A UAV-based OPGW optical cable route survey method and system

Abstract

The present invention relates to the field of optical cable dumb resource operation and maintenance, and specifically to a drone-based OPGW optical cable route survey method and system. The survey method includes: obtaining real-time optical cable data of a target optical cable and obtaining the specific signal strength received by the target optical cable; dynamically optimizing the real-time flight path of the drone based on the specific signal strength and environmental parameters of the drone's corresponding flight location; while the drone is flying, obtaining the routing location point of the target optical cable and the corresponding optical cable distance based on the specific signal strength, and ultimately obtaining the routing direction of the target optical cable. Compared with the prior art, the present invention utilizes a drone to transmit a specific acoustic signal to obtain the specific signal strength received by the target optical cable. The specific signal strength reflects the positional relationship between the drone and the target optical cable. Combined with the environmental parameters that affect the drone's flight, the real-time flight path of the drone is dynamically optimized, thereby enabling accurate and rapid routing surveys of the target optical cable using the drone.

Description

Technical Field

[0001] The present invention relates to the field of optical cable dumb resource operation and maintenance, and more specifically, to a method and system for surveying OPGW optical cable routes based on unmanned aerial vehicles (UAVs). Background Art

[0002] As the scale of power grids continues to expand, the number of optical fiber composite overhead ground wires (OPGW) is also increasing, and with it, the need for routing surveys of these cables. These cables are typically installed overhead using optical cable racks. Existing live inspections typically rely on manual labor or single equipment, resulting in limited coverage and low efficiency. This is particularly true for inspections of optical cables over long distances or in complex environments, making rapid and comprehensive inspections impossible. Summary of the Invention

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

[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 acoustic 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 acoustic wave signal received by the target optical cable corresponding to the real-time acoustic wave emission position; the specific acoustic wave signal is the acoustic wave signal emitted by the UAV at the real-time acoustic wave emission position;

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

[0011] Obtaining a routing location 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 between the routing position point and the target optical cable;

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

[0014] 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 acoustic wave signal at the real-time acoustic wave emission position during flight and acquiring the real-time optical cable data of the target optical cable corresponding to the real-time acoustic wave emission position, the specific acoustic wave signal can be extracted from the real-time optical cable data. Typically, the drone will inspect the optical cable while maintaining a certain distance above it. When the drone is directly above the target optical cable, the intensity of the specific acoustic wave signal received by the target optical cable is the highest. Therefore, the positional relationship between the drone and the target optical cable can be determined based on the intensity change of the specific acoustic 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 during flight, the drone will optimize and adjust its flight path according to the specific signal strength, so that the drone can fly in the direction with the highest specific signal strength, that is, the routing direction of the target optical cable. At the same time, the UAV is constrained by the ambient wind speed during flight, which 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 the ambient wind speed and ambient noise; ultimately, the routing 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 based on an A* search algorithm, a wind speed influence factor, and a signal strength factor; the wind speed influence factor is calculated based on the ambient wind speed, and the signal strength factor is calculated based on 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, thereby improving the efficiency of the UAV's path planning; at the same time, by adding the wind speed influencing factor and the signal influencing factor as environmental perception constraints, the UAV's path planning can effectively optimize the UAV's real-time flight path according to the specific signal strength and the ambient wind speed.

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

[0021]

[0022] Where 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; 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. is the wind speed influence factor of the i-th path segment, is the signal strength factor of the i-th path segment, and n is the number of path segments to the current path node; is the heuristic estimated weight, is the environmental constraint weight.

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

[0024]

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

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

[0027]

[0028] Where, is the signal strength factor of the i-th path segment in the real-time flight path; is the average signal quality of the i-th path segment; for 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; is the median value of the signal quality of the i-th path segment in the real-time flight path;

[0031] The average signal quality Expressed as:

[0032]

[0033] Where, 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] Furthermore, obtaining the routing location of the target optical cable according to the real-time acoustic wave emission position and the corresponding specific signal strength specifically includes:

[0035] Obtaining a signal peak position point according to the specific signal strength corresponding to each of the real-time sound wave emission positions; the signal peak position point is the real-time sound wave emission position corresponding to the change trend of the specific signal strength changing from increasing to decreasing;

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

[0037] Because the drone's real-time flight path is optimized based on the specific signal strength of the specific acoustic signal received by the target optical cable, the drone will move in the direction of increasing specific signal strength. When the specific signal strength decreases, it indicates that the drone has deviated from the routing direction of the target optical cable and needs to readjust the drone's real-time flight path. Therefore, by obtaining the real-time acoustic wave emission position corresponding to the change trend of the specific signal strength from increasing to decreasing, this real-time acoustic wave emission position is located exactly where the drone is in the routing direction of the target optical cable.

[0038] Furthermore, obtaining a 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 acoustic wave signal according to the specific acoustic 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] Obtaining a corresponding detection sound wave emission position for 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;

[0048] Sending a target detection instruction to the drone according to the preset detection intensity and the detection sound wave emission position, so that the drone transmits 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;

[0049] Acquiring real-time optical cable data of the target optical cable, and acquiring a 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 acoustic 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 obtaining the detection signal strength of the detection acoustic 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, reducing the calculation amount of the drone and thereby improving the efficiency of the route survey of the target optical cable.

[0052] In a second aspect, the present invention provides 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 acoustic 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 UAV;

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

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

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

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

[0062] A position acquisition module, configured to acquire a routing position 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, configured to acquire the optical cable distance between the routing position point and 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, configured to acquire the routing direction of the target optical cable according to the routing position point and the corresponding optical cable distance;

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

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

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

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

[0069] The present invention utilizes a drone to conduct a route survey of a target optical cable. During the survey flight, the drone emits a specific acoustic signal, and detects the specific signal strength of the specific acoustic 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 drone and the target optical cable. At the same time, in order to reduce the flight power consumption of the drone and improve the quality of the specific signal strength, the environmental wind speed and environmental noise intensity that mainly affect the flight of the drone are obtained. The real-time flight path of the drone is dynamically optimized by combining the specific signal strength with the environmental wind speed and environmental noise intensity, so that the route survey of the target optical cable can be accurately and quickly achieved through the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 Flow chart of the steps of the survey method of the present invention.

[0071] Figure 2 This is a flow chart of the steps for dynamic optimization of the real-time flight path of the present invention.

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

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

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

[0075] Figure 6 This is a structural diagram of the survey device of the present invention.

[0076] Figure 7 This 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 accompanying drawings are for illustrative purposes only and are not to be construed as limiting the present invention. To better illustrate the following embodiments, some components in the accompanying drawings may be omitted, enlarged, or reduced in size, and do not represent actual product dimensions. Those skilled in the art will appreciate that some well-known structures and their descriptions may be omitted from the accompanying drawings.

[0079] Example 1

[0080] As the scale of the 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 these optical fiber composite overhead ground wires is also increasing. These optical fiber composite overhead ground wires are typically installed in the air via optical cable racks. Conventional optical cable route surveys are difficult to conduct, so drones 12 are typically used to conduct route surveys of these optical fiber composite overhead ground wires. However, in actual operations, since these optical fiber composite overhead ground wires are primarily installed in urban environments and are constrained by buildings and other conditions, drones 12 may be subject to external interference and obstruction during the optical cable survey, making it difficult to effectively plan the route survey path of drones 12.

[0081] In addition, in the prior art, the route survey of the fiber-optic composite overhead ground wire is to first determine the target optical cable, then identify it through the camera of the drone 12, and manually locate and track the target optical cable. This method of the prior art is, first, a waste of manual resources, and the efficiency of manual identification is low, which leads to a decrease in the efficiency of the route survey; second, when there are multiple fiber-optic composite overhead ground wires running 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 is time-consuming, 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 drone 12 during its route survey flight. It is understood that, to better achieve a 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 following the real-time flight path, thereby accurately conducting a route survey of the target optical cable. In this embodiment, the target optical cable is the optical fiber composite overhead ground wire, i.e., the OPGW cable.

[0085] In this embodiment, the drone 12 is capable of automatic cruising and positioning, allowing the drone 12 to maintain its relative position and altitude with respect to the target optical cable as much as possible. Specifically, the relative altitude between the drone 12 and the target optical cable is 0.5 to 1 meter, and sudden drops or increases in relative altitude are avoided during flight. Preferably, the drone 12 also has excellent wind resistance and flight stability, using 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 excellent load-bearing and endurance capabilities, enabling the drone 12 to carry certain instruments and equipment to achieve various functions.

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

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

[0088] In this embodiment, the drone 12 is equipped with an optical cable identifier 13. The drone 12 can generate an acoustic 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 specific acoustic signal propagates within the target optical cable and effectively generates vibration.

[0089] Specifically, the drone 12 will continue to fly along the real-time flight path. However, when it reaches 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 will continue to fly along the real-time flight path until it reaches the next real-time sound wave emission position. It is understandable that the real-time sound wave emission position is set based on 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 and 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 transmitted, it acts on the target optical cable and evenly diffuses along the length of the optical fiber within the target optical cable, causing the optical fiber to generate tiny mechanical vibrations. This in turn causes a slight change in the optical fiber's refractive index, affecting the propagation characteristics of light within the optical fiber, forming a Rayleigh scattering signal, which is ultimately 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 location at which the target optical cable received the specific acoustic wave signal can also be obtained.

[0095] It is understandable that the intensity of the specific acoustic signal emitted by the drone 12 is fixed, but the specific signal intensity of the specific acoustic signal received by the target optical cable will vary with the relationship between the drone 12 and the target optical cable. The route survey of the drone 12 utilizes the automatic cruise function of the drone 12 to make the drone 12 fly above the optical cable to be inspected, in a horizontal area at a relative height from the optical cable. When the drone 12 is directly above the optical cable to be inspected, or close to directly above the inspection optical cable, the specific signal intensity of the specific acoustic signal received by the optical cable to be inspected is the strongest.

[0096] Therefore, if the drone 12 flies in the direction where the specific acoustic signal is strongest, it means that the drone 12 is flying directly above the target optical cable, that is, it can directly find the routing direction of the target optical cable. 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 close to the target optical cable as possible.

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

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

[0099] It is understandable that since the optical cable route survey is a long-term task, and in this embodiment, the drone 12 is equipped with the optical cable identifier 13, which adds a certain amount of weight and reduces the endurance of the drone 12, it is necessary for the drone 12 to ensure smooth flight as much as possible during the flight to reduce the additional power consumption during the flight. Among them, an important factor affecting the smooth 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, thereby minimizing the headwind flight path that will additionally increase the flight power consumption of the drone 12 and improving the endurance of the drone 12.

[0100] At the same time, although the emission intensity of the specific acoustic signal emitted by the drone 12 is determined, the specific signal intensity of the specific acoustic 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 and thus reduce 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. Therefore, even if the specific signal intensity can be maintained, if the environmental noise intensity is strong, the signal quality of the target optical cable will still be poor. Therefore, in this embodiment, the environmental noise intensity of the drone 12 at the real-time acoustic 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 along 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 performing a route survey of the target optical cable. Therefore, in this embodiment, the real-time flight path can be dynamically optimized based on the specific signal strength and the corresponding environmental parameters.

[0102] Specifically, the dynamic optimization of the real-time flight path of the UAV 12 is as follows: Figure 2 Specifically, it may include:

[0103] A1: Constructing 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 impact factor is calculated based on the ambient wind speed, and the signal strength 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 drone 12 to improve the efficiency of the path planning of the drone 12; at the same time, the A* search algorithm can well introduce additional factors to optimize the real-time flight path of the drone 12.

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

[0107]

[0108] Where 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; 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, is the wind speed influence factor of the i-th path segment, is the signal strength factor of the i-th path segment, and n is the number of path segments to the current path node; is the heuristic estimated weight, is the environmental constraint weight.

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

[0110]

[0111] Where, is the wind speed impact factor of the i-th path segment in the real-time flight path; represents the average ambient wind speed of the i-th path segment, represents the angle between the average wind direction of the i-th path segment and the path direction, Indicates the maximum flight speed of the UAV 12.

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

[0113]

[0114] Where, is the signal strength factor of the i-th path segment in the real-time flight path, is the average signal quality of the i-th path segment; for 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; is the median value of the signal quality of the i-th path segment in the real-time flight path;

[0117] The average signal quality Expressed as:

[0118]

[0119] Where, 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 factor (refer to the description of the above-mentioned 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 ambient noise intensity varies slightly, and changes in signal quality are primarily influenced by the specific signal strength. Therefore, within this path range, the drone will fly in the direction where the specific signal strength is greatest. This location, where the specific signal strength is greatest, is directly above the target optical cable, enabling the drone 12 to fly along the target optical cable within this path range. While the drone 12 is flying along the target optical cable, the specific signal strength varies slightly. At this point, the signal quality is primarily influenced by the ambient noise intensity. Therefore, the drone will seek a path with lower ambient noise intensity, potentially causing it to slightly deviate from the target cable's routing direction. Then, the specific signal strength will again dominate signal quality, and this cycle will repeat. Through the mutual constraints between the specific signal strength and the ambient noise intensity, the drone can continuously adjust and optimize its real-time flight path, ensuring that it remains as close to the target cable's routing direction as possible while maintaining the quality of the signal 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 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 to conduct a route survey, a preset real-time flight path can be assigned to the drone 12. The preset real-time flight path can be set based on the coverage area of ​​the target optical cable. After takeoff, the drone 12 first flies along the preset real-time flight path. During flight, the specific signal strength and corresponding environmental parameters are collected and acquired. The preset real-time flight path is optimized according to the flight path cost function, so that the drone 12 flies along the optimized real-time flight path. Subsequently, the specific signal strength and environmental parameters corresponding to the real-time acoustic wave emission location 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 flies as close to the route of the target optical cable as possible, thereby achieving an accurate route survey.

[0125] S6: Acquire a routing 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: Obtaining 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 real-time optical cable data in the target optical cable can be analyzed to obtain the specific signal strength of the specific acoustic signal received by the target optical cable at each time point; at the same time, the real-time acoustic wave emission position of the UAV 12 at each time point can also be obtained, and then the real-time acoustic wave emission positions of the UAV 12 are associated with the specific signal strength, thereby obtaining the change of the specific signal strength during the flight of the UAV 12.

[0129] Specifically, in this 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 means that the drone 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 location point based on the specific signal strength, the specific signal strength is further screened to obtain the specific signal strength exceeding a preset specific strength; then, the signal peak location point is obtained based on the specific signal strength exceeding the preset specific strength. The preset specific strength is set based on the overall specific signal strength and is used to screen the specific signal strength, thereby reducing the number of real-time sound wave emission locations used to obtain the routing location point and improving the calculation efficiency of the routing location point.

[0133] S7: acquiring an optical cable distance between the routing position and the target optical cable according to the routing position 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, based on the time point of the real-time acoustic wave emission position, the Φ-OTDR technology can be used to obtain 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, from the corresponding real-time optical cable data, 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 associating the routing position points 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 is interfered with by various environmental factors during flight, in order to enable the target optical cable to better receive the specific acoustic wave signal, it is necessary to adjust and optimize the specific acoustic wave signal emitted by the drone 12 according to the flight environment of the drone 12. Therefore, the survey method may further include:

[0138] Based on 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; and based on 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 based on 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 it can fly as close to the target optical cable 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 its flight according to the real-time flight path, thereby reducing the efficiency of the target optical cable route survey. Therefore, in actual operation, 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 for 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: Comparing the detection signal strength with the preset detection strength, and determining the target optical cable from the optical cables to be detected according to the comparison result.

[0144] Since the drone 12 emits the detection acoustic 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 and analysis device 11, only the real-time optical cable data in the target optical cable can be obtained. Therefore, when the detection acoustic wave signal is emitted directly above the target optical cable, the detection acoustic wave signal can be obtained from the real-time optical cable data. Conversely, when the detection acoustic wave signal is emitted directly above other optical cables to be detected outside the target optical cable, the detection acoustic wave signal cannot be obtained in the real-time optical cable data, or the detection acoustic wave signal can be obtained, but the detection signal intensity is smaller than the preset detection intensity. Therefore, the target optical cable can be determined based on the comparison result of the detection signal intensity and the preset detection intensity, 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 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 inspection and analysis device 11 is used to connect to a target optical cable. In this embodiment, the target optical cable is the optical fiber composite overhead ground wire, ie, the OPGW optical cable.

[0149] A drone 12 is provided with an optical cable identifier 13, which is used to transmit a specific acoustic wave signal. In a preferred embodiment of the present invention, the optical cable identifier can be mounted externally on the drone 12. In another preferred embodiment, the optical cable identifier can be integrated into the drone 12.

[0150] The terminal platform 14 is communicatively connected to the optical cable patrol analysis device 11 and the drone 12 , respectively, 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 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 obtain 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 performing the route survey flight.

[0155] It is understood that in order to better perform a route survey of the target optical cable, the survey device may further include a path optimization module 29 for dynamically optimizing the real-time flight path. By dynamically optimizing the real-time flight path, the drone 12 can fly along the target optical cable while following the real-time flight path, thereby accurately performing a route survey of the target optical cable. In this embodiment, the target optical cable is the optical fiber composite overhead ground wire, i.e., the OPGW cable.

[0156] In this embodiment, the drone 12 is capable of automatic cruising and positioning, allowing the drone 12 to maintain its relative position and altitude relative to the target optical cable as much as possible. Specifically, in this embodiment, the relative altitude between the drone 12 and the target optical cable is 0.5 to 1 meter, and sudden drops or increases in relative altitude are avoided during flight. Preferably, the drone 12 also has excellent wind resistance and flight stability, using 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 excellent load-bearing and endurance capabilities, allowing the drone 12 to carry certain instruments and equipment to achieve various functions.

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

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

[0159] In this embodiment, the drone 12 is equipped with an optical cable identifier 13. The drone 12 can generate an acoustic 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 specific acoustic signal propagates within the target optical cable and effectively generates vibration.

[0160] Specifically, the drone 12 will continue to fly along the real-time flight path. However, when it reaches 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 will continue to fly along the real-time flight path until it reaches the next real-time sound wave emission position. It is understandable that the real-time sound wave emission position is set based on 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 and 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 is 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 transmitted, it acts on the target optical cable and evenly diffuses along the length of the optical fiber within the target optical cable, causing the optical fiber to generate tiny mechanical vibrations. This in turn causes a slight change in the optical fiber's refractive index, affecting the propagation characteristics of light within the optical fiber, forming a Rayleigh scattering signal, which is ultimately 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 location at which the target optical cable received the specific acoustic wave signal can also be obtained.

[0166] It is understandable that the intensity of the specific acoustic signal emitted by the drone 12 is fixed, but the specific signal intensity of the specific acoustic signal received by the target optical cable will vary with the relationship between the drone 12 and the target optical cable. The route survey of the drone 12 utilizes the automatic cruise function of the drone 12 to make the drone 12 fly above the optical cable to be inspected, in a horizontal area at a relative height from the optical cable. When the drone 12 is directly above the optical cable to be inspected, or close to directly above the inspection optical cable, the specific signal intensity of the specific acoustic signal received by the optical cable to be inspected is the strongest.

[0167] Therefore, if the drone 12 flies in the direction where the specific acoustic signal is strongest, it means that the drone 12 is flying directly above the target optical cable, that is, it can directly find the routing direction of the target optical cable. 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 close to the target optical cable as possible.

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

[0169] In this embodiment, the environmental parameters include at least the ambient wind speed and the ambient noise intensity. It is understandable that 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 amount of weight, thereby reducing the endurance of the UAV 12, it is necessary for the UAV 12 to ensure smooth flight as much as possible during the flight to reduce the additional power consumption during the flight. Among them, an important factor affecting the smooth flight of the UAV 12 is the wind speed in the flight environment of the UAV 12. Therefore, in this embodiment, the ambient 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 ambient wind speed, minimizing the headwind flight path that will additionally increase the flight power consumption of the UAV 12, thereby improving the endurance of the UAV 12.

[0170] At the same time, although the emission intensity of the specific acoustic signal emitted by the drone 12 is determined, the specific signal intensity of the specific acoustic 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 and thus reduce 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. Therefore, even if the specific signal intensity can be maintained, if the environmental noise intensity is strong, the signal quality of the target optical cable will still be poor. Therefore, in this embodiment, the environmental noise intensity of the drone 12 at the real-time acoustic 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 along 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 achieving a route survey of the target optical cable.

[0172] Therefore, in this embodiment, the path optimization module 29 is specifically configured 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 UAV 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 impact factor is calculated based on the ambient wind speed, and the signal strength 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 drone 12 to improve the efficiency of the path planning of the drone 12; at the same time, the A* search algorithm can well introduce additional factors to optimize the real-time flight path of the drone 12.

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

[0178]

[0179] Where 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; 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, is the wind speed influence factor of the i-th path segment, is the signal strength factor of the i-th path segment, and n is the number of path segments to the current path node; is the heuristic estimated weight, is the environmental constraint weight.

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

[0181]

[0182] Where, is the wind speed impact factor of the i-th path segment in the real-time flight path; represents the average ambient wind speed of the i-th path segment, represents the angle between the average wind direction of the i-th path segment and the path direction, Indicates the maximum flight speed of the UAV 12.

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

[0184]

[0185] Where, is the signal strength factor of the i-th path segment in the real-time flight path, is the average signal quality of the i-th path segment; for 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; is the median value of the signal quality of the i-th path segment in the real-time flight path;

[0188] The average signal quality Expressed as:

[0189]

[0190] Where, 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 factor (refer to the description of the above-mentioned 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 ambient noise intensity varies slightly, and changes in signal quality are primarily influenced by the specific signal strength. Therefore, within this path range, the drone will fly in the direction where the specific signal strength is greatest. This location, where the specific signal strength is greatest, is directly above the target optical cable, enabling the drone 12 to fly along the target optical cable within this path range. While the drone 12 is flying along the target optical cable, the specific signal strength varies slightly. At this point, the signal quality is primarily influenced by the ambient noise intensity. Therefore, the drone will seek a path with lower ambient noise intensity, potentially causing it to slightly deviate from the target cable's routing direction. Then, the specific signal strength will again dominate signal quality, and this cycle will repeat. Through the mutual constraints between the specific signal strength and the ambient noise intensity, the drone can continuously adjust and optimize its real-time flight path, ensuring that it remains as close to the target cable's routing direction as possible while maintaining the quality of the signal 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 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 to conduct a route survey, a preset real-time flight path can be assigned to the drone 12. The preset real-time flight path can be set based on the coverage area of ​​the target optical cable. After takeoff, the drone 12 first flies along the preset real-time flight path. During flight, the specific signal strength and corresponding environmental parameters are collected and acquired. The preset real-time flight path is optimized according to the flight path cost function, so that the drone 12 flies along the optimized real-time flight path. Subsequently, the specific signal strength and environmental parameters corresponding to the real-time acoustic wave emission location 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 flies as close to the route of the target optical cable as possible, thereby achieving an accurate route survey.

[0196] A position acquisition module 26 is configured to acquire a routing position 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 real-time optical cable data in the target optical cable can be analyzed to obtain the specific signal strength of the specific acoustic signal received by the target optical cable at each time point; at the same time, the real-time acoustic wave emission position of the UAV 12 at each time point can also be obtained, and then the real-time acoustic wave emission positions of the UAV 12 are associated with the specific signal strength, thereby obtaining the change of the specific signal strength during the flight of the UAV 12.

[0200] Specifically, in this 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 means that the drone 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 location point based on the specific signal strength, the specific signal strength is further screened to obtain the specific signal strength exceeding a preset specific strength; then, the signal peak location point is obtained based on the specific signal strength exceeding the preset specific strength. The preset specific strength is set based on the overall specific signal strength and is used to screen the specific signal strength, thereby reducing the number of real-time sound wave emission locations used to obtain the routing location point and improving the calculation efficiency of the routing location point.

[0204] A distance acquisition module 27 is configured to acquire the optical cable distance between the routing position and the target optical cable according to the routing position 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, based on the time point of the real-time acoustic wave emission position, the Φ-OTDR technology can be used to obtain 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, from the corresponding real-time optical cable data, thereby realizing the association between the routing position point and the optical cable distance.

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

[0207] Specifically, after associating the routing position points 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 is interfered with by various environmental factors during flight, in order to enable the target optical cable to better receive the specific acoustic wave signal, it is necessary to adjust and optimize the specific acoustic wave signal emitted by the drone 12 according to the flight environment of the drone 12. Therefore, the survey method may further include:

[0209] Based on 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; and based on 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 based on 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 in addition to the target optical cable, since the target optical cable is not determined, the drone 12 will be affected by the multiple optical cables while flying according to the real-time flight path, thereby reducing the efficiency of the target optical cable routing survey.

[0211] Therefore, in this embodiment, the survey device may further include a target optical cable determination module, configured to determine the target optical cable from a plurality of optical cables. Specifically, the determination of the target optical cable may include:

[0212] Obtaining a corresponding detection sound wave emission position for 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;

[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] Then, 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 acoustic 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 and analysis device 11, only the real-time optical cable data in the target optical cable can be obtained. Therefore, when the detection acoustic wave signal is emitted directly above the target optical cable, the detection acoustic wave signal can be obtained from the real-time optical cable data. Conversely, when the detection acoustic wave signal is emitted directly above other optical cables to be detected outside the target optical cable, the detection acoustic wave signal cannot be obtained in the real-time optical cable data, or the detection acoustic wave signal can be obtained, but the detection signal intensity is smaller than the preset detection intensity. Therefore, the target optical cable can be determined based on the comparison result of the detection signal intensity and the preset detection intensity, 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 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] Memory 31 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk drive. Communication between the system network element and at least one other network element is achieved via at least one communication interface 34 (which may be wired or wireless). This interface may utilize the Internet, a wide area network (WAN), a local area network (LAN), a metropolitan area network (MAN), or the like. Bus 33 may be an ISA bus, a PCI bus, or an EISA bus. Bus 33 may be divided into an address bus, a data bus, a control bus, and the like (not fully illustrated in the figure).

[0222] The processor 32 can be an integrated circuit chip with signal processing capabilities. In specific implementations, the steps in the above-mentioned method embodiments can be completed by hardware integrated logic circuits or software instructions in the processor 32. The above-mentioned processor 32 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can 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 gate or transistor logic devices, or discrete hardware components, which can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor can be a microprocessor, or the processor 32 can also be any conventional processor 32. The steps of the method disclosed in conjunction with the embodiments of the present invention can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in memory 31, and processor 32 reads the information in memory 31 and, in conjunction with its hardware, completes the steps of the method of the aforementioned embodiment.

[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 and 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 and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0225] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the technical solutions 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 within the scope of protection 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 acoustic 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 acoustic wave signal received by the target optical cable corresponding to the real-time acoustic wave emission position; the specific acoustic wave signal is the acoustic wave signal emitted by the UAV at the real-time acoustic wave emission position; Collecting environmental parameters of the UAV at the real-time sound wave emission location; the environmental parameters include at least ambient wind speed and ambient noise intensity; Obtaining a routing location 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 between the routing position point and the target optical cable; Obtaining a routing direction of the target optical cable according to the routing position point and the corresponding optical cable distance; The real-time flight path is dynamically optimized according to the specific signal strength and the corresponding environmental parameters.

2. The OPGW optical cable route survey method based on drone 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 based on an A* search algorithm, a wind speed influence factor, and a signal strength factor; the wind speed influence factor is calculated based on the ambient wind speed, and the signal strength factor is calculated based on 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 OPGW optical cable route survey method based on drone according to claim 2, characterized in that: The flight path cost function is constructed based on the A* search algorithm, wind speed influence factor and signal strength factor, which is specifically expressed as: Where 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; 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. is the wind speed influence factor of the i-th path segment, is the signal strength factor of the i-th path segment, and n is the number of path segments to the current path node; is the heuristic estimated weight, is the environmental constraint weight.

4. The OPGW optical cable route survey method based on drone according to claim 3, characterized in that: The calculation of the wind speed influence factor is specifically expressed as follows: Where, is the wind speed impact factor of the i-th path segment in the real-time flight path; represents the average ambient wind speed of the i-th path segment, represents the angle between the average wind direction of the i-th path segment and the path direction, Indicates the maximum flight speed of the drone.

5. The OPGW optical cable route survey method based on drone according to claim 3, characterized in that: The calculation of the signal strength factor is specifically expressed as: Where, is the signal strength factor of the i-th path segment in the real-time flight path; represents the average signal quality of the i-th path segment; for 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; is the median value of the signal quality of the i-th path segment in the real-time flight path; The average signal quality Expressed as: Where, 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 OPGW optical cable route survey method based on drone according to claim 1, characterized in that: The acquiring of the routing location of the target optical cable according to the real-time acoustic wave emission position and the corresponding specific signal strength specifically includes: Obtaining a signal peak position point according to the specific signal strength corresponding to each of the real-time sound wave emission positions; the signal peak position point is the real-time sound wave emission position corresponding to the change trend of the specific signal strength changing from increasing to decreasing; 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 a 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. The OPGW optical cable route survey method based on a drone according to any one of claims 1 to 7, characterized in that: The survey method also includes: Optimizing the specific acoustic wave signal according to the specific acoustic 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. The OPGW optical cable route survey method based on a drone according to any one of claims 1 to 7, characterized in that: The survey method also includes: Obtaining a corresponding detection sound wave emission position for 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; Sending a target detection instruction to the drone according to the preset detection intensity and the detection sound wave emission position, so that the drone transmits 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; Acquiring real-time optical cable data of the target optical cable, and acquiring a 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 census system includes: 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 acoustic wave signal; A terminal platform is used to implement the OPGW optical cable route survey method based on a drone as described in any one of claims 1 to 9.

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