Address determination method and device of power transmission tower, computer readable storage medium and processor

Abstract

The invention discloses an address determination method and device of a power transmission tower, a computer readable storage medium and a processor. The method comprises the following steps: controlling a target unmanned aerial vehicle to collect image data of a to-be-detected area; reconstructing a three-dimensional model of the to-be-detected area based on the image data; based on the three-dimensional model, using detection equipment to perform preliminary detection on the to-be-detected area to obtain first underground disease data corresponding to the to-be-detected area; determining at least one candidate area in the to-be-detected area based on the three-dimensional model of the to-be-detected area and the first underground disease data; detecting the at least one candidate area by using detection equipment to obtain second underground disease data corresponding to the at least one candidate area; and based on the second underground disease data, a target area is determined from the at least one candidate area, and the target area is a construction area of the power transmission tower. The technical problem that underground diseases of power transmission tower site selection are difficult to obtain in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of geological prospecting technology, and in particular to a method and device for determining an address of a transmission tower, a computer-readable storage medium and a processor. Background Art

[0002] At present, in the process of transmission tower site selection, the acquisition of underground disease data is a key link to ensure the safety and stability of the tower. Traditional site selection methods mainly include field surveys, empirical judgments, and the use of remote sensing technology, such as satellite images or low-resolution ground radar for preliminary assessment. However, manual field surveys have the problems of long processing time and large environmental interference; satellite images or low-resolution remote sensing data are effective in providing macro-topographic information, but the detection accuracy of underground diseases is limited, especially in complex terrain, lush vegetation or urban environments. Remote sensing images often have difficulty penetrating the surface and obtaining deep geological information. In addition, the update cycle of satellite data is long and may not reflect the latest geological changes. Therefore, there is a technical problem that it is difficult to obtain underground diseases for transmission tower site selection.

[0003] With respect to the above-mentioned technical problem of underground diseases which make it difficult to locate transmission towers, no effective solution has been proposed so far. Summary of the invention

[0004] The embodiments of the present invention provide a method, device, computer-readable storage medium and processor for determining the address of a transmission tower, so as to at least solve the technical problem of underground hazards that are difficult to obtain when selecting a site for a transmission tower.

[0005] According to one aspect of an embodiment of the present invention, a method for determining the address of a transmission tower is provided. The method may include: controlling a target drone to collect image data of a region to be tested; reconstructing a three-dimensional model of the region to be tested based on the image data, wherein the three-dimensional model is used to at least reflect the terrain characteristics of the region to be tested; based on the three-dimensional model, using a detection device to perform a preliminary detection on the region to be tested, and obtaining first underground disease data corresponding to the region to be tested; based on the three-dimensional model of the region to be tested and the first underground disease data, determining at least one candidate region in the region to be tested, wherein the candidate region is an area that meets the geological stability assessment conditions; using a detection device to detect at least one candidate region, and obtaining second underground disease data corresponding to at least one candidate region; based on the second underground disease data, determining a target region from at least one candidate region, wherein the target region is the construction area of ​​the transmission tower.

[0006] Optionally, reconstructing a three-dimensional model of the area to be measured based on the image data includes: performing aerial triangulation on the image data to determine the relative position and geometric relationship between the image data; and performing three-dimensional reconstruction of the area to be measured based on the relative position and geometric relationship between the image data to obtain a three-dimensional model of the area to be measured.

[0007] Optionally, based on the three-dimensional model of the area to be measured, a detection device is used to perform preliminary detection of the area to be measured to obtain first underground disease data corresponding to the area to be measured, including: setting an initial measurement line density and an initial measurement line direction of the detection device based on the three-dimensional model of the area to be measured; controlling the detection device to perform preliminary detection of the area to be measured according to the initial measurement line density and the initial measurement line direction, to obtain first underground disease data corresponding to the area to be measured.

[0008] Optionally, detection equipment is used to detect at least one candidate area to obtain second underground disease data corresponding to at least one candidate area, including: setting a target survey line density and a target survey line direction, wherein the target survey line density is less than the initial survey line density, and the target survey line direction is consistent with the initial survey line direction, or the target survey line direction is inconsistent with the initial survey line direction; based on the target survey line density and the target survey line direction, at least one candidate area is detected respectively to obtain second underground disease data corresponding to at least one candidate area.

[0009] Optionally, controlling the target UAV to collect image data of the area to be measured includes: formulating an aerial survey mission, wherein the aerial survey mission includes at least an altitude, an overlap rate and a route, the altitude is used to indicate the altitude at which the target UAV needs to fly, the overlap rate is used to indicate the degree of overlap between two adjacent images collected by the target UAV, and the route is used to indicate the flight path of the target UAV; controlling the target UAV to perform the aerial survey mission to collect image data of the area to be measured.

[0010] Optionally, based on the second underground disease data, determining a target area from at least one candidate area includes: in response to the second underground disease data indicating that the geological stability of the target candidate area is greater than a stability threshold, determining the target candidate area as the target area.

[0011] According to another aspect of an embodiment of the present invention, a device for determining the address of a transmission tower is also provided. The device may include: a control unit for controlling a target drone to collect image data of a test area; a reconstruction unit for reconstructing a three-dimensional model of the test area based on the image data, wherein the three-dimensional model is used to at least reflect the terrain characteristics of the test area; a first detection unit for performing preliminary detection of the test area using a detection device based on the three-dimensional model to obtain first underground disease data corresponding to the test area; a first determination unit for determining at least one candidate area in the test area based on the three-dimensional model of the test area and the first underground disease data, wherein the candidate area is an area that meets the geological stability assessment conditions; a second detection unit for detecting at least one candidate area using a detection device to obtain second underground disease data corresponding to at least one candidate area; a second determination unit for determining a target area from at least one candidate area based on the second underground disease data, wherein the target area is the construction area of ​​the transmission tower.

[0012] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is further provided, the computer-readable storage medium including a stored program, wherein when the program is executed by a processor, the device where the storage medium is located is controlled to execute the method for determining the address of a transmission tower in an embodiment of the present invention.

[0013] According to another aspect of an embodiment of the present invention, a processor is further provided, wherein the processor is used to run a program, wherein when the program is run, the method for determining the address of a transmission tower in an embodiment of the present invention is executed.

[0014] According to another aspect of the embodiments of the present invention, a computer program product is provided, which includes computer instructions, and when the computer instructions are executed by a processor, the method for determining the address of a transmission tower in the embodiments of the present invention is implemented.

[0015] In an embodiment of the present invention, image data of the area to be tested is collected by an unmanned aerial vehicle, and then a three-dimensional model of the area to be tested is reconstructed using the image data, so that the terrain features of the area to be tested can be accurately obtained, and then the detection equipment is used to detect the area to be tested, and the underground disease data of the area to be tested can be identified, and then at least one candidate area is determined from the area to be tested according to the area to be tested and the identification result of the underground disease in the area to be tested, and then a more detailed detection is performed on the at least one candidate area, and a target area can be determined from the at least one candidate area, and the target area is that The area in the area to be tested is suitable for constructing a transmission tower. That is, through the combination of the unmanned aerial vehicle and the three-dimensional ground penetrating radar, the limitation of the terrain complexity on the site selection is overcome, the efficiency and accuracy of the site selection of the transmission tower are improved, and the dependence on manual experience is reduced, thereby solving the technical problem of the difficulty in obtaining underground disease data for the site selection of the transmission tower. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1 is a flow chart of a method for determining an address of a transmission tower according to an embodiment of the present invention;

[0018] Figure 2 is a flow chart of a method for acquiring underground disease data for transmission tower site selection according to an embodiment of the present invention;

[0019] Figure 3 is a schematic diagram of triangulation in oblique photography according to an embodiment of the present invention;

[0020] Figure 4 is a schematic diagram of a real-scene three-dimensional model according to an embodiment of the present invention;

[0021] Figure 5 is a schematic diagram of a cross-arranged survey line according to an embodiment of the present invention;

[0022] Figure 6 is a schematic diagram of a detection radar system according to an embodiment of the present invention;

[0023] Figure 7 is a schematic diagram of a device for determining an address of a transmission tower according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme 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 only 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 should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, functional component or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, functional components or devices.

[0026] According to an embodiment of the present invention, an embodiment of a method for determining an address of a transmission tower is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0027] Figure 1 is a flow chart of a method for determining an address of a transmission tower according to an embodiment of the present invention. Figure 1 As shown, the method may include the following steps:

[0028] Step S101, controlling the target UAV to collect image data of the area to be tested.

[0029] In the technical solution provided in the above step S101 of the present invention, the target UAV is a UAV equipped with a high-precision positioning system (such as Real-Time Kinematic, referred to as RTK), and the target UAV has a high-precision positioning function and provides centimeter-level positioning accuracy.

[0030] In this embodiment, when controlling the target drone to collect image data of the area to be measured, aerial survey mission planning can be performed first, for example, setting the relative altitude, overlap rate, and planning the route, and no specific restrictions are made here. Among them, the relative altitude is used to indicate the flight altitude of the target drone. The overlap rate is used to indicate the overlap rate between adjacent images collected by the target drone, wherein a high overlap rate can ensure that there is sufficient information overlap between adjacent images, and a low overlap rate can reduce the number of flights and the amount of data, which can be set according to actual needs. The route needs to cover the entire area to be measured to ensure that there are no dead ends and no omissions. According to the shape and size of the area to be measured, multiple flight routes can be planned, and a certain overlap is maintained between each route to avoid missing important data due to improper flight path planning.

[0031] Optionally, after formulating the aerial survey mission, you can check the network connection status of the target drone, the connection status between the aircraft and the remote controller, and the RTK network signal status to ensure that the drone performs the aerial survey mission under good communication and positioning conditions, flies over the area to be surveyed, and collects a large number of high-resolution images. These images not only contain the surface information of the terrain, but also reflect the texture of the surface, vegetation coverage, etc., providing rich and detailed visual data for subsequent 3D reconstruction.

[0032] Step S102: reconstructing a three-dimensional model of the area to be measured based on the image data.

[0033] In the technical solution provided in the above step S102 of the present invention, after collecting the image data of the area to be measured, a three-dimensional model of the area to be measured can be obtained through aerial triangulation and three-dimensional reconstruction, and the three-dimensional model can reflect the terrain characteristics of the area to be measured.

[0034] In this embodiment, after acquiring the image data of the area to be measured, the aerial triangulation technology is used to determine the relative position and geometric relationship between the images by processing the image data. Aerial triangulation is to use multiple overlapping images to identify and match the feature points in the images, calculate the position of these points in three-dimensional space, and then provide a basic geometric framework and coordinate information for the reconstruction of the three-dimensional model.

[0035] Optionally, based on the results of aerial triangulation, a 3D terrain model can be reconstructed using 3D modeling software. For example, a 3D model that accurately reflects the terrain characteristics of the area to be tested can be constructed based on the texture, color and elevation information in the image data. This model not only includes the ups and downs of the terrain, but also shows the details of the surface, such as rocks, vegetation, water bodies, etc., providing an intuitive and accurate surface reference for subsequent underground disease detection.

[0036] Optionally, the reconstructed 3D terrain model of the area to be tested is used to guide and optimize the collection of underground disease data. By analyzing the 3D model, a more reasonable and efficient survey line layout can be planned to ensure that underground disease detection equipment (such as GeoScope) TM MKIV ground penetrating radar) can detect at the appropriate position, direction and density, thereby improving the quality and efficiency of obtaining underground disease data.

[0037] In this step, the three-dimensional model of the area to be tested is reconstructed using the collected image data, which can provide an accurate topographic reference for the collection of underground disease data and an intuitive geological environment view for the site selection of transmission towers.

[0038] Step S103: Based on the three-dimensional model, a detection device is used to perform preliminary detection on the area to be detected to obtain first underground disease data corresponding to the area to be detected.

[0039] In the technical solution provided in the above step S103 of the present invention, after obtaining the three-dimensional model of the area to be tested, preliminary underground disease data detection can be performed on the target area based on the three-dimensional model.

[0040] In this embodiment, based on the three-dimensional model, the preliminary use strategy of the detection equipment can be planned. For example, the line density of the detection equipment (the initial line density is relatively large, such as 1 meter or more interval) and the line direction are determined to meet the needs of large-scale, preliminary screening. The planning of the line needs to take into account the complexity of the terrain and the distribution of potential geological hazards in the three-dimensional model to ensure that the detection equipment can effectively cover the entire area to be tested, while reducing unnecessary data collection and improving work efficiency.

[0041] Optionally, the first underground defect data obtained in the preliminary detection phase is a preliminary assessment of the underground structure of the area to be tested. Through the electromagnetic waves emitted and received by the radar, objects within a certain depth range underground can be detected, including but not limited to underground pipelines, cavities, faults, cracks and other defect features. These data will provide preliminary underground geological information for subsequent detailed evaluation and site selection decisions.

[0042] Optionally, the first underground disease data not only provides preliminary underground environmental information for the site selection of transmission towers, but also provides a basis for subsequent detailed exploration and final site selection decisions. Areas where no major diseases were found in the preliminary exploration can become target areas for further detailed exploration to obtain more detailed second underground disease data for the final geological stability assessment.

[0043] In this step, preliminary detection based on the three-dimensional model is carried out by combining drone aerial photography with ground-penetrating radar, using high-resolution three-dimensional terrain models to guide radar survey line planning, and quickly obtaining the first underground disease data of the area to be tested, providing preliminary geological information and candidate areas for subsequent detailed detection and transmission tower site selection, improving the efficiency and accuracy of detection, reducing resource waste, and providing a solid data foundation for transmission tower site selection decisions.

[0044] Step S104: determining at least one candidate area in the area to be tested based on the three-dimensional model of the area to be tested and the first underground disease data.

[0045] In the technical solution provided in the above step S104 of the present invention, the candidate area is an area that meets the geological stability assessment conditions.

[0046] In this embodiment, after obtaining the three-dimensional model of the area to be tested and the first underground disease data, a comprehensive analysis can be performed based on the surface information of the three-dimensional model and the underground information of the first underground disease data to find areas with suitable surface conditions and low underground disease risks.

[0047] For example, by analyzing the first underground disease data, the type, location, size and potential impact of underground diseases are identified. For example, cavities may cause surface collapse, cracks may affect the stability of the foundation, and hydrogeological conditions may affect the bearing capacity of the soil. Based on the three-dimensional model, the terrain characteristics such as slope, soil type, vegetation coverage, etc. are analyzed to determine whether they meet the terrain conditions for the construction of transmission towers. Transmission towers are usually required to be built on relatively flat and stable foundations to ensure the safety and stability of the structure. Combine the results of underground disease risk assessment and terrain adaptability analysis to conduct a comprehensive assessment of geological stability for each potential area. In the assessment, not only surface conditions are considered, but also the impact of underground structures on geological stability should be taken into account. Based on the comprehensive assessment results, areas with high geological stability and low disease risk are selected as candidate areas. Among them, the number of candidate areas can be one or more, and the candidate areas are the key areas for subsequent acquisition of more detailed underground disease data and specific site selection of transmission towers.

[0048] In this step, multiple candidate areas that meet the terrain suitability conditions and have high geological stability as shown by preliminary disease data evaluation can be selected from the test area. These candidate areas provide a focus for the subsequent acquisition of detailed underground disease data and the final site selection of transmission towers, reducing blindness and improving the efficiency and scientificity of site selection.

[0049] Step S105: Use a detection device to detect at least one candidate area to obtain second underground disease data corresponding to the at least one candidate area.

[0050] In the technical solution provided in the above step S105 of the present application, after determining at least one candidate area, the survey line density and survey line direction can be further set in the candidate area, and a more detailed detection can be performed on at least one candidate area to determine the second underground disease data corresponding to at least one candidate area, wherein the second underground disease data can reflect the ground line disease characteristics of the candidate area.

[0051] In this embodiment, before detecting the candidate area, the parameters of the detection equipment can be reasonably set according to the geological conditions and disease types of the candidate area. For example, a DXG1212 antenna array with a length of 1.2 meters, 12 acquisition channels, a channel spacing of 7.5 cm, and a suitable frequency range is selected to ensure that a larger detection area can be covered while providing sufficient detection depth and resolution to accurately identify underground disease characteristics.

[0052] Optionally, within the selected candidate area, survey lines are planned and arranged according to the three-dimensional terrain model and geological conditions to ensure that the layout of each detection point is dense and reasonable. The arrangement of survey lines takes into account the terrain characteristics, the possible distribution of underground diseases, and the detection direction and interval of the radar. During the detection process, the ground penetrating radar moves along these survey lines, transmits and receives radar waves, and collects underground disease data. Cross-arrangement of survey lines within the candidate area can ensure the comprehensiveness and accuracy of the data and avoid data blind spots that may be caused by single-direction detection.

[0053] Optionally, the second underground disease data collected by the detection equipment in at least one candidate area can be processed and analyzed by data processing software. Data processing includes steps such as signal enhancement, noise suppression, and depth correction to improve data quality. Subsequently, based on the processed data, combined with geological knowledge and experience, the underground diseases in the candidate area can be evaluated to identify potential geological risks and provide a scientific basis for the final site selection of the transmission tower.

[0054] In this step, after at least one candidate area is determined, underground disease data of the candidate area can be collected again, and the geological conditions of different candidate areas can be comprehensively evaluated to provide reference information for subsequent site selection decisions of transmission towers.

[0055] Step S106: determining a target area from at least one candidate area based on the second underground disease data.

[0056] In the technical solution provided in the above step S106 of the present application, the target area is the construction area of ​​the transmission tower.

[0057] In this embodiment, the second underground disease data detected is processed by software to obtain a three-dimensional image and depth profile of the underground disease. These images and data will reveal the specific location, type, depth and distribution range of the underground disease, and provide direct evidence for evaluating the geological stability of each candidate area. Compared with the traditional single-channel ground penetrating radar, the multi-channel and frequency stepping technology of the detection radar makes data processing more efficient and the image quality higher, which helps to more accurately identify the characteristics of underground diseases.

[0058] Optionally, the acquisition of the second underground disease data provides geological engineers and decision makers with detailed underground disease information for further evaluating the geological conditions of each candidate area. These data are used to create a detailed geological profile report, which will include a quantitative analysis of the disease risk of each area. Based on these evaluation results, a target area with high safety and stability can be selected from at least one candidate area as the site for the transmission tower to ensure the long-term stable operation of the transmission tower.

[0059] In the above steps S101 to S106, image data of the area to be tested is collected by a drone, and then a three-dimensional model of the area to be tested is reconstructed using the image data, so that the terrain features of the area to be tested can be accurately obtained, and then the detection equipment is used to detect the area to be tested, and the underground disease data of the area to be tested can be identified, and then at least one candidate area is determined from the area to be tested according to the area to be tested and the identification result of the underground disease in the area to be tested, and then a more detailed detection is performed on the at least one candidate area, and a target area can be determined from the at least one candidate area, and the target area is the area in the area to be tested that is suitable for constructing a transmission tower. That is, through the combination of the drone and the three-dimensional ground penetrating radar, the limitation of the terrain complexity on the site selection is overcome, the efficiency and accuracy of the site selection of the transmission tower are improved, the dependence on manual experience is reduced, and the technical problem of the difficulty in obtaining the underground disease data for the site selection of the transmission tower is solved.

[0060] The above method of this embodiment is further introduced below.

[0061] As an optional implementation method, step S102 reconstructs a three-dimensional model of the area to be measured based on the image data, including: performing aerial triangulation on the image data to determine the relative position and geometric relationship between the image data; based on the relative position and geometric relationship between the image data, performing three-dimensional reconstruction of the area to be measured to obtain a three-dimensional model of the area to be measured.

[0062] In this embodiment, high-resolution images collected by drones are used to generate a detailed three-dimensional terrain model for the area to be measured through aerial triangulation and three-dimensional reconstruction technology.

[0063] Optionally, aerial triangulation is mainly used to determine the relative position and geometric relationship between multiple overlapping aerial images to facilitate the construction of a three-dimensional model. By using the image data collected by the target drone, when performing aerial triangulation, feature points on each image are first extracted, such as corners, edges, and areas with rich textures. Subsequently, feature matching algorithms are used to find the corresponding feature points on different images to determine the relative position between the images.

[0064] Optionally, after determining the real position of the feature points in the image data in the three-dimensional space, a three-dimensional point cloud is formed. These point cloud data are the basis for building a three-dimensional model, reflecting the ups and downs of the terrain and surface features of the area to be measured.

[0065] Optionally, after obtaining the relative positions and geometric relationships between images based on aerial triangulation and generating three-dimensional point cloud data, three-dimensional reconstruction can be performed based on the relative positions and geometric relationships between images and the generated three-dimensional point cloud data to generate a three-dimensional model of the area to be measured.

[0066] In this step, the geometric relationship between images is determined through aerial triangulation, and then the point cloud data is used for dense matching and model construction in three-dimensional space, and finally a three-dimensional model reflecting the terrain characteristics of the area to be tested is generated. This not only improves the accuracy and efficiency of underground disease data acquisition, but also provides an intuitive terrain reference for transmission tower site selection decisions.

[0067] As an optional implementation method, step S103, based on the three-dimensional model of the area to be tested, uses a detection device to perform preliminary detection of the area to be tested to obtain first underground disease data corresponding to the area to be tested, including: based on the three-dimensional model of the area to be tested, setting the initial survey line density and the initial survey line direction of the detection device; controlling the detection device to perform preliminary detection of the area to be tested according to the initial survey line density and the initial survey line direction, and obtaining the first underground disease data corresponding to the area to be tested.

[0068] In this embodiment, based on the three-dimensional model of the area to be tested, the detection equipment is used to perform preliminary detection of the area to be tested, and the first underground disease data can be obtained to provide basic information for subsequent site selection decisions and detailed disease assessments.

[0069] Optionally, when conducting preliminary detection of the area to be tested, it is first necessary to determine the initial line density and line direction of the detection equipment. The initial line density refers to the spacing between the lines when the radar detects on the ground, wherein the initial line spacing is set at 1 meter or more to cover a larger area in the preliminary detection stage and quickly identify possible underground disease areas. The initial line direction is set according to the terrain characteristics, geological structure and possible distribution direction of underground diseases in the area to be tested, ensuring that the detection equipment can obtain data from multiple perspectives and improve the comprehensiveness and reliability of the data.

[0070] Optionally, after determining the initial line density and the initial line direction, the detection equipment, such as a three-dimensional ground penetrating radar, can be controlled to conduct preliminary detection of the area to be detected according to the initial line density and the initial line direction. The detection equipment will move along the preset line direction at the set line density, transmit and receive radar signals, and thus collect data on underground structures and diseases. At this stage, due to the large detection area, a larger line spacing can be used to quickly cover the entire area and find the approximate location and range of the disease.

[0071] Optionally, the first underground disease data includes but is not limited to information such as underground cavities, cracks, rock layers, soil types, and abnormal structures. These data are identified by the propagation speed and reflection characteristics of radar waves in different media, providing a basis for subsequent detailed evaluation and disease location. In the preliminary detection stage, the analysis of the first underground disease data focuses on the type, approximate location, and possible severity of the disease to determine which areas require further detailed detection.

[0072] Optionally, based on the first underground disease data, areas with lower underground disease risks can be identified, and these areas further become candidate areas for transmission tower construction.

[0073] In this step, the drone aerial photography technology is organically combined with the 3D ground penetrating radar detection technology. Through the leading role of the 3D model, the accurate identification of underground diseases and the scientific screening of candidate areas are achieved, which significantly improves the efficiency and safety of the transmission tower site selection. The first underground disease data obtained through preliminary detection provides key initial information for the entire underground disease assessment process.

[0074] As an optional implementation, a detection device is used to detect at least one candidate area to obtain second underground disease data corresponding to at least one candidate area, including: setting a target survey line density and a target survey line direction, wherein the target survey line density is less than the initial survey line density, and the target survey line direction is consistent with the initial survey line direction, or the target survey line direction is inconsistent with the initial survey line direction; based on the target survey line density and the target survey line direction, at least one candidate area is detected respectively to obtain second underground disease data corresponding to at least one candidate area.

[0075] In this embodiment, after at least one candidate area is determined, a detection device can be used to detect the candidate area to obtain second underground disease data. This step is used to perform more detailed and accurate disease detection on potential transmission tower site selection areas after initially acquiring a large range of underground disease data.

[0076] Optionally, after preliminary data collection and analysis, at least one candidate area may be selected as a candidate area for setting up a transmission tower. At this point, in order to further evaluate the underground conditions of these areas, the density and direction of the radar detection lines may be adjusted to perform more detailed detection of at least one candidate area.

[0077] Optionally, the target survey line density is less than the initial survey line density. In a large-scale preliminary inspection, in order to cover a wider area, the survey line density used may be larger (such as the survey line spacing is set at 1m or more). In the detailed inspection of the candidate area, since the target area has been reduced, a smaller survey line density (such as a survey line distance of 0.5m interval) can be used to obtain more detailed underground disease information, ensure high density and high resolution of data, and thus more accurately judge the condition of the underground target body.

[0078] Optionally, the target survey line direction can be consistent with the initial survey line direction during the preliminary detection, so that the consistency and comparability of the data can be maintained, which is convenient for data processing and disease identification. Alternatively, the survey line direction can be inconsistent with the initial survey line direction. By cross-arranging the survey lines, such as arranging the survey lines in the x and y directions, multi-angle detection information can be obtained, the coverage and accuracy of disease detection can be improved, and no diseased area is missed.

[0079] Optionally, after determining the density and direction of the target survey line, a 3D ground penetrating radar system can be used to conduct detailed detection of each candidate area. By adjusting the parameters of the radar antenna array (such as antenna spacing, frequency range, etc.) and controlling the movement path of the radar on the ground (i.e., survey line), high-precision and high-efficiency detection of underground diseases can be achieved.

[0080] In this step, after detailed detection of the candidate areas, a new set of underground disease data will be generated for each candidate area. These data are more detailed and accurate than the data from the initial detection, and contain disease information under smaller interval measurement lines, which helps to more accurately evaluate the stability and health of underground structures and provide key decision-making basis for subsequent transmission tower site selection.

[0081] Furthermore, by conducting more detailed detection of candidate areas, we can ensure that before the site selection of transmission towers, we have a comprehensive and in-depth understanding of the underground diseases in the candidate areas, thereby avoiding the installation of transmission towers in areas with poor geological conditions, reducing construction risks, and improving the safety and economic benefits of the project.

[0082] As an optional implementation method, controlling the target UAV to collect image data of the area to be measured includes: formulating an aerial survey task, wherein the aerial survey task includes at least an altitude, an overlap rate, and a route, the altitude is used to indicate the altitude at which the target UAV needs to fly, the overlap rate is used to indicate the degree of overlap between two adjacent images collected by the target UAV, and the route is used to indicate the flight path of the target UAV; controlling the target UAV to perform the aerial survey task to collect image data of the area to be measured.

[0083] In this embodiment, when controlling the target drone to collect image data of the area to be measured, the aerial survey mission can be planned to ensure that the drone can perform detailed and efficient image data collection of the area to be measured at the optimal flight altitude, appropriate overlap rate and predetermined route.

[0084] Optionally, when planning an aerial survey mission, the altitude can be set, which determines the distance between the target drone and the ground, thereby affecting the ground resolution. According to the requirements of the mapping scale and resolution, select a suitable altitude to ensure that the clarity and details of the image data are sufficient to support subsequent three-dimensional modeling and underground disease data acquisition. Among them, Table 1 is a mapping relationship table between the mapping scale and resolution in real time according to the present invention. As shown in Table 1, the lower the altitude, the higher the ground resolution, but it is also necessary to consider factors such as project cycle, benefits, and safe flight of drones to formulate reasonable altitude parameters.

[0085] Table 1 Mapping relationship between map scale and resolution

[0086]

[0087] Optionally, when planning an aerial survey mission, you also need to set the overlap rate, which indicates the degree of overlap between adjacent images collected by the target drone and is crucial to the accuracy of aerial triangulation and 3D reconstruction. A higher overlap rate ensures that images taken at different angles and positions can be effectively matched, thereby building a more complete and accurate 3D model. The overlap rate usually includes the heading overlap rate and the lateral overlap rate, which correspond to the overlap between adjacent images within the same route and the overlap between images on different routes, respectively. In aerial survey missions, the setting of the overlap rate needs to be adjusted according to actual needs and terrain characteristics.

[0088] Optionally, when planning the aerial survey mission, you also need to plan the route. Route planning is directly related to the coverage and collection efficiency of the image data. The route planning needs to fully consider the topography, landforms and geological characteristics of the area to be surveyed to ensure that the drone can fully and evenly cover the entire area. Route planning should also take into account the flight limitations of the drone, such as maximum flight altitude, flight speed and battery life, to ensure the successful completion of the mission.

[0089] Optionally, after the aerial survey mission planning is completed, the aerial survey mission is started through the drone control system. The target drone will automatically fly according to the set altitude, overlap rate and route to collect image data of the area to be surveyed. During the flight, the status of the drone needs to be monitored in real time to ensure stable flight and avoid image quality affected by external interference (such as wind and electromagnetic fields).

[0090] Optionally, after the image data of the area to be measured is collected, the target drone will return to the starting point or a preset safe position. The collected image data will be used for subsequent aerial triangulation and 3D model reconstruction.

[0091] In this step, by controlling the target UAV to collect image data of the area to be tested and combining the optimization of flight altitude, overlap rate and route, a high-resolution, high-coverage image dataset can be generated, providing a solid data foundation for subsequent three-dimensional model reconstruction and underground disease data acquisition.

[0092] As an optional implementation method, step S106, based on the second underground disease data, determines the target area from at least one candidate area, including: in response to the second underground disease data indicating that the geological stability of the target candidate area is greater than a stability threshold, determining the target candidate area as the target area.

[0093] In this embodiment, based on the second underground disease data, a target area is determined from at least one candidate area, with the aim of further screening out an area whose geological stability meets the construction requirements from at least one initially screened candidate area as the final construction site of the transmission tower.

[0094] Optionally, in order to objectively determine whether the geological stability of the candidate area meets the requirements for the construction of the transmission tower, a specific stability threshold is pre-set. The stability threshold can be determined based on historical data, industry standards, and the safety and economic requirements of the transmission tower construction. The setting of the stability threshold ensures that the geological conditions in the construction area of ​​the transmission tower are stable enough to bear the weight of the transmission tower for a long time, avoiding structural safety risks and economic losses caused by geological diseases.

[0095] Optionally, by comparing the geological stability assessment result of each candidate area with a set stability threshold, a target candidate area whose geological stability is greater than the stability threshold can be determined from at least one candidate area, and then the target candidate area can be determined as the target area as the construction area of ​​the transmission tower.

[0096] In this step, by setting the stability threshold, the geological conditions of the candidate area can be objectively evaluated to ensure that the geological stability of the transmission tower construction area meets the standards, providing a solid geological guarantee for the construction and long-term operation of the transmission tower.

[0097] The technical solution of the embodiment of the present invention is illustrated below in conjunction with preferred implementation modes.

[0098] At present, the existing transmission tower site selection technology usually relies on the experience and field survey of engineers, the use of maps or other satellite remote sensing imaging, and the use of traditional ground penetrating radar to obtain underground disease data to meet the needs of transmission tower site selection. However, manual field surveys have the problems of long processing time and great environmental interference, and cannot comprehensively evaluate the area to be tested; moreover, it is difficult to conduct field surveys in some areas with complex terrain or difficult to reach, such as mountains, swamps, deserts, etc.; using maps or other satellite imaging, due to the height limit of satellites or aerial photography, three-dimensional imaging is distorted or has too low resolution. In order to obtain better detection results, it can only be scanned back and forth, but the spacing between each scanning line is difficult to grasp, which leads to a large error in the final result. If the distance between each scanning line depends on manual work, the reliability of the data is low, that is, there is a technical problem in the related technology that it is difficult to detect underground diseases in the site selection of transmission towers.

[0099] However, the embodiment of the present application proposes a method for acquiring underground disease data for transmission tower site selection, using drones to reconstruct a real three-dimensional environmental model with higher resolution and richer details. Based on the basic parameters of the selected three-dimensional ground penetrating radar, a basic survey line planning can be made for the radar's underground exploration path. In this way, underground disease data can be effectively acquired, thereby meeting the needs for transmission tower site selection and solving the technical problem of difficulty in detecting underground diseases for transmission tower site selection.

[0100] Next, the method of obtaining underground disease data for transmission tower site selection is further introduced.

[0101] Figure 2 FIG. 1 is a flow chart of a method for acquiring underground disease data for transmission tower site selection according to an embodiment of the present invention. Figure 2 As shown, the method comprises the following steps:

[0102] Step S201, route mission planning.

[0103] In this embodiment, when planning the aerial survey mission, it is necessary to comprehensively consider the surveying and mapping requirements and the actual situation to set the flight altitude and overlap rate. The relative flight altitude can be calculated by the following formula.

[0104]

[0105] Among them, H is used to indicate the relative altitude of photography, f is used to indicate the focal length of the aerial survey camera lens, a is used to indicate the size of the camera pixel, and R is used to indicate the ground resolution. For the same aerial survey camera, the focal length f of the camera lens and the pixel size a are fixed, and the corresponding ground resolution can only be achieved by changing the relative altitude of photography. From the above formula, it can be seen that when other factors are kept unchanged, the smaller the value of the relative altitude of photography, the higher the ground resolution. In actual aerial survey operations, the mapping accuracy should be guaranteed to meet the operation requirements first, and then the corresponding relative altitude of photography should be set based on multiple factors such as project cycle and benefits.

[0106] Step S202, controlling the UAV to execute the route mission.

[0107] In this embodiment, after the drone equipment is assembled, the network connection status of the remote controller, the connection status between the aircraft and the remote controller, and the network RTX status are checked. After all the checks are completed, the drone can be used to perform route tasks and conduct surveying and mapping operations. After data collection is completed, the drone automatically returns to complete the aerial survey.

[0108] Optionally, after the drone data is collected, the drone data is processed and then three-dimensionally reconstructed to obtain a three-dimensional model, and the obtained three-dimensional model can achieve surveying and mapping level accuracy.

[0109] For example, when performing 3D reconstruction, you can first select the corresponding 3D model according to the task type. After selecting the corresponding 3D model, you can perform aerial triangulation on the oblique photography, where: Figure 3 2 is a schematic diagram of triangulation in oblique photography according to an embodiment of the present invention.

[0110] Optionally, after the aerial triangulation is completed, a three-dimensional reconstruction is performed, and a real three-dimensional model of the experimental area can be obtained through the three-dimensional reconstruction. Figure 4 4 is a schematic diagram of a real-scene three-dimensional model according to an embodiment of the present invention.

[0111] Step S203: Arrange a survey line for the radar based on the reconstructed three-dimensional environment.

[0112] In this embodiment, the feasibility of the radar target environment is determined, whether radar detection is applicable, and whether it is necessary to manually trim the terrain to facilitate radar detection. The radar is tested for a small range. Based on the construction budget and time, a large-scale detection of the target area is carried out to determine the specific construction area. The sparseness of the radar survey line is selected to be larger (the survey line spacing is set at 1m or more), the purpose is to determine the specific construction area that meets the geological requirements. Determine the direction of data acquisition (and the detection direction of the survey line) in the determined area. Implement cross-arrangement of survey lines in the determined area. It is a common strategy to cross-arrange multiple survey lines in the target area. By crossing the survey lines, the accuracy and reliability of underground target detection can be improved, because observations at different angles and positions will provide more information. Use ground penetrating radar to determine the density and direction of the radar survey lines. For example, on a 5m×5m construction ground, the radar is arranged with a survey line distance of 0.5m, and 11 survey lines are arranged in the x and y directions. Figure 5 It is a schematic diagram of a cross-arranged survey line according to an embodiment of the present invention.

[0113] Optionally, 3D GPR can be performed using GeoScope TM MKIV ground penetrating radar, select DXG1212 antenna array, length 1.2 meters, 12 acquisition channels, channel spacing 7.5cm. GeoScope TM The MKIV three-dimensional ground penetrating radar system is composed of a radar main controller, a microcomputer, a radar antenna array, a GPS antenna and base station, and a ranging wheel. Figure 6 It is a schematic diagram of the composition of a detection radar system according to an embodiment of the present invention.

[0114] Optionally, the frequency stepping of the detection radar has the following advantages: the starting and ending frequencies and the frequency dwell time can be set by yourself, with 100% effective working time; the frequency range can be set according to different detection requirements, which greatly speeds up the detection speed; the obtained frequency domain data is not only easy to store, but also easy to post-process, so as to obtain a better image; the stepped frequency signal is more stable than other electromagnetic signals and has strong anti-interference ability; the stepped frequency scanning cycle can be combined into an optimal signal source with equal energy for each frequency component, and the user can set the starting and ending frequencies, as well as the dwell time of each frequency through a computer.

[0115] Step S204, controlling the detection radar to collect underground disease data in the target area along the survey line.

[0116] In this embodiment, after the density and direction of the survey line are determined, the radar can be controlled according to the density and direction of the survey line, and the detection radar can be controlled to collect underground disease data of the target area according to the survey line.

[0117] Step S205: determining the location of the transmission tower based on the reconstructed three-dimensional environment and the collected underground damage data.

[0118] In this embodiment, the site selection of the transmission tower can be determined by combining the reconstructed three-dimensional environment and the collected underground disease data.

[0119] In the above steps S201 to S205, the drone is used to reconstruct the real three-dimensional environment model with higher resolution and richer details. Based on the selected basic parameters of the three-dimensional ground penetrating radar, a basic survey line planning can be made for the radar's underground exploration path. In this way, the underground disease data can be effectively obtained, thereby meeting the needs of the transmission tower site selection.

[0120] According to an embodiment of the present invention, a device for determining an address of a transmission tower is also provided. It should be noted that the device for determining an address of a transmission tower can be used to execute the method for determining an address of a transmission tower in the embodiment.

[0121] Figure 7 Schematic diagram of a device for determining an address of a transmission tower according to an embodiment of the present invention. Figure 7 As shown, the transmission tower address determination device 700 may include: a control unit 701 , a reconstruction unit 702 , a first detection unit 703 , a first determination unit 704 , a second detection unit 705 , and a second determination unit 706 .

[0122] The control unit 701 is used to control the target UAV to collect image data of the area to be measured.

[0123] The reconstruction unit 702 is used to reconstruct a three-dimensional model of the area to be measured based on the image data, wherein the three-dimensional model is used to at least reflect the terrain features of the area to be measured.

[0124] The first detection unit 703 is used to perform preliminary detection on the area to be detected by using detection equipment based on the three-dimensional model to obtain first underground disease data corresponding to the area to be detected.

[0125] The first determining unit 704 is used to determine at least one candidate area in the area to be tested based on the three-dimensional model of the area to be tested and the first underground disease data, wherein the candidate area is an area that meets the geological stability assessment conditions.

[0126] The second detection unit 705 is used to detect at least one candidate area using a detection device to obtain second underground disease data corresponding to the at least one candidate area.

[0127] The second determining unit 706 is used to determine a target area from at least one candidate area based on the second underground disease data, wherein the target area is a construction area of ​​a transmission tower.

[0128] Optionally, the reconstruction unit 702 is further used to: perform aerial triangulation on the image data to determine the relative position and geometric relationship between the image data; based on the relative position and geometric relationship between the image data, perform three-dimensional reconstruction on the area to be measured to obtain a three-dimensional model of the area to be measured.

[0129] Optionally, the first detection unit 703 is also used to: set an initial survey line density and an initial survey line direction of the detection equipment based on the three-dimensional model of the area to be measured; control the detection equipment to perform preliminary detection of the area to be measured according to the initial survey line density and the initial survey line direction, and obtain first underground disease data corresponding to the area to be measured.

[0130] Optionally, the second detection unit 705 is also used to: set a target survey line density and a target survey line direction, wherein the target survey line density is less than the initial survey line density, and the target survey line direction is consistent with the initial survey line direction, or the target survey line direction is inconsistent with the initial survey line direction; based on the target survey line density and the target survey line direction, respectively detect at least one candidate area to obtain second underground disease data corresponding to at least one candidate area.

[0131] Optionally, the control unit 701 is also used to: formulate an aerial survey mission, wherein the aerial survey mission includes at least an altitude, an overlap rate and a route, the altitude is used to indicate the altitude at which the target UAV needs to fly, the overlap rate is used to indicate the degree of overlap between two adjacent pictures collected by the target UAV, and the route is used to indicate the flight path of the target UAV; and control the target UAV to perform the aerial survey mission to collect image data of the area to be measured.

[0132] Optionally, the second determination unit 706 is further configured to: determine the target candidate area as the target area in response to the second underground disease data indicating that the geological stability of the target candidate area is greater than a stability threshold.

[0133] In this embodiment, image data of the area to be tested is collected by a drone, and then a three-dimensional model of the area to be tested is reconstructed using the image data, so that the terrain features of the area to be tested can be accurately obtained, and then the detection equipment is used to detect the area to be tested, and the underground disease data of the area to be tested can be identified, and then at least one candidate area is determined from the area to be tested according to the area to be tested and the identification result of the underground disease in the area to be tested, and then a more detailed detection is performed on the at least one candidate area, and a target area can be determined from the at least one candidate area, and the target area is that The target area is an area in the area to be tested that is suitable for constructing a transmission tower. That is, through the combination of the drone and the three-dimensional ground penetrating radar, the limitation of the terrain complexity on the site selection is overcome, the efficiency and accuracy of the site selection of the transmission tower are improved, and the dependence on manual experience is reduced, thereby solving the technical problem of the difficulty in obtaining underground disease data for the site selection of the transmission tower.

[0134] According to an embodiment of the present invention, a computer-readable storage medium is further provided. The storage medium includes a stored program, wherein the program executes the method for determining an address of a transmission tower in the embodiment.

[0135] According to an embodiment of the present invention, a processor is further provided. The processor is used to run a program, wherein the method for determining an address of a transmission tower in the embodiment is executed when the program is run.

[0136] According to another aspect of the embodiments of the present invention, a computer program product is provided, which includes computer instructions, and when the computer instructions are executed by a processor, the method for determining the address of a transmission tower in the embodiments is implemented.

[0137] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0138] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0139] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0140] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0141] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0142] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent functional component, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software functional component, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, Read-Only Memory (ROM), Random Access Memory (RAM), mobile hard disk, magnetic disk or optical disk, etc., various media that can store program codes.

[0143] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for determining the address of a transmission tower, characterized in that: include: Control the target UAV to collect image data of the area to be tested; Reconstructing a three-dimensional model of the area to be measured based on the image data, wherein the three-dimensional model is used to at least reflect the terrain features of the area to be measured; Based on the three-dimensional model, using a detection device to perform preliminary detection on the area to be detected, and obtaining first underground disease data corresponding to the area to be detected; Based on the three-dimensional model of the area to be tested and the first underground disease data, determining at least one candidate area in the area to be tested, wherein the candidate area is an area that meets the geological stability assessment conditions; Using the detection device to detect the at least one candidate area, and obtaining second underground disease data corresponding to the at least one candidate area; Based on the second underground disease data, a target area is determined from the at least one candidate area, wherein the target area is a construction area of ​​the transmission tower.

2. The method according to claim 1, characterized in that Reconstructing a three-dimensional model of the area to be measured based on the image data includes: Performing aerial triangulation on the image data to determine the relative positions and geometric relationships between the image data; Based on the relative positions and geometric relationships between the image data, the area to be measured is three-dimensionally reconstructed to obtain a three-dimensional model of the area to be measured.

3. The method according to claim 1, characterized in that Based on the three-dimensional model of the area to be tested, a detection device is used to perform preliminary detection on the area to be tested, and first underground disease data corresponding to the area to be tested is obtained, including: Based on the three-dimensional model of the area to be measured, setting the initial measurement line density and initial measurement line direction of the detection device; The detection device is controlled to perform preliminary detection on the area to be detected according to the initial measurement line density and the initial measurement line direction, so as to obtain first underground disease data corresponding to the area to be detected.

4. The method according to claim 3, characterized in that Using the detection device to detect the at least one candidate area to obtain second underground disease data corresponding to the at least one candidate area, including: Setting a target survey line density and a target survey line direction, wherein the target survey line density is less than the initial survey line density, and the target survey line direction is consistent with the initial survey line direction, or the target survey line direction is inconsistent with the initial survey line direction; Based on the target survey line density and the target survey line direction, the at least one candidate area is detected respectively to obtain second underground disease data corresponding to the at least one candidate area.

5. The method according to claim 1, characterized in that Control the target drone to collect image data of the area to be tested, including: Formulate an aerial survey task, wherein the aerial survey task at least includes an altitude, an overlap rate, and a route, wherein the altitude is used to indicate the altitude at which the target UAV needs to fly, the overlap rate is used to indicate the degree of overlap between two adjacent images collected by the target UAV, and the route is used to indicate the flight path of the target UAV; The target UAV is controlled to perform the aerial survey task to collect image data of the area to be surveyed.

6. The method according to claim 1, characterized in that Determining a target area from the at least one candidate area based on the second underground disease data includes: In response to the second underground disease data indicating that the geological stability of the target candidate area is greater than a stability threshold, the target candidate area is determined as the target area.

7. A device for determining the address of a transmission tower, characterized in that: include: A control unit, used to control the target UAV to collect image data of the area to be tested; A reconstruction unit, configured to reconstruct a three-dimensional model of the area to be measured based on the image data, wherein the three-dimensional model is configured to at least reflect the topographical features of the area to be measured; A first detection unit is used to perform preliminary detection on the area to be detected using a detection device based on the three-dimensional model to obtain first underground disease data corresponding to the area to be detected; A first determining unit, configured to determine at least one candidate area in the area to be tested based on the three-dimensional model of the area to be tested and the first underground disease data, wherein the candidate area is an area that meets the geological stability assessment conditions; A second detection unit is used to detect the at least one candidate area using the detection device to obtain second underground disease data corresponding to the at least one candidate area; The second determining unit is used to determine a target area from the at least one candidate area based on the second underground disease data, wherein the target area is a construction area of ​​the transmission tower.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed by a processor, the device where the storage medium is located is controlled to execute the method according to any one of claims 1 to 6.

9. A processor, characterized in that: The processor is used to run a program, wherein the program executes the method according to any one of claims 1 to 6 when running.

10. A computer program product, characterized in that The computer program product comprises computer instructions, and when the computer instructions are executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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