A method and system for auditing the green compensation area of ​​power transmission lines based on drones

Abstract

The present invention discloses a method and system for auditing the green compensation area of ​​power transmission lines based on unmanned aerial vehicles, and relates to the technical field of image processing. The present invention determines the flight routes of multiple unmanned aerial vehicles, and constructs a shooting network based on the flight routes of the unmanned aerial vehicles; collects green seedling images of the power transmission lines based on the shooting network, and splices the green seedling images to obtain a spliced ​​image; obtains green compensation information in the spliced ​​image, wherein the green compensation information includes green seedling types and corresponding green compensation ranges, and audits according to the green compensation information to obtain compensation information. The present invention can replace manual work to achieve efficient work efficiency by collecting images through unmanned aerial vehicles, and can also splice images collected between link point groups through a splicing key, which can ensure the efficiency and accuracy of splicing images collected by unmanned aerial vehicles, and better audit the green compensation area.

Description

Technical Field

[0001] The present invention relates to the technical field of image processing, and in particular to a method and system for auditing the green compensation area of ​​power transmission lines based on unmanned aerial vehicles. Background Art

[0002] Compared with other power facilities, overhead transmission lines have the characteristics of high voltage level, long transmission distance, and large land occupation, which limit their construction location. The nature of overhead transmission lines themselves determines that their construction will face a large amount of land occupation and corresponding green crop compensation issues; the traditional green crop area compensation audit method mainly relies on manual field measurement, such as using tape measures, total stations and other tools for measurement. This method has many disadvantages, such as the need to consume a lot of manpower and time costs, the measurement accuracy is easily affected by human factors and the operating level of the measurement personnel, the planning of the measurement route, etc., resulting in inaccurate measurement results; making it difficult to accurately obtain and trace a lot of information, and unable to verify the rationality and compliance of pre-construction compensation. Summary of the invention

[0003] The purpose of the present invention is to provide a method and system for auditing the loss area of ​​power transmission lines based on drones, so as to solve the shortcomings of the background technology.

[0004] In order to achieve the above object, the present invention provides the following technical solution: a method for auditing the green compensation area of ​​a power transmission line based on a drone, comprising the following steps:

[0005] Determine the flight routes of multiple drones and build a shooting network based on the flight routes of the drones;

[0006] Based on the shooting network, green seedling images of the transmission line are collected, and the green seedling images are stitched to obtain a stitched image;

[0007] The green crop compensation information in the stitched image is obtained, wherein the green crop compensation information includes the types of green crops and the corresponding green crop compensation ranges, and the compensation information is obtained by auditing the green crop compensation information.

[0008] In a preferred embodiment, the step of determining the flight routes of multiple drones and constructing a shooting network based on the flight routes of the drones includes:

[0009] The flight trajectories and corresponding flight altitudes of multiple drones are respectively formulated as flight routes;

[0010] Formulate flight layers corresponding to the flight routes of multiple drones, delegate collection space based on the flight layers, and establish the corresponding relationship between the flight routes in the flight layers and the collection space;

[0011] A shooting network is set up in the flight layer between adjacent UAVs, wherein the shooting network includes a plurality of chain point groups and splicing keys.

[0012] In a preferred embodiment, the steps of formulating flight layers corresponding to the flight routes of multiple drones, delegating collection spaces based on the flight layers, and establishing a corresponding relationship between the flight routes in the flight layers and the collection spaces include:

[0013] Communication points are set up along the flight routes of the drones, and the communication points of multiple drones are connected to each other;

[0014] Bind the communication point with the UAV on the corresponding flight route to obtain the flight layer;

[0015] Based on the flight route in the flight layer, the downward collection range of the UAV is determined as the collection space, and the corresponding relationship between the collection space and the flight route is determined.

[0016] In a preferred embodiment, the step of setting a shooting net in the flight layer between adjacent drones, wherein the shooting net includes a plurality of chain point groups and a splicing key, comprises:

[0017] A baseline is set corresponding to the flight trajectory of the UAV, and a position correspondence relationship between the baseline and the flight trajectory is established;

[0018] Based on the position correspondence between the baseline and the flight trajectory, multiple chain points are respectively set at the lower edges of the adjacent UAV collection spaces, and the multiple chain points are connected through the lower edge line of the collection space. The number of chain points on the lower edges of the adjacent UAV collection spaces is the same and they are bound one-to-one to obtain multiple chain point groups;

[0019] Corresponding stitching keys are configured for the plurality of chain point groups, the plurality of stitching keys are connected in sequence and bound to the baseline, and the plurality of chain point groups and the stitching keys are used as a shooting network.

[0020] In a preferred embodiment, the steps of configuring corresponding splicing keys for the corresponding multiple chain point groups, connecting the multiple splicing keys in sequence, and using the multiple chain point groups and the splicing keys as a shooting network include:

[0021] Obtain whether there is overlap in the acquisition space between adjacent drones. If there is overlap, take the chain point group as the overlap chain point group, and obtain the overlap information of the overlapped part of the adjacent drones on the corresponding flight route, wherein the overlap information includes the chain point group corresponding to the overlapped position and the overlapped range, and mark the overlapped information corresponding to the flight route to obtain the flight model;

[0022] Based on the cloud server corresponding to the chain point group configuration, an image plate is set in the cloud server, a positional relationship between the image plate and the baseline is established for information binding, a splicing key is obtained, and the splicing key is positionally matched with the flight model;

[0023] Based on the flight route, multiple splicing keys are connected in sequence, and multiple chain point groups and splicing keys are used as a shooting network.

[0024] In a preferred embodiment, the step of stitching the green seedling images to obtain a stitched image includes:

[0025] The drone is used to collect images of young crops on the power transmission lines according to the flight route;

[0026] The green seedling image is stored in the image block corresponding to the splicing key according to the link point;

[0027] Based on the baseline, the green seedling images corresponding to the edge of the acquisition space where the chain point is located are pulled to the position of the baseline, and the green seedling images corresponding to the edge of the acquisition space are pulled to the green seedling images within the range of the baseline to delete them, so as to complete the adjacent stitching images of the green seedling images collected by adjacent drones;

[0028] Adjacent stitched images are combined through multiple shooting grids to obtain a stitched image.

[0029] In a preferred embodiment, the step of auditing the compensation information to obtain the compensation information includes:

[0030] Delimit the green range of the image in the stitched image, and obtain the types of green seedlings within the green range of the image;

[0031] The green compensation range corresponding to the green compensation range of the image is obtained based on the GSD value of the drone shooting device, where the calculation formula of the green compensation range is: ,in, For the green compensation range, is the pixel area, which is the number of pixels of the target object in the image measured by image processing software. GSD value of the drone camera device;

[0032] The types of young crops and the corresponding range of green crop compensation are used as green crop compensation information, and the compensation information is calculated by matching the green crop compensation information with the corresponding compensation rule information.

[0033] The present invention also provides a system for auditing the green compensation area of ​​power transmission lines based on drones, comprising:

[0034] A construction module is used to determine the flight routes of multiple drones and build a shooting network based on the flight routes of the drones;

[0035] A stitching module, connected to the building module, is used to collect images of green crops of the transmission line based on the shooting network, and stitch the images of green crops to obtain a stitched image;

[0036] The compensation module is connected to the stitching module and is used to obtain the green crop compensation information in the stitching image, wherein the green crop compensation information includes the green crop types and the corresponding green crop compensation ranges, and the compensation information is obtained by auditing the green crop compensation information.

[0037] In the above technical solution, the technical effects and advantages provided by the present invention are:

[0038] The present invention can achieve high work efficiency by collecting images through drones instead of manual labor. In addition, the images collected between link point groups can be spliced ​​through the splicing key, which can ensure the efficiency and accuracy of splicing images collected by drones and better audit the green compensation area. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0040] Figure 1 The figure is a flow chart of the method of the present invention.

[0041] Figure 2 It is a system block diagram of the present invention. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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.

[0043] Example 1, please refer to Figure 1 As shown, the method for auditing the green compensation area of ​​a power transmission line based on a drone in this embodiment includes the following steps:

[0044] S1. Determine the flight routes of multiple drones and build a shooting network based on the flight routes of the drones;

[0045] S2, collecting images of green crops on the transmission line based on the shooting network, and stitching the images of green crops to obtain a stitched image;

[0046] S3. Obtain the green crop compensation information in the stitched image, wherein the green crop compensation information includes the green crop types and the corresponding green crop compensation ranges, and audit the green crop compensation information to obtain the compensation information.

[0047] In one embodiment, the step S1 of determining the flight routes of the plurality of drones and constructing a shooting network based on the flight routes of the drones includes:

[0048] S11, respectively formulate flight trajectories of multiple UAVs and corresponding flight altitudes as flight routes;

[0049] S12, formulate flight layers corresponding to the flight routes of multiple UAVs, delegate collection spaces based on the flight layers, and establish a corresponding relationship between the flight routes in the flight layers and the collection spaces;

[0050] S13, setting a shooting network in the flight layer between adjacent drones, wherein the shooting network includes a plurality of link point groups and a splicing key;

[0051] As described in the above steps S11-S13, here, in order to ensure the audit efficiency of the green compensation area, multiple drones are used to work together. In order to ensure the smooth progress of the drone work, corresponding flight trajectories and corresponding flight altitudes are respectively formulated for the multiple drones as flight routes. The flight routes here can ensure the integrity of the images collected by adjacent drones. The interval distance between adjacent flight routes should be below the drone shooting range. There should not be any position that cannot be photographed between adjacent drones. This needs to be taken into consideration when formulating the flight route here. Therefore, the flight route here is formulated according to the drone's shooting range, and the flight trajectories of multiple drones are set at the same horizontal altitude. Therefore, flight layers are formulated for the flight routes of multiple drones, and the flight layers are used. In the information layer and position layer that associate multiple drones, the drones at the flight altitude can communicate and connect and get the location where the image is collected. Then, the corresponding relationship between the flight route in the flight layer and the collection space can be established. The space for shooting downward on the flight route is used as the collection space. Since there are multiple drones working, the drones are set in sequence and the adjacent drones are bound. Here, a shooting network is set in the flight layer. The shooting network includes multiple chain point groups and stitching keys. The chain points are information points corresponding to the drone flight routes. The stitching keys are used for the server for image stitching between adjacent drones, which can ensure the efficiency and accuracy of the stitching of drone-collected images and better audit the green compensation area.

[0052] In one embodiment, the step S12 of formulating flight layers corresponding to the flight routes of the plurality of drones, delegating collection spaces based on the flight layers, and establishing a corresponding relationship between the flight routes in the flight layers and the collection spaces includes:

[0053] S121, setting communication points on the flight route of the drone, and the communication points of multiple drones are connected to each other in communication;

[0054] S122, binding the communication point with the drone on the corresponding flight route to obtain the flight layer;

[0055] S123, determining the downward collection range of the drone as the collection space based on the flight route in the flight layer, and determining the corresponding relationship between the collection space and the flight route;

[0056] As described in the above steps S121-S123, a communication point is set on the flight route of the drone, and the communication point is a communication port. The communication points of multiple drones are in a mutual communication relationship. Therefore, multiple drones are in a mutual communication relationship when working on the flight route. The communication point and the flight route are in a bound state. The flight layer after the communication relationship is set on the flight route, and then the flight route in the flight layer confirms the downward collection range of the drone as the collection space, and the corresponding relationship between them is determined according to the collection space downward of the flight route. Here, the flight route is first set according to the number of drones, and then the drones are matched with the flight routes. After the drones are matched with the flight routes, the communication points can bind information with the drones on the corresponding flight routes to obtain a flight layer of multiple drones interconnected, which is convenient for subsequent image stitching and can ensure the accuracy and efficiency of image stitching.

[0057] In one embodiment, the step S13 of setting a shooting network in the flight layer between adjacent drones, wherein the shooting network includes a plurality of link point groups and a splicing key, comprises:

[0058] S131, setting a baseline corresponding to the flight trajectory of the UAV, and establishing a position correspondence relationship between the baseline and the flight trajectory;

[0059] S132, based on the position correspondence between the baseline and the flight trajectory, a plurality of chain points are respectively set at the lower edges of the adjacent drone collection spaces, the plurality of chain points are connected by the lower edge line of the collection space, the number of chain points on the lower edges of the adjacent drone collection spaces is the same and they are bound one-to-one to obtain a plurality of chain point groups;

[0060] S133, configuring corresponding splicing keys corresponding to the plurality of chain point groups, connecting the plurality of splicing keys in sequence and binding them to the baseline, and using the plurality of chain point groups and the splicing keys as a shooting network;

[0061] As described in the above steps S131-S133, a baseline is set corresponding to the flight trajectory of the UAV, and a positional correspondence between the baseline and the flight trajectory is established. The baseline here serves as a reference line for subsequent stitching. For example, if the flight trajectories of two adjacent UAVs are both S-shaped, then their corresponding acquisition spaces are also S-shaped. The acquisition spaces between adjacent UAVs must be set to have an overlapping state or a state of being exactly stitched. In order to ensure the integrity of image stitching, it is necessary to ensure that the image acquisition of adjacent UAVs does not miss any captured images when setting the flight route. Therefore, if both acquisition spaces are S-shaped, it is necessary to set a baseline corresponding to the flight trajectory. For example, the starting points of the images collected by adjacent UAVs are connected to obtain a first line, the end points of the images collected by adjacent UAVs are connected to obtain a second line, the midpoints of the first line and the second line are selected to connect to obtain a third line and the two ends are extended to obtain the baseline. Based on the positional correspondence between the baseline and the flight trajectory, The operation steps of setting a corresponding relationship and setting multiple chain points on the lower edges of the adjacent UAV collection space are as follows: select multiple reference points on the reference line, make a vertical line based on the reference point, and use the point where the vertical line intersects with the lower edge of the collection space of the adjacent UAV on the flight path as the chain point, and the lower edge line of the collection space of the adjacent UAV on the flight path, the lower edge line is the edge line of the shooting range between the adjacent UAVs; the number of chain points on the lower edge of the collection space of the adjacent UAVs is the same and they are bound one-to-one to obtain the operation steps of multiple chain point groups: since the collection starting point connection line or the end point connection line corresponding to the collection space corresponding to the flight trajectory of the adjacent UAVs is not parallel, the chain points corresponding to the edge of the collection space of the actual corresponding adjacent UAVs are different. In order to ensure the consistency of the chain points, it is necessary to virtually extend the collection space lacking chain points. In the subsequent stitching process, the virtually extended collection space is not referenced, and only the image collected by the actual image is used as the stitched image;For example, there are three drones A, B, and C, and they are arranged in this order. Then, using the adjacent drones A and B as an example, A has a corresponding collection space on the corresponding flight route, and B has a corresponding collection space on the corresponding flight route. The lower edge of the collection space between A and B is obtained respectively. The lower edge between B and C is another shooting network. One shooting network corresponds to one adjacent drone. Therefore, the example here is to set multiple chain points on the lower edge of the collection space between A and B. The number of chain points on the lower edge of the collection space on the B side of A is the same as the number of chain points on the lower edge of the collection space on the A side of B. The chain points on the lower edge of the collection space on the B side of A are matched one by one with the chain points on the lower edge of the collection space on the A side of B, and multiple chain point groups are obtained. The corresponding collection spaces between the multiple chain point groups are on an adjacent surface, which can be used as a reference for subsequent image stitching. The images collected between the chain point groups can be stitched through the stitching key, which is used for efficient stitching in the subsequent multi-drone acquisition process, with good image stitching accuracy, for timely viewing by personnel. ;

[0062] In one embodiment, the step S132 of configuring corresponding splicing keys for the corresponding plurality of chain point groups, connecting the plurality of splicing keys in sequence, and using the plurality of chain point groups and the splicing keys as a shooting network includes:

[0063] S1321, obtaining whether there is an overlapped part in the acquisition space between adjacent UAVs, and if there is an overlapped part, taking the chain point group as the overlapped chain point group, obtaining the overlapped information of the overlapped part of the adjacent UAVs on the corresponding flight route, wherein the overlapped information includes the chain point group corresponding to the overlapped position and the overlapped range, and marking the overlapped information corresponding to the flight route to obtain a flight model;

[0064] S1322, configuring a corresponding cloud server based on the link point group, setting an image plate in the cloud server, establishing a positional relationship between the image plate and the baseline for information binding, obtaining a splicing key, and making position correspondence between the splicing key and the flight model;

[0065] S1323, connecting the multiple splicing keys in sequence based on the flight route, and using the multiple link point groups and the splicing keys as a shooting network;

[0066] As described in the above steps S1321-S1323, at the edge of the collection space between adjacent drones, since the collection trajectory changes irregularly, the image collection of adjacent drones from the starting point to the end point may have a change in the overlapping range. Therefore, it is necessary to obtain whether there is an overlapping part in the collection space between adjacent drones. If there is an overlapping part, the chain point group is used as the overlapping chain point group, and the overlapping information of the overlapping parts of the adjacent drones on the corresponding flight route is obtained, wherein the overlapping information includes the chain point group corresponding to the overlapping position and the overlapping range. The overlapping information is marked corresponding to the flight route to obtain a flight model. The overlapping chain point group needs to be spliced ​​and cut in the subsequent splicing process, and the chain point group that is not the overlapping chain point group is just spliced. When setting the flight route here, the situation of missing collected images is not allowed. Therefore, the images collected by adjacent drones are either overlapping or in a state of being stitched together. Due to the requirements of collection, the trajectory is irregular, so it is difficult to avoid image overlap. Therefore, in order to ensure the accuracy of the green compensation area audit, image stitching must be performed to jointly determine the green compensation range and better conduct the audit. Then, the corresponding cloud server is configured based on the chain point group, and the image plate is set in the cloud server. The positional relationship between the image plate and the baseline is established for information binding to obtain the stitching key, and the stitching key is corresponded to the flight model. Based on the flight route, multiple stitching keys are connected in sequence. Multiple chain point groups and stitching keys are used as a shooting network, which can correspond to the flight model, and can better perform the corresponding operations of image stitching and cutting of the chain point group in the subsequent stitching process.

[0067] In one embodiment, the step S2 of stitching the green seedling images to obtain a stitched image includes:

[0068] S21, using the drone to collect images of young crops on the power transmission line according to the flight route;

[0069] S22, storing the green seedling image in the image plate corresponding to the splicing key according to the link point;

[0070] S23, based on the baseline, pull the green seedling images corresponding to the edge of the collection space where the chain point is located to the position of the baseline, and pull the green seedling images corresponding to the edge of the collection space to the green seedling images within the range of the baseline to delete them, so as to complete the adjacent stitching images of the green seedling images collected by adjacent drones;

[0071] S24, combining adjacent stitched images through a plurality of shooting grids to obtain a stitched image;

[0072] As described in the above steps S21-S24, the drone collects images of green crops on the transmission line according to the flight route. The multiple drones here can collect images of green crops simultaneously or at different times. The images of green crops collected by the drones are then stored in the image blocks of the corresponding stitching keys according to the chain points. The image collection of the drones on the corresponding flight routes is continuous, and the images on adjacent drones are not exactly stitched together. Therefore, the stitching operation needs to be implemented through the image blocks in the stitching keys. The stitching keys in a single shooting network are interconnected. Since multiple chain points are collected through The lower edge line of the collection space is connected, and the lower edge line of the acquisition space is the edge line of the seedling image. Therefore, when the seedling image corresponding to the edge of the acquisition space where the chain point is located is pulled to the position of the baseline, its corresponding edge line will also be pulled back to the baseline with the chain point. After the adjacent chain point is pulled back to the baseline, the seedling image corresponding to the edge of the acquisition space is pulled to the range of the baseline and deleted. The adjacent spliced ​​images of the seedling images collected by adjacent drones are completed, and the adjacent spliced ​​images are combined through the communication points to obtain the spliced ​​image, and the splicing efficiency index of the spliced ​​image is obtained. The calculation formula is: , among which, it should be noted that is the splicing efficiency index, is the number of chain points to pull back to the baseline, is the speed of chain point pulling back, is the total number of link points between adjacent drones, and The larger the value of The larger the value, the higher the splicing efficiency.

[0073] In one embodiment, the step S3 of auditing the compensation information to obtain the compensation information includes:

[0074] S31, defining an image green range in the stitched image, and obtaining the type of green seedlings within the image green range;

[0075] S32, obtaining a green compensation range corresponding to the green compensation range of the image based on the GSD value of the drone shooting device, wherein the calculation formula of the green compensation range is: ,in, For the green compensation range, is the pixel area, which is the number of pixels of the target object in the image measured by image processing software. GSD value of the drone camera device;

[0076] S33, taking the young crop type and the corresponding young crop compensation range as young crop compensation information, and calculating the compensation information according to the young crop compensation information and the corresponding compensation rule information;

[0077] As described in the above steps S31-S33, the image compensation range is delineated in the stitched image according to the young crops affected by the transmission lines, and the types of young crops within the image compensation range are obtained. Then, the compensation range corresponding to the image compensation range is obtained according to the GSD value of the drone shooting equipment. After obtaining the actual compensation range and the corresponding types of young crops, the compensation information is calculated according to the compensation rule information. The compensation rule information here is the compensation corresponding to the types of young crops and the compensation range, for example, the compensation amount per unit area of ​​a certain type of young crops. In this way, the total compensation information can be obtained after knowing the compensation range.

[0078] Example 2, please refer to Figure 2 As shown, the system for auditing the green compensation area of ​​power transmission lines based on drones in this embodiment includes:

[0079] A construction module is used to determine the flight routes of multiple drones and build a shooting network based on the flight routes of the drones;

[0080] A stitching module, connected to the building module, is used to collect images of green crops of the transmission line based on the shooting network, and stitch the images of green crops to obtain a stitched image;

[0081] The compensation module is connected to the stitching module and is used to obtain the green crop compensation information in the stitching image, wherein the green crop compensation information includes the green crop types and the corresponding green crop compensation ranges, and the compensation information is obtained by auditing the green crop compensation information.

[0082] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for auditing the area of ​​power transmission line compensation based on drones, characterized in that: The following steps are involved: Determine the flight routes of multiple drones and build a shooting network based on the flight routes of the drones; A reference line is set corresponding to the flight trajectory of the UAV, wherein the starting points of the images collected by adjacent UAVs are connected to obtain a first line, the end points of the images collected by adjacent UAVs are connected to obtain a second line, the midpoints of the first line and the second line are selected to connect to obtain a third line and the two ends are extended to obtain a reference line, and a position correspondence relationship between the reference line and the flight trajectory is established; Based on the position correspondence between the reference line and the flight trajectory, multiple chain points are respectively set at the lower edges of the adjacent drone collection space, wherein multiple reference points are selected on the reference line, and vertical lines are made based on the reference points. The points where the vertical lines intersect with the lower edges of the collection space of the adjacent drone on the flight path are used as chain points. The multiple chain points are connected through the lower edge line of the collection space. The number of chain points on the lower edges of the adjacent drone collection spaces is the same and they are bound one-to-one to obtain multiple chain point groups; Corresponding splicing keys are configured corresponding to the multiple chain point groups, the multiple splicing keys are connected in sequence and bound to the baseline, and the multiple chain point groups and the splicing keys are used as a shooting network; The steps of configuring corresponding splicing keys for the corresponding multiple chain point groups, connecting the multiple splicing keys in sequence, and using the multiple chain point groups and the splicing keys as a shooting network include: Obtain whether there is overlap in the acquisition space between adjacent drones. If there is overlap, take the chain point group as the overlap chain point group, and obtain the overlap information of the overlapped part of the adjacent drones on the corresponding flight route, wherein the overlap information includes the chain point group corresponding to the overlapped position and the overlapped range, and mark the overlapped information corresponding to the flight route to obtain the flight model; Based on the cloud server corresponding to the chain point group configuration, an image plate is set in the cloud server, a positional relationship between the image plate and the baseline is established for information binding, a splicing key is obtained, and the splicing key is positionally matched with the flight model; Connect multiple splicing keys in sequence based on the flight path, and use multiple chain point groups and splicing keys as a shooting network; Based on the shooting network, green seedling images of the transmission line are collected, and the green seedling images are stitched to obtain a stitched image; Obtain the green crop compensation information in the spliced ​​image, where the green crop compensation information includes the types of green crops and the corresponding green crop compensation range, and audit the green crop compensation information to obtain the compensation information; The step of stitching the green seedling images to obtain a stitched image comprises: Use drones to collect images of young crops along the power transmission lines along their flight routes; The green seedling image is stored in the image plate corresponding to the splicing key according to the link point; Based on the baseline, the green seedling images corresponding to the edge of the acquisition space where the chain point is located are pulled to the position of the baseline, and the green seedling images corresponding to the edge of the acquisition space are pulled to the green seedling images within the range of the baseline to delete them, so as to complete the adjacent stitching images of the green seedling images collected by adjacent drones; Combining adjacent stitched images through multiple shooting grids to obtain a stitched image; The step of determining the flight routes of the plurality of drones and constructing a shooting network based on the flight routes of the drones includes: The flight trajectories and corresponding flight altitudes of multiple drones are respectively formulated as flight routes; Formulate flight layers corresponding to the flight routes of multiple drones, delegate collection space based on the flight layers, and establish the corresponding relationship between the flight routes in the flight layers and the collection space; A shooting network is set up in the flight layer between adjacent UAVs, wherein the shooting network includes a plurality of chain point groups and splicing keys.

2. The method for auditing the area of ​​power transmission line compensation based on drone according to claim 1 is characterized by: The steps of formulating flight layers corresponding to the flight routes of multiple drones, delegating collection spaces based on the flight layers, and establishing a corresponding relationship between the flight routes in the flight layers and the collection spaces include: Communication points are set up along the flight routes of the drones, and the communication points of multiple drones are connected to each other; Bind the communication point with the UAV on the corresponding flight route to obtain the flight layer; Based on the flight route in the flight layer, the downward collection range of the UAV is determined as the collection space, and the corresponding relationship between the collection space and the flight route is determined.

3. The method for auditing the area of ​​power transmission line compensation based on drone according to claim 1 is characterized by: The step of auditing the compensation information to obtain the compensation information includes: Delimit the green range of the image in the stitched image, and obtain the types of green seedlings within the green range of the image; The green compensation range corresponding to the green compensation range of the image is obtained based on the GSD value of the drone shooting device, where the calculation formula of the green compensation range is: ,in, For the green compensation range, is the pixel area, which is the number of pixels of the target object in the image measured by image processing software. GSD value of the drone camera device; The types of young crops and the corresponding range of green crop compensation are used as green crop compensation information, and the compensation information is calculated by matching the green crop compensation information with the corresponding compensation rule information.

4. A system for auditing the area of ​​power transmission line losses based on drones, used to implement the method for auditing the area of ​​power transmission line losses based on drones as described in any one of claims 1 to 3, characterized in that: include: A construction module is used to determine the flight routes of multiple drones and build a shooting network based on the flight routes of the drones; A stitching module, connected to the building module, is used to collect images of green crops of the transmission line based on the shooting network, and stitch the images of green crops to obtain a stitched image; The compensation module is connected to the stitching module and is used to obtain the green crop compensation information in the stitching image, wherein the green crop compensation information includes the green crop types and the corresponding green crop compensation ranges, and the compensation information is obtained by auditing the green crop compensation information.

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