OPGW optical cable route general survey method and system based on unmanned aerial vehicle

Abstract

The invention relates to the field of optical cable dumb resource operation and maintenance, in particular to an OPGW optical cable routing general survey method and system based on an unmanned aerial vehicle, and the method comprises the steps: obtaining the real-time optical cable data of a target optical cable, and obtaining the specific signal intensity received by the target optical cable; dynamically optimizing the real-time flight path of the unmanned aerial vehicle according to the specific signal intensity and the environment parameters of the flight position corresponding to the unmanned aerial vehicle; when the unmanned aerial vehicle flies, the routing position point of the target optical cable and the corresponding optical cable distance are obtained according to the specific signal strength, and finally the routing trend of the target optical cable is obtained. Compared with the prior art, the unmanned aerial vehicle is used for transmitting the specific sound wave signal, the specific signal strength received by the target optical cable is obtained, the specific signal strength reflects the position relation of the target optical cable of the unmanned aerial vehicle, and the real-time flight path of the unmanned aerial vehicle is dynamically optimized in combination with the environment parameters influencing the flight of the unmanned aerial vehicle. And thus, routing census of the target optical cable can be accurately and quickly realized through the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the field of optical cable dumb resource operation and maintenance, and more specifically, to an OPGW optical cable route census method and system based on unmanned aerial vehicle (UAV). Background Art

[0002] As the scale of power grid continues to expand, the number of optical fiber composite overhead ground wires (OPGW cables) is also increasing, and the corresponding demand for route surveys of the optical fiber composite overhead ground wires is also increasing. The optical fiber composite overhead ground wires are usually installed in the air through optical cable racks. In the prior art, live inspections usually rely on manual or single equipment, with limited coverage and low efficiency. In particular, when inspecting optical cables over long distances or in complex environments, it is impossible to achieve rapid and comprehensive inspections. Summary of the invention

[0003] The present invention aims to overcome at least one defect of the above-mentioned prior art and provide an OPGW optical cable route census method and system based on drone, which is used to effectively realize the route census of OPGW optical cables by reasonably planning the real-time flight path of the drone.

[0004] The technical solution adopted by the present invention is:

[0005] In a first aspect, the present invention provides an OPGW optical cable route survey method based on a drone, the survey method comprising:

[0006] Get the real-time flight path of the drone;

[0007] Acquire the real-time sound wave emission position of the UAV according to the real-time flight path;

[0008] Acquiring real-time optical cable data of the target optical cable corresponding to the real-time acoustic wave emission position;

[0009] Obtaining, from the real-time optical cable data, a specific signal strength of a specific sound wave signal received by the target optical cable corresponding to the real-time sound wave emission position; the specific sound wave signal is a sound wave signal emitted by the UAV at the real-time sound wave emission position;

[0010] Collecting environmental parameters of the drone at the real-time sound wave emission location; the environmental parameters at least include environmental wind speed and environmental noise intensity;

[0011] Acquire the routing position point of the target optical cable according to the real-time acoustic wave emission position and the corresponding specific signal strength;

[0012] According to the routing position point of the target optical cable and the corresponding real-time optical cable data, obtaining the optical cable distance of the routing position point corresponding to the target optical cable;

[0013] Obtaining the routing direction of the target optical cable according to the routing position point and the corresponding optical cable distance;

[0014] Wherein, the real-time flight path is dynamically optimized according to the specific signal strength and the corresponding environmental parameters.

[0015] By controlling the drone to emit the specific sound wave signal at the real-time sound wave emission position during flight, and obtaining the real-time optical cable data of the target optical cable corresponding to the real-time sound wave emission position, the specific sound wave signal can be extracted from the real-time optical cable data. Usually, the drone will inspect the optical cable at a certain distance above the optical cable. When the drone is directly above the target optical cable, the intensity of the specific sound wave signal received by the target optical cable is the largest, so the positional relationship between the drone and the target optical cable can be judged by the intensity change of the specific sound wave signal received by the target optical cable; therefore, when dynamically optimizing the real-time flight path of the drone, the specific signal strength is introduced, so that the drone will optimize and adjust the flight route according to the specific signal strength during flight, so that the drone can fly in the direction with the largest specific signal strength, that is, the routing direction of the target optical cable. At the same time, the UAV will be constrained by the ambient wind speed during flight, and the ambient wind speed will affect the flight endurance of the UAV. At the same time, the specific signal strength received by the target optical cable is affected by the ambient noise. Therefore, when dynamically optimizing the real-time flight path of the UAV, the ambient wind speed and ambient noise intensity are further introduced, so that the UAV can adjust and optimize the flight route and reduce the impact of ambient wind speed and ambient noise; ultimately, the route direction of the target optical cable can be effectively obtained.

[0016] Furthermore, the real-time flight path is dynamically optimized according to the specific signal strength and the corresponding environmental parameters, specifically including:

[0017] Constructing a flight path cost function according to an A* search algorithm, a wind speed influence factor and a signal strength factor; the wind speed influence factor is calculated according to the ambient wind speed, and the signal strength influence factor is calculated according to the specific signal strength and the ambient noise strength;

[0018] The real-time flight path of the UAV is dynamically optimized according to the flight path cost function.

[0019] The A* search algorithm can be effectively applied to the real-time flight path planning of the UAV to improve the efficiency of the path planning of the UAV; at the same time, by adding the wind speed influencing factor and the signal influencing factor as environmental perception constraints, the path planning of the UAV can effectively optimize the real-time flight path of the UAV according to the specific signal strength and the environmental wind speed.

[0020] Furthermore, the flight path cost function is constructed according to the A* search algorithm, the wind speed influence factor and the signal strength factor, which is specifically expressed as:

[0021]

[0022] In the formula, C path represents the flight path cost function; G represents the path length of the UAV from the flight starting point of the real-time flight path to the current path node; H represents the heuristic estimate, which is the distance from the current path node to the target path node of the real-time flight path; d i is the length of the i-th path segment in the real-time flight path, the path segment is the path interval between any two consecutive path nodes in the real-time flight path, and any path segment contains at least one real-time sound wave emission position, F i is the wind speed influence factor of the i-th path segment, S i is the signal strength factor of the i-th path segment, n is the number of path segments to the current path node; w1 is the heuristic estimation weight, and w2 is the environmental constraint weight.

[0023] Furthermore, the calculation of the wind speed influence factor is specifically expressed as:

[0024]

[0025] In the formula, F i is the wind speed impact factor of the i-th path segment in the real-time flight path; |V i | represents the average ambient wind speed of the i-th path segment, θ i V represents the angle between the average wind direction of the i-th path segment and the path direction. max Indicates the maximum flight speed of the drone.

[0026] Furthermore, the calculation of the signal strength influencing factor is specifically expressed as:

[0027]

[0028] In the formula, S i is the signal strength impact factor of the i-th path segment in the real-time flight path; Q iis the average signal quality of the i-th path segment; Q i norm Q i The normalized representation of is:

[0029]

[0030] Wherein, e is a natural constant; k is a flight environment steepness parameter, which is determined according to the steepness of the flight environment in the real-time flight path, and 0.1≤k≤0.5; Q0 is the median value of the signal quality to the i-th path segment in the real-time flight path;

[0031] The average signal quality Q i It is expressed as:

[0032]

[0033] In the formula, is the average value of the specific signal strength corresponding to the i-th path segment, is the average value of the ambient noise intensity corresponding to the i-th path segment.

[0034] Further, obtaining the routing position point of the target optical cable according to the real-time sound wave emission position and the corresponding specific signal strength specifically includes:

[0035] According to the specific signal strength corresponding to each of the real-time sound wave emission positions, a signal peak position point is obtained; the signal peak position point is the real-time sound wave emission position corresponding to the change trend of the specific signal strength from enhancement to weakening;

[0036] The signal peak position point is used as the routing position point of the target optical cable.

[0037] Since the real-time flight path of the drone is optimized according to the specific signal strength of the specific sound wave signal received by the target optical cable, the drone will move in the direction where the specific signal strength increases. When the specific signal strength decreases, it means that the drone has deviated from the routing direction of the target optical cable and needs to readjust the real-time flight path of the drone. Therefore, by obtaining the real-time sound wave emission position where the change trend of the corresponding specific signal strength changes from enhancement to weakening, this real-time sound wave emission position is exactly where the drone is exactly in the routing direction of the target optical cable.

[0038] Furthermore, obtaining the signal peak position point according to the specific signal strength corresponding to each of the real-time sound wave emission positions specifically includes:

[0039] Screening the specific signal strengths to obtain the specific signal strengths exceeding a preset specific strength;

[0040] The signal peak position point is obtained according to the specific signal strength exceeding the preset specific strength.

[0041] In order to effectively obtain the change of the specific signal strength and reduce the amount of calculation, a preset specific strength is set according to the overall situation of the specific signal strength to filter the collected specific signal strength.

[0042] Furthermore, the survey method further includes:

[0043] Optimizing the specific sound wave signal according to the specific sound wave signal received by the target optical cable and the real-time environmental conditions during the flight of the UAV;

[0044] According to the optimized signal parameters of the specific sound wave signal, a sound wave optimization instruction is sent to the drone.

[0045] By optimizing the signal parameters of the specific sound wave signal and sending a sound wave optimization instruction to the drone, the drone can adjust the specific sound wave signal it emits according to the signal parameters contained in the sound wave optimization instruction, avoid noise interference, and ensure optimal signal propagation.

[0046] Furthermore, the survey method further includes:

[0047] According to each optical cable to be detected within the preset starting range, a corresponding detection sound wave emission position is obtained; the detection sound wave emission position is directly above the corresponding optical cable to be detected and is at a preset flight distance from the optical cable to be detected;

[0048] According to the preset detection intensity and the detection sound wave emission position, a target detection instruction is sent to the drone, so that the drone emits a detection sound wave signal with a preset detection intensity at each of the detection sound wave emission positions according to the target detection instruction;

[0049] Acquire real-time optical cable data of the target optical cable, and acquire the detection signal strength of the detection acoustic wave signal received by the target optical cable from the real-time optical cable data;

[0050] The detection signal strength is compared with the preset detection strength, and the target optical cable is determined from the optical cables to be detected according to the comparison result.

[0051] The drone transmits the detection sound wave signal to each optical cable to be detected within the preset starting range, and then determines which optical cable to be detected within the preset starting range is the target optical cable by acquiring the detection signal strength of the detection sound wave signal received by the target optical cable. The starting point or path position point of the real-time flight path of the drone can be set according to the determined optical cable to be detected, so that the drone can perform a route survey along the optical cable to be detected, thereby reducing the calculation amount of the drone and improving the efficiency of the route survey of the target optical cable.

[0052] In a second aspect of the present invention, there is provided an OPGW optical cable route survey system based on a drone, the survey system comprising:

[0053] Optical cable inspection and analysis equipment, used to connect to the target optical cable;

[0054] A drone, wherein the drone is equipped with an optical cable identifier, and the optical cable identifier is used to emit a specific sound wave signal;

[0055] The terminal platform is used to implement the UAV-based OPGW optical cable route survey method described in the first aspect above.

[0056] In a third aspect, the present invention provides an OPGW optical cable route survey device based on a drone, the survey device comprising:

[0057] Path acquisition module, used to obtain the real-time flight path of the drone;

[0058] An acoustic wave acquisition module, used to acquire the real-time acoustic wave emission position of the UAV according to the real-time flight path;

[0059] A data acquisition module, used to acquire real-time optical cable data of the target optical cable corresponding to the real-time acoustic wave emission position;

[0060] A signal detection module, used to obtain, from the real-time optical cable data, a specific signal strength of a specific sound wave signal received by the target optical cable corresponding to the real-time sound wave emission position; the specific sound wave signal is a sound wave signal emitted by the drone at the real-time sound wave emission position;

[0061] An environment collection module is used to collect environmental parameters of the UAV at the real-time sound wave emission position; the environmental parameters at least include environmental wind speed and environmental noise intensity;

[0062] A position acquisition module, used to acquire the routing position point of the target optical cable according to the real-time acoustic wave emission position and the corresponding specific signal strength;

[0063] A distance acquisition module, used for acquiring the optical cable distance of the routing position point corresponding to the target optical cable according to the routing position point of the target optical cable and the corresponding real-time optical cable data;

[0064] A routing acquisition module, used for acquiring the routing direction of the target optical cable according to the routing position point and the corresponding optical cable distance;

[0065] The path optimization module is used to dynamically optimize the real-time flight path according to the specific signal strength and corresponding environmental parameters.

[0066] A fourth aspect of the present invention provides an electronic device, including a memory and a processor, wherein the memory stores computer-readable instructions, and the processor executes the computer-readable instructions to implement the OPGW optical cable route survey method based on a drone as described in the first aspect.

[0067] A fifth aspect of the present invention provides a computer storage medium having a computer-readable program stored thereon, and when the computer-readable program is executed, the OPGW optical cable route survey method based on a drone as described in the first aspect above is implemented.

[0068] Compared with the prior art, the present invention has the following beneficial effects:

[0069] The present invention uses an unmanned aerial vehicle to conduct a route survey of a target optical cable. During the survey flight, the unmanned aerial vehicle emits a specific sound wave signal, and detects the specific signal strength of the specific sound wave signal received by the target optical cable from the real-time optical cable data of the target optical cable. The specific signal strength can reflect the spatial position relationship between the unmanned aerial vehicle and the target optical cable. At the same time, in order to reduce the flight power consumption of the unmanned aerial vehicle and improve the quality of the specific signal strength, the environmental wind speed and environmental noise intensity that mainly affect the flight of the unmanned aerial vehicle are obtained, and the real-time flight path of the unmanned aerial vehicle is dynamically optimized in combination with the specific signal strength, so that the route survey of the target optical cable can be accurately and quickly achieved through the unmanned aerial vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 The figure is a flow chart of the steps of the survey method of the present invention.

[0071] Figure 2 The present invention is a flowchart of the steps of dynamic optimization of the real-time flight path.

[0072] Figure 3 A flow chart of the steps of obtaining a routing location point of the present invention.

[0073] Figure 4A flow chart of the steps for obtaining the target optical cable of the present invention.

[0074] Figure 5 It is a system structure diagram of the census system of the present invention.

[0075] Figure 6 It is a device structure diagram of the census device of the present invention.

[0076] Figure 7 It is a device structure diagram of the electronic device of the present invention.

[0077] The accompanying drawings are marked with: optical cable patrol analysis equipment 11, drone 12, optical cable identifier 13, terminal platform 14, path acquisition module 21, sound wave acquisition module 22, data acquisition module 23, signal detection module 24, environment acquisition module 25, position acquisition module 26, distance acquisition module 27, route acquisition module 28, path optimization module 29, memory 31, processor 32, bus 33, communication interface 34. DETAILED DESCRIPTION

[0078] The drawings of the present invention are only for illustrative purposes and should not be construed as limiting the present invention. In order to better illustrate the following embodiments, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; it is understandable to those skilled in the art that some well-known structures and their descriptions in the drawings may be omitted.

[0079] Example 1

[0080] As the scale of the power grid continues to expand, the number of optical fiber composite overhead ground wires (OPGW optical cables) is also increasing, and the corresponding demand for route surveys of the optical fiber composite overhead ground wires is also increasing. The optical fiber composite overhead ground wires are usually installed in the air through optical cable racks. It is difficult to conduct a census of the optical fiber composite overhead ground wires using conventional optical cable route survey methods, so the optical fiber composite overhead ground wires are usually first surveyed by drones 12. However, in actual operations, since the main setting environment of the optical fiber composite overhead ground wires is the city and is constrained by conditions such as buildings, the drones 12 will be interfered with and blocked by the outside world during the optical cable survey, making it difficult to effectively plan the route survey path of the drones 12.

[0081] In addition, in the prior art, the route survey of the optical fiber composite overhead ground wire is to first determine the target optical cable, then identify it through the camera of the drone 12, and track the target optical cable through manual positioning. This method of the prior art is very wasteful of manual resources, and the efficiency of manual identification is low, which leads to a decrease in the efficiency of the route survey; secondly, when there are multiple optical fiber composite overhead ground wires in parallel or intersecting, manual identification is prone to errors, which leads to a decrease in the accuracy of the route survey. At the same time, the route survey of the optical cable takes a long time, and the endurance of the drone 12 is also a problem. If the drone 12 needs to be returned for charging multiple times, the efficiency of the optical cable route survey will be greatly reduced.

[0082] In order to solve the above problems in the prior art, Figure 1 As shown, this embodiment provides an OPGW optical cable route survey method based on a drone 12, and the survey method may specifically include:

[0083] S1: Obtain the real-time flight path of the UAV 12;

[0084] In this embodiment, the real-time flight path is the real-time route of the route survey flight of the drone 12. It is understandable that in order to better realize the route survey of the target optical cable, the real-time flight path can be dynamically optimized. By dynamically optimizing the real-time flight path, the drone 12 can fly along the target optical cable while flying according to the real-time flight path, thereby accurately realizing the route survey of the target optical cable. In this embodiment, the target optical cable is the optical fiber composite overhead ground wire, that is, the OPGW optical cable.

[0085] In this embodiment, the drone 12 can perform automatic cruising and positioning, so that the drone 12 can maintain the relative position and height with the target optical cable as much as possible. Specifically, the relative height between the drone 12 and the target optical cable is 0.5 to 1m, and the relative height is avoided from dropping or rising suddenly during the flight. Preferably, the drone 12 also has good wind resistance and flight stability, and uses attitude control algorithms and multi-sensor fusion technology to ensure that the drone 12 can fly stably under different environmental conditions; in addition, the drone 12 also has good load-bearing and endurance capabilities, so that the drone 12 can carry certain instruments and equipment to achieve various functions.

[0086] S2: Acquire the real-time sound wave emission position of the UAV 12 according to the real-time flight path;

[0087] In this embodiment, the real-time sound wave emission position is included in the real-time flight path. The real-time sound wave emission position is the position where the drone 12 emits a specific sound wave signal on the real-time flight path; correspondingly, the specific sound wave signal is the sound wave signal emitted by the drone 12 at the real-time sound wave emission position.

[0088] In this embodiment, the drone 12 is equipped with an optical cable identifier 13, and the drone 12 can generate a sound wave signal of a specific frequency through the optical cable identifier 13, and transmit it at a certain transmission time interval. The specific frequency is usually a high-frequency square wave signal to ensure that the propagation of the specific sound wave signal in the target optical cable can effectively generate vibration.

[0089] Specifically, the drone 12 will continue to fly according to the real-time flight path, but when it flies to the real-time sound wave emission position, the drone 12 will hover at the real-time sound wave emission position and emit the specific sound wave signal. After the specific sound wave signal is emitted, the drone 12 continues to fly according to the real-time flight path until the next real-time sound wave emission position. It can be understood that the real-time sound wave emission position is set according to the emission time interval of the specific sound wave signal, so the real-time sound wave emission position can be adjusted by adjusting the emission time interval of the specific sound wave signal.

[0090] S3: Acquiring real-time optical cable data of the target optical cable corresponding to the real-time acoustic wave emission position;

[0091] In this embodiment, the target optical cable is connected to the optical cable line inspection and analysis device 11, and the optical cable line inspection and analysis device 11 is equipped with a Φ-OTDR system, so that the optical cable line inspection and analysis device 11 can collect signals in the target optical cable, perform real-time analysis and processing on the signals, obtain the real-time optical cable data in the target optical cable, and then extract various status information on the target optical cable from the real-time optical cable data.

[0092] Specifically, the optical cable line inspection and analysis device 11 emits a pulsed laser into the target optical cable, obtains real-time optical cable data in the target optical cable, extracts the Rayleigh scattering signal from the real-time optical cable data, and uses Φ-OTDR technology to perform precise calculations based on the phase change of the Rayleigh scattering signal, thereby reconstructing the propagation path of the specific acoustic wave signal, and identifying the position and state of the specific acoustic wave signal received by the target optical cable.

[0093] S4: acquiring, from the real-time optical cable data, a specific signal strength of a specific acoustic wave signal received by the target optical cable corresponding to the real-time acoustic wave emission position;

[0094] As described above, after the specific acoustic wave signal is emitted, it acts on the target optical cable and diffuses evenly along the length of the optical fiber in the target optical cable, causing the optical fiber to produce a tiny mechanical vibration, thereby causing the refractive index of the optical fiber to change slightly, causing the propagation characteristics of the light in the optical fiber to be affected, forming a Rayleigh scattering signal, which is finally reflected in the real-time optical cable data of the target optical cable. Therefore, the specific signal strength of the specific acoustic wave signal received by the target optical cable at each time point can be obtained from the real-time optical cable data, and the position where the target optical cable receives the specific acoustic wave signal can also be obtained.

[0095] It is understandable that the intensity of the specific sound wave signal emitted by the drone 12 is determined, but the specific signal intensity of the specific sound wave signal received by the target optical cable will change with the relationship between the drone 12 and the target optical cable. The route survey of the drone 12 uses the automatic cruise function of the drone 12 to make the drone 12 fly above the optical cable to be detected and in a horizontal area at a relative height from the optical cable, wherein when the drone 12 is directly above the optical cable to be detected, or close to directly above the detection optical cable, the specific signal intensity of the specific sound wave signal received by the optical cable to be detected is the strongest.

[0096] Therefore, if the drone 12 flies along the direction where the specific acoustic wave signal is the strongest, it can be said that the drone 12 is flying directly above the target optical cable, that is, the route direction of the target optical cable can be directly found. Therefore, the flight path planning of the drone 12 can be adjusted according to the specific signal strength received by the target optical cable, so that the drone 12 can fly as far as possible along the target optical cable.

[0097] S5: collecting environmental parameters of the drone 12 at the real-time sound wave emission position;

[0098] In this embodiment, the environmental parameters include at least environmental wind speed and environmental noise intensity;

[0099] It is understandable that since the route survey of the optical cable is a long-duration task, and in this embodiment, the drone 12 is equipped with the optical cable identifier 13, which adds a certain weight, thereby reducing the endurance of the drone 12. Therefore, the drone 12 needs to ensure stable flight as much as possible during the flight to reduce the additional power consumption during the flight. Among them, an important factor affecting the stable flight of the drone 12 is the wind speed in the flight environment of the drone 12. Therefore, in this embodiment, the environmental wind speed of the drone 12 at the real-time sound wave emission position is obtained, and then the real-time flight path of the drone 12 can be adjusted according to the environmental wind speed, so as to minimize the path of headwind flight that will increase the flight power consumption of the drone 12, and improve the endurance of the drone 12.

[0100] At the same time, although the emission intensity of the specific sound wave signal emitted by the drone 12 is determined, the specific signal intensity of the specific sound wave signal received by the target optical cable will be affected by the environmental noise, which will reduce the signal quality of the target optical cable, thereby reducing the accuracy of the target optical cable route survey. The signal quality of the target optical cable is mainly reflected in the ratio of the specific signal intensity to the environmental noise intensity, so even if the specific signal intensity can be maintained, if the environmental noise intensity is strong, the signal quality of the target optical cable is still poor. Therefore, in this embodiment, the environmental noise intensity of the drone 12 at the real-time sound wave emission position is obtained, and then the real-time flight path of the drone 12 can be dynamically adjusted according to the environmental noise intensity, and flying on the path with high environmental noise intensity is avoided as much as possible to ensure the signal quality of the target optical cable.

[0101] As described above, the real-time flight path of the drone 12 can be dynamically optimized. In this embodiment, the dynamic optimization of the real-time flight path is to enable the drone 12 to better fly along the target optical cable, thereby better realizing the route survey of the target optical cable. Therefore, in this embodiment, the real-time flight path can be dynamically optimized according to the specific signal strength and the corresponding environmental parameters.

[0102] Specifically, the real-time flight path of the drone 12 is dynamically optimized, such as Figure 2 As shown, it may specifically include:

[0103] A1: Construct a flight path cost function based on the A* search algorithm, the wind speed influence factor and the signal strength factor.

[0104] It can be understood that, in this embodiment, the wind speed influence factor is calculated based on the ambient wind speed, and the signal strength influence factor is calculated based on the specific signal strength and the ambient noise strength.

[0105] The A* search algorithm can be effectively applied to the real-time flight path planning of the UAV 12 to improve the efficiency of the path planning of the UAV 12; at the same time, the A* search algorithm can well introduce additional factors to optimize the real-time flight path of the UAV 12.

[0106] Specifically, in this embodiment, the flight path cost function can be expressed as:

[0107]

[0108] In the formula, C path represents the flight path cost function; G represents the path length of the UAV 12 from the flight starting point of the real-time flight path to the current path node; H represents the heuristic estimate, which is the distance from the current path node to the target path node of the real-time flight path; d i is the length of the i-th path segment in the real-time flight path; wherein the path segment is the path interval between any two consecutive path nodes in the real-time flight path, and any path segment contains at least one real-time sound wave emission position, F i is the wind speed influence factor of the i-th path segment, S i is the signal strength factor of the i-th path segment, n is the number of path segments to the current path node; w1 is the heuristic estimation weight, and w2 is the environmental constraint weight.

[0109] The calculation of the wind speed influence factor can be specifically expressed as:

[0110]

[0111] In the formula, F i is the wind speed impact factor of the i-th path segment in the real-time flight path; |V i | represents the average ambient wind speed of the i-th path segment, θ i V represents the angle between the average wind direction of the i-th path segment and the path direction. max Indicates the maximum flight speed of the drone 12.

[0112] The calculation of the signal strength influencing factor can be specifically expressed as:

[0113]

[0114] In the formula, S iis the signal strength impact factor of the i-th path segment in the real-time flight path, Q i is the average signal quality of the i-th path segment; Q i norm Q i The normalized representation of is:

[0115]

[0116] Wherein, e is a natural constant; k is a flight environment steepness parameter, which is determined according to the steepness of the flight environment in the real-time flight path, and 0.1≤k≤0.5; Q0 is the median value of the signal quality to the i-th path segment in the real-time flight path;

[0117] The average signal quality Q i It is expressed as:

[0118]

[0119] In the formula, is the average value of the specific signal strength corresponding to the i-th path segment, is the average value of the ambient noise intensity corresponding to the i-th path segment.

[0120] A2: Dynamically optimize the real-time flight path of the UAV 12 according to the flight path cost function.

[0121] In this embodiment, since the signal strength influencing factor (refer to the description of the above signal influencing factor) is introduced into the dynamic optimization of the real-time flight path of the drone 12, the drone 12 can continuously fly in the direction where the signal quality received by the target optical cable is the best during the flight.

[0122] Specifically, within a certain path range, the change in the intensity of the environmental noise is small, and the change in the signal quality is mainly affected by the specific signal strength, so within the path range, the drone will fly in the direction where the specific signal strength is the largest, and the position where the specific signal strength is the largest is directly above the target optical cable, so that the drone 12 can fly along the target optical cable within the path range. When the drone 12 is flying along the target optical cable, the change in the specific signal strength is small. At this time, the signal quality is mainly affected by the intensity of the environmental noise, so the drone will look for a path with a smaller environmental noise intensity, which may cause the drone to slightly deviate from the routing direction of the target optical cable, and then the specific signal strength will dominate the signal quality again, and this cycle will continue. Through the mutual constraints of the specific signal strength and the environmental noise strength, the drone can continuously adjust and optimize the real-time flight path, and the drone can fly as far as possible along the routing direction of the target optical cable while ensuring the signal quality received by the target optical cable.

[0123] At the same time, since the wind speed influencing factor is also introduced into the dynamic optimization of the real-time flight path of the drone 12, the drone 12 can adjust the flight angle according to the wind speed and wind direction during the flight, reduce the situation of flying against the wind, and thus reduce the flight energy consumption and improve the endurance of the drone 12.

[0124] In a specific implementation of this embodiment, before the drone 12 takes off for route survey, a preset real-time flight path can be specified for the drone 12, and the preset real-time flight path can be set according to the coverage area of ​​the target optical cable. After taking off, the drone 12 first flies according to the preset real-time flight path. During the flight, the specific signal strength and the corresponding environmental parameters are collected and acquired, and the preset real-time flight path is optimized according to the flight path cost function, so that the drone 12 flies according to the optimized real-time flight path. After that, the specific signal strength and the environmental parameters corresponding to the real-time acoustic wave emission position are continuously collected, and the real-time flight path of the drone 12 is continuously optimized according to the flight path cost function, so that the drone 12 can fly along the route direction of the target optical cable as much as possible to achieve an accurate route survey.

[0125] S6: acquiring a routing position point of the target optical cable according to the real-time acoustic wave emission position and the corresponding specific signal strength;

[0126] In this embodiment, if Figure 3As shown, the specific steps of obtaining the target optical cable routing location point may include:

[0127] S61: acquiring a signal peak position point according to the specific signal strength corresponding to each of the real-time sound wave emission positions;

[0128] As described above, in this embodiment, the specific signal strength of the specific sound wave signal received by the target optical cable at each time point can be obtained by analyzing the real-time optical cable data in the target optical cable; at the same time, the real-time sound wave emission position of the drone 12 at each time point can also be obtained, and then the real-time sound wave emission positions of the drone 12 are associated with the specific signal strength, and then the change of the specific signal strength during the flight of the drone 12 is obtained.

[0129] Specifically, in the present embodiment, the signal peak position point is the real-time sound wave emission position corresponding to the change trend of the specific signal strength from enhancement to weakening; as mentioned above, when the specific signal strength weakens, it indicates that the UAV 12 has deviated from the routing direction of the target optical cable. It can be understood that when the change trend of the specific signal strength changes, that is, the turning point from enhancement to weakening, the specific signal strength corresponding to the turning point is the largest, so the real-time sound wave emission position corresponding to the turning point is closest to the routing direction of the target optical cable.

[0130] S62: Using the signal peak position point as the routing position point of the target optical cable.

[0131] As described above, the signal peak position point is located in the routing direction of the target optical cable, so using the signal peak position point as the routing position point can more conveniently and directly obtain the routing situation of the target optical cable.

[0132] In a preferred embodiment, before obtaining the signal peak position point according to the specific signal strength, the specific signal strength is further screened to obtain the specific signal strength exceeding the preset specific strength; then the signal peak position point is obtained according to the specific signal strength exceeding the preset specific strength. The preset specific strength is set according to the overall situation of the specific signal strength, and is used to screen the specific signal strength, reduce the number of the real-time sound wave emission positions used to obtain the routing position point, and improve the calculation efficiency of the routing position point.

[0133] S7: acquiring the optical cable distance of the routing position point corresponding to the target optical cable according to the routing position point of the target optical cable and the corresponding real-time optical cable data;

[0134] In this embodiment, the routing position point is associated with the real-time acoustic wave emission position, and then the position where the specific acoustic wave signal acts on the target optical cable, that is, the optical cable distance of the target optical cable, can be obtained from the corresponding real-time optical cable data through Φ-OTDR technology according to the time point of the real-time acoustic wave emission position, thereby realizing the association between the routing position point and the optical cable distance.

[0135] S8: Obtaining the routing direction of the target optical cable according to the routing position point and the corresponding optical cable distance.

[0136] Specifically, after the routing position points are associated with the optical cable distances, all the routing position points can be fitted and connected in series according to the corresponding associated optical cable distances, and the final fitted line is the routing direction of the target optical cable.

[0137] In a preferred implementation of this embodiment, since the flight environment of the drone 12 is very complex and it is interfered by various environmental factors during the flight, in order to enable the target optical cable to better receive the specific sound wave signal, it is necessary to adjust and optimize the specific sound wave signal emitted by the drone 12 according to the flight environment of the drone 12, so the census method may also include:

[0138] According to the specific acoustic wave signal received by the target optical cable and the real-time environmental conditions during the flight of the drone 12, the specific acoustic wave signal is optimized; according to the signal parameters of the optimized specific acoustic wave signal, an acoustic wave optimization instruction is sent to the drone 12. The signal parameters of the specific acoustic wave signal may include the frequency, intensity and / or emission time interval of the specific acoustic wave signal. After receiving the acoustic wave optimization instruction, the drone 12 adjusts the frequency, intensity and / or emission time interval of the specific acoustic wave signal emitted by the optical cable identifier 13 according to the signal parameters of the specific acoustic wave signal contained therein.

[0139] As mentioned above, although the drone 12 will dynamically optimize its flight path during flight so that the drone 12 can fly along the route direction of the target optical cable as much as possible, when the target optical cable cannot be found immediately and there are multiple other optical cables besides the target optical cable, since the target optical cable has not been determined, the drone 12 will be affected by the multiple other optical cables during the flight according to the real-time flight path, thereby reducing the efficiency of the target optical cable route survey. Therefore, in the actual operation process, it is necessary to first determine the target optical cable from multiple optical cables, such as Figure 4 As shown, the determination of the target optical cable may specifically include:

[0140] B1: Obtaining a corresponding detection sound wave emission position according to each optical cable to be detected within a preset starting range; the detection sound wave emission position is directly above the corresponding optical cable to be detected and is at a preset flight distance from the optical cable to be detected;

[0141] Similar to the specific sound wave signal, the detection sound wave signal is a sound wave signal of a certain frequency emitted by the optical cable identifier 13 carried by the drone 12, so that the signal status of the detection sound wave signal received by the target optical cable can be easily obtained from the real-time optical cable data.

[0142] B2: sending a target detection instruction to the drone 12 according to the preset detection intensity and the detection sound wave emission position, so that the drone 12 emits a detection sound wave signal of the preset detection intensity at each of the detection sound wave emission positions according to the target detection instruction;

[0143] B3: Compare the detection signal strength with the preset detection strength, and determine the target optical cable from the optical cables to be detected according to the comparison result.

[0144] Since the drone 12 emits the detection sound wave signal directly above each of the optical cables to be detected, and only the target optical cable is connected to the optical cable line inspection analysis device 11, only the real-time optical cable data in the target optical cable can be obtained. Therefore, when the detection sound wave signal is emitted directly above the target optical cable, the detection sound wave signal can be obtained from the real-time optical cable data. Conversely, when the detection sound wave signal is emitted directly above other optical cables to be detected outside the target optical cable, the detection sound wave signal cannot be obtained in the real-time optical cable data, or the detection sound wave signal can be obtained, but the detection signal strength is smaller than the preset detection strength. Therefore, the target optical cable can be determined based on the comparison result of the detection signal strength and the preset detection strength, thereby improving the efficiency of the optical cable route survey.

[0145] It should be noted that the preset starting position can be a certain area range of the starting point of the real-time flight path of the drone 12, or it can be a certain area range of any real-time sound wave emission position on the real-time flight path of the drone 12. Regardless of which of the above situations, the purpose is to enable the drone 12 to better fly along the routing direction of the target optical cable in the future.

[0146] Example 2

[0147] Based on the same inventive concept as in Example 1, Figure 5As shown, this embodiment provides an OPGW optical cable route survey system based on a drone 12, and the survey system may include:

[0148] The optical cable line inspection and analysis device 11 is used to connect to the target optical cable; in this embodiment, the target optical cable is the optical fiber composite overhead ground wire, that is, the OPGW optical cable.

[0149] The drone 12 is equipped with an optical cable identifier 13, and the optical cable identifier 13 is used to emit a specific sound wave signal. In a preferred implementation of the present embodiment, the optical cable identifier can be externally mounted on the drone 12. In another preferred implementation, the optical cable identifier can be integrated into the drone 12.

[0150] The terminal platform 14 is respectively connected to the optical cable patrol analysis device 11 and the drone 12 for communication, and is used to implement the OPGW optical cable route survey method based on the drone 12 described in Example 1.

[0151] Example 3

[0152] Based on the same inventive concept as in Example 1, Figure 6 As shown, this embodiment provides an OPGW optical cable route survey device based on a drone 12, and the survey device may include:

[0153] A path acquisition module 21 is used to acquire the real-time flight path of the UAV 12;

[0154] In this embodiment, the real-time flight path is the real-time route of the UAV 12 for performing the route survey flight.

[0155] It is understandable that in order to better realize the route survey of the target optical cable, the survey device may further include a path optimization module 29, which is used to dynamically optimize the real-time flight path; by dynamically optimizing the real-time flight path, the drone 12 can fly along the target optical cable while flying along the real-time flight path, thereby accurately realizing the route survey of the target optical cable. In this embodiment, the target optical cable is the optical fiber composite overhead ground wire, that is, the OPGW optical cable.

[0156] In this embodiment, the drone 12 can perform automatic cruising and positioning, so that the drone 12 can maintain the relative position and height with the target optical cable as much as possible. Specifically, in this embodiment, the relative height between the drone 12 and the target optical cable is 0.5 to 1m, and the relative height is avoided from dropping or rising suddenly during the flight. Preferably, the drone 12 also has good wind resistance and flight stability, and uses attitude control algorithms and multi-sensor fusion technology to ensure that the drone 12 can fly stably under different environmental conditions; in addition, the drone 12 also has good load-bearing and endurance capabilities, so that the drone 12 can carry certain instruments and equipment to achieve various functions.

[0157] The sound wave acquisition module 22 is used to acquire the real-time sound wave emission position of the UAV 12 according to the real-time flight path;

[0158] In this embodiment, the real-time sound wave emission position is included in the real-time flight path. The real-time sound wave emission position is the position where the drone 12 emits a specific sound wave signal on the real-time flight path; correspondingly, the specific sound wave signal is the sound wave signal emitted by the drone 12 at the real-time sound wave emission position.

[0159] In this embodiment, the drone 12 is equipped with an optical cable identifier 13, and the drone 12 can generate a sound wave signal of a specific frequency through the optical cable identifier 13, and transmit it at a certain transmission time interval. The specific frequency is usually a high-frequency square wave signal to ensure that the propagation of the specific sound wave signal in the target optical cable can effectively generate vibration.

[0160] Specifically, the drone 12 will continue to fly according to the real-time flight path, but when it flies to the real-time sound wave emission position, the drone 12 will hover at the real-time sound wave emission position and emit the specific sound wave signal. After the specific sound wave signal is emitted, the drone 12 continues to fly according to the real-time flight path until the next real-time sound wave emission position. It can be understood that the real-time sound wave emission position is set according to the emission time interval of the specific sound wave signal, so the real-time sound wave emission position can be adjusted by adjusting the emission time interval of the specific sound wave signal.

[0161] A data acquisition module 23 is used to acquire real-time optical cable data of the target optical cable corresponding to the real-time acoustic wave emission position;

[0162] In this embodiment, the target optical cable is connected to the optical cable line inspection and analysis device 11, and the optical cable line inspection and analysis device 11 is equipped with a Φ-OTDR system, so that the optical cable line inspection and analysis device 11 can collect signals in the target optical cable, perform real-time analysis and processing on the signals, obtain the real-time optical cable data in the target optical cable, and then extract various status information on the target optical cable from the real-time optical cable data.

[0163] Specifically, the optical cable line inspection and analysis device 11 emits a pulsed laser into the target optical cable, obtains real-time optical cable data in the target optical cable, extracts the Rayleigh scattering signal from the real-time optical cable data, and uses Φ-OTDR technology to perform precise calculations based on the phase change of the Rayleigh scattering signal, thereby reconstructing the propagation path of the specific acoustic wave signal, and identifying the position and state of the specific acoustic wave signal received by the target optical cable.

[0164] A signal detection module 24, configured to obtain, from the real-time optical cable data, a specific signal strength of a specific acoustic wave signal received by the target optical cable corresponding to the real-time acoustic wave emission position;

[0165] As described above, after the specific acoustic wave signal is emitted, it acts on the target optical cable and diffuses evenly along the length of the optical fiber in the target optical cable, causing the optical fiber to produce a tiny mechanical vibration, thereby causing the refractive index of the optical fiber to change slightly, causing the propagation characteristics of the light in the optical fiber to be affected, forming a Rayleigh scattering signal, which is finally reflected in the real-time optical cable data of the target optical cable. Therefore, the specific signal strength of the specific acoustic wave signal received by the target optical cable at each time point can be obtained from the real-time optical cable data, and the position where the target optical cable receives the specific acoustic wave signal can also be obtained.

[0166] It is understandable that the intensity of the specific sound wave signal emitted by the drone 12 is fixed, but the specific signal intensity of the specific sound wave signal received by the target optical cable will change with the relationship between the drone 12 and the target optical cable. The route survey of the drone 12 uses the automatic cruise function of the drone 12 to make the drone 12 fly above the optical cable to be detected and in a horizontal area at a relative height from the optical cable, wherein when the drone 12 is directly above the optical cable to be detected, or close to directly above the detection optical cable, the specific signal intensity of the specific sound wave signal received by the optical cable to be detected is the strongest.

[0167] Therefore, if the drone 12 flies along the direction where the specific acoustic wave signal is the strongest, it can be said that the drone 12 is flying directly above the target optical cable, that is, the route direction of the target optical cable can be directly found. Therefore, the flight path planning of the drone 12 can be adjusted according to the specific signal strength received by the target optical cable, so that the drone 12 can fly as far as possible along the target optical cable.

[0168] An environment collection module 25, used to collect environmental parameters of the drone 12 at the real-time sound wave emission position;

[0169] In this embodiment, the environmental parameters at least include environmental wind speed and environmental noise intensity; understandably, since the optical cable route survey is a long-duration task, and in this embodiment, the UAV 12 is equipped with the optical cable identifier 13, which adds a certain weight, thereby reducing the endurance of the UAV 12, so the UAV 12 needs to ensure stable flight as much as possible during the flight to reduce the additional power consumption during the flight. Among them, an important factor affecting the stable flight of the UAV 12 is the wind speed in the flight environment of the UAV 12, so in this embodiment, the environmental wind speed of the UAV 12 at the real-time sound wave emission position is obtained, and then the real-time flight path of the UAV 12 can be adjusted according to the environmental wind speed, and the path of headwind flight that will increase the flight power consumption of the UAV 12 is minimized, thereby improving the endurance of the UAV 12.

[0170] At the same time, although the emission intensity of the specific sound wave signal emitted by the drone 12 is determined, the specific signal intensity of the specific sound wave signal received by the target optical cable will be affected by the environmental noise, which will reduce the signal quality of the target optical cable, thereby reducing the accuracy of the target optical cable route survey. The signal quality of the target optical cable is mainly reflected in the ratio of the specific signal intensity to the environmental noise intensity, so even if the specific signal intensity can be maintained, if the environmental noise intensity is strong, the signal quality of the target optical cable is still poor. Therefore, in this embodiment, the environmental noise intensity of the drone 12 at the real-time sound wave emission position is obtained, and then the real-time flight path of the drone 12 can be dynamically adjusted according to the environmental noise intensity, and flying on the path with high environmental noise intensity is avoided as much as possible to ensure the signal quality of the target optical cable.

[0171] As described above, the survey device dynamically optimizes the real-time flight path of the UAV 12 through the path optimization module 29. In this embodiment, the dynamic optimization of the real-time flight path is to enable the UAV 12 to better fly along the target optical cable, thereby better realizing the route survey of the target optical cable.

[0172] Therefore, in this embodiment, the path optimization module 29 is specifically used to dynamically optimize the real-time flight path according to the specific signal strength and the corresponding environmental parameters.

[0173] Specifically, the dynamic optimization of the real-time flight path of the drone 12 may include:

[0174] A flight path cost function is constructed according to the A* search algorithm, the wind speed influence factor and the signal strength factor.

[0175] It can be understood that, in this embodiment, the wind speed influence factor is calculated based on the ambient wind speed, and the signal strength influence factor is calculated based on the specific signal strength and the ambient noise strength.

[0176] The A* search algorithm can be effectively applied to the real-time flight path planning of the UAV 12 to improve the efficiency of the path planning of the UAV 12; at the same time, the A* search algorithm can well introduce additional factors to optimize the real-time flight path of the UAV 12.

[0177] Specifically, in this embodiment, the flight path cost function can be expressed as:

[0178]

[0179] In the formula, C path represents the flight path cost function; G represents the path length of the UAV 12 from the flight starting point of the real-time flight path to the current path node; H represents the heuristic estimate, which is the distance from the current path node to the target path node of the real-time flight path; d i is the length of the i-th path segment in the real-time flight path; wherein the path segment is the path interval between any two consecutive path nodes in the real-time flight path, and any path segment contains at least one real-time sound wave emission position, F i is the wind speed influence factor of the i-th path segment, S i is the signal strength factor of the i-th path segment, n is the number of path segments to the current path node; w1 is the heuristic estimation weight, and w2 is the environmental constraint weight.

[0180] The calculation of the wind speed influence factor can be specifically expressed as:

[0181]

[0182] In the formula, F i is the wind speed impact factor of the i-th path segment in the real-time flight path; |V i | represents the average ambient wind speed of the i-th path segment, θ i V represents the angle between the average wind direction of the i-th path segment and the path direction. max Indicates the maximum flight speed of the drone 12.

[0183] The calculation of the signal strength influencing factor can be specifically expressed as:

[0184]

[0185] In the formula, S i is the signal strength impact factor of the i-th path segment in the real-time flight path, Q i is the average signal quality of the i-th path segment; Q i norm Q i The normalized representation of is:

[0186]

[0187] Wherein, e is a natural constant; k is a flight environment steepness parameter, which is determined according to the steepness of the flight environment in the real-time flight path, and 0.1≤k≤0.5; Q0 is the median value of the signal quality to the i-th path segment in the real-time flight path;

[0188] The average signal quality Q i It is expressed as:

[0189]

[0190] In the formula, is the average value of the specific signal strength corresponding to the i-th path segment, is the average value of the ambient noise intensity corresponding to the i-th path segment.

[0191] After the flight path cost function is constructed, the real-time flight path of the UAV 12 is dynamically optimized according to the flight path cost function.

[0192] In this embodiment, since the signal strength influencing factor (refer to the description of the above signal influencing factor) is introduced into the dynamic optimization of the real-time flight path of the drone 12, the drone 12 can continuously fly in the direction where the signal quality received by the target optical cable is the best during the flight.

[0193] Specifically, within a certain path range, the change in the intensity of the environmental noise is small, and the change in the signal quality is mainly affected by the specific signal strength, so within the path range, the drone will fly in the direction where the specific signal strength is the largest, and the position where the specific signal strength is the largest is directly above the target optical cable, so that the drone 12 can fly along the target optical cable within the path range. When the drone 12 is flying along the target optical cable, the change in the specific signal strength is small. At this time, the signal quality is mainly affected by the intensity of the environmental noise, so the drone will look for a path with a smaller environmental noise intensity, which may cause the drone to slightly deviate from the routing direction of the target optical cable, and then the specific signal strength will dominate the signal quality again, and this cycle will continue. Through the mutual constraints of the specific signal strength and the environmental noise strength, the drone can continuously adjust and optimize the real-time flight path, and the drone can fly as far as possible along the routing direction of the target optical cable while ensuring the signal quality received by the target optical cable.

[0194] At the same time, since the wind speed influencing factor is also introduced into the dynamic optimization of the real-time flight path of the drone 12, the drone 12 can adjust the flight angle according to the wind speed and wind direction during the flight, reduce the situation of flying against the wind, and thus reduce the flight energy consumption and improve the endurance of the drone 12.

[0195] In a specific implementation of this embodiment, before the drone 12 takes off for route survey, a preset real-time flight path can be specified for the drone 12, and the preset real-time flight path can be set according to the coverage area of ​​the target optical cable. After taking off, the drone 12 first flies according to the preset real-time flight path. During the flight, the specific signal strength and the corresponding environmental parameters are collected and acquired, and the preset real-time flight path is optimized according to the flight path cost function, so that the drone 12 flies according to the optimized real-time flight path. After that, the specific signal strength and the environmental parameters corresponding to the real-time acoustic wave emission position are continuously collected, and the real-time flight path of the drone 12 is continuously optimized according to the flight path cost function, so that the drone 12 can fly along the route direction of the target optical cable as much as possible to achieve an accurate route survey.

[0196] A position acquisition module 26, configured to acquire a routing position point of the target optical cable according to the real-time acoustic wave emission position and the corresponding specific signal strength;

[0197] In this embodiment, obtaining the target optical cable routing location point may specifically include:

[0198] Obtaining a signal peak position point according to the specific signal strength corresponding to each of the real-time sound wave emission positions;

[0199] As described above, in this embodiment, the specific signal strength of the specific sound wave signal received by the target optical cable at each time point can be obtained by analyzing the real-time optical cable data in the target optical cable; at the same time, the real-time sound wave emission position of the drone 12 at each time point can also be obtained, and then the real-time sound wave emission positions of the drone 12 are associated with the specific signal strength, and then the change of the specific signal strength during the flight of the drone 12 is obtained.

[0200] Specifically, in the present embodiment, the signal peak position point is the real-time sound wave emission position corresponding to the change trend of the specific signal strength from enhancement to weakening; as mentioned above, when the specific signal strength weakens, it indicates that the UAV 12 has deviated from the routing direction of the target optical cable. It can be understood that when the change trend of the specific signal strength changes, that is, the turning point from enhancement to weakening, the specific signal strength corresponding to the turning point is the largest, so the real-time sound wave emission position corresponding to the turning point is closest to the routing direction of the target optical cable.

[0201] After the signal peak position point is obtained, the signal peak position point is used as the routing position point of the target optical cable.

[0202] As described above, the signal peak position point is located in the routing direction of the target optical cable, so using the signal peak position point as the routing position point can more conveniently and directly obtain the routing situation of the target optical cable.

[0203] In a preferred embodiment, before obtaining the signal peak position point according to the specific signal strength, the specific signal strength is further screened to obtain the specific signal strength exceeding the preset specific strength; then the signal peak position point is obtained according to the specific signal strength exceeding the preset specific strength. The preset specific strength is set according to the overall situation of the specific signal strength, and is used to screen the specific signal strength, reduce the number of the real-time sound wave emission positions used to obtain the routing position point, and improve the calculation efficiency of the routing position point.

[0204] A distance acquisition module 27, configured to acquire the optical cable distance of the routing position point corresponding to the target optical cable according to the routing position point of the target optical cable and the corresponding real-time optical cable data;

[0205] In this embodiment, the routing position point is associated with the real-time acoustic wave emission position, and then the position where the specific acoustic wave signal acts on the target optical cable, that is, the optical cable distance of the target optical cable, can be obtained from the corresponding real-time optical cable data through Φ-OTDR technology according to the time point of the real-time acoustic wave emission position, thereby realizing the association between the routing position point and the optical cable distance.

[0206] A routing acquisition module 28, configured to acquire the routing direction of the target optical cable according to the routing position point and the corresponding optical cable distance;

[0207] Specifically, after the routing position points are associated with the optical cable distances, all the routing position points can be fitted and connected in series according to the corresponding associated optical cable distances, and the final fitted line is the routing direction of the target optical cable.

[0208] In a preferred implementation of this embodiment, since the flight environment of the drone 12 is very complex and it is interfered by various environmental factors during the flight, in order to enable the target optical cable to better receive the specific sound wave signal, it is necessary to adjust and optimize the specific sound wave signal emitted by the drone 12 according to the flight environment of the drone 12, so the census method may also include:

[0209] According to the specific acoustic wave signal received by the target optical cable and the real-time environmental conditions during the flight of the drone 12, the specific acoustic wave signal is optimized; according to the signal parameters of the optimized specific acoustic wave signal, an acoustic wave optimization instruction is sent to the drone 12. The signal parameters of the specific acoustic wave signal may include the frequency, intensity and / or emission time interval of the specific acoustic wave signal. After receiving the acoustic wave optimization instruction, the drone 12 adjusts the frequency, intensity and / or emission time interval of the specific acoustic wave signal emitted by the optical cable identifier 13 according to the signal parameters of the specific acoustic wave signal contained therein.

[0210] As described above, although the drone 12 will dynamically optimize its flight path during the flight so that the drone 12 can fly along the routing direction of the target optical cable as much as possible, when the target optical cable cannot be found immediately and there are multiple optical cables besides the target optical cable, since the target optical cable is not determined, the drone 12 will be affected by the multiple other optical cables during the flight according to the real-time flight path, thereby reducing the efficiency of the target optical cable route survey.

[0211] Therefore, in this embodiment, the survey device may further include a target optical cable determination module, which is used to determine the target optical cable from multiple optical cables; specifically, the determination of the target optical cable may specifically include:

[0212] According to each optical cable to be detected within the preset starting range, a corresponding detection sound wave emission position is obtained; the detection sound wave emission position is directly above the corresponding optical cable to be detected and is at a preset flight distance from the optical cable to be detected;

[0213] Similar to the specific sound wave signal, the detection sound wave signal is a sound wave signal of a certain frequency emitted by the optical cable identifier 13 carried by the drone 12, so that the signal status of the detection sound wave signal received by the target optical cable can be easily obtained from the real-time optical cable data.

[0214] Next, according to the preset detection intensity and the detection sound wave emission position, a target detection instruction is sent to the drone 12, so that the drone 12 emits a detection sound wave signal of the preset detection intensity at each of the detection sound wave emission positions according to the target detection instruction;

[0215] Finally, the detection signal strength is compared with the preset detection strength, and the target optical cable is determined from the optical cables to be detected according to the comparison result.

[0216] Since the drone 12 emits the detection sound wave signal directly above each of the optical cables to be detected, and only the target optical cable is connected to the optical cable line inspection analysis device 11, only the real-time optical cable data in the target optical cable can be obtained. Therefore, when the detection sound wave signal is emitted directly above the target optical cable, the detection sound wave signal can be obtained from the real-time optical cable data. Conversely, when the detection sound wave signal is emitted directly above other optical cables to be detected outside the target optical cable, the detection sound wave signal cannot be obtained in the real-time optical cable data, or the detection sound wave signal can be obtained, but the detection signal strength is smaller than the preset detection strength. Therefore, the target optical cable can be determined based on the comparison result of the detection signal strength and the preset detection strength, thereby improving the efficiency of the optical cable route survey.

[0217] It should be noted that the preset starting position can be a certain area range of the starting point of the real-time flight path of the drone 12, or it can be a certain area range of any real-time sound wave emission position on the real-time flight path of the drone 12. Regardless of which of the above situations, the purpose is to enable the drone 12 to better fly along the routing direction of the target optical cable in the future.

[0218] Example 4

[0219] Based on the same inventive concept as in Example 1, Figure 7 As shown, this embodiment provides an electronic device, including a memory 31 and a processor 32, wherein the memory 31 stores computer-readable instructions, and the processor 32 executes the computer-readable instructions to implement the OPGW optical cable route survey method based on the drone 12 of this embodiment.

[0220] Preferably, the electronic device further includes a bus 33 and a communication interface 34 , and the processor 32 , the communication interface 34 and the memory 31 are connected via the bus 33 .

[0221] The memory 31 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 34 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 33 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus 33 may be divided into an address bus, a data bus, a control bus, etc. (not fully drawn in the figure).

[0222] The processor 32 may be an integrated circuit chip with signal processing capability. In the specific implementation process, each step in the embodiment of the above method may be completed by the hardware integrated logic circuit or software instructions in the processor 32. The above processor 32 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, which may implement or execute the methods, steps, and logic diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or the processor 32 may also be any conventional processor 32, etc. The steps of the method disclosed in conjunction with the embodiments of the present invention may be directly embodied as being executed by a hardware decoding processor, or may be executed by a combination of hardware and software modules in a decoding processor. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 31, and the processor 32 reads the information in the memory 31 and completes the steps of the method of the above embodiment in combination with its hardware.

[0223] An embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by the processor 32, the computer-executable instructions prompt the processor 32 to implement the above-mentioned OPGW optical cable route survey method based on the drone 12. The specific implementation can be found in the embodiment, which will not be repeated here.

[0224] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including 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 described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0225] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the technical solution of the present invention, and are not intended to limit the specific implementation methods of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the claims of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A method for surveying OPGW optical cable routes based on drones, characterized in that: The survey methods include: Get the real-time flight path of the drone; Acquire the real-time sound wave emission position of the UAV according to the real-time flight path; Acquiring real-time optical cable data of the target optical cable corresponding to the real-time acoustic wave emission position; Obtaining, from the real-time optical cable data, a specific signal strength of a specific sound wave signal received by the target optical cable corresponding to the real-time sound wave emission position; the specific sound wave signal is a sound wave signal emitted by the UAV at the real-time sound wave emission position; Collecting environmental parameters of the drone at the real-time sound wave emission location; the environmental parameters at least include environmental wind speed and environmental noise intensity; Acquire the routing position point of the target optical cable according to the real-time acoustic wave emission position and the corresponding specific signal strength; According to the routing position point of the target optical cable and the corresponding real-time optical cable data, obtaining the optical cable distance of the routing position point corresponding to the target optical cable; Obtaining the routing direction of the target optical cable according to the routing position point and the corresponding optical cable distance; Wherein, the real-time flight path is dynamically optimized according to the specific signal strength and the corresponding environmental parameters.

2. The method for surveying OPGW optical cable routes based on drones according to claim 1, characterized in that: The real-time flight path is dynamically optimized according to the specific signal strength and the corresponding environmental parameters, specifically including: Constructing a flight path cost function according to an A* search algorithm, a wind speed influence factor and a signal strength factor; the wind speed influence factor is calculated according to the ambient wind speed, and the signal strength influence factor is calculated according to the specific signal strength and the ambient noise strength; The real-time flight path of the UAV is dynamically optimized according to the flight path cost function.

3. The method for surveying OPGW optical cable routes based on drones according to claim 2, characterized in that: The flight path cost function is constructed according to the A* search algorithm, wind speed influence factor and signal strength factor, which is specifically expressed as: In the formula, C path represents the flight path cost function; G represents the path length of the UAV from the flight starting point of the real-time flight path to the current path node; H represents the heuristic estimate, which is the distance from the current path node to the target path node of the real-time flight path; d i is the length of the i-th path segment in the real-time flight path, wherein the path segment is the path interval between any two consecutive path nodes in the real-time flight path, and any path segment contains at least one real-time sound wave emission position, F i is the wind speed influence factor of the i-th path segment, S i is the signal strength factor of the i-th path segment, n is the number of path segments to the current path node; w1 is the heuristic estimation weight, and w2 is the environmental constraint weight.

4. The method for surveying OPGW optical cable routes based on drones according to claim 3 is characterized in that: The calculation of the wind speed influence factor is specifically expressed as follows: In the formula, F i is the wind speed impact factor of the i-th path segment in the real-time flight path; |V i | represents the average ambient wind speed of the i-th path segment, θ i V represents the angle between the average wind direction of the i-th path segment and the path direction. max Indicates the maximum flight speed of the drone.

5. The method for surveying OPGW optical cable routes based on drones according to claim 3, characterized in that: The calculation of the signal strength influencing factor is specifically expressed as: In the formula, S i is the signal strength impact factor of the i-th path segment in the real-time flight path; Q i represents the average signal quality of the i-th path segment; Q i norm Q i The normalized representation of is: Wherein, e is a natural constant; k is a flight environment steepness parameter, which is determined according to the steepness of the flight environment in the real-time flight path, and 0.1≤k≤0.5; Q0 is the median value of the signal quality to the i-th path segment in the real-time flight path; The average signal quality Q i It is expressed as: In the formula, is the average value of the specific signal strength corresponding to the i-th path segment, is the average value of the ambient noise intensity corresponding to the i-th path segment.

6. The method for surveying OPGW optical cable routes based on drones according to claim 1, characterized in that: The step of obtaining the routing position of the target optical cable according to the real-time acoustic wave emission position and the corresponding specific signal strength specifically includes: According to the specific signal strength corresponding to each of the real-time sound wave emission positions, a signal peak position point is obtained; the signal peak position point is the real-time sound wave emission position corresponding to the change trend of the specific signal strength from enhancement to weakening; The signal peak position point is used as the routing position point of the target optical cable.

7. The method for surveying OPGW optical cable routes based on drones according to claim 6, characterized in that: The obtaining of the signal peak position point according to the specific signal strength corresponding to each of the real-time sound wave emission positions specifically includes: Screening the specific signal strengths to obtain the specific signal strengths exceeding a preset specific strength; The signal peak position point is obtained according to the specific signal strength exceeding the preset specific strength.

8. A method for surveying OPGW optical cable routes based on drones according to any one of claims 1 to 7, characterized in that: The survey method also includes: Optimizing the specific sound wave signal according to the specific sound wave signal received by the target optical cable and the real-time environmental conditions during the flight of the UAV; According to the optimized signal parameters of the specific sound wave signal, a sound wave optimization instruction is sent to the drone.

9. A method for surveying OPGW optical cable routes based on drones according to any one of claims 1 to 7, characterized in that: The survey method also includes: According to each optical cable to be detected within the preset starting range, a corresponding detection sound wave emission position is obtained; the detection sound wave emission position is directly above the corresponding optical cable to be detected and is at a preset flight distance from the optical cable to be detected; According to the preset detection intensity and the detection sound wave emission position, a target detection instruction is sent to the drone, so that the drone emits a detection sound wave signal with a preset detection intensity at each of the detection sound wave emission positions according to the target detection instruction; Acquire real-time optical cable data of the target optical cable, and acquire the detection signal strength of the detection acoustic wave signal received by the target optical cable from the real-time optical cable data; The detection signal strength is compared with the preset detection strength, and the target optical cable is determined from the optical cables to be detected according to the comparison result.

10. An OPGW optical cable route survey system based on drones, characterized in that: The survey system comprises: Optical cable inspection and analysis equipment, used to connect to the target optical cable; A drone, wherein the drone is equipped with an optical cable identifier, and the optical cable identifier is used to emit a specific sound wave signal; The terminal platform is used to implement the OPGW optical cable route survey method based on a drone as described in any one of items 1-9 above.

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