Submarine cable terminal station living body foreign object expelling laser path planning method and related device

Abstract

The present application relates to the technical field of power system operation and maintenance, and provides a kind of cable terminal field living body foreign matter expelling laser path planning method and related device, method includes: by obtaining the environment image of cable terminal field determines background template, and establishes space coordinate system;The background template image is compared with each real-time image difference;Identify the living body foreign matter image of living body foreign matter existence;The coordinate of living body foreign matter in living body foreign matter image around cable terminal field appears, determines expulsion coordinate point;Expulsion coordinate point is connected to each other to obtain expulsion path, and expulsion path is sent to laser emitter;Real-time image identification obtains the coordinate of living body foreign matter frequent appearance, and the expulsion path of living body foreign matter frequent appearance coordinate planning corresponds the activity rule of living body foreign matter, so that laser emitter emits laser according to expulsion path, can accurately expel living body foreign matter, improve expulsion efficiency, increase the operation reliability of cable terminal field.

Description

Technical Field

[0001] This invention relates to the field of power system operation and maintenance technology, and in particular to a laser path planning method and related device for repelling living foreign objects in submarine cable terminal fields. Background Technology

[0002] As a crucial component of submarine cable lines, the operational status of submarine cable terminal sites is vital to the safety of the entire power system. These unmanned sites, located in extremely remote areas, are frequently invaded and climbed by wild animals, leading to unpredictable safety hazards or equipment damage risks.

[0003] With the development of technology, power grids have gradually installed expulsion devices based on sound, light, and electricity to prevent and expel living foreign objects. However, the prevention and control strategies of such expulsion measures are relatively simple, mainly relying on passive expulsion after the discovery of living foreign objects. This has a certain degree of blindness, and the expulsion devices are mostly performing meaningless protection, resulting in low expulsion efficiency. Summary of the Invention

[0004] This invention provides a closed-loop audit of safety hazards and related devices to solve the problem of low expulsion efficiency caused by the blindness of existing passive expulsion schemes for living foreign objects.

[0005] The first aspect of this invention provides a laser path planning method for repelling live foreign objects in submarine cable terminal fields, comprising:

[0006] Acquire environmental images of the submarine cable terminal field, determine the background template based on the relatively static parts in each environmental image; establish the background template image and establish a spatial coordinate system based on the background template;

[0007] Acquire real-time images of the submarine cable terminal field and compare the background template image with each real-time image; identify real-time images containing live foreign objects to obtain images of live foreign objects;

[0008] The coordinates and frequency of live foreign objects appearing around the submarine cable terminal field in the live foreign object image are obtained; the coordinates of live foreign objects appearing more than a preset threshold are selected to obtain the expulsion coordinate points; the expulsion coordinate points are connected to each other to obtain several connecting lines; the equation of the connecting lines in the spatial coordinate system is obtained to obtain the expulsion path, and the expulsion path is sent to the laser transmitter.

[0009] Optionally, the step of selecting coordinates where the number of times a living foreign object appears is greater than a preset threshold to obtain the expulsion coordinate points specifically involves:

[0010] Select the coordinates where the number of times a live foreign object appears is greater than a preset threshold to obtain the coordinates of the foreign object's activity; obtain the expulsion range of the preset expulsion mode, filter the coordinates of the foreign object's activity by the expulsion range to obtain the expulsion coordinates, the preset expulsion mode includes snake and rat expulsion mode and bird expulsion mode.

[0011] Optionally, after sending the expulsion path to the laser emitter, the method further includes:

[0012] The laser scanning speed and frequency for the corresponding time period are sent to the laser transmitter according to the preset expulsion mode.

[0013] Optionally, the step of connecting the expulsion coordinate points to obtain several connecting lines is as follows:

[0014] The time period corresponding to the live foreign object image of the expulsion coordinate point is obtained, and the expulsion coordinate points in the same time period are connected to each other to obtain several connecting lines and the time information of the connecting lines.

[0015] Optionally, obtaining the equation of the connecting line in the spatial coordinate system to obtain the expulsion path and sending the expulsion path to the laser emitter specifically involves:

[0016] Obtain the equation of the connecting line in the spatial coordinate system to get the expulsion path; obtain the coordinates of the laser emitter in the spatial coordinate system, calculate the laser emission angle direction of the laser emitter based on the coordinates of the laser emitter and the expulsion path, obtain the scanning information and send it to the laser emitter.

[0017] Optionally, after obtaining the scanning information and sending it to the laser emitter, the method further includes:

[0018] The shortest path through the expulsion path is calculated based on the expulsion path equation, and the shortest path is sent to the laser emitter.

[0019] The second aspect of this application provides a laser path planning device for repelling live foreign objects in submarine cable terminal fields, comprising:

[0020] The background template creation module is used to acquire environmental images of the submarine cable terminal field, determine the background template based on the relatively static parts in each environmental image, create a background template image, and establish a spatial coordinate system based on the background template.

[0021] The live foreign object image recognition module is used to acquire real-time images of the submarine cable terminal field and compare the background template image with each real-time image; it identifies real-time images containing live foreign objects and obtains live foreign object images.

[0022] The repulsion path setting module is used to obtain the coordinates and frequency of live foreign objects appearing around the submarine cable terminal field in the live foreign object image; select the coordinates where the frequency of live foreign objects appears is greater than a preset threshold to obtain the repulsion coordinate points; connect the repulsion coordinate points to obtain several connecting lines; obtain the equation of the connecting lines in the spatial coordinate system to obtain the repulsion path, and send the repulsion path to the laser transmitter.

[0023] Optionally, a power supply module may also be included;

[0024] The power supply module is used to control the solar panels and batteries to provide the energy required for the laser emitter to operate.

[0025] A third aspect of this application provides a laser path planning device for repelling live foreign objects in submarine cable terminal fields, the device comprising a processor and a memory:

[0026] The memory is used to store program code and transmit the program code to the processor;

[0027] The processor is used to execute the laser path planning method for repelling live foreign objects in submarine cable terminal fields according to any one of the first aspects of the present invention, based on the instructions in the program code.

[0028] The fourth aspect of this application provides a computer-readable storage medium, characterized in that the computer-readable storage medium is used to store program code, the program code being used to execute the laser path planning method for repelling live foreign objects in submarine cable terminal fields as described in any of the first aspects of the present invention.

[0029] As can be seen from the above technical solutions, the present invention has the following advantages: By acquiring environmental images of the submarine cable terminal field, a background template is determined based on the relatively static parts in each environmental image; a background template image is established and a spatial coordinate system is established based on the background template; real-time images of the submarine cable terminal field are acquired, and the background template image is compared with each real-time image; real-time images containing live foreign objects are identified to obtain images of live foreign objects; the coordinates and frequency of live foreign objects appearing around the submarine cable terminal field in the images of live foreign objects are acquired; coordinates where the frequency of live foreign objects appearing is greater than a preset threshold are selected to obtain expulsion coordinate points; the expulsion coordinate points are connected to each other to obtain several connecting lines; the equations of the connecting lines in the spatial coordinate system are obtained to obtain the expulsion path, and the expulsion path is sent to the laser transmitter; the coordinates of frequently occurring live foreign objects are identified from the real-time images, and the expulsion path planned based on the coordinates of frequently occurring live foreign objects corresponds to the activity pattern of the live foreign objects, enabling the laser transmitter to emit lasers according to the expulsion path, which can accurately expel live foreign objects, improve expulsion efficiency, and increase the operational reliability of the submarine cable terminal field. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 The first flowchart of the laser path planning method for repelling live foreign objects in submarine cable terminal sites;

[0032] Figure 2 The second flowchart is for the laser path planning method for repelling live foreign objects in submarine cable terminal fields;

[0033] Figure 3 Diagram of a laser path planning device for repelling live foreign objects at submarine cable terminal sites. Detailed Implementation

[0034] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0035] This invention provides a laser path planning method for repelling live foreign objects in submarine cable terminal fields, which solves the problem of low repellency caused by the blindness of existing passive repellency schemes for live foreign objects.

[0036] Please see Figure 1 , Figure 1 This is the first flowchart of the laser path planning method for repelling live foreign objects in submarine cable terminal fields provided in an embodiment of the present invention.

[0037] S100: Acquire environmental images of the submarine cable terminal field; determine the background template based on the relatively static parts in each environmental image; establish the background template image and establish a spatial coordinate system based on the background template.

[0038] It should be noted that the environmental images of the submarine cable terminal site are images taken from several angles surrounding the submarine cable terminal site. By comparing multiple environmental images from the same angle, the parts that do not change at the same pixel position can be considered as relatively static parts. In this embodiment, the relatively static parts correspond to the equipment structure of the submarine cable terminal site and still objects in the environment such as rocks and trees. Only the relatively static parts are retained from the images from the same angle to create a background template image. A three-dimensional spatial coordinate system is established based on the size parameters that can be extracted from the background template in the image, so that any point in the space where the submarine cable terminal site is located has corresponding coordinates.

[0039] S200: Acquire real-time images of the submarine cable terminal field and compare the background template image with each real-time image; identify real-time images containing live foreign objects and obtain images of the live foreign objects;

[0040] It should be noted that the camera settings and parameters for acquiring real-time images of the submarine cable terminal site and environmental images are the same to facilitate comparison of differences between subsequent images; the real-time images capture the activity of living foreign objects near the submarine cable terminal site at different time periods. In this embodiment, the time periods include various situations, such as different seasons of the year or the division of a day into different time periods; when determining the specific time period, it can be based on the season, the cadence of different organisms, the activity frequency of different organisms, and the destructiveness of different organisms at different times.

[0041] Using the background template image as a reference, the real-time image is compared pixel by pixel or region by region with the reference image. Based on the comparison results, it is determined whether a live foreign object is captured in the real-time image. The determination method can be that the area filled with the difference reaches a preset area. If so, the corresponding real-time image is identified as a live foreign object image. The preset area can be set according to the volume of common live foreign objects in the submarine cable terminal field. For example, when the live object is a bird, the larger the average size of the bird, the larger the preset area should be.

[0042] S300: Obtain the coordinates and frequency of live foreign objects appearing around the submarine cable terminal field in the live foreign object image; select coordinates where the frequency of live foreign objects appearing is greater than a preset threshold to obtain expulsion coordinate points; connect the expulsion coordinate points to obtain several connecting lines; obtain the equation of the connecting lines in the spatial coordinate system to obtain the expulsion path, and send the expulsion path to the laser transmitter.

[0043] It should be noted that, based on the camera position used to capture the images of the live foreign object and the relative positions of objects within the images, combined with the camera calibration principle, the coordinates of the live foreign object in the spatial coordinate system can be obtained. By summing the number of times the same coordinates of the live foreign object appear in different images, the frequency corresponding to the coordinates of the live foreign object's appearance can be obtained. It is understood that the movement position of the live foreign object is random; therefore, coordinates with an appearance frequency less than or equal to a preset threshold do not reflect a pattern of activity. In this embodiment, only coordinates with an appearance frequency greater than the preset threshold are selected as expulsion coordinate points. These expulsion coordinate points reflect the positional pattern of the live foreign object's appearance or activity in the space surrounding the submarine cable terminal area.

[0044] After connecting the various expulsion coordinate points in the spatial coordinate system, the equation of the connecting line is obtained based on the principle that a straight line can be determined from two points in space. Several connecting lines are formed and fill the space where the submarine cable terminal is located. The connecting lines will pass through the locations where living foreign objects frequently appear, and there are connecting lines that match the movement trajectory of living foreign objects. In this embodiment, the equation of the connecting line corresponds to the scanning path of laser expulsion. Obtaining the equation of the connecting line can determine the expulsion path. After the expulsion path is sent to the laser transmitter, the laser transmitter emits laser along the expulsion path in the space where the submarine cable terminal is located according to the equation of the connecting line, so as to achieve precise expulsion at the location where living foreign objects frequently move.

[0045] In this embodiment, environmental images of the submarine cable terminal field are acquired, and a background template is determined based on the relatively static parts in each environmental image. A background template image is established, and a spatial coordinate system is established based on the background template. Real-time images of the submarine cable terminal field are acquired, and the background template image is compared with each real-time image. Real-time images containing live foreign objects are identified to obtain images of the live foreign objects. The coordinates and frequency of the live foreign objects appearing around the submarine cable terminal field in the images of the live foreign objects are acquired. Coordinates where the frequency of live foreign object appearances is greater than a preset threshold are selected to obtain expulsion coordinate points. The expulsion coordinate points are connected to each other to obtain several connecting lines. The equations of the connecting lines in the spatial coordinate system are obtained to obtain the expulsion path, and the expulsion path is sent to the laser transmitter. The coordinates of the frequent occurrence of live foreign objects are identified from the real-time images. The expulsion path planned based on the coordinates of the frequent occurrence of live foreign objects corresponds to the activity pattern of the live foreign objects, enabling the laser transmitter to emit lasers according to the expulsion path, which can accurately expel the live foreign objects, improve expulsion efficiency, and increase the operational reliability of the submarine cable terminal field.

[0046] The above is a detailed description of the first embodiment of the laser path planning method for repelling live foreign objects in submarine cable terminal fields provided by this application. The following is a detailed description of the second embodiment of the laser path planning method for repelling live foreign objects in submarine cable terminal fields provided by this application.

[0047] This embodiment further provides a specific example of step S200 in the laser path planning method for repelling live foreign objects in submarine cable terminal fields. Please refer to [link to specific example]. Figure 2 Step S300 specifically includes steps S301-S304, as detailed below:

[0048] S301, Obtain the coordinates and frequency of live foreign objects appearing around the submarine cable terminal field in the live foreign object image; Select the coordinates where the frequency of live foreign objects appears is greater than a preset threshold to obtain the coordinates of the foreign object activity.

[0049] S302, obtain the expulsion range of the preset expulsion mode, filter the coordinate points of foreign object activity by the expulsion range, and obtain the expulsion coordinate points. The preset expulsion mode includes snake and rat expulsion mode and bird expulsion mode.

[0050] It should be noted that the foreign object activity varies in different cable terminal sites. Some cable terminal sites have frequent bird activity leading to serious bird damage, while others have frequent snake and rodent activity leading to serious snake and rodent damage. Because birds and snakes and rodents are active at different altitudes, staff will preset repulsion modes and repulsion ranges based on the specific conditions of the cable terminal site to carry out targeted live foreign object repulsion and improve repulsion efficiency. It can be understood that since birds fly in the air and snakes and rodents crawl on the ground, the spatial coordinate system height coordinates corresponding to the repulsion range of different repulsion modes are different. For the bird repulsion mode, the top of the cable terminal site can be used as the boundary, and the area above the top boundary can be set as the repulsion range to prevent birds from landing and bird droppings from falling. For the snake and rodent repulsion mode, the base or terminal sheath of the cable terminal site can be used as the boundary, and the area below the boundary can be set as the repulsion range to prevent snakes and rodents from climbing and approaching.

[0051] S303, obtain the time period of the corresponding live foreign object image of the expulsion coordinate point, connect the expulsion coordinate points in the same time period to obtain several connecting lines and connecting line time information;

[0052] It should be noted that the expulsion coordinates are obtained based on real-time images of each time period. Therefore, the expulsion coordinates also contain the time information of the corresponding time period. It can be understood that connecting the expulsion coordinates identified within the same time period can more accurately target the corresponding activity range of the living foreign object at different activity times.

[0053] Furthermore, based on the specific environmental conditions of the submarine cable terminal site, staff can set the expulsion mode according to the time, such as a nighttime expulsion mode that mainly carries out expulsions at night, and further filter the expulsion coordinates.

[0054] Furthermore, the importance of the equipment structure in the submarine cable terminal field is obtained, and the expulsion coordinate points are adjusted according to the importance of maintenance. For example, in the area formed by the protection distance of important maintenance equipment, the density of expulsion coordinate points is increased proportionally to improve the protection effect of important maintenance equipment. In the vicinity of non-important maintenance equipment, the density of expulsion coordinate points is reduced to reduce the generation of unnecessary expulsion paths, thereby improving expulsion efficiency.

[0055] S304, obtain the equation of the connecting line in the spatial coordinate system to obtain the expulsion path; obtain the coordinates of the laser emitter in the spatial coordinate system, calculate the laser emission angle direction of the laser emitter based on the coordinates of the laser emitter and the expulsion path, obtain the scanning information and send it to the laser emitter.

[0056] It should be noted that the laser scanning method used by the laser emitter for expulsion involves emitting lasers along a designated expulsion path. This expulsion path corresponds to a straight line equation in a spatial coordinate system. Once the coordinates of the laser emitter in the spatial coordinate system are obtained, the problem of setting the emission angle and direction of the laser emitter can be transformed into the problem of calculating the equation of the line connecting a point in space to a straight line in space. The parameters of this equation can then be used to obtain the angle and direction of the laser emitter. By emitting lasers along this emission angle and direction, the frequent movement routes of living foreign objects can be expelled along the expulsion path.

[0057] Furthermore, when multiple expulsion paths need to be scanned for the same laser emitter, the shortest path connecting the expulsion paths is calculated according to the expulsion path equation, and the shortest path is sent to the laser emitter. The order of the laser emitter's expulsion path scanning can be planned by the optimal path planning method, so that the time when the laser emitter moves between different expulsion paths is shorter, thereby performing higher frequency scanning and expulsion within a limited time period of live foreign object activity, and improving expulsion efficiency.

[0058] Furthermore, since birds are less active at night, the laser emitter can be instructed to reduce its scanning speed and frequency during nighttime to lower power consumption. For snake and rodent repelling, since snakes and rodents are nocturnal and more active at night, the laser emitter can be instructed to increase its scanning speed and frequency during nighttime to improve efficiency. Nighttime can be set based on local sunset and sunrise times.

[0059] In this embodiment, by setting expulsion modes for different types of living foreign objects, further selecting expulsion coordinate points based on the expulsion range, and refining the expulsion path based on the time period of the expulsion coordinate points, the laser expulsion of living foreign objects becomes more accurate in direction and more efficient.

[0060] The above is a detailed description of the second embodiment of the laser path planning method for repelling live foreign objects in submarine cable terminal fields provided by this application. The following is a detailed description of the laser path planning device for repelling live foreign objects in submarine cable terminal fields provided by the second aspect of this application.

[0061] Please see Figure 3 , Figure 3 This diagram illustrates a laser path planning device for repelling live foreign objects in a submarine cable terminal area. This embodiment provides a laser path planning device for repelling live foreign objects in a submarine cable terminal area, comprising:

[0062] Background template creation module 10 is used to acquire environmental images of the submarine cable terminal field, determine the background template based on the relatively static parts in each environmental image, create a background template image, and establish a spatial coordinate system based on the background template.

[0063] The live foreign object image recognition module 20 is used to acquire real-time images of the submarine cable terminal field and compare the background template image with each real-time image; identify the real-time images containing live foreign objects and obtain the live foreign object image;

[0064] The expulsion path setting module 30 is used to obtain the coordinates and frequency of live foreign objects appearing around the submarine cable terminal field in the live foreign object image; select the coordinates where the frequency of live foreign objects appears is greater than a preset threshold to obtain expulsion coordinate points; connect the expulsion coordinate points to obtain several connecting lines; obtain the equation of the connecting lines in the spatial coordinate system to obtain the expulsion path, and send the expulsion path to the laser transmitter.

[0065] Furthermore, it also includes a power supply module, which controls the solar panels and batteries to provide the energy required for the laser emitter to operate. In this embodiment, the device employs a dual power supply system to optimize energy usage, including both solar panels and batteries; ensuring continuous and stable operation of the device in remote areas.

[0066] Furthermore, the laser emitter uses a green wave laser. By studying the sensitivity and stimulation levels of various organisms to different wavelengths of laser light, as well as the biological stress responses produced under irradiation, the optimal frequency and effective wavelength of the laser were determined by comprehensively judging multiple factors. It can be found that using a green wave laser has the best repelling effect on birds and snakes and rodents, and the beaming effect is also the best after the green wave laser is generated, which is more conducive to accurate scanning.

[0067] Furthermore, the laser emitter connects to a PIC16D70 microcontroller, which is primarily responsible for specifying the laser beam path, selecting various interaction modes, and transmitting signals. It also drives the pan-tilt unit and issues laser emission commands to repel living foreign objects. Information is integrated and transmitted to the control unit as the basic unit for laser path planning, enabling module control and interaction based on serial communication for point design, time adjustment, and intensity adjustment. The laser emitter achieves effective intensity adjustment of the laser beam through the microcontroller's DC mode, with the intensity adjustable from 500-1000mW. The laser wavelength can also be adjusted to 520-532nm for output according to actual needs.

[0068] The laser emitter can be fixedly mounted on a gimbal and installed in conjunction with a pivotable housing. The parameters of the gimbal and the pivotable housing are adjusted according to the specific repulsion path and the laser emission angle, so that the laser emitter can perform laser scanning along the repulsion path. To prevent the laser from affecting personnel who accidentally enter, the gimbal's range of motion is limited to 35° vertically and 350° horizontally during the laser scanning process, and reciprocating three-dimensional motion is performed within this range.

[0069] A third aspect of this application also provides a laser path planning device for repelling live foreign objects in submarine cable terminal sites, including a processor and a memory: wherein the memory is used to store program code and transmit the program code to the processor; the processor is used to execute the above-mentioned laser path planning method for repelling live foreign objects in submarine cable terminal sites according to the instructions in the program code.

[0070] A fourth aspect of this application provides a computer-readable storage medium, characterized in that the computer-readable storage medium is used to store program code for executing the above-described method for laser path planning to expel foreign objects from submarine cable terminal sites.

[0071] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described apparatus and equipment can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0072] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0073] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0074] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0075] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0076] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A laser path planning method for repelling live foreign objects in submarine cable terminal fields, characterized in that, include: Acquire environmental images of the submarine cable terminal field, and determine the background template based on the relatively static parts in each environmental image; Create a background template image and establish a spatial coordinate system based on the background template; Acquire real-time images of the submarine cable terminal field and compare the background template image with each real-time image; identify real-time images containing live foreign objects to obtain images of live foreign objects; Based on the camera position and relative position information of each object in the image taken from the live foreign object, and combined with the camera calibration principle, the coordinates of the live foreign object in the spatial coordinate system are obtained. Obtain the coordinates and frequency of live foreign objects appearing around the submarine cable terminal field in the live foreign object image; Select the coordinates where the number of times a living foreign object appears exceeds a preset threshold to obtain the expulsion coordinate points; connect the expulsion coordinate points to obtain several connecting lines; obtain the equation of the connecting lines in the spatial coordinate system to obtain the expulsion path, and send the expulsion path to the laser emitter; The process of selecting coordinates where the number of times a living foreign object appears exceeds a preset threshold to obtain the expulsion coordinate points is as follows: Select the coordinates where the number of times a live foreign object appears is greater than a preset threshold to obtain the coordinates of the foreign object's activity; obtain the expulsion range of the preset expulsion mode, filter the coordinates of the foreign object's activity by the expulsion range to obtain the expulsion coordinates, the preset expulsion mode includes snake and rat expulsion mode and bird expulsion mode.

2. The laser path planning method for repelling live foreign objects in a submarine cable terminal field according to claim 1, characterized in that, The process of sending the expulsion path to the laser emitter also includes: The laser scanning speed and frequency for the corresponding time period are sent to the laser transmitter according to the preset expulsion mode.

3. The laser path planning method for repelling live foreign objects in a submarine cable terminal field according to claim 1, characterized in that, The process of connecting the expulsion coordinate points to obtain several connecting lines is as follows: The time period corresponding to the live foreign object image of the expulsion coordinate point is obtained, and the expulsion coordinate points in the same time period are connected to each other to obtain several connecting lines and the time information of the connecting lines.

4. The laser path planning method for repelling live foreign objects in a submarine cable terminal field according to claim 1, characterized in that, The process of obtaining the equation of the connecting line in the spatial coordinate system to obtain the expulsion path and sending the expulsion path to the laser emitter is as follows: Obtain the equation of the connecting line in the spatial coordinate system to get the expulsion path; obtain the coordinates of the laser emitter in the spatial coordinate system, calculate the laser emission angle direction of the laser emitter based on the coordinates of the laser emitter and the expulsion path, obtain the scanning information and send it to the laser emitter.

5. The laser path planning method for repelling live foreign objects in a submarine cable terminal field according to claim 4, characterized in that, After obtaining the scanning information and sending it to the laser emitter, the process further includes: The shortest path through the expulsion path is calculated based on the expulsion path equation, and the shortest path is sent to the laser emitter.

6. A laser path planning device for repelling live foreign objects in submarine cable terminal fields, characterized in that, include: The background template creation module is used to acquire environmental images of the submarine cable terminal field and determine the background template based on the relatively static parts in each environmental image. Create a background template image and establish a spatial coordinate system based on the background template; The live foreign object image recognition module is used to acquire real-time images of the submarine cable terminal field and compare the background template image with each real-time image; it identifies real-time images containing live foreign objects and obtains live foreign object images. The expulsion path setting module is used to obtain the coordinates and frequency of live foreign objects appearing around the submarine cable terminal field in the live foreign object image; Based on the camera position and relative position information of objects in the image captured by the live foreign object, and combined with the camera calibration principle, the coordinates of the live foreign object in the spatial coordinate system are obtained. Coordinates where the number of times the live foreign object appears is greater than a preset threshold are selected to obtain expulsion coordinate points. These expulsion coordinate points are connected to obtain several connecting lines. The equations of the connecting lines in the spatial coordinate system are obtained to obtain the expulsion path, and the expulsion path is sent to the laser emitter. Specifically, selecting coordinates where the number of times the live foreign object appears is greater than the preset threshold to obtain expulsion coordinate points involves: selecting coordinates where the number of times the live foreign object appears is greater than the preset threshold to obtain foreign object activity coordinate points; obtaining the expulsion range of a preset expulsion mode; filtering foreign object activity coordinate points based on the expulsion range to obtain expulsion coordinate points; the preset expulsion modes include snake and rat expulsion modes and bird expulsion modes.

7. The laser path planning device for repelling live foreign objects in a submarine cable terminal field according to claim 6, characterized in that, It also includes a power supply module; The power supply module is used to control the solar panels and batteries to provide the energy required for the laser emitter to operate.

8. A laser path planning device for repelling live foreign objects in submarine cable terminal fields, characterized in that, The device includes a processor and a memory: The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the laser path planning method for repelling live foreign objects in submarine cable terminal fields according to any one of the instructions in the program code.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store program code for executing the laser path planning method for repelling live foreign objects in submarine cable terminal fields as described in any one of claims 1-5.

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