CN115912183B

CN115912183B - Ecological measure inspection method and system for high-voltage transmission line and readable storage medium

Info

Publication number: CN115912183B
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: 2023-05-26
Anticipated expiration: 2043-03-09
Also published as: CN115912183A

Abstract

The invention discloses a method, a system and a readable storage medium for inspecting ecological measures of a high-voltage transmission line, wherein the method comprises the following steps: every interval preset period, a patrol route of the high-voltage transmission line is obtained; controlling the unmanned aerial vehicle to patrol the high-voltage 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; based on the environmental ecological information, self ecological information and ecological environment influence information, the patrol of the ecological measures of the high-voltage transmission line is completed. According to the invention, the ecological information of the high-voltage transmission line and the ecological environment influence information reflect various information such as the influence of the environment, the self state and the influence of the environment and the like, and the comprehensive and accurate detection of the ecological measures of the high-voltage transmission line is realized through the information.

Description

Ecological measure inspection method and system for high-voltage transmission line and readable storage medium

Technical Field

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

Background

As is well known, electric energy is formed by converting water energy, heat energy of fossil fuel, nuclear energy, solar energy, wind energy, geothermal energy, ocean energy and the like through a power generation power device, and then is distributed to thousands of households through power transmission, transformation and distribution modes for users to use. 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 structural forms. The overhead transmission line is composed of a line tower, a wire, an insulator and the like and is erected on the ground; underground transmission lines are mainly used for laying cables underground or underwater.

The overhead transmission line is a main transmission mode because of convenient erection and maintenance and low cost. However, overhead transmission lines also have problems of being susceptible to environmental factors such as high winds and forest fires, and causing electromagnetic interference. Especially for high-voltage transmission lines with long-distance transmission, the problems are more obvious. In order to avoid such problems affecting the distribution of electric energy, ecological measures around the transmission line are usually detected.

At present, detection is mainly still carried out by special maintenance personnel, and detection difficulty is big, and efficiency is low. Although the test is carried out by unmanned aerial vehicle in some areas, the test is usually limited to the detection of the running condition of the line itself, and is not comprehensive and accurate enough. Therefore, how to realize comprehensive and accurate detection of ecological measures of the high-voltage transmission line is a technical problem to be solved currently.

Disclosure of Invention

The invention mainly aims to provide a method, a system and a readable storage medium for inspecting ecological measures of a high-voltage transmission line, 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 above purpose, the present invention provides a method for inspecting ecological measures of a high-voltage transmission line, the method comprising:

every interval preset period, a patrol route of the high-voltage transmission line is obtained;

controlling the unmanned aerial vehicle to patrol the high-voltage 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;

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

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

respectively carrying out filtering treatment, 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 ecological information of the ecological pictures from each target picture;

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, respectively generating mountain fire information and environment wind information in the environment ecological information and overheat information in the self ecological information;

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

Optionally, the step of generating the interference information and the noise information in the ecological environment influence information based on the electric field intensity 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, generating the electromagnetic interference data into interference information in the ecological environment influence information, and calculating an electromagnetic interference data formula 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 weather correction coefficients and altitude correction coefficients of each sampling point to obtain audible noise data of each sampling point, wherein a correction formula is as follows:

；

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

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

Optionally, the step of generating the forest fire information and the environmental wind information in the environmental ecology information and the overheat information in the self ecology information based on the forest fire sensing data, the environmental wind sensing data and the line temperature sensing data of the plurality of sampling points in the ecology sensing data includes:

acquiring mountain 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;

based on the environmental temperature data, the environmental humidity data and the environmental oxygen content, respectively calculating the mountain fire index of each sampling point, generating each mountain fire index into mountain fire information, and calculating the mountain fire index by the formula:

W=（C+S）/n；

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

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

and acquiring 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 respectively to generate the overheat 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 or not based on a preset recognition model, and if so, recognizing the bird nest scene or the bird scene based on the preset recognition model to obtain the bird information;

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

；

Wherein S is a picture error, M, N is the maximum value 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 set;

and determining whether damage exists in the high-voltage transmission line corresponding to the high-voltage transmission line scene according to the picture error, extracting damage characteristics from the high-voltage transmission line scene if the damage exists, 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 high-voltage transmission line ecological measures based on the environmental ecological information, the self ecological information and the ecological environment influence information includes:

based on bird information, forest fire information and environmental wind information in the environmental ecological information, performing patrol on bird countermeasure, forest fire risk measure and environmental wind countermeasure in the high-voltage transmission line ecological measure;

based on the damage information and the overheat information in the self ecological information, the damage early warning measures and the overheat early warning measures in the ecological measures of the high-voltage transmission line are patrolled;

And based on the interference information and the noise information in the ecological environment influence information, carrying out inspection on the interference countermeasure and the noise countermeasure in the ecological measures of the high-voltage transmission line.

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

acquiring a real-time tour route of a current preset period, and comparing the real-time tour route with the tour route to obtain a comparison difference value;

judging whether the comparison difference value is larger than a preset threshold value, if so, searching a real-time factor causing the change of the real-time tour route, 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 tour route based on the real-time factor, and performing the step of comparing the real-time tour route with the tour route based on the corrected real-time tour route to obtain a comparison difference value;

and if the type of the real-time factor is a static type, replacing the tour route with the real-time tour 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 tour route, if so, identifying the contour line of the obstacle, and planning an obstacle avoidance curve based on the contour line;

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

Further, in order to achieve the above purpose, the present invention also provides an unmanned aerial vehicle-based high-voltage transmission line ecological measure inspection system, which comprises: memory, processor, communication bus, and 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 inspection method.

Further, in order to achieve the above object, the present invention further provides a readable storage medium, on which a control program is stored, which when executed by a processor, implements the steps of the unmanned aerial vehicle-based high-voltage transmission line ecological measure inspection method as described above.

According to the unmanned aerial vehicle-based high-voltage transmission line ecological measure inspection method, system and readable storage medium, an inspection route and an inspection period are preset aiming at a high-voltage transmission line to be inspected, and the inspection route of the high-voltage transmission line is acquired at intervals of the preset period; and then controlling the unmanned aerial vehicle to patrol the high-voltage transmission line along the patrol route to obtain ecological pictures and ecological sensing data related to ecological measures of the high-voltage transmission line. Then, analyzing the ecological picture and the ecological sensing data to obtain environmental ecological information showing the environmental influence of the high-voltage transmission line, self ecological information showing the condition of the high-voltage transmission line and ecological environment influence information showing 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. The invention realizes the multidimensional comprehensive and accurate detection of the ecological measures of the high-voltage transmission line through the information of the type, which reflects the information of the high-voltage transmission line in various aspects such as environmental influence, self state, influence on the environment and the like due to the environmental ecological information, the self ecological information and the ecological environment influence information.

Drawings

Fig. 1 is a schematic flow chart of a first embodiment of an ecological measure inspection method for a high-voltage transmission line based on an unmanned aerial vehicle;

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

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

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

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

The invention provides an unmanned aerial vehicle-based high-voltage transmission line ecological measure inspection method, referring to fig. 1, fig. 1 is a flow diagram of a scheme of a first embodiment of the unmanned aerial vehicle-based high-voltage transmission line ecological measure inspection method.

The embodiments of the present invention provide embodiments of an unmanned aerial vehicle-based high voltage transmission line ecological measure tour method, it being noted that although a logical sequence is shown in the flow chart, in some cases the steps shown or described may be performed in a different order than that shown. Specifically, the unmanned aerial vehicle-based ecological measure inspection method for the high-voltage transmission line in the embodiment comprises the following steps:

Step S10, every preset period, a patrol route of the high-voltage transmission line is obtained;

the unmanned aerial vehicle-based high-voltage transmission line ecological measure inspection method is applicable to an unmanned aerial vehicle control system, and the unmanned aerial vehicle is controlled by the control system to acquire pictures and sensing data on the high-voltage transmission line, so that inspection and detection of the high-voltage transmission line ecological measure can be realized. Specifically, a patrol route is set in advance along the high-voltage power transmission line, and a preset period is set based on a history failure 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 to patrol the ecological measures of the high-voltage transmission line every interval of the preset period.

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

further, the unmanned aerial vehicle is equipped with an imaging device, such as an industrial camera, and is also equipped with a detection device, such as a temperature sensor, a humidity sensor, and the like. After the latest tour route is obtained, the unmanned aerial vehicle is controlled to tour the high-voltage transmission line along the tour route. Be provided with the sampling point in the route of patrolling, unmanned aerial vehicle reachs the sampling point after, shoot 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 ecological picture reflects the scene of the environment where the high-voltage transmission line is located when the unmanned aerial vehicle is patrolled and the ecological sensing data reflects the temperature and humidity, radiation noise and the like of the environment where the high-voltage transmission line is located. Therefore, through analysis of the ecological pictures and the ecological sensing data, the environmental ecological information showing the environmental influence of the high-voltage transmission line is obtained, the self ecological information showing the condition of the high-voltage transmission line and the ecological environment influence information showing the influence of the high-voltage transmission line on the surrounding ecological environment are shown. Specifically, the step of analyzing the ecological picture and the ecological sensing data to obtain environmental ecological information, self ecological information and ecological environment influence information includes:

step S31, respectively performing filtering treatment, 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 ecological information from each target picture;

Step S32, respectively generating mountain fire information and environment wind information in the environment ecological information and overheat 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;

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

Furthermore, besides the imaging of the high-voltage transmission line, the ecological picture may also contain environmental scenes such as sky, trees, buildings, birds, bird nests and the like. 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 possibly cause short circuit and open circuit of the high-voltage transmission line, and sky, trees and buildings have no excessive 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 the one hand, the ecological pictures acquired by the image pick-up device may be affected by factors such as illumination, shooting angle and the like to inevitably generate noise, so that the quality of the ecological pictures is reduced to affect the detection of picture characteristics. On the other hand, the image collected by the image pick-up device is colorful, contains a large amount of color information and is not beneficial to detection and extraction of the picture characteristics. Therefore, before feature extraction, the ecological picture needs to be subjected to a filtering process and a gradation conversion process. 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, f (x) ₀ ，y ₀ ) M is the total number of pixels in a preset filtering template for the ecological pictures before filtering; g is a gray value after the gray level conversion of the ecological picture, R is a brightness value related to red before the gray level conversion of the ecological picture, gr is a brightness value related to green before the gray level conversion of the ecological picture, B is a brightness value related to blue before the gray level conversion of the ecological picture, and p1, p2, p3 and p4 are coefficients related to the red brightness value, the green brightness value, the blue brightness value and the gray level respectively.

Further, after the ecological picture is subjected to filtering processing and gray level transformation, edge features of scenes in the ecological picture are detected, scenes which affect the high-voltage transmission line in the ecological picture are extracted based on the detected edge features, a plurality of target pictures are formed, and one scene corresponds to one target picture. And then identifying each target picture, determining whether a picture containing a bird nest or a bird scene exists in the target pictures, and identifying the picture containing the bird nest or the bird scene as bird information in the ecological environment information if the picture containing the bird nest or the bird scene exists. And identifying a target picture containing the scene of the high-voltage transmission line, determining whether the high-voltage transmission line is damaged, and if so, identifying the damage as damage information in the ecological information of the high-voltage transmission line.

Furthermore, the ecological sensing data comprise mountain fire sensing data reflecting whether the high-voltage transmission line has mountain fire risk at each sampling point, environment wind sensing data with high wind, line temperature sensing data with overhigh temperature, mountain fire information and environment information in the environment ecological information and overheat information in the self ecological information which 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 risk of suffering mountain fire and high wind at each sampling point and whether the self temperature is overhigh.

In addition, the ecological sensing data also includes electric field intensity sensing data and noise sensing data collected at each sampling point. And generating interference information and noise information in the ecological environment influence information through analysis of the two types of data, and determining whether the high-voltage transmission line generates excessive interference and noise at each sampling point.

It should be noted that, the ecological pictures are the same as the ecological sensing data, and each of the ecological pictures comprises a plurality of pictures acquired by a plurality of sampling points. The processing manner of each ecological picture is the same as that of the ecological picture, and will not be described here.

And step S40, based on the environmental ecological information, self ecological information and ecological environment influence information, the inspection of the ecological measures of the high-voltage transmission line is completed.

Further, after the environmental ecology information, the self ecology information and the ecology environment influence information are obtained through analysis of the ecology image and the ecology sensing data, the conditions of whether the high-voltage power transmission line reflected by the environmental ecology information is influenced by the environments such as mountain fire, strong wind and the like, whether the high-voltage power transmission line reflected by the self ecology information is high-heat or not, whether damage exists or not, and whether the high-voltage power transmission line reflected by the ecology environment influence information has influence on the surrounding environment such as interference and noise or not are obtained, multidimensional detection analysis is carried out on ecology measures of the high-voltage power transmission line, and after detection analysis obtains analysis results, inspection of ecology measures of the high-voltage power transmission line in a preset period is completed.

In this embodiment, the detection and analysis of the ecological measures of the high-voltage power transmission line may be performed by uniformly analyzing and processing the ecological pictures and the sensed data after the ecological pictures and the sensed data are collected at each sampling point, so as to obtain environmental ecological information, performing the detection and analysis of the ecological measures of the high-voltage power transmission line on the ecological information and the ecological environment influence information of the high-voltage power transmission line, and completing the inspection of the ecological measures of the high-voltage power transmission line after all the ecological pictures and the sensed data are analyzed. The ecological picture and the ecological sensing data can be acquired 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 points are sampled and analyzed, the inspection of the ecological measures of the high-voltage transmission line is completed.

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, based on bird information, forest fire information and environmental wind information in the environmental ecological information, performing inspection on bird countermeasure, forest fire risk measure and environmental wind countermeasure in the high-voltage transmission line ecological measure;

step S42, based on the damage information and the overheat information in the self ecological information, the damage early warning measures and the overheat early warning measures in the ecological measures of the high-voltage transmission line are patrolled;

and step S43, based on the interference information and the noise information in the ecological environment influence information, the interference countermeasure and the noise countermeasure in the ecological measure of the high-voltage transmission line are patrolled.

Further, bird information in the environmental ecological information indicates that bird nests exist in the high-voltage power transmission line, and the living of birds in the bird nests possibly affects the normal operation of the high-voltage power transmission line, so that birds are required to be driven. The mode of driving can be to drive through the specific sound of sound generating device emission, also can drive through the specific light of light generating device emission, so be used for realizing the mode that birds were driven as birds countermeasure. The bird countermeasure is patrolled through the bird information, whether the bird countermeasure exists or not and whether the existing bird countermeasure can realize the expelling of birds reflected by the bird information or not are determined. If birds cannot be driven, feedback information is generated and fed back to related 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 suffer forest fire risk or environmental strong wind to influence normal operation. At this time, the forest fire risk countermeasure and the environmental wind countermeasure in the ecological measures of the high-voltage transmission line are patrolled, and it is determined whether a device for avoiding drought and high temperature, such as a humidifying device, exists in the environment of the high-voltage transmission line, whether a wind-proof device exists, and whether the device operates normally. If the operation is not normal, feedback information is generated and fed back to related maintenance personnel for processing.

Further, damage information and overheat information in the ecological information of the power transmission line indicate that the power transmission line may be damaged or the running temperature of the power transmission line is too high to influence the normal running. At the moment, the damage early warning measures and the overheat early warning measures in the ecological measures of the high-voltage transmission line are patrolled, whether the damage early warning and the overheat early warning are started or not is determined, so that an maintainer is warned through early warning to timely overhaul the damage or the high temperature of the high-voltage transmission line. If the damage early warning and the overheat early warning are not started, feedback information is generated and fed back to related maintenance personnel for processing.

Furthermore, the interference information and noise information in the ecological environment influence information illustrate the interference and 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 power transmission line are patrolled, it is determined whether the high-voltage power transmission line is provided with relevant measures for reducing interference and noise (such as surrounding vegetation), and whether the measures are sufficient to reduce interference and noise. If the surrounding is not present or insufficient to reduce interference and noise measures, feedback information is generated and fed back to relevant maintenance personnel for processing.

According to the unmanned aerial vehicle-based high-voltage transmission line ecological measure inspection method, an inspection route and an inspection period are preset aiming at a high-voltage transmission line to be inspected, and the inspection route of the high-voltage transmission line is acquired every preset period; and then controlling the unmanned aerial vehicle to patrol the high-voltage transmission line along the patrol route to obtain ecological pictures and ecological sensing data related to ecological measures of the high-voltage transmission line. Then, analyzing the ecological picture and the ecological sensing data to obtain environmental ecological information showing the environmental influence of the high-voltage transmission line, self ecological information showing the condition of the high-voltage transmission line and ecological environment influence information showing 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. The invention realizes the multidimensional comprehensive and accurate detection of the ecological measures of the high-voltage transmission line through the information of the type, which reflects the information of the high-voltage transmission line in various aspects such as environmental influence, self state, influence on the environment and the like due to the environmental ecological information, the self ecological information and the ecological environment influence information.

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

The second embodiment of the method for inspecting ecological measures of a high-voltage transmission line based on an unmanned aerial vehicle is different from the first embodiment of the method for inspecting ecological measures of a high-voltage transmission line based on an unmanned aerial vehicle in that the step of 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 includes:

step S331, acquiring electric field intensity sensing data of a plurality of sampling points from the ecological sensing data, respectively calculating electromagnetic interference data based on each electric field intensity sensing data, and generating each 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 weather correction coefficients and altitude correction coefficients of each sampling point to obtain audible noise data of each sampling point;

Step S333, comparing each audible noise data with a preset noise data, to generate noise information in the ecological environment influence information.

In this embodiment, unmanned aerial vehicle is loaded with the detector that is used for detecting electric field strength, detects the detector of noise, and unmanned aerial vehicle flies to every sampling point and all can gather electric field strength and noise at this point through having changed the detector, obtains electric field strength sensing data and noise sensing data. The control system screens the electric field intensity sensing data from the electric field intensity detector from the ecological sensing data, and the screening can be realized by a data identification mode. Namely, the detection devices mounted on the unmanned aerial vehicle are provided with respective unique identifiers, the data detected by the different detection devices correspondingly carry different identifiers, and the types of the data can be known by identifying the identifiers carried by the data, so that the required data are screened out.

Further, after the electric field intensity sensing data of each sampling point is screened out from the ecological sensing data, electromagnetic interference data of a plurality of interference monitoring points at a certain distance from each sampling point are calculated through the electric field intensity sensing data of each sampling point. For example, three interference monitoring points 0.5 m, 1 m and 1.5 m away from the sampling point are set, and electromagnetic interference data of the three interference monitoring points are calculated according to electric field intensity 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 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.

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

In order to avoid interference from affecting communication, preset interference data are preset, electric field interference data are respectively compared with the preset interference data according to the sequence from near to far from the sampling point, whether the electric field interference data are larger than the preset interference data is judged, if so, the fact that the interference generated by the high-voltage transmission line at the point is too large is indicated, and the communication is possibly affected. When electric field interference data smaller than preset interference data appear for the first time, the distance between an interference monitoring point corresponding to the electric field interference data and a 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 ecological environment influence information, so that inspection of interference measures is conducted according to the interference elimination distance in the interference information, whether interference reduction measures are arranged at the position of the interference elimination distance is determined, and accurate interference prevention and control are achieved.

Further, the high voltage transmission line generates noise during operation, and the generated noise is affected by the voltage level of the high voltage transmission line, the altitude at which the high voltage transmission line is located, and weather factors (such as rainy days and sunny days). In order to embody more accurate audible noise of the high-voltage transmission line, after noise sensing data are screened from ecological sensing data in a data identification mode, a control system 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. Wherein the specific correction formula can be seen 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 which accurately reflects the noise level of each sampling point can be obtained through correction of the formula (4). In addition, in order to reflect the size of noise, preset noise data are preset, whether the audible noise data are larger than the preset noise data is judged by comparing the audible noise data with the preset noise data respectively, if so, the fact that the noise generated by the high-voltage transmission line at the sampling point is too large is indicated, and the living of surrounding residents or animals can be influenced, so that the oversized audible noise data are formed into noise information in biological environment influence information, so that the noise reduction measures of the sampling points can be patrolled according to the noise size of the sampling points reflected by the noise information, and further accurate noise reduction is realized.

Still further, in this embodiment, the step of generating the forest fire information and the environmental wind information in the environmental ecological information and the overheat information in the self ecological information based on the forest fire 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 mountain 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, calculating a mountain fire index of each sampling point based on each of the ambient temperature data, the ambient humidity data and the ambient oxygen content, and generating each mountain fire index into mountain fire information;

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

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

As can be appreciated, mountain fires usually occur in high-temperature arid weather, in order to determine whether there is a risk of mountain fires occurring in an environment where a high-voltage transmission line is located, the unmanned aerial vehicle is equipped with sensors for detecting the temperature, humidity and oxygen content of the environment where the high-voltage transmission line is located, and environmental temperature data, environmental humidity data and environmental oxygen content are detected by the sensors and used as mountain fire sensing data in ecological sensing data. The control system screens the mountain fire sensing data of each sampling point from the ecological sensing data in a data identification mode, and calculates the mountain fire index 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 shown in the following formula (5).

W=（C+S）/n （5）；

Wherein W is a forest fire index, C is an environmental temperature coefficient, S is an environmental humidity coefficient, and n is an environmental oxygen content.

The mountain fire index of each sampling point reflects the probability of mountain fire of each sampling point, a preset index threshold value is preset for representing the probability, each mountain fire index is respectively compared with the preset index threshold value, if the mountain fire index of the sampling point is larger than the preset index threshold value, the probability that the mountain fire index of the sampling point is large is indicated, and otherwise, the probability is small. And then will appear the sampling point that mountain fire index possibility is big and mountain fire index generation become mountain fire information to be convenient for patrol and early warning to the mountain fire risk countermeasure of corresponding sampling point according to mountain fire information, realize the accurate effective precaution of mountain fire.

Further, the unmanned aerial vehicle is provided with sensors for detecting the wind power magnitude and the wind power direction of the environment where the high-voltage transmission line is located, and the sensors are used for detecting wind power magnitude data and envelope direction data to serve as environmental wind sensing data in the ecological sensing data. Taking the difference of the wind power which can be born by the high-voltage transmission line at each sampling point into consideration, presetting a wind power preset vector value for each sampling point, and representing the maximum wind power which can be born by the sampling point in the preset direction by the wind power preset vector value.

The control system screens out the environmental wind sensing data of each sampling point from the ecological sensing data in a data identification mode, converts the detected wind power magnitude data into a wind power magnitude value in the preset direction according to the angle relation between the detected wind power direction data and the preset direction corresponding to the wind power preset vector value for each sampling point, compares the wind power magnitude value with a wind power maximum value corresponding to the wind power preset vector value, judges whether the wind power magnitude value is larger than the wind power maximum value, and indicates that the normal operation of the high-voltage transmission line is possibly influenced by high wind at the sampling point if the wind power magnitude value is larger than the wind power maximum value. The respective wind power data and wind power direction data of the sampling points are formed into environmental wind information, so that environmental wind precautionary measures of the corresponding sampling points can be conveniently patrolled and pre-warned according to the environmental wind information, and the accurate and effective prevention of the environmental wind is realized.

Furthermore, the unmanned aerial vehicle is further 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 are detected and generated through the sensor. The method comprises the steps that preset line temperature representing normal operation of the high-voltage transmission line is set in advance, line temperature sensing data of each sampling point are screened out from ecological sensing data through a data identification mode by a control system, the line temperature sensing data of each sampling point are respectively compared with preset line temperature, whether the line temperature sensing data are larger than the preset line temperature is judged, if so, the fact that the high-voltage transmission line possibly affects normal operation of the high-voltage transmission line due to overhigh line temperature at the sampling point is indicated. The respective line temperature sensing data of the sampling points are formed into overheat information, so that overheat early warning of the corresponding sampling points can be conveniently patrolled according to the overheat information, and accurate and effective prevention of overheat 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 recognition model, and if so, recognizing the bird nest scene or the bird scene based on the preset recognition model to obtain the bird information;

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

step S313, determining whether there is damage in the high-voltage transmission line corresponding to the high-voltage transmission line scene according to the picture error, if so, extracting damage features from the high-voltage transmission line scene, and identifying the damage features based on a preset damage library to obtain the damage information.

Furthermore, birds need to be repelled because nesting of birds on high voltage transmission lines may affect the normal operation of the high voltage transmission lines. Training an 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 pictures containing bird nest scenes or bird scenes exist in each target picture. If so, the bird nest and birds exist in the high-voltage transmission line. The bird nest view or the bird view can be identified by the preset identification model, and the bird type can be identified by training in advance, so that the bird type existing in the high-voltage transmission line can be determined based on the bird nest view or the bird view identification of the preset identification model, so that the bird countermeasure can be patrolled according to the bird type, and the accurate bird repelling can be realized.

Understandably, the high-voltage transmission line is exposed to the external environment, and may have a loss to affect the normal operation, so it is necessary to patrol whether the high-voltage transmission line has damage. Specifically, a picture of a normal high-voltage transmission line is taken in advance as a preset template picture, a target picture containing a scene of the high-voltage transmission line can be determined from all target pictures through a preset identification model, and whether the high-voltage transmission line is damaged or not is determined through a picture error between the target picture and the preset template picture. The problem of shooting angle in the unmanned aerial vehicle flight process is considered, so that 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 the non-error content between the imaging angle and the imaging angle is judged to be 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 in the reference direction, and 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, so that the error between the two pictures is calculated, and the calculation formula is shown as the following formula (6).

（6）；

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

Further, a preset error threshold value representing the error is preset, after an accurate picture error is obtained through 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 is judged, if so, the fact that the error between the two pictures is larger is indicated, and the high-voltage transmission line is damaged. At the moment, the high-voltage transmission line scene is identified, the damaged part is determined, and the damaged characteristic is extracted from the damaged part. And 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 the information of the length, width, depth and the like of the damage, and is used for determining the severity of the damage and inspecting whether the damage early warning of the corresponding grade is started or not.

According to the embodiment, the interference information, the noise information, the forest fire information, the environmental wind information, the overheat information, the bird information and the damage information are accurately generated, so that the interference prevention, the noise prevention, the forest fire risk prevention, the environmental wind prevention, the overheat early warning, the bird expelling and the damage early warning are more accurate, and the accurate comprehensive inspection of all factors affecting the normal operation of the high-voltage transmission line is realized.

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

The difference between the third embodiment of the unmanned aerial vehicle-based high-voltage transmission line ecological measure inspection method and the first or second embodiment of the unmanned aerial vehicle-based high-voltage transmission line ecological measure inspection method is that after the step of inspecting the high-voltage transmission line ecological measure is completed, the inspection method further includes:

step S50, a real-time tour route in a current preset period is obtained, and the real-time tour route is compared with the tour 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 tour route to change, and determining the type of the real-time factor;

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

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

Understandably, unmanned aerial vehicles may encounter obstacles such as birds, flyers, tall trees, or newly built buildings on a patrol route while patrolling the high-voltage transmission line along the patrol route. For the obstacle on the patrol route, the unmanned aerial vehicle needs to avoid, so that the flight route of the unmanned aerial vehicle is different from the patrol route, and the patrol route is updated based on the difference.

Specifically, after the patrol is completed, the control system acquires a real-time patrol route of the unmanned aerial vehicle, compares the real-time patrol route with the patrol route acquired before the patrol, and acquires a comparison difference value between the real-time patrol route and the patrol route. In order to represent the magnitude 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 or not is judged. If the difference point is larger than the real-time factor, searching the difference point between the two factors, further determining factors causing the change of the flight route of the unmanned aerial vehicle at the difference point according to the video shot in the flight process of the unmanned aerial vehicle, and determining the type of the real-time factor according to whether the factors causing the change of the flight route have dynamic characteristics or not.

Further, if the factor causing the change in the flight line has a dynamic characteristic, such as a bird or an object, the type of the real-time factor is determined to be a dynamic type. If the factors causing the flight path change do not have dynamic characteristics, such as trees, buildings, etc., the type of the real-time factors is determined to be a static type. With the dynamic type, since the factor that causes the change in the flight route does not stay on the patrol route for a long time, it may not act as an obstacle that causes the change in the patrol route. And correcting the flight section of the real-time tour route at the difference point by a real-time factor, and correcting the flight section of the real-time tour route at the difference point into the flight section of the original tour route at the difference point. And then, comparing the corrected real-time tour route with the original tour route to obtain a comparison difference value, and judging whether other real-time factors exist or not to enable the difference value between the corrected real-time tour route and the original tour route to be larger.

Further, if the real-time factor is static, the factor causing the change of the flight path stays on the tour path for a long time, and the unmanned aerial vehicle needs to avoid the flight of the following section. At this time, the flight section of the original tour route at the difference point may be replaced with the flight section of the real-time tour route at the difference point to update the tour route.

After the real-time factors of all the difference points are determined, if the obtained comparison difference value is still larger than the preset threshold value, the difference between the actual route of the unmanned aerial vehicle inspection and the original inspection route is larger, so that the original inspection route is replaced by the real-time inspection route. If the difference value is not greater than the preset threshold value, the difference value between the actual route of the unmanned aerial vehicle tour and the original tour route is not great, and the original tour route can still be used as the tour flight route of the unmanned aerial vehicle.

According to the embodiment, aiming at the flight actual route of the unmanned aerial vehicle during inspection, the types of obstacles causing route change are distinguished and processed in different modes, and an accurate inspection route is obtained, so that the unmanned aerial vehicle is controlled to fly efficiently and accurately, and the inspection efficiency is improved.

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

The difference between the fourth embodiment of the unmanned aerial vehicle-based high-voltage transmission line ecological measure inspection method and the first, second or third embodiment of the unmanned aerial vehicle-based high-voltage transmission line ecological measure inspection method is that after the step of controlling the unmanned aerial vehicle to inspect the high-voltage transmission line along the inspection route, the inspection method further includes:

Step S21, detecting whether an obstacle exists on the tour route, if so, identifying the contour line of the obstacle, and planning an obstacle avoidance curve based on the contour line;

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

Further, in the flight inspection process of the unmanned aerial vehicle, if an obstacle exists on the inspection route, the obstacle needs to be avoided. If the patrol route is provided with a sampling point in the road section corresponding to the obstacle, the sampling point needs to be redetermined based on the avoidance route. Specifically, the control system controls the unmanned aerial vehicle to detect whether an obstacle exists on the inspection route, if the obstacle exists, the outline of the obstacle is identified, and the outline distribution position of the obstacle relative to the unmanned aerial vehicle is determined. And 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 tour route, the unmanned aerial vehicle flies according to the original tour route, and the original tour route changes on the road section of the obstacle due to the existence of the obstacle, namely, the original tour route changes into an obstacle avoidance curve. Taking a road section of the tour route before the change of the obstacle as a replaced road section, judging whether a preset sampling point is arranged on the replaced road section, and if the preset sampling point is arranged, indicating that the acquisition of ecological pictures and ecological sensing data is required on the replaced road section. At this time, a starting point or an 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 acquired 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 tour route, and the bordering points are used as new sampling points, so that the sampling positions are still on the original tour route, and the original sampling requirements are more met. Therefore, accurate sampling as required is realized while avoiding obstacles.

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

As shown in fig. 4, the unmanned aerial vehicle-based high-voltage transmission line ecological measure inspection system may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further 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 stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.

Those skilled in the art will appreciate that the hardware configuration of the unmanned aerial vehicle-based high voltage transmission line ecological measure inspection system shown in fig. 4 does not constitute a limitation of the unmanned aerial vehicle-based high voltage transmission line ecological measure inspection system, and may include more or fewer components than shown, or may combine certain components, or may have a different arrangement of components.

As shown in fig. 4, an operating system, a network communication module, a user interface module, and a control program may be included in the memory 1005 as one type of storage medium. The system comprises an operating system, a network communication module, a user interface module, a control program and other programs or software, wherein the operating system is a program for managing and controlling an ecological measure inspection system and software resources of the high-voltage transmission line based on the unmanned aerial vehicle; 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 inspection 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 a control program stored in the memory 1005 and perform the following operations:

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

Further, the step of generating the interference information and the noise information in the ecological environment influence information based on the electric field intensity sensing data and the noise sensing data of the plurality of sampling points in the ecological 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 forest fire information and the environmental wind information in the environmental ecological information and the overheat information in the self ecological information based on the forest fire sensing data, the environmental wind sensing data and the line temperature sensing data of the plurality of sampling points in the ecological sensing data respectively includes:

W=（C+S）/n；

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:

；

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

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

The specific implementation mode of the unmanned aerial vehicle-based high-voltage transmission line ecological measure inspection system is basically the same as the above-mentioned unmanned aerial vehicle-based high-voltage transmission line ecological measure inspection method, and is not repeated here.

The embodiment of the invention also provides a readable storage medium. The readable storage medium is stored with a control program, and the control program realizes the steps of the unmanned aerial vehicle-based high-voltage transmission line ecological measure inspection method when being executed by a processor.

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 basically the same as the embodiments of the method for inspecting the ecological measures of the high-voltage transmission line based on the unmanned aerial vehicle, and is not described herein.

While the embodiments of the present invention have been described above with reference to the drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many modifications may be made thereto by those of ordinary skill in the art without departing from the spirit of the present invention and the scope of the appended claims, which are to be accorded the full scope of the present invention as defined by the following description and drawings, or by any equivalent structures or equivalent flow changes, or by direct or indirect application to other relevant technical fields.

Claims

1. The ecological measure inspection method for the high-voltage transmission line is characterized by comprising the following steps of:

controlling the unmanned aerial vehicle to patrol the high-voltage 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;

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

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

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;

the step of identifying bird information in the ecological environment information and damage information in the self ecological information from each target picture comprises the following steps:

2. The inspection method of claim 1, wherein the step of generating the interference information and the noise information in the ecological environmental impact information based on the electric field intensity sensing data and the noise sensing data of the plurality of sampling points in the ecological sensing data comprises:

E＝E0+k1*lg(h ² /× ² +h ² )；

P＝P0*(k2*(1+e ^(H+k2) ))*(k2*e ^K3 )；

3. The inspection method of claim 1, wherein the step of generating the forest 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 forest fire sensing data, the environmental wind sensing data, and the line temperature sensing data of the plurality of sampling points in the ecology sensing data, comprises:

W＝(C+S)/n；

4. A method of patrol as recited in any one of claims 1-3 wherein said step of completing patrol of said high voltage transmission line ecological means based on said environmental ecology information, self ecology information and ecology environment influence information comprises: based on bird information, forest fire information and environmental wind information in the environmental ecological information, performing patrol on bird countermeasure, forest fire risk measure and environmental wind countermeasure in the high-voltage transmission line ecological measure;

5. A method of patrol as recited in any one of claims 1-3 wherein after said step of completing patrol of said high voltage transmission line ecology measure, said method of patrol further comprises:

6. A method of patrol as recited in any one of claims 1-3 wherein after said step of controlling said drone to patrol said high voltage transmission line along said patrol route, said method of patrol further comprises:

7. The utility model provides a high tension transmission line ecological measure inspection system which characterized in that, the high tension transmission line ecological measure inspection system includes: memory, processor, communication bus, and control program stored on the memory:

the processor is configured to execute the control program to implement the steps of the high-voltage transmission line ecological measure inspection method according to any one of claims 1 to 6.

8. A readable storage medium, characterized in that the readable storage medium has stored thereon a control program, which when executed by a processor, implements the steps of the high voltage transmission line ecological measure inspection method according to any one of claims 1-6.