling points including environmental temperature data, environmental humidity data and environmental oxygen content from the ecological sensing data;

step S322, respectively calculating the mountain fire indexes of the sampling points based on the environmental temperature data, the environmental humidity data and the environmental oxygen content, and generating the mountain fire indexes into mountain fire information;

step S323, acquiring environmental wind sensing data of a plurality of sampling points including wind power size data and wind power direction data from the ecological sensing data, and generating environmental wind information based on the wind power size data and the wind power direction data of each sampling point and a wind power preset vector value of each sampling point;

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

Understandably, mountain fire usually takes place in high temperature arid weather, and in order to confirm whether there is the risk of mountain fire in high tension transmission line place environment, unmanned aerial vehicle carries with the sensor that is used for detecting the temperature, humidity and the oxygen content of high tension transmission line place environment, obtains environmental temperature data, environmental humidity data and environmental oxygen content through this type of sensor detection, as mountain fire sensing data in the ecological sensing data. The control system screens out the forest fire sensing data of each sampling point from the ecological sensing data in a data identification mode, and respectively calculates the forest fire indexes of each sampling point according to the environmental temperature data, the environmental humidity data and the environmental oxygen content of each sampling point, wherein the calculation formula is as shown in a formula (5).

W=（C+S）/n （5）；

Wherein W is the mountain fire index, C is the environmental temperature coefficient, S is the environmental humidity coefficient, and n is the environmental oxygen content.

The mountain fire indexes of the sampling points reflect the probability of mountain fire occurrence of the sampling points, in order to represent the probability, preset index thresholds are preset, the mountain fire indexes are respectively compared with the preset index thresholds, if the mountain fire indexes of the sampling points are larger than the preset index thresholds, the probability that the mountain fire indexes of the sampling points occur is high, and otherwise, the probability is low. And then will appear sampling point and its mountain fire index that mountain fire index is big possibility and generate into mountain fire information to patrol and early warning the mountain fire risk precaution measure of corresponding sampling point according to mountain fire information, realize the accurate effective prevention of mountain fire.

Furthermore, the unmanned aerial vehicle is provided with sensors for detecting the wind power size and the wind power direction of the environment where the high-voltage transmission line is located, and wind power size data and envelope direction data are obtained through detection of the sensors and serve as environment wind sensing data in the ecological sensing data. Considering that the high-voltage transmission line can bear different wind power at each sampling point, a wind power preset vector value is preset for each sampling point, and the maximum value of the wind power borne by the sampling point in the preset direction is represented by the wind power preset vector value.

The control system screens out environmental wind sensing data of each sampling point from the ecological sensing data in a data identification mode, converts the detected wind power size data into a wind power size value in each sampling point according to the angle relation between the detected wind power direction data and a preset direction corresponding to a wind power preset vector value of each sampling point, compares the wind power size value with a wind power maximum value corresponding to the wind power preset vector value, judges whether the wind power size value is larger than the wind power maximum value or not, and if the wind power size value is larger than the wind power maximum value, the normal operation of the high-voltage power transmission line at the sampling point is possibly influenced by the strong wind. The respective wind power data and the wind power direction data of the sampling points are formed into environment wind information, so that the environmental wind precautionary measures of the corresponding sampling points can be conveniently patrolled and early warned according to the environment wind information, and accurate and effective precaution of the environment wind is realized.

Furthermore, the unmanned aerial vehicle is also provided with a sensor for detecting the temperature of the high-voltage transmission line, and the temperature sensing data of a plurality of sampling points in the ecological sensing data is detected and generated by the sensor. The method comprises the steps that preset line temperature representing normal operation of the high-voltage transmission line is set in advance, a control system screens line temperature sensing data of each sampling point from ecological sensing data in a data identification mode, the line temperature sensing data of each sampling point are compared with the preset line temperature respectively, whether the line temperature sensing data are larger than the preset line temperature or not is judged, and if the line temperature sensing data are larger than the preset line temperature, the high-voltage transmission line possibly influences normal operation of the high-voltage transmission line due to overhigh line temperature at the sampling point is judged. The respective line temperature sensing data of the sampling points are formed into overheating information, so that the overheating early warning of the corresponding sampling points can be conveniently patrolled according to the overheating information, and the accurate and effective prevention of the overheating operation of the high-voltage transmission line is realized.

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

step S311, determining whether a picture containing a bird nest scene or a bird scene exists in each target picture based on a preset identification model, and if so, identifying the bird nest scene or the bird scene based on the preset identification model to obtain bird information;

step S312, calculating a picture error based on a target picture containing a scene of the high-voltage transmission line and a preset template picture;

step S313, determining whether the high-voltage power transmission line corresponding to the high-voltage power transmission line scene has damage or not according to the picture error, extracting damage features from the high-voltage power transmission line scene if the high-voltage power transmission line scene has damage, and identifying the damage features based on a preset damage library to obtain the damage information.

Furthermore, birds need to be repelled considering that nesting of birds on the high-voltage transmission line may affect normal operation of the high-voltage transmission line. Training the initial model through a large number of bird samples and bird nest samples in advance to generate a preset recognition model. And identifying each target picture according to the preset identification model, and determining whether the target picture contains a picture containing a bird nest scene or a bird scene. If the bird nest and the bird are existed in the high-voltage transmission line, the bird nest and the bird exist in the high-voltage transmission line. Except that the recognizable bird nest scene or bird scene of recognition model is predetermine, still through training the type of recognizable bird in advance, so can confirm the type of bird that high tension transmission line exists based on predetermineeing recognition model to bird nest scene or bird scene discernment to patrol the birds precaution according to the type of bird, realize the accurate driving of bird.

Understandably, the high-voltage transmission line is exposed to the external environment, and the normal operation is influenced by the loss, so that whether the high-voltage transmission line is damaged or not needs to be inspected. Specifically, a picture of a normal high-voltage transmission line is shot in advance to serve as a preset template picture, a target picture containing scenes of the high-voltage transmission line is determined from each target picture through a preset identification model, and whether the high-voltage transmission line is damaged or not is determined according to a picture error between the target picture and the preset template picture. In consideration of the problem of shooting angle in the flight process of the unmanned aerial vehicle, 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, and therefore non-error content between the high-voltage transmission line and the normal high-voltage transmission line is judged as an error. In order to avoid the problem, the length direction or the width direction of the preset template picture is taken as a reference direction, the imaging plane of the normal high-voltage transmission line in the preset template picture is taken as 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, and therefore the error between the two pictures is calculated, and the calculation formula is as shown in the following formula (6).

（6）；

and the inclination angle of the imaging of the high-voltage transmission line in the target picture relative to the reference direction is obtained.

Further, a preset error threshold value representing the error magnitude is preset, after the accurate picture error is obtained through the inclination angle correction calculation, the picture error is compared with the preset error threshold value, whether the picture error is larger than the preset error threshold value or not is judged, and if the picture error is larger than the preset error threshold value, the error between the two pictures is larger, and the high-voltage transmission line is damaged. At the moment, the scene of the high-voltage transmission line is identified, the damage part is determined, and the damage characteristic is extracted from the damage part. And moreover, a preset damage library is also preset, and damage information is obtained by identifying the preset damage library and the loss characteristics. The damage information comprises information such as the length, the width and the depth of the damage, and is used for determining the severity of the damage and patrolling whether to start damage early warning of a corresponding level.

This embodiment is through accurate generation interference information, noise information, mountain fire information, environment wind information, overheated information, birds information and damage information for interference prevention, noise prevention, mountain fire risk are taken precautions against, environment wind is taken precautions against, overheated early warning, birds are driven and are harmd the early warning also more accurate, have realized patrolling comprehensively the accuracy of each item factor that influences high tension transmission line normal operating.

Further, referring to fig. 2, a third embodiment of the high-voltage transmission line ecological measure patrolling method based on the unmanned aerial vehicle is provided based on the first or second embodiment of the high-voltage transmission line ecological measure patrolling method based on the unmanned aerial vehicle.

The third embodiment of the high-voltage transmission line ecological measure patrolling method based on the unmanned aerial vehicle is different from the first or second embodiment of the high-voltage transmission line ecological measure patrolling method based on the unmanned aerial vehicle in that after the step of patrolling the high-voltage transmission line ecological measures is completed, the patrolling method further comprises the following steps:

s50, acquiring 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, judging whether the comparison difference value is larger than a preset threshold value, if so, searching a real-time factor causing the real-time patrol route change, and determining the type of the real-time factor;

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

and S80, if the type of the real-time factor is a static type, replacing the patrol route with the real-time patrol route.

Understandably, when the unmanned aerial vehicle patrols the high-voltage transmission line along the patrol route, the unmanned aerial vehicle may encounter obstacles, such as flying birds, flying objects, tall trees, or newly-built buildings, which are located on the patrol route. To this barrier that is located on the tour route, unmanned aerial vehicle need avoid, and makes unmanned aerial vehicle's flight route and tour route have the difference, and then updates the tour route based on the difference.

Specifically, after the patrol is completed, the control system acquires the real-time patrol route of the unmanned aerial vehicle, compares the patrol route with the patrol route acquired before the patrol, and acquires the comparison difference value between the patrol route and the patrol route. In order to represent the size of the difference value, a preset threshold value is preset, the comparison difference value is compared with the preset threshold value, and whether the comparison difference value is larger than the preset threshold value is judged. If the difference point is larger than the preset value, the difference point between the two points is searched, then a factor causing the change of the flight route of the unmanned aerial vehicle at the difference point is determined as a real-time factor according to a video shot by the unmanned aerial vehicle in the flight process, and the type of the real-time factor is determined according to whether the factor causing the change of the flight route has a dynamic characteristic.

Further, if the factor causing the flight path change has a dynamic characteristic, such as being a bird or a flying object, the type of the real-time factor is determined to be a dynamic type. And if the factors causing the flight path change do not have dynamic characteristics, such as trees, buildings and the like, determining the type of the real-time factor as a static type. For the dynamic type, the factor causing the change of the flying route does not stay on the patrol route for a long time, and thus the factor does not serve as an obstacle causing the change of the patrol route. And correcting the flight section of the real-time patrol route on the difference point through a real-time factor, and modifying the flight section of the real-time patrol route on the difference point into the flight section of the original patrol route on the difference point. And then, comparing the corrected real-time patrol route with the original patrol route to obtain a comparison difference value, and judging whether other real-time factors exist or not to enable the difference value between the real-time patrol route and the original patrol route to be larger.

Furthermore, as for the type of the real-time factor being a static type, the factor causing the change of the flight route can stay on the patrol route for a long time, and the subsequent unmanned aerial vehicle flying to the road section also needs to be avoided. At the moment, the flying road sections of the original patrol route on the different points can be replaced by the flying road sections of the real-time patrol route on the different points, so that the patrol route can be updated.

After the real-time factors of all the difference points are determined, if the obtained compared difference value is still larger than the preset threshold value, the difference between the actual route patrolled by the unmanned aerial vehicle and the original patrol route is larger, and therefore the original patrol route is replaced by the real-time patrol route. If the difference value is not larger than the preset threshold value, it is indicated that the difference value between the actual route for unmanned aerial vehicle inspection and the original inspection route is not large, and the original inspection route can still be used as the inspection flight route of the unmanned aerial vehicle.

The actual route of flight when this embodiment patrols to unmanned aerial vehicle distinguishes the barrier type that arouses the route change and handles with different modes, obtains accurate route of patrolling to realize controlling the high-efficient accurate flight of unmanned aerial vehicle, improve and patrol efficiency.

Further, referring to fig. 3, a fourth embodiment of the high-voltage transmission line ecological measure patrolling method based on the unmanned aerial vehicle is provided based on the first, second or third embodiment of the high-voltage transmission line ecological measure patrolling method based on the unmanned aerial vehicle.

The fourth embodiment of the high-voltage transmission line ecological measure patrol method based on the unmanned aerial vehicle is different from the first, second or third embodiment of the high-voltage transmission line ecological measure patrol method based on the unmanned aerial vehicle in that after the step of controlling the unmanned aerial vehicle to patrol the high-voltage transmission line along the patrol route, the patrol method further comprises the following steps:

step S21, detecting whether an obstacle exists on the inspection route, identifying a contour line of the obstacle if the obstacle exists, and planning an obstacle avoidance curve based on the contour line;

and S22, searching a replaced route corresponding to the obstacle avoidance curve from the inspection route, judging whether a preset sampling point exists on the replaced route, and if the preset sampling point exists, taking a starting point or an end point on the obstacle avoidance curve as a real-time sampling point.

Further, in the flying patrol process of the unmanned aerial vehicle, if an obstacle exists on the patrol route, the obstacle needs to be avoided. Moreover, if the patrol route is provided with a sampling point in a road section corresponding to the obstacle, the sampling point needs to be re-determined based on the avoidance route. Specifically, the control system controls the unmanned aerial vehicle to detect whether an obstacle exists on the patrol route, if so, the contour line of the obstacle is identified, and the contour line determines the contour distribution position of the obstacle relative to the unmanned aerial vehicle. And then planning a new flight section as an obstacle avoidance curve according to the profile distribution position so as to control the unmanned aerial vehicle to fly according to the obstacle avoidance curve to avoid the obstacle.

Understandably, if no obstacle exists on the patrol route, the unmanned aerial vehicle can fly according to the original patrol route, and the original patrol route changes on the road section of the obstacle due to the existence of the obstacle, namely, the original patrol route changes into an obstacle avoidance curve. And taking the road section of the tour route before the change of the barrier as a replaced route, judging whether a preset sampling point is arranged on the replaced road section, and if the preset sampling point is arranged, acquiring the ecological picture and the ecological sensing data on the replaced route. At the moment, the starting point or the end point on the obstacle avoidance curve is used as a new sampling point, namely a real-time sampling point, and the ecological picture and the ecological sensing data of the high-voltage transmission line are collected at the real-time sampling point.

The starting point and the key point of the obstacle avoidance curve are the bordering points of the replaced route and the original patrol route, and the bordering points are used as new sampling points to enable the sampling position to be still on the original patrol route, so that the original sampling requirement is met. Therefore, when avoiding obstacles, accurate sampling according to requirements is realized.

In addition, the embodiment of the invention also provides an unmanned aerial vehicle-based high-voltage transmission line ecological measure patrol system. Referring to fig. 4, fig. 4 is a schematic structural diagram of an equipment hardware operating environment related to the embodiment of the high-voltage transmission line ecological measure patrol system based on the unmanned aerial vehicle.

As shown in fig. 4, the high voltage transmission line ecological measure patrol system based on the unmanned aerial vehicle may include: a processor 1001, e.g. a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. The communication bus 1002 is used to implement connection communication among 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, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a memory device separate from the processor 1001 described above.

It will be appreciated by those skilled in the art that the hardware architecture of the drone-based high voltage power line ecology patrol system shown in fig. 4 does not constitute a limitation of the drone-based high voltage power line ecology patrol system, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.

As shown in fig. 4, a memory 1005, which is a storage medium, may include therein 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 measure patrol system and software resources based on the unmanned aerial vehicle, and supports the operation of a network communication module, a user interface module, a control program and other programs or software; the network communication module is used to manage and control the network interface 1004; 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 measure patrol system based on the unmanned aerial vehicle shown in fig. 4, the network interface 1004 is mainly used for connecting a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; the processor 1001 may call the control program stored in the memory 1005 and perform the following operations:

and based on the environmental ecological information, the self ecological information and the ecological environment influence information, the patrol of the ecological measures of the high-voltage transmission line is completed.

Further, the step of analyzing the ecological picture and the ecological sensing data to obtain the environmental ecological information, the self ecological information and the ecological environment influence information comprises:

and generating interference information and noise information in the ecological environment influence information based on electric field strength sensing data and noise sensing data of a plurality of sampling points in the ecological sensing data.

Further, the generating of the interference information and the noise information in the eco-environmental influence information based on the electric field strength sensing data and the noise sensing data of the plurality of sampling points in the eco-sensing data includes:

；

；

wherein, P is audible noise data, P0 is noise sensing data, k2 is a voltage level parameter, H is an altitude parameter, and k3 is a weather parameter;

Further, the step of generating the wildfire information and the ambient wind information in the environmental ecology information and the overheating information in the self ecology information respectively based on the wildfire sensing data, the ambient wind sensing data and the line temperature sensing data of a plurality of sampling points in the ecology sensing data includes:

W=（C+S）/n；

wherein W is a mountain fire index, C is an environmental temperature coefficient, S is an environmental humidity coefficient, and n is an environmental oxygen content;

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

Further, the step of identifying bird information in the ecological environment information and damage information in the self ecological information from each of the target pictures includes:

calculating the picture error based on a target picture containing the scene of the high-voltage transmission line and a preset template picture, wherein the calculation formula is as follows:

；

Further, the step of completing the patrol of the ecological measures of the high-voltage transmission line based on the environmental ecological information, the self ecological information and the ecological environment influence information comprises the following steps:

patrolling damage early warning measures and overheating early warning measures in the ecological measures of the high-voltage transmission line based on damage information and overheating information in the self ecological information;

Further, after the step of completing the patrol of 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:

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 an obstacle exists on the inspection route, identifying a contour line of the obstacle if the obstacle exists, and planning an obstacle avoidance curve based on the contour line;

The specific implementation manner of the high-voltage transmission line ecological measure patrol system based on the unmanned aerial vehicle is basically the same as that of each embodiment of the high-voltage transmission line ecological measure patrol method based on the unmanned aerial vehicle, and is not repeated herein.

The embodiment of the invention also provides a readable storage medium. The readable storage medium stores a control program, and the control program is executed by the processor to realize the steps of the unmanned aerial vehicle-based high-voltage transmission line ecological measure patrolling method.

The readable storage medium of the present invention may be a computer readable storage medium, and the specific implementation manner of the readable storage medium is substantially the same as that of each embodiment of the unmanned aerial vehicle-based high-voltage transmission line ecological measure patrol method, and is not described herein again.

The present invention is described in connection with the accompanying drawings, but the present invention is not limited to the above embodiments, which are only illustrative and not restrictive, and those skilled in the art can make various changes without departing from the spirit and scope of the invention as defined by the appended claims, and all changes that come within the meaning and range of equivalency of the specification and drawings that are obvious from the description and the attached claims are intended to be embraced therein.

Claims

1. A patrol method for ecological measures of a high-voltage transmission line is characterized by comprising the following steps:

controlling an unmanned aerial vehicle to patrol the high-voltage transmission line along the patrol route to obtain ecological pictures and ecological sensing data;

2. The patrol method according to claim 1, wherein the step of analyzing the ecology picture and the ecology sensing data to obtain the ecology information of the environment, the self-ecology information, and the ecology environment influence information comprises:

respectively carrying out filtering processing, gray level conversion and edge detection on the ecological pictures to obtain a plurality of target pictures, and identifying bird information in the ecological environment information and damage information in the self ecological information from each target picture;

3. The patrol method according to claim 2, wherein the step of generating the interference information and the noise information in the eco-environmental influence information based on the electric field strength sensed data and the noise sensed data of the plurality of sampling points in the eco-sensed data comprises:

；

；

where P is audible noise data, P ₀ For noise sensing data, k2 is a voltage level parameter, H is an altitude parameter, and k3 is a weather parameter;

and comparing the audible noise data with preset noise data respectively to generate noise information in the ecological environment influence information.

4. The patrol method according to claim 2, wherein the step of generating the mountain fire information and the environmental wind information in the environmental ecology information, and the overheat information in the self ecology information, respectively, based on the mountain fire sensing data, the environmental wind sensing data, and the line temperature sensing data of a plurality of sampling points in the ecology sensing data, comprises:

W=（C+S）/n；

5. The patrol method according to claim 2, wherein the step of identifying bird information in the eco-environment information and damage information in the self eco-information from each of the target pictures comprises:

；

and determining whether the high-voltage transmission line corresponding to the high-voltage transmission line scene has damage or not according to the picture error, if so, extracting damage features from the high-voltage transmission line scene, identifying the damage features based on a preset damage library, and obtaining the damage information.

6. The patrol method according to any one of claims 1 to 5, wherein the step of completing the patrol of the ecological measures of the high-voltage transmission line based on the environmental ecological information, the self ecological information and the ecological environment influence information comprises:

7. A patrol method according to any one of claims 1-5, wherein after the step of completing the patrol of the ecological measures of the high voltage transmission line, the patrol method further comprises:

8. The patrol method according to any one of claims 1 to 5, wherein after the step of controlling the unmanned aerial vehicle to patrol the high-voltage power transmission line along the patrol route, the patrol method further comprises:

9. The utility model provides a high tension transmission line ecological measures system of patrolling, its characterized in that, high tension transmission line ecological measures system of patrolling includes: a memory, a processor, a communication bus, and a control program stored on the memory:

the processor is configured to execute the control program to implement the steps of the patrol method for ecological measures of a high-voltage transmission line according to any one of claims 1 to 8.

10. A readable storage medium, wherein a control program is stored on the readable storage medium, and when executed by a processor, the control program implements the steps of the method for patrolling the ecological measures of the high voltage transmission line according to any one of claims 1 to 8.