A warning method, system and controller for aircraft high-voltage line collision prevention

Abstract

The present invention relates to the field of aircraft safety technology, and in particular discloses an alarm method, system and controller for aircraft high-voltage line collision avoidance, the method comprising obtaining the center point coordinates of all high-voltage line towers in the target area to establish a high-voltage line tower database; establishing a high-voltage line database based on the longitude and latitude coordinates of all high-voltage line towers in the high-voltage line tower database; obtaining the coordinates of the real-time position of the aircraft, calculating the expected arrival time of the aircraft to the nearest high-voltage line segment at the current position, and triggering alarms in stages according to the expected arrival time. The present invention significantly enhances the aircraft's ability to accurately identify and avoid collisions with high-voltage lines during flight, effectively reduces the safety risks caused by collisions with high-voltage lines, and ensures the safety of aircraft and passengers.

Description

Technical Field

[0001] The present invention relates to the field of aircraft safety technology, and in particular to an alarm method, system and controller for preventing an aircraft from collision with a high-voltage line. Background Art

[0002] In the field of general aviation, high-voltage wires are important obstacles, and identifying and avoiding them is crucial to ensuring flight safety. In the prior art, there are significant technical barriers to preventing aircraft from colliding with high-voltage wires: First, the method of identifying high-voltage wires based on visible light is affected by complex backgrounds, and the false alarm rate is high, making it difficult to ensure the accuracy and precision of high-voltage wire identification, and thus unable to ensure the effective prevention of general aviation collision accidents. Second, although the radar-based high-voltage wire identification method can identify high-voltage wires to a certain extent, it is costly and not suitable for general aviation enterprises, limiting its widespread application. Third, there is currently no public high-voltage wire database, and general aviation enterprises cannot judge in advance whether there is a risk of high-voltage wires on the route, nor is there an early warning system for general aviation collisions, which makes pre-flight planning and monitoring during flight face great challenges. Therefore, the development of a low-cost, high-precision high-voltage wire identification and early warning system is of great significance to improving the safety of general aviation flights. Summary of the invention

[0003] The present invention aims to solve the technical problems in the prior art of low high-voltage line recognition accuracy and inability to effectively warn of air traffic line collision accidents, and provides an alarm method, system and controller for aircraft high-voltage line collision prevention.

[0004] In view of the above technical problems, an embodiment of the present invention provides an alarm method for preventing an aircraft from collision with a high-voltage line, comprising:

[0005] Obtaining the center point coordinates of all high-voltage towers in the target area, converting the center point coordinates of all the high-voltage towers into longitude and latitude coordinates, and entering the longitude and latitude coordinates into a high-voltage tower database;

[0006] Based on the longitude and latitude coordinates of all high-voltage towers in the high-voltage tower database, determine high-voltage line segments with equal intervals and the same direction, connect them to form high-voltage lines, and enter the high-voltage lines into the high-voltage line database;

[0007] The coordinates of the real-time position of the aircraft are obtained, the expected arrival time of the aircraft to the nearest high-voltage line segment at the current position is calculated, and alarms are triggered in stages according to the expected arrival time.

[0008] The present invention also provides an aircraft high-voltage line collision prevention warning system, comprising:

[0009] A high-voltage tower database construction module is used to obtain the center point coordinates of all high-voltage towers in the target area, convert the center point coordinates of all the high-voltage towers into longitude and latitude coordinates, and enter the longitude and latitude coordinates into the high-voltage tower database;

[0010] A high-voltage line database construction module is used to determine high-voltage line segments with equal intervals and the same direction based on the longitude and latitude coordinates of all high-voltage line towers in the high-voltage line tower database, connect them to form high-voltage lines, and enter the high-voltage lines into the high-voltage line database;

[0011] The alarm module is used to obtain the coordinates of the real-time position of the aircraft, calculate the expected arrival time of the aircraft to the nearest high-voltage line segment at the current position, and trigger alarms in stages according to the expected arrival time.

[0012] The present invention also provides a controller, comprising a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor, wherein the processor implements the above-mentioned aircraft high-voltage line collision avoidance warning method when executing the computer-readable instructions.

[0013] In the present invention, by integrating satellite image recognition technology, precise data management, efficient high-voltage line modeling and real-time graded warning, the aircraft's ability to accurately identify and avoid collisions with high-voltage lines during flight is significantly enhanced, effectively reducing the safety risks caused by collisions with high-voltage lines, and ensuring the safety of aircraft and passengers. This method not only relies on satellite images to accurately identify high-voltage line towers to build a low-cost, high-precision high-voltage line database, but also overcomes the limitations of traditional visible light recognition being susceptible to interference and radar recognition being expensive, providing an economical and reliable early warning solution for the general aviation field, effectively improving the level of general aviation safety. . BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0015] Figure 1 A schematic flow chart of an aircraft high-voltage line collision prevention warning method according to an embodiment of the present invention;

[0016] Figure 2 A schematic diagram of the structure of an aircraft high-voltage line collision prevention warning system according to an embodiment of the present invention;

[0017] Figure 3 A schematic diagram of a common edge of an entity recognition frame and a shadow recognition frame according to an embodiment of the present invention;

[0018] Figure 4 A schematic diagram of a high-voltage tower prediction process according to an embodiment of the present invention;

[0019] Figure 5 A schematic diagram of a high-voltage tower prediction process according to another embodiment of the present invention;

[0020] Figure 6 A schematic diagram of a high-voltage tower prediction process according to another embodiment of the present invention;

[0021] Figure 7 A schematic diagram of a process for predicting the distance from an aircraft to a high-voltage line according to an embodiment of the present invention;

[0022] Figure 8 A schematic diagram of a high-voltage line with the shortest distance from an aircraft to the aircraft according to an embodiment of the present invention;

[0023] Fig. 9 FIG. 4 is a schematic diagram of a controller in one embodiment of the present invention. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] In one embodiment, if Figure 1 As shown, a method for warning against collision of an aerial device with a high-voltage line is provided, comprising the following steps S10-S30:

[0026] S10. Obtain the center point coordinates of all high-voltage towers in the target area, convert the center point coordinates of all the high-voltage towers into longitude and latitude coordinates, and enter the longitude and latitude coordinates into the high-voltage tower database; in this embodiment, by obtaining the center point coordinates of all high-voltage towers in the target area and converting them into longitude and latitude coordinates, and entering them into the high-voltage tower database, accurate digital management of the positions of high-voltage towers can be achieved, and unified processing and storage of high-voltage tower-related data can be achieved, ensuring high-precision positioning of the positions of high-voltage towers, improving the precision and accuracy of high-voltage line identification, and reducing false alarms and missed alarms.

[0027] S20, based on the longitude and latitude coordinates of all high-voltage towers in the high-voltage tower database, determine the high-voltage line segments with equal intervals and the same direction and connect them to form a high-voltage line, and enter the high-voltage line into the high-voltage line database; in this embodiment, based on the longitude and latitude coordinates of all high-voltage towers in the high-voltage tower database, using the characteristics that the high-voltage towers on the same high-voltage line are arranged in equal intervals and the same direction, determine the high-voltage line segments with equal intervals and the same direction and connect them to form a high-voltage line, effectively simulate the direction of the high-voltage line, and provide accurate high-voltage line location information for the flight of the aircraft. At the same time, the aircraft flight management system can more intuitively understand the layout of the high-voltage line, providing a clear reference framework for subsequent collision warnings.

[0028] S30. Obtain the coordinates of the real-time position of the aircraft, calculate the expected arrival time of the aircraft to the nearest high-voltage line segment at the current position, and trigger the alarm in a graded manner according to the expected arrival time. In this embodiment, by obtaining the real-time position of the aircraft in real time, calculating the distance from the aircraft to the nearest high-voltage line, and then obtaining the expected arrival time, a graded alarm is issued according to the expected arrival time. The real-time warning can quickly respond to the dynamic changes of the aircraft, ensuring that a warning can be issued in time before the potential collision risk occurs, thereby giving the pilot enough time to make a response decision. At the same time, the graded alarm makes the alarm information more targeted, and the pilot can take different response measures according to the urgency of the risk, thereby improving the efficiency and accuracy of the alarm.

[0029] In the present invention, by integrating satellite image recognition technology, precise data management, efficient high-voltage line modeling and real-time graded warning, the aircraft's ability to accurately identify and avoid collisions with high-voltage lines during flight is significantly enhanced, effectively reducing the safety risks caused by collisions with high-voltage lines, and ensuring the safety of aircraft and passengers. This method not only relies on satellite images to accurately identify high-voltage line towers to build a low-cost, high-precision high-voltage line database, but also overcomes the limitations of traditional visible light recognition being susceptible to interference and radar recognition being expensive, providing an economical and reliable early warning solution for the general aviation field, and effectively promoting the process of aviation intelligence.

[0030] In one embodiment, if Figure 1 As shown, step S10 includes the following steps:

[0031] S101, collect multi-angle photos of high-voltage line towers in the target area, mark entities and shadows based on the multi-angle photos as training samples, use the deep learning model to train the training samples and establish a high-voltage line tower recognition model; understandably, the target area is divided into 50km*50km grids, satellite image tiles are downloaded based on the divided grids, and converted into picture formats, so that image data covering the entire target area can be efficiently obtained. These image data provide rich background information for subsequent high-voltage line tower recognition, including terrain, landforms, vegetation coverage, etc. Then, collect multi-angle photos such as aerial photos, satellite images, and ground photos of high-voltage line towers, accurately mark them based on the multi-angle photos, and distinguish the entities and shadow parts of the high-voltage line towers as training samples. The deep learning model will master the characteristics of the high-voltage line tower by learning the training samples. The deep learning model can be selected according to needs, for example, YOLOv5 or YOLACT is selected to train the high-voltage line tower recognition model. During the training process, the deep learning model will learn the characteristics of the high-voltage line tower and continuously optimize its parameters to improve the recognition ability. The recognition accuracy of the model for the high-voltage line tower will gradually improve.

[0032] S102, extracting entities and shadows of all high-voltage towers based on the high-voltage tower recognition model, and identifying entity recognition frames and shadow recognition frames belonging to the same high-voltage tower, and confirming whether the corresponding entities and shadows have common edges based on the entity recognition frames and the shadow recognition frames; understandably, to extract entities and shadows of all high-voltage towers from the high-voltage tower recognition model, the segmentation model (MaskR-CNN) of the prior art or a special shadow detection algorithm can be used to respectively identify entity recognition frames corresponding to the entities and shadow recognition frames corresponding to the shadows, and then match the entity recognition frames and shadow recognition frames belonging to the same high-voltage tower, and then confirm whether there are common edges between them; normally, the entity recognition frames and shadow recognition frames of the same high-voltage tower have common edges, and when there is no shadow or there are other obstructions in the boundary area between the entity and the shadow, there is no common edge. By comparing the geometric features and positional relationships of entities and shadows, it is possible to more accurately determine which entities and shadows belong to the same high-voltage tower. This precise matching reduces the possibility of misidentification and missed identification. Confirming whether there are common edges between entities and shadows can further verify the accuracy of the match. The existence of common edges is an important sign that the entity and shadow are closely related, which helps to eliminate erroneous matching results.

[0033] In a specific embodiment, if Figure 3 As shown, the step S102 further includes the following steps:

[0034] S1021. Extract the center point coordinates of the entity recognition frames of all high-voltage towers from the high-voltage tower recognition model to form a first center coordinate set, and extract the center point coordinates of the shadow recognition frames of all high-voltage towers from the high-voltage tower recognition model to form a second center coordinate set.

[0035] S1022, randomly select the center point coordinates (x ci ,y ci ), calculate the center point of the current entity recognition box and each point (x′) in the second center coordinate set cj , y′ cj )’s Euclidean distance f i Construct the first distance set and find the minimum distance f in the first distance set min The corresponding shadow recognition frame determines the current minimum distance f min The corresponding shadow recognition frame and the current entity recognition frame belong to the entity and shadow of the same high-voltage line tower; the minimum distance d in the Euclidean distance min The calculation expression is:

[0036]

[0037] It can be understood that by calculating the Euclidean distance from the center point of the first entity identification frame in the first center coordinate set to the center point of each shadow identification frame in the second center coordinate set, and forming a first distance set, the shadow identification frame corresponding to the minimum Euclidean distance in the first distance set is taken, and it is confirmed that the shadow identification frame and the first entity identification frame are the entity and shadow of the same high-voltage tower.

[0038] S1023, traverse the center points of the remaining entity recognition frames in the first center coordinate set, repeat step S1022 for the center point of each remaining entity recognition frame, until all the center points of the entity recognition frames in the first center coordinate set are traversed, and the shadows of all entity matching are identified. When multiple entities match the same shadow, retain the pair with the smallest Euclidean distance. Understandably, the Euclidean distance from the center point of the second entity recognition frame in the first center coordinate set to the center point of each shadow recognition frame in the second center coordinate set is calculated, and the shadow recognition frame corresponding to the smallest Euclidean distance is taken to confirm that the shadow recognition frame and the second entity recognition frame are the entity and shadow of the same high-voltage line tower, and so on, traverse the center points of the remaining entity recognition frames until the shadow recognition frame matched by all the entity recognition frames in the first center coordinate set is found. When multiple entities match the same shadow, retain the pair with the smallest Euclidean distance to ensure the accuracy of the match. Through the above traversal process, it can be ensured that each entity can accurately match its corresponding shadow, avoiding repeated matching.

[0039] S1024. Before determining whether the entity and the shadow belonging to the same high-voltage line tower have a common edge, extract the coordinates of the four corner points of the entity recognition frame of the current high-voltage line tower (x1, y1, x2, y2, x3, y3, x4, y4) and the coordinates of the four corner points of the shadow recognition frame of the current high-voltage line tower (x′1, y′1, x′2, y′2, x′3, y′3, x′4, y′4) from the high-voltage line tower recognition model. For multiple edges of the entity recognition frame and multiple edges of the shadow recognition frame, identify all parallel edges of the entity recognition frame and the shadow recognition frame according to the angle calculation model. The mathematical expression of the angle calculation model is:

[0040]

[0041] Then, a group of real edges and shadow edges that overlap in the parallel edges are determined according to the overlapping model; the mathematical expression of the overlapping model is:

[0042]

[0043] After confirming that the real edge and the shadow edge overlap, a common portion of the real edge and the shadow edge is used as a common edge.

[0044] Understandably, the four corner point coordinates of the entity recognition frame and the current shadow recognition frame of the current high-voltage tower are extracted from the high-voltage tower recognition model. In fact, among all the actual shapes outlined according to the appearance of the high-voltage tower, the entity recognition frame and the shadow recognition frame can have a variety of shapes. For the convenience of display, Figure 3 After identifying the entities and shadows that match each other and belong to the same high-voltage line tower in step S1023, identify the common edges of the current entity recognition frame A1A2A3A4 and the shadow recognition frame B1B2B3B4; specifically, first start with one of the line segments in the entity recognition frame A1A2A3A4, calculate the angle between the current line segment and each line segment of the shadow recognition frame B1B2B3B4 through the angle calculation model, and when the calculated angle is, for example, 0° or 180°, determine that the current line segment in the entity recognition frame is parallel to the line segment of the shadow recognition frame corresponding to the angle 0° or 180°, so that Figure 3 For example, through the angle calculation model, it can be identified that A1A3, A2A4 are parallel to B1B3, B2B4, and A1A2, A3A4 are parallel to B1B2, B3B4.

[0045] Then determine whether the above parallel edges overlap based on the overlapping model. When it is confirmed that A3A4 and B1B2 overlap, determine the common part of A3A4 and B1B2 as the common edge.

[0046] Furthermore, it is also possible to determine whether the distance between A3 and B1 is smaller than the distance between A3 and A1. If the distance between A3 and B1 is smaller than the distance between A3 and A1, it can be further determined that there is a common edge; otherwise, there is no common edge.

[0047] S103, when it is confirmed that the entity and the shadow belonging to the same high-voltage line tower have a common edge, the edge shared by the entity identification frame and the common edge is taken as the first associated edge, the edge shared by the shadow identification frame and the common edge is taken as the second associated edge, and the midpoint of the first associated edge and the second associated edge is taken as the center point of the current high-voltage line tower; understandably, if Figure 3 As shown, the first associated edge A3A4 is an edge shared by the entity recognition box and the common edge, and the second associated edge B1B2 is an edge shared by the shadow recognition box and the common edge. The midpoint of the first associated edge A3A4 and the second associated edge B1B2 is taken as the center point of the current high-voltage line tower, and its calculation expression is:

[0048]

[0049] S104. When it is confirmed that the entity and the shadow belonging to the same high-voltage line tower do not have a common edge, the center point of the entity recognition frame of the current high-voltage line tower is taken as the center point of the current high-voltage line tower. It can be understood that if the entity and the shadow of the same high-voltage line tower do not have a common edge, the center point coordinate (x ci ,y ci ) is the center point of the current high-voltage tower:

[0050] x 高 =x ci ,

[0051] S105. Repeat steps S102-S104 to obtain the center points of all high-voltage towers, convert the center point coordinates of all high-voltage towers into longitude and latitude coordinates (lat, lon) of the WGS84 coordinate system, and enter all the longitude and latitude coordinates (lat, lon) into the high-voltage tower database. Understandably, according to the method of steps S102-S104, the entity recognition frames of all high-voltage towers and their matching shadow recognition frames are confirmed to have common edges according to the above steps, and the center point coordinates of all high-voltage towers are determined; then the center point coordinates of all high-voltage towers are converted into longitude and latitude coordinates (lat, lon) of the WGS84 coordinate system, and entered into the high-voltage tower database. Specifically:

[0052]

[0053] Among them, R=6378137m.

[0054] In one embodiment, if Figures 4 to 6As shown, in step S20, based on the longitude and latitude coordinates of all high-voltage towers in the high-voltage tower database, determining high-voltage line segments with equal intervals and the same direction includes the following steps:

[0055] S201, extracting the longitude and latitude coordinates (lat0, lon0) of a high-voltage line tower located in the northeast, southeast, southwest or northwest direction in the WGS84 coordinate system from the high-voltage line database, calculating the distance between the high-voltage line tower (lat0, lon0) and other high-voltage line towers and arranging them in ascending order to form a first distance set (d min , d0, d1, d2, d3, ...), define the minimum distance d min The corresponding latitude and longitude coordinates of the high-voltage tower (lat1, lon1); understandably, Figure 4 As shown, the most southeast high-voltage line tower (lat0, lon0) is extracted from the high-voltage line database, and the distance from (lat0, lon0) to all the remaining high-voltage line towers is calculated, and the distances are arranged in ascending order to form the first distance set. The minimum distance d in the first distance set is taken. min The corresponding high-voltage tower (lat1, lon1).

[0056] S202, calculate the distance d and the azimuth θ between the high-voltage tower (lat0, lon0) and the high-voltage tower (lat1, lon1), and the mathematical expression is:

[0057]

[0058] in R=6378137m.

[0059] It can be understood that the distance d and the azimuth θ between the high-voltage tower (lat0, lon0) and the high-voltage tower (lat1, lon1) are calculated by formula (4) and formula (5), and the distance d and the azimuth θ are used as the standard for subsequent calculations.

[0060] S203, taking the high-voltage tower (lat1, lon1) as a new starting point, and taking the distance d and the azimuth θ between the high-voltage tower (lat0, lon0) and the high-voltage tower (lat1, lon1) as a standard, predicting the high-voltage tower (lat2, lon2), the coordinate calculation expression of the high-voltage tower (lat2, lon2) is:

[0061]

[0062] It can be understood that, taking the distance d and azimuth θ calculated in step S202 as the standard and the high-voltage tower (lat1, lon1) as the new starting point, the position (lat2, lon2) of the next high-voltage tower of the high-voltage tower (lat1, lon1) is predicted. Specifically, the position of the high-voltage tower (lat2, lon2) is taken as the place which is at a distance d and in a direction θ from the high-voltage tower (lat1, lon1).

[0063] S204, determine whether the high-voltage tower (lat2, lon2) is credible, calculate the distances between the high-voltage towers other than the high-voltage tower (lat0, lon0) and the high-voltage tower (lat1, lon1) and arrange them in ascending order to form a second distance set (d′ min , d′0, d′1, d′2, d′3, ....), find the minimum distance d′ min Corresponding high-voltage tower (lat′2, lon′2); Understandably, the high-voltage tower (lat2, lon2) preliminarily determined in step S203 needs to determine the credibility of its position, specifically, taking the high-voltage tower (lat1, lon1) as the target, excluding the high-voltage tower (lat0, lon0), calculating the distance from the remaining high-voltage tower to the high-voltage tower (lat1, lon1), arranging these distances in ascending order to form a second distance set, and finding the minimum distance d′ in the second distance set. min The corresponding high-voltage line tower (lat′2, lon′2), and then determine the credibility of the high-voltage line tower (lat2, lon2) according to the position difference between the high-voltage line tower (lat2, lon2) and the high-voltage line tower (lat′2, lon′2).

[0064] S205. When the distance between the high-voltage tower (lat2, lon2) and the high-voltage tower (lat′2, lon′2) is less than a preset distance threshold, the high-voltage tower (lat2, lon2) is credible, and (lat′2, lon′2) is assigned to (lat2, lon2). Then, the high-voltage tower (lat′2, lon′2), the high-voltage tower (lat1, lon1) and the high-voltage tower (lat0, lon0) are determined to be points on the same high-voltage line at equal intervals and in the same direction; the preset distance threshold is Understandably, if Figure 4 As shown, the preset distance threshold can be set as needed, and the preset distance threshold can be 0, In this embodiment, the preset distance threshold is At this time, d is the distance between the high-voltage tower (lat0, lon0) and the high-voltage tower (lat1, lon1), that is, d min ; Calculate the distance between the high-voltage tower (lat2, lon2) and the high-voltage tower (lat′2, lon′2). If the distance between them is less than The high-voltage tower (lat2, lon2) is judged to be a credible point, and (lat′2, lon′2) is assigned to (lat2, lon2). That is, the actual high-voltage tower (lat′2, lon′2) is used as the coordinate value of the credible point. In this way, the high-voltage tower (lat′2, lon′2), the high-voltage tower (lat1, lon1) and the high-voltage tower (lat0, lon0) can be connected to form the same high-voltage line.

[0065] Next, the high-voltage tower (lat2, lon2) is used as another new starting point. The new starting point is Figure 4 The actual high-voltage tower (lat′2, lon′2) in the prediction of the position (lat3, lon3) of the next high-voltage tower (lat2, lon2). Specifically, using the assigned (lat2, lon2) ( Figure 4 The distance d′ direction θ′ calculated between the high-voltage tower (lat′2, lon′2) and the original (lat1, lon1) is used as the next calculation standard to calculate the predicted high-voltage tower (lat3, lon3).

[0066] Determine whether the predicted high-voltage line tower (lat3, lon3) is credible, that is, among the high-voltage line towers other than the high-voltage line tower (lat0, lon0) and the high-voltage line tower (lat1, lon1), calculate their Figure 4 The distances between the high-voltage towers (lat′2, lon′2) shown in the figure are arranged in ascending order, and the high-voltage tower corresponding to the smallest distance is taken as the high-voltage tower (lat′3, lon′3); if the distance between the high-voltage tower (lat3, lon3) and the high-voltage tower (lat′3, lon′3) is less than Then the high-voltage line tower (lat3, lon3) is judged as a credible point, and (lat′3, lon′3) is assigned to (lat3, lon3), that is, the actual high-voltage line tower (lat′3, lon′3) is used as the coordinate value of the credible point. In this way, the high-voltage line tower (lat′3, lon′3), the high-voltage line tower (lat2, lon2), the high-voltage line tower (lat1, lon1) and the high-voltage line tower (lat0, lon0) can be connected to form the same high-voltage line. If the high-voltage line tower (lat3, lon3) is not credible, the high-voltage line tower corresponding to the second distance in the distance set arranged in ascending order in this section of the calculation program is used as the new high-voltage line tower (lat′3, lon′3); then the distance between the new high-voltage line tower (lat′3, lon′3) and the high-voltage line tower (lat3, lon3) is recalculated until a credible point is found or the distance in the distance set is traversed to a value greater than 2d and stops.

[0067] S206, when the high-voltage tower (lat2, lon2) is not credible, the high-voltage tower corresponding to d′0 in the second distance set is used as a new high-voltage tower (lat′2, lon′2), and step S205 is repeated until a credible point is found or d′ is traversed. i >2d,d′ i is one of the second distance set; understandably, if Figure 5 As shown, if in step S205, the high-voltage tower (lat2, lon2) is not credible, then the position with a distance d′0 from the high-voltage tower (lat1, lon1) is calculated as a new high-voltage tower (lat′2, lon′2) based on d′0 in the second distance set, and then S205 is repeated to determine whether the high-voltage tower (lat2, lon2) is credible; the above process is repeated until a credible point is found or d′ is traversed. i >2d,d′ i is one of the ones in the second distance set.

[0068] S207: After step S206, if no credible point is found, the next distance d0 in the first distance set is selected, and steps S201-S206 are repeated until a credible point is found or d i >2d min , d i is one of the first distance sets. Understandably, if Figure 6 As shown, if no credible point is found after step S206, the distance d0 ranked second in the first distance set is selected, and the position with a distance d0 from the high-voltage tower (lat0, lon0) is a new high-voltage tower (lat1, lon1); steps S201-S206 are repeated until a credible point is found or d is traversed. i >2d min , d i is one of the ones in the first distance set.

[0069] In one embodiment, if Figures 4 to 6 As shown, after step S207, the following further includes:

[0070] The high-voltage line towers corresponding to the credible points with the same distance d and orientation θ are connected to form a high-voltage line. There are multiple high-voltage lines, and the multiple high-voltage lines are entered into the high-voltage line database. Understandably, if no credible point is found after traversing all the remaining points, the high-voltage line tower (lat0, lon0) is marked as a single point, and the new starting point of the next cycle calculation is the point closest to the high-voltage line tower (lat0, lon0), and steps S201-S207 are repeated. Among them, the distance d and the orientation θ are also a data set with the possibility of multiple numerical ranges. The high-voltage line towers corresponding to the credible points with the same distance d and orientation θ are connected to form a high-voltage line, and multiple high-voltage lines will be obtained in the end.

[0071] In one embodiment, if Figure 7 As shown, the step S30 includes:

[0072] S301. Obtain the real-time position (lat, lon) of the aircraft, and screen all high-voltage towers within a preset range in the high-voltage line database with the real-time position (lat, lon) of the aircraft as the center; it is understandable that the preset range can be set according to the calculation speed, real-time requirements or dynamic adjustment requirements, and the preset range can be 1° or 2° outward from the real-time position (lat, lon) of the aircraft.

[0073] S302, calculate the distances between the aircraft and all high-voltage towers within a preset range and arrange them in ascending order to form a third distance set (L min , L0, L1, L2, L3,.......), with the closest distance L min The position of the high-voltage line tower is the first point, and the second point and the third point adjacent to the first point are found. The first line segment is formed between the first point and the second point, and the second line segment is formed between the first point and the third point. The distance from the aircraft to the first line segment and the second line segment is calculated to complete the first calculation of the distance from the aircraft to the high-voltage line. It can be understood that, if Figure 7 As shown, the real-time position (lat, lon) of the aircraft is taken as the core point, and the distances between all high-voltage towers and the aircraft within the preset range are calculated and arranged in ascending order to form a third distance set, with the closest distance L min The position of the high-voltage line tower is the first point S1, and the second point S2 and the third point S3 adjacent to the first point S1 are found, and the distances from the aircraft (lat, lon) to the high-voltage line segment S1S2 and the high-voltage line segment S1S3 are calculated respectively.

[0074] S303, taking the high-voltage line tower at distance L0 as the starting point for the second calculation, repeat step S302 until the distances from the aircraft to all high-voltage line segments are calculated, and the distances are arranged in ascending order to form a fourth distance set (D min , D0, D1, D2, D3, .......); understandably, as Figure 7As shown, find the adjacent high-voltage line towers whose distance from the aircraft is L0, repeat step S302, and calculate the distance from the aircraft to the current high-voltage line segment. min , L0, L1, L2, L3,.......), until all distances are calculated and arranged in ascending order to form the fourth distance set.

[0075] In one embodiment, if Figure 8 As shown, the calculation expression of the distance Di in the fourth distance set in step S303 is:

[0076]

[0077] in, P represents the real-time position of the aircraft, A represents the position of the high-voltage line tower corresponding to any distance in the fourth distance set, and B represents the position of the high-voltage line tower adjacent to A and on the same high-voltage line. Figure 8 As shown, AB is any distance D in the fourth distance set i The high-voltage line segment formed by the two corresponding high-voltage line towers is Figure 7 In the example, AB can be line segment S1S2 or line segment S1S3, and PC is the distance D. i .

[0078] S304, according to the minimum distance D in the fourth distance set min , calculate the minimum distance D from the aircraft min The corresponding high-voltage line expected time t; understandably, take the minimum distance D in the fourth distance set min , calculate the minimum distance D from the aircraft min The corresponding high-voltage line is expected to arrive at a time t, and an anti-collision warning is performed based on the expected arrival time t.

[0079] In one embodiment, if Figures 7 and 8 As shown, in step S304, the aircraft is at the minimum distance D min The corresponding calculation expression of the expected arrival time t of the high-voltage line is:

[0080] Calculate the real-time position (lat, lon) of the aircraft to the minimum distance D min The corresponding bearing of high-voltage line:

[0081] bearing=90°-β (8)

[0082] Where, β is the angle between AP and AB;

[0083] According to the aircraft's heading, ground speed Gs, bearing, drift angle Drift and minimum distance D minCalculate the expected arrival time t, the calculation expression is:

[0084]

[0085] S305, if the aircraft's flight altitude is lower than 35 meters, and the predicted arrival time t is less than 20 seconds, a warning level alarm is triggered;

[0086] If the aircraft's flight altitude is lower than 35 meters and the predicted arrival time 20s≤t≤40s, a warning-level alarm is triggered.

[0087] In one embodiment, if Figure 1 As shown, a warning system for preventing aircraft from colliding with high-voltage wires is provided, and the warning system for preventing aircraft from colliding with high-voltage wires corresponds one-to-one with the warning method for preventing aircraft from colliding with high-voltage wires in the above-mentioned embodiment. Figure 2 As shown, the warning system for aircraft to avoid collision with high-voltage wires includes:

[0088] The high-voltage tower database construction module 100 is used to obtain the center point coordinates of all high-voltage towers in the target area, convert the center point coordinates of all the high-voltage towers into longitude and latitude coordinates, and enter the longitude and latitude coordinates into the high-voltage tower database;

[0089] A high-voltage line database construction module 200 is used to determine high-voltage line segments with equal intervals and the same direction based on the longitude and latitude coordinates of all high-voltage line towers in the high-voltage line tower database, connect them to form high-voltage lines, and enter the high-voltage lines into the high-voltage line database;

[0090] The alarm module 300 is used to obtain the coordinates of the real-time position of the aircraft, calculate the expected arrival time of the aircraft to the nearest high-voltage line segment at the current position, and trigger alarms in stages according to the expected arrival time.

[0091] In the above-mentioned embodiment of the present invention, the aircraft anti-collision high-voltage wire warning system significantly enhances the aircraft's ability to accurately identify and avoid collisions with high-voltage wires during flight by integrating satellite image recognition technology, precise data management, efficient high-voltage wire modeling, and real-time graded warnings, effectively reducing the safety risks caused by collisions with high-voltage wires and ensuring the safety of aircraft and passengers. This method not only relies on satellite images to accurately identify high-voltage wire towers to build a low-cost, high-precision high-voltage wire database, but also overcomes the limitations of traditional visible light recognition being susceptible to interference and radar recognition being expensive, providing an economical and reliable early warning solution for the general aviation field, and effectively promoting the process of aviation intelligence.

[0092] The specific definition of the warning system for aircraft collision avoidance of high-voltage wires can be found in the definition of the warning method for aircraft collision avoidance of high-voltage wires above, which will not be repeated here. Each module in the above-mentioned warning system for aircraft collision avoidance of high-voltage wires can be implemented in whole or in part through software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above-mentioned modules.

[0093] In one embodiment, a controller is provided, comprising a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor, wherein the processor implements the above-mentioned warning method for aircraft high-voltage line collision avoidance when executing the computer-readable instructions. Fig. 9 As shown, the controller includes a processor, a memory, a network interface and a database connected by a system bus. Among them, the processor of the controller is used to provide computing and control capabilities. The memory includes a readable storage medium and an internal memory. The readable storage medium stores an operating system, computer-readable instructions and a database. The internal memory provides an environment for the operation of the operating system and computer-readable instructions in the readable storage medium. When the computer-readable instructions are executed by the processor, a warning method for aircraft to avoid collision with high-voltage wires is implemented. The readable storage medium provided in this embodiment includes a non-volatile readable storage medium and a volatile readable storage medium.

[0094] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. An aircraft high-voltage line collision warning method, characterized in that: include: S10, obtaining the center point coordinates of all high-voltage towers in the target area, converting the center point coordinates of all the high-voltage towers into longitude and latitude coordinates, and entering the longitude and latitude coordinates into a high-voltage tower database; the method comprises: S101, collecting multi-angle photos of high-voltage towers in the target area, marking entities and shadows based on the multi-angle photos as training samples, using a deep learning model to train the training samples and establish a high-voltage tower recognition model; S102, extracting entities and shadows of all high-voltage towers based on the high-voltage tower recognition model, and identifying entity recognition frames and shadow recognition frames belonging to the same high-voltage tower, and confirming whether corresponding entities and shadows have common edges based on the entity recognition frames and the shadow recognition frames; S103, when it is confirmed that the entity and the shadow belonging to the same high-voltage line tower have a common edge, the edge shared by the entity identification frame and the common edge is used as the first associated edge, the edge shared by the shadow identification frame and the common edge is used as the second associated edge, and the midpoint of the first associated edge and the second associated edge is taken as the center point of the current high-voltage line tower; S104, when it is confirmed that the entity and the shadow belonging to the same high-voltage line tower do not have a common edge, taking the center point of the entity recognition frame of the current high-voltage line tower as the center point of the current high-voltage line tower; S105, repeating steps S102-S104, obtaining the center points of all high-voltage towers, converting the center point coordinates of all high-voltage towers into longitude and latitude coordinates (lat, lon) of the WGS84 coordinate system, and entering all the longitude and latitude coordinates (lat, lon) into the high-voltage tower database; S20, based on the longitude and latitude coordinates of all high-voltage towers in the high-voltage tower database, determine the high-voltage line segments with equal intervals and the same direction and connect them to form a high-voltage line, and enter the high-voltage line into the high-voltage line database; the method includes: S201, extracting the longitude and latitude coordinates (lat0, lon0) of the WGS84 coordinate system of a high-voltage tower located in the northeast, southeast, southwest or northwest direction from the high-voltage line database, calculating the distance between the high-voltage tower (lat0, lon0) and other high-voltage towers and arranging them in ascending order to form a first distance set (d min , d0, d1, d2, d3, ...), define the minimum distance d min The corresponding longitude and latitude coordinates of the high-voltage tower (lat1, lon1); S202, calculate the distance d and the azimuth θ between the high-voltage tower (lat0, lon0) and the high-voltage tower (lat1, lon1), and the mathematical expression is: in R = 6378137m; S203, taking the high-voltage tower (lat1, lon1) as a new starting point, and taking the distance d and the azimuth θ between the high-voltage tower (lat0, lon0) and the high-voltage tower (lat1, lon1) as a standard, predicting the high-voltage tower (lat2, lon2), the coordinate calculation expression of the high-voltage tower (lat2, lon2) is: S204, determine whether the high-voltage tower (lat2, lon2) is credible, calculate the distances between the high-voltage towers other than the high-voltage tower (lat0, lon0) and the high-voltage tower (lat1, lon1) and arrange them in ascending order to form a second distance set (d′ min , d′0, d′1, d′2, d′3, ....), find the minimum distance d min Corresponding high-voltage line tower (lat′2, lon′2); S205. When the distance between the high-voltage tower (lat2, lon2) and the high-voltage tower (lat′2, lon′2) is less than a preset distance threshold, the high-voltage tower (lat2, lon2) is credible, and (lat′2, lon′2) is assigned to (lat2, lon2). Then, the high-voltage tower (lat′2, lon′2), the high-voltage tower (lat1, lon1) and the high-voltage tower (lat0, lon0) are determined to be points on the same high-voltage line at equal intervals and in the same direction; the preset distance threshold is Use (lat′2, lon′2) and the original (lat1, lon1) to calculate the new distance d′ and orientation θ′ for the subsequent determination of (lat3, lon3); S206, when the high-voltage tower (lat2, lon2) is not credible, the high-voltage tower corresponding to d′0 in the second distance set is used as a new high-voltage tower (lat′2, lon′2), and step S205 is repeated until a credible point is found or d′ is traversed. i >2d,d′ i is one of the second distance set; S207: After step S206, if no credible point is found, the next distance d0 in the first distance set is selected, and steps S201-S206 are repeated until a credible point is found or d i >2d min , d i is one of the first distance sets; Connecting high-voltage line towers corresponding to credible points with the same distance d and orientation θ to form a high-voltage line, wherein there are multiple high-voltage lines, and entering the multiple high-voltage lines into a high-voltage line database; S30, obtaining the coordinates of the real-time position of the aircraft, calculating the expected arrival time of the aircraft to the nearest high-voltage line segment at the current position, and triggering alarms in stages according to the expected arrival time; the method comprises: S301, obtaining the real-time position (lat, lon) of the aircraft, and screening all high-voltage line towers within a preset range in the high-voltage line database with the real-time position (lat, lon) of the aircraft as the center; S302, calculate the distances between the aircraft and all high-voltage towers within a preset range and arrange them in ascending order to form a third distance set (L min , L0, L1, L2, L3, .......), with the closest distance L min The position of the high-voltage line tower is the first point, and the second point and the third point adjacent to the first point are found. The first point and the second point form a first line segment, and the first point and the third point form a second line segment. The distance from the aircraft to the first line segment and the second line segment is calculated, and the first calculation of the distance from the aircraft to the high-voltage line is completed; S303, taking the high-voltage line tower at distance L0 as the starting point for the second calculation, repeat step S302 until the distances from the aircraft to all high-voltage line segments are calculated, and the distances are arranged in ascending order to form a fourth distance set (D min ,D0,D1,D2,D3,......); S304, according to the minimum distance D in the fourth distance set min , calculate the minimum distance D from the aircraft min The expected arrival time t of the corresponding high-voltage line; S305. If the aircraft's flight altitude is lower than 35 meters and the expected arrival time t<20s, a warning-level alarm is triggered; if the aircraft's flight altitude is lower than 35 meters and the expected arrival time 20s≤t≤40s, a warning-level alarm is triggered.

2. The warning method for aircraft high-voltage line collision prevention according to claim 1, characterized in that: The step S102 includes: S1021, extracting the center point coordinates of the entity recognition frames of all high-voltage towers from the high-voltage tower recognition model to form a first center coordinate set, and extracting the center point coordinates of the shadow recognition frames of all high-voltage towers from the high-voltage tower recognition model to form a second center coordinate set; S1022, randomly select the center point coordinates (x ci y ci ), calculate the center point of the current entity recognition box and each point (x′) in the second center coordinate set cj , y′ cj )’s Euclidean distance f i Construct the first distance set and find the minimum distance f in the first distance set min The corresponding shadow recognition frame determines the current minimum distance f min The corresponding shadow recognition frame and the current entity recognition frame belong to the entity and shadow of the same high-voltage line tower; the minimum distance d in the Euclidean distance min The calculation expression is: S1023, traversing the center points of the remaining entity recognition frames in the first center coordinate set, repeating step S1022 for each remaining center point of the entity recognition frame, until all center points of the entity recognition frames in the first center coordinate set have been traversed, and all shadows matched by the entities have been identified, and when multiple entities match the same shadow, retaining the pair with the smallest Euclidean distance; S1024. Before determining whether the entity and the shadow belonging to the same high-voltage line tower have a common edge, extract the coordinates of the four corner points of the entity recognition frame of the current high-voltage line tower (x1, y1, x2, y2, x3, y3, x4, y4) and the coordinates of the four corner points of the shadow recognition frame of the current high-voltage line tower (x′1, y′1, x′2, y′2, x′3, y′3, x′4, y′4) from the high-voltage line tower recognition model. For multiple edges of the entity recognition frame and multiple edges of the shadow recognition frame, identify all parallel edges of the entity recognition frame and the shadow recognition frame according to the angle calculation model. The mathematical expression of the angle calculation model is: Then, a group of real edges and negative edges overlapping in the parallel edges are determined according to the overlapping model; the mathematical expression of the overlapping model is: When it is confirmed that the real edge and the shadow edge overlap, a common portion of the real edge and the shadow edge is taken as a common edge.

3. The warning method for aircraft high-voltage line collision prevention according to claim 1, characterized in that: The calculation expression of the distance D in the fourth distance set in step S303 is: in, P represents the real-time position of the aircraft, A represents the position of a high-voltage tower corresponding to any distance in the fourth distance set, and B represents the position of a high-voltage tower adjacent to A and on the same high-voltage line.

4. The warning method for aircraft high-voltage line collision prevention according to claim 3 is characterized in that: In step S304, the aircraft is at the minimum distance D min The corresponding calculation expression of the expected arrival time t of the high-voltage line is: Calculate the real-time position (lat, lon) of the aircraft to the minimum distance D min The corresponding bearing of high-voltage line: bearing=90°-β (8) Where, β is the angle between AP and AB; According to the aircraft's heading, ground speed Gs, bearing, drift angle Drift and minimum distance D min Calculate the expected arrival time t, the calculation expression is:

5. An aircraft collision warning system for high-voltage wires, characterized in that: include: A high-voltage tower database construction module is used to obtain the center point coordinates of all high-voltage towers in the target area, convert the center point coordinates of all the high-voltage towers into longitude and latitude coordinates, and enter the longitude and latitude coordinates into the high-voltage tower database; including the following steps: S101, collecting multi-angle photos of high-voltage towers in the target area, marking entities and shadows based on the multi-angle photos as training samples, using a deep learning model to train the training samples and establish a high-voltage tower recognition model; S102, extracting entities and shadows of all high-voltage towers based on the high-voltage tower recognition model, and identifying entity recognition frames and shadow recognition frames belonging to the same high-voltage tower, and confirming whether corresponding entities and shadows have common edges based on the entity recognition frames and the shadow recognition frames; S103, when it is confirmed that the entity and the shadow belonging to the same high-voltage line tower have a common edge, the edge shared by the entity identification frame and the common edge is used as the first associated edge, the edge shared by the shadow identification frame and the common edge is used as the second associated edge, and the midpoint of the first associated edge and the second associated edge is taken as the center point of the current high-voltage line tower; S104, when it is confirmed that the entity and the shadow belonging to the same high-voltage line tower do not have a common edge, taking the center point of the entity recognition frame of the current high-voltage line tower as the center point of the current high-voltage line tower; S105, repeat steps S102-S104, obtain the center points of all high-voltage towers, convert the center point coordinates of all high-voltage towers into longitude and latitude coordinates (lat, lon) of the WGS84 coordinate system, and enter all the longitude and latitude coordinates (lat, lon) into the high-voltage tower database A high-voltage line database construction module is used to determine high-voltage line segments with equal intervals and the same direction based on the longitude and latitude coordinates of all high-voltage line towers in the high-voltage line tower database, connect them to form high-voltage lines, and enter the high-voltage lines into the high-voltage line database; it includes the following steps: S201, extracting the longitude and latitude coordinates (lat0, lon0) of a high-voltage line tower located in the northeast, southeast, southwest or northwest direction in the WGS84 coordinate system from the high-voltage line database, calculating the distance between the high-voltage line tower (lat0, lon0) and other high-voltage line towers and arranging them in ascending order to form a first distance set (d min , d0, d1, d2, d3, ...), define the minimum distance d min The corresponding longitude and latitude coordinates of the high-voltage tower (lat1, lon1); S202, calculate the distance d and the azimuth θ between the high-voltage tower (lat0, lon0) and the high-voltage tower (lat1, lon1), and the mathematical expression is: in R = 6378137m; S203, taking the high-voltage tower (lat1, lon1) as a new starting point, and taking the distance d and the azimuth θ between the high-voltage tower (lat0, lon0) and the high-voltage tower (lat1, lon1) as a standard, predicting the high-voltage tower (lat2, lon2), the coordinate calculation expression of the high-voltage tower (lat2, lon2) is: S204, determine whether the high-voltage tower (lat2, lon2) is credible, calculate the distances between the high-voltage towers other than the high-voltage tower (lat0, lon0) and the high-voltage tower (lat1, lon1) and arrange them in ascending order to form a second distance set (d′ min , d′0, d′1, d′2, d′3, ....), find the minimum distance d′ min Corresponding high-voltage line tower (lat′2, lon′2); S205. When the distance between the high-voltage tower (lat2, lon2) and the high-voltage tower (lat′2, lon′2) is less than a preset distance threshold, the high-voltage tower (lat2, lon2) is credible, and (lat′2, lon′2) is assigned to (lat2, lon2). Then, the high-voltage tower (lat′2, lon′2), the high-voltage tower (lat1, lon1) and the high-voltage tower (lat0, lon0) are determined to be points on the same high-voltage line at equal intervals and in the same direction; the preset distance threshold is Use (lat′2, lon′2) and the original (lat1, lon1) to calculate the new distance d′ and orientation θ′ for the subsequent determination of (lat3, lon3); S206, when the high-voltage tower (lat2, lon2) is not credible, the high-voltage tower corresponding to d′0 in the second distance set is used as a new high-voltage tower (lat′2, lon′2), and step S205 is repeated until a credible point is found or d′ is traversed. i >2d,d′ i is one of the second distance set; S207: After step S206, if no credible point is found, the next distance d0 in the first distance set is selected, and steps S201-S206 are repeated until a credible point is found or d i >2d min , d i is one of the first distance sets; Connecting high-voltage line towers corresponding to credible points with the same distance d and orientation θ to form a high-voltage line, wherein there are multiple high-voltage lines, and entering the multiple high-voltage lines into a high-voltage line database; The alarm module is used to obtain the coordinates of the real-time position of the aircraft, calculate the expected arrival time of the aircraft to the nearest high-voltage line segment at the current position, and trigger the alarm in stages according to the expected arrival time, including the following steps: S301, obtaining the real-time position (lat, lon) of the aircraft, and screening all high-voltage line towers within a preset range in the high-voltage line database with the real-time position (lat, lon) of the aircraft as the center; S302, calculate the distances between the aircraft and all high-voltage towers within a preset range and arrange them in ascending order to form a third distance set (L min , L0, L1, L2, L3, .......), with the closest distance L min The position of the high-voltage line tower is the first point, and the second point and the third point adjacent to the first point are found. The first point and the second point form a first line segment, and the first point and the third point form a second line segment. The distance from the aircraft to the first line segment and the second line segment is calculated, and the first calculation of the distance from the aircraft to the high-voltage line is completed; S303, taking the high-voltage line tower at distance L0 as the starting point for the second calculation, repeat step S302 until the distances from the aircraft to all high-voltage line segments are calculated, and the distances are arranged in ascending order to form a fourth distance set (D min ,D0,D1,D2,D3,......); S304, according to the minimum distance D in the fourth distance set min , calculate the minimum distance D from the aircraft min The expected arrival time t of the corresponding high-voltage line; S305. If the aircraft's flight altitude is lower than 35 meters and the expected arrival time t≥20s, a warning-level alarm is triggered; if the aircraft's flight altitude is lower than 35 meters and the expected arrival time 20s≤t≤40s, a warning-level alarm is triggered.

6. A controller, characterized in that: The invention comprises a memory, a processor and computer-readable instructions stored in the memory and executable on the processor. When the processor executes the computer-readable instructions, the warning method for avoiding collision of an aircraft with a high-voltage line as described in any one of claims 1 to 4 is implemented.

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